private async void Controller_InputReceived(object sender, GameControllerValues args)
{
await Windows.ApplicationModel.Core.CoreApplication.MainView.CoreWindow.Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
double X1, Y1;
LeftReadout.Text = string.Format("X Axis {0}\nY Axis {1}\n Direction {2}\n Magnitude {3}",
args.LeftStick.coordinates.XAxis.ToString(),
args.LeftStick.coordinates.YAxis.ToString(),
args.LeftStick.vector.direction.ToString(),
args.LeftStick.vector.magnitude.ToString());
getXY(args.LeftStick.vector, out X1, out Y1);
MoveEyeBall(LeftEye, LeftPupil, X1, Y1);
if (args.ButtonRBPressed)
{
RightReadout.Text = string.Format("X Axis {0}\nY Axis {1}\n Direction {2}\n Magnitude {3}",
args.RightStick.coordinates.XAxis.ToString(),
args.RightStick.coordinates.YAxis.ToString(),
args.RightStick.vector.direction.ToString(),
args.RightStick.vector.magnitude.ToString());
getXY(args.RightStick.vector, out X1, out Y1);
}
MoveEyeBall(RightEye, RightPupil, X1, Y1);
});
}
private void CarSteering(object sender, GameControllerValues e)
{
double LeftWheel = 0;
double RightWheel = 0;
LeftWheel = GetYVelocity(e.RightStick.vector);
RightWheel = GetYVelocity(e.RightStick.vector);
double VelocityAdjustment = GetXVelocity(e.LeftStick.vector);
LeftWheel += VelocityAdjustment;
RightWheel -= VelocityAdjustment;
if (LeftWheel > 4096) { LeftWheel = 4096; }
if (LeftWheel < -4096) { LeftWheel = -4096; }
if (RightWheel > 4096) { RightWheel = 4096; }
if (RightWheel < -4096) { RightWheel = -4096; }
double maxrange = 255;
double leftVelocity = (LeftWheel / 4096) * (maxrange);
double rightVelocity = (RightWheel / 4096) * (maxrange);
int leftForwards = 255, leftBackwards = 255;
int rightForwards = 255, rightBackwards = 255;
if (leftVelocity > 0) { leftForwards = (255 - (int)leftVelocity) - 255; }
if (leftVelocity < 0) { leftBackwards = (int)leftVelocity; }
if (rightVelocity > 0) { rightForwards = (255 - (int)rightVelocity) - 255; }
if (rightVelocity < 0) { rightBackwards = (int)rightVelocity; }
LEDDriver.SetPin(3, leftForwards);
LEDDriver.SetPin(5, leftBackwards);
LEDDriver.SetPin(18, rightForwards);
LEDDriver.SetPin(16, rightBackwards);
//double maxrange = 255;
//leftVelocity = (leftVelocity / 4096) * (maxrange);
//rightVelocity = (rightVelocity / 4096) * (maxrange);
//Debug.WriteLine("left Wheel: {0}", LeftWheel.ToString());
}
private async void InputReceived(object sender, GameControllerValues args)
{
await Windows.ApplicationModel.Core.CoreApplication.MainView.CoreWindow.Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
LeftStick.Text = string.Format("Left Analogue Stick\nX Axis: {0}\nY Axis :{1}", args.LeftStick.coordinates.XAxis.ToString(), args.LeftStick.coordinates.YAxis.ToString());
RightStick.Text = string.Format("Right Analogue Stick\nX Axis: {0}\nY Axis :{1}", args.RightStick.coordinates.XAxis.ToString(), args.RightStick.coordinates.YAxis.ToString());
});
// We've received
}
private void InputReceived(object sender, GameControllerValues e)
{
//TankSteering(sender, e);
CarSteering(sender, e);
//BikeStearing(sender, e);
SoundHorn(e);
LEDDriver.CommitAllPins();
}
private async void Controller_InputReceived(object sender, GameControllerValues args)
{
await Windows.ApplicationModel.Core.CoreApplication.MainView.CoreWindow.Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
double X1, X2;
LeftReadout.Text = string.Format("X Axis {0}\nY Axis {1}\n Direction {2}\n Magnitude {3}",
args.LeftStick.coordinates.XAxis.ToString(),
args.LeftStick.coordinates.YAxis.ToString(),
args.LeftStick.vector.direction.ToString(),
args.LeftStick.vector.magnitude.ToString());
getXY(args.LeftStick.vector, out X1, out X2);
LeftAnalogueIndicator.X1 = X1;
LeftAnalogueIndicator.Y1 = X2;
RightReadout.Text = string.Format("X Axis {0}\nY Axis {1}\n Direction {2}\n Magnitude {3}",
