private void JoystickTimer_Tick(object sender, EventArgs e)
{
int[] xy = jsio.getXY();
if (xy[0] == -1)
{
JoystickTimer.Enabled = false; jsStatusPanel.BackColor = Color.Red; SendEStop(); MessageBox.Show("Joystick error!!!");
}
else
{
XBar.Value = xy[0] - 32768;
YBar.Value = -1 * (xy[1] - 32768);
if (xy[1] > 32767)
{
BrakeLabel.ForeColor = Color.Red;
BrakeLabel.Text = "Brake " + Math.Round((double)(xy[1] - 32767) / 327.68, 1) + "%";
ThrottleLabel.ForeColor = Color.Gray;
ThrottleLabel.Text = "Throttle 0%";
}
else if (xy[1] < 32767)
{
ThrottleLabel.ForeColor = Color.Green;
ThrottleLabel.Text = "Throttle " + Math.Round((double)(32768 - xy[1]) / 327.68, 1) + "%";
BrakeLabel.ForeColor = Color.Gray;
BrakeLabel.Text = "Brake 0%";
}
else
{
ThrottleLabel.ForeColor = Color.Gray;
BrakeLabel.ForeColor = Color.Gray;
BrakeLabel.Text = "Brake 0%";
ThrottleLabel.Text = "Throttle 0%";
}
if ((Network != null) && Network.Connected)
{
Network.Send("ACL " + ((32767 - xy[1]) / 128).ToString());
Network.Send("STR " + ((xy[0] - 32768) / 256).ToString());
}
}
bool[] Buttons = jsio.getButtons();
if (Buttons == null)
{
JoystickTimer.Enabled = false; jsStatusPanel.BackColor = Color.Red;
}
try
{
if (Buttons[2])
{
SendEStop();
EStopButton.BackColor = Color.Yellow;
}
else
{
EStopButton.BackColor = Color.Red;
}
if (Buttons[6] || Buttons[7])
{
if ((Network != null) && Network.Connected)
{
Network.Send("ALM");
AlarmPanel.BackColor = Color.Red;
}
}
else
{
AlarmPanel.BackColor = Color.Gray;
}
}
catch { SendEStop(); MessageBox.Show("Joystick error!!!"); }
}
