IEnumerator<ITask> JoystickUpdateButtonsHandler(game.UpdateButtons update)
{
if (_driveControl != null)
{
WinFormsServicePort.FormInvoke(
delegate()
{
_driveControl.UpdateJoystickButtons(update.Body);
}
);
}
yield break;
}
// TT Dec-2006 - Updated for V1.0
IEnumerator<ITask> JoystickReplaceHandler(game.Replace replace)
{
if (_driveControl != null)
{
WinFormsServicePort.FormInvoke(
delegate()
{
_driveControl.UpdateJoystickButtons(replace.Body.Buttons);
_driveControl.UpdateJoystickAxes(replace.Body.Axes);
}
);
}
yield break;
}
public void UpdateJoystickButtons(joystick.Buttons buttons)
{
if (buttons.Pressed != null && buttons.Pressed.Count > 0)
{
string[] buttonString = buttons.Pressed.ConvertAll<string>(
delegate(bool button)
{
return button ? "X" : "O";
}
).ToArray();
lblButtons.Text = string.Join(" ", buttonString);
if (chkStop.Checked && buttons.Pressed.Count > 2)
{
if (buttons.Pressed[2] == true)
{
chkStop.Checked = false;
}
}
else if (buttons.Pressed[1] == true && buttons.Pressed.Count > 1)
{
chkStop.Checked = true;
}
if (buttons.Pressed[0] != chkDrive.Checked)
{
chkDrive.Checked = buttons.Pressed[0];
}
}
}
/// <summary>
/// Handle updates to the buttons on the Gamepad
/// </summary>
/// <param name="update">The parameter is not used.</param>
/// <returns>An Iterator</returns>
private IEnumerator<ITask> JoystickUpdateButtonsHandler(game.UpdateButtons update)
{
if (this.obstacleAvoidanceForm != null)
{
//WinFormsServicePort.FormInvoke(() => this.obstacleAvoidanceForm.UpdateJoystickButtons(update.Body));
}
yield break;
}
/*
public void ReplaceJoystickList(joystick.StateType data)
{
cbJoystick.BeginUpdate();
try
{
cbJoystick.Items.Clear();
foreach (joystick.JoystickInstance instance in data.Available)
{
cbJoystick.Items.Add(instance.Name);
if (data.Current != null &&
instance.Guid == data.Current.Guid)
{
cbJoystick.SelectedIndex = cbJoystick.Items.Count - 1;
}
}
cbJoystick.Tag = data.Available;
}
finally
{
cbJoystick.EndUpdate();
}
}
*/
public void UpdateJoystickAxes(joystick.Axes axes)
{
int x = axes.X;
int y = -axes.Y;
lblX.Text = x.ToString();
lblY.Text = y.ToString();
lblZ.Text = axes.Z.ToString();
DrawJoystick(x, y);
/*
if (!chkStop.Checked)
{
int left;
int right;
if (chkDrive.Checked == true)
{
if (y > -100)
{
left = y + axes.X / 4;
right = y - axes.X / 4;
}
else
{
left = y - axes.X / 4;
right = y + axes.X / 4;
}
}
else
{
left = right = 0;
}
_eventsPort.Post(new OnMove(this, left, right));
}
*/
// TT - Version 2 - New code
if (!chkStop.Checked)
{
double left;
double right;
if (chkDrive.Checked == true)
{
//double x, y;
//this is the raw length of the vector
double magnitude = Math.Sqrt(x * x + y * y);
//x = data.X;
//y = data.Y;
// Check for the "dead zone"
// TT - Version 3
// Added some code so that the speed values would
// not suddenly jump after leaving the Dead Zone
if (Math.Abs(x) < options.DeadZoneX)
x = 0;
else
{
// Subtract off the dead zone value so that the
// coord starts from zero
if (x > 0)
x -= (int) options.DeadZoneX;
else
x += (int) options.DeadZoneX;
}
if (Math.Abs(y) < options.DeadZoneY)
y = 0;
else
{
if (y > 0)
y -= (int) options.DeadZoneY;
else
y += (int) options.DeadZoneY;
}
if (x == 0 && y == 0)
{
// Totally dead in the middle!
left = right = 0;
}
else
{
//angle of the vector
double theta = Math.Atan2(y, x);
//this is the maximum magnitude for a given angle
// double maxMag;
double scaledMag = 1.0;
/*
// Sorry Ben, I did not understand why you did this
// and the 1000 cancels out anyway if you look
// carefully at the code.
if (Math.Abs(data.X) > Math.Abs(data.Y))
scaledMag = magnitude * Math.Abs(Math.Cos(theta));
// maxMag = Math.Abs(1000 / Math.Cos(theta));
else
scaledMag = magnitude * Math.Abs(Math.Sin(theta));
// maxMag = Math.Abs(1000 / Math.Sin(theta));
*/
//a scaled down magnitude according to above
// double scaledMag = magnitude * 1000 / maxMag;
scaledMag = magnitude;
//decompose the vector into motor components
// What is the significance of 150? The cross-hairs
// cross over at 0, so this just meant that the
// cross-over point was slightly below the center
// of the yoke ...
// NOTE: There is a peculiar problem that if you
// try to rotate the robot on the spot, and you
// are not careful to keep the cursor on the
// horizontal center line, then the robot might
// suddenly start rotating in the OPPOSITE direction!
// This is a quirk of the maths. It happens if the
// cursor moves outside the dead zone on the bottom
// (negative) side. This might be the reason for the
// -150 in the original code, i.e. to try to avoid
// this problem.
//if (data.Y > -150)
if (y >= 0)
{
left = scaledMag * options.TranslateScaleFactor * Math.Sin(theta) + scaledMag * options.RotateScaleFactor * Math.Cos(theta);
right = scaledMag * options.TranslateScaleFactor * Math.Sin(theta) - scaledMag * options.RotateScaleFactor * Math.Cos(theta);
}
else
{
left = scaledMag * options.TranslateScaleFactor * Math.Sin(theta) - scaledMag * options.RotateScaleFactor * Math.Cos(theta);
right = scaledMag * options.TranslateScaleFactor * Math.Sin(theta) + scaledMag * options.RotateScaleFactor * Math.Cos(theta);
}
}
}
else
{
left = right = 0;
}
//cap at 1000
left = Math.Min(left, 1000);
right = Math.Min(right, 1000);
left = Math.Max(left, -1000);
right = Math.Max(right, -1000);
// Quick and dirty way to display results for debugging -
// Uncomment the two lines below
// Console.WriteLine("Joy: " + data.X + ", " + data.Y
// + " => " + left + ", " + right);
_eventsPort.PostUnknownType(new OnMove(this, (int)Math.Round(left), (int)Math.Round(right)));
}
// End of changes
}