args.RightStick.coordinates.XAxis.ToString(),
args.RightStick.coordinates.YAxis.ToString(),
args.RightStick.vector.direction.ToString(),
args.RightStick.vector.magnitude.ToString());
getXY(args.RightStick.vector, out X1, out X2);
RightAnalogueIndicator.X1 = X1;
RightAnalogueIndicator.Y1 = X2;
// Convert Range to negative and positive
// Negative values are braking values
// Positive values are throttle values
double adjustedRudder = args.Rudder - 32768;
double throttle = 0;
double brake = 0;
if (adjustedRudder > 0)
{
brake = (adjustedRudder / 32768) * 4095;
}
else if (adjustedRudder < 0)
{
throttle = 4095 - (((adjustedRudder / 32768) * 4095) + 4095);
}
double Forwards = 300, Backwards = 300;
if (brake > 0) { Backwards = (brake / 4096) * 300; } else { Backwards = 0; }
if (throttle > 0) { Forwards = (throttle / 4096) * 300; } else { Forwards = 0; }
Throttle.Y2 = 300-Forwards;
Brake.Y2 = 300-Backwards;
ThrottleReadout.Text = string.Format("Rudder Value {0}\nThrottle Value {1}\nBrake Value {2}", args.Rudder.ToString(), throttle.ToString(), brake.ToString());
CalculateVelocities_Track(args);
//CalculateVelocities_Mix(args);
});
}
private void CalculateVelocities_Track(GameControllerValues args)
{
LeftWheelVelocity.Value = GetYVelocity(args.LeftStick.vector);
RightWheelVelocity.Value = GetYVelocity(args.RightStick.vector);
}
private void CalculateVelocities_Mix(GameControllerValues args)
{
//double xAxisVelocity = 0;
//double rotationalVelocity = 0;
double LeftWheel = 0;
double RightWheel = 0;
LeftWheel = GetYVelocity(args.RightStick.vector);
RightWheel = GetYVelocity(args.RightStick.vector);
double VelocityAdjustment = GetXVelocity(args.LeftStick.vector);
LeftWheel += VelocityAdjustment;
RightWheel -= VelocityAdjustment;
///double maxMag = 4095;
//double maxMag = 2095;
//LeftWheel = (LeftWheel > 0) ? Math.Max(LeftWheel, maxMag) : Math.Min(LeftWheel, 0-maxMag);
///RightWheel = (RightWheel > 0) ? Math.Max(RightWheel, maxMag) : Math.Min(RightWheel, 0-maxMag);
LeftWheelVelocity.Value = LeftWheel;
RightWheelVelocity.Value = RightWheel;
}
private void SoundHorn(GameControllerValues e)
{
if (e.ButtonBPressed)
{
LEDDriver.SetPin(1, 127);
}
else
{
LEDDriver.SetPin(1, 0);
}
}
private void TankSteering(object sender, GameControllerValues e)
{
double leftVelocity = GetYVelocity(e.LeftStick.vector);
double rightVelocity = GetYVelocity(e.RightStick.vector);
double maxrange = 255;
leftVelocity = (leftVelocity / 4096) * (maxrange);
rightVelocity = (rightVelocity / 4096) * (maxrange);
//Debug.WriteLine("Left Wheel: {0}. Right Wheel: {1}", leftVelocity.ToString(), rightVelocity.ToString());
int leftForwards = 255, leftBackwards = 255;
int rightForwards = 255, rightBackwards = 255;
if (leftVelocity > 0) { leftForwards = (255 - (int)leftVelocity) - 255; }
if (leftVelocity < 0) { leftBackwards = (int)leftVelocity; }
if (rightVelocity > 0) { rightForwards = (255 - (int)rightVelocity) - 255; }
if (rightVelocity < 0) { rightBackwards = (int)rightVelocity; }
//Debug.WriteLine("Left Wheel Forwards: {0}. Left Wheel Backwards: {1}. Right Wheel Forwards: {2}. Right Wheel Backwards: {3}", leftForwards.ToString(), leftBackwards.ToString(), rightForwards.ToString(), rightBackwards.ToString());
LEDDriver.SetPin(3, leftForwards);
LEDDriver.SetPin(5, leftBackwards);
LEDDriver.SetPin(18, rightForwards);
LEDDriver.SetPin(16, rightBackwards);
}
private void CalculateVelocities_Mix(GameControllerValues args)
{
//double xAxisVelocity = 0;
//double rotationalVelocity = 0;
///double maxMag = 4095;
//double maxMag = 2095;
//LeftWheel = (LeftWheel > 0) ? Math.Max(LeftWheel, maxMag) : Math.Min(LeftWheel, 0-maxMag);
///RightWheel = (RightWheel > 0) ? Math.Max(RightWheel, maxMag) : Math.Min(RightWheel, 0-maxMag);
//LeftWheelVelocity.Value = LeftWheel;
//RightWheelVelocity.Value = RightWheel;
}
