private void timer1_Tick(object sender, EventArgs e)
{
Label[] labels = { labelBtn1, labelBtn2, labelBtn3, labelBtn4, labelBtn5, labelBtn6, labelBtn7,
labelBtn8, labelBtn9, labelBtn10, labelBtn11, labelBtn12, labelBtn13, labelBtn14,
labelBtn15, labelBtn16 };
Joystick_WMM.JOYINFOEX info = Joystick_WMM.getJoyPosEx((uint)0);
uint mask = 1;
for (int i = 0; i < 16; i++)
{
if ((info.dwButtons & mask) != 0)
{
labels[i].ForeColor = Color.Red;
}
else
{
labels[i].ForeColor = DefaultForeColor;
}
mask <<= 1;
}
}
void tareaJOY()
{
if (changed_mask)
{
changed_mask = false;
wfly.SetMask(_mask);
}
Joystick_WMM.JOYINFOEX joyinfo = Joystick_WMM.getJoyPosEx((uint)0);
// Analiza si se ha pulsado algun boton nuevo
int bmask = 1;
for (int i = 0; i < 16; i++)
{
if ((joyinfo.dwButtons & bmask) == 0)
{
old_buttons &= ~bmask;
}
else if ((old_buttons & bmask) == 0)
{
old_buttons |= bmask;
Singleton.EventosJoy evento = (Singleton.EventosJoy)((int)singleton.joy_buttons[i]);
ProcesarEventoJoy(evento);
}
bmask <<= 1;
}
// Analiza el modem uplink
if (changed_switches)
{
changed_switches = false;
SetSwitches(modem_ruta, modem_autopilot, (byte)modem_hud, modem_cam);
}
if (changed_alt)
{
changed_alt = false;
SetAltitude((int)modem_alt);
}
if (changed_lonlat)
{
changed_lonlat = false;
SetLonLat(modem_lon, modem_lat);
}
// Comandos varios
if (changed_debugvar)
{
changed_debugvar = false;
SetDebugVar(debugvar_id, debugvar_value);
}
else if (changed_wptid)
{
changed_wptid = false;
SetWptID(_wpt_id);
}
else if (trig_cmdCenterIR)
{
trig_cmdCenterIR = false;
SetCenterIR();
}
else if (trig_cmdGainIR)
{
trig_cmdGainIR = false;
SetGainIR();
}
else if (trig_cmdSetHome)
{
trig_cmdSetHome = false;
SetHome();
}
else if (trig_cmdSaveFlash)
{
trig_cmdSaveFlash = false;
SaveFlash();
}
// Analiza movimiento PAN & TILT
int v = ((short)joyinfo.dwPOV);
if (v >= 0)
{
float alfa = (float)(v / 100 * Math.PI / 180.0);
float mi_pan = pan + (float)(Math.Sin(alfa) * singleton.pantilt_speed / 10.0); // dt=10hz
if (mi_pan > 1)
{
pan = 1;
}
else if (mi_pan < -1)
{
pan = -1;
}
else
{
pan = mi_pan;
}
float mi_tilt = tilt + (float)(Math.Cos(alfa) * singleton.pantilt_speed / 10.0);
if (mi_tilt > 1)
{
tilt = 1;
}
else if (mi_tilt < -1)
{
tilt = -1;
}
else
{
tilt = mi_tilt;
}
}
// Analiza Ejes del joystick
float _pitch = AdjustaValor(2 * (joyinfo.dwYpos / 65535.0f) - 1, TrimEle);
float _roll = AdjustaValor(2 * (joyinfo.dwXpos / 65535.0f) - 1, TrimAil);
float _yaw = AdjustaValor(2 * (joyinfo.dwRpos / 65535.0f) - 1, TrimTail);
float _thr = 1 - 2 * (joyinfo.dwZpos / 65535.0f);
SetControles(_roll, _pitch, _thr, _yaw, pan, tilt, flaps);
//wfly.SetServos(pan, _pitch, _thr, tilt);
// System.Console.WriteLine("PITCH " + _pitch + " ROLL " + _roll + " THR " + _thr + " TAIL " + _yaw);
// System.Console.WriteLine("Auto " + modem_autopilot + " HUD " + modem_hud +
// " RUTA " + modem_rutacasa + " CAM " + modem_cam + " PAN " + pan + " TILT " + tilt);
}
