private void FJoystick_Check_Data()
{
#region JoyStick
// [ 아래는 XBox 기준이다. ]
// 스틱좌상단, 0+ - 좌, 1+ - 하
// 패드 2+ - 좌, 3+ - 하
// 스틱우하단, 4+ - 좌, 5+ - 하
// 버튼
// Top 6 - -3 : 클릭
// Left 7 - -3 : 클릭
// Right 8 - -3 : 클릭
// Bottom 9 - -3 : 클릭
// 전면우측 10 - -3 : 클릭
// 전면좌측 11 - -3 : 클릭
// 전면우측아래 12- : 클릭
// 전면좌측아래 13- : 클릭
if (m_CJoy.IsValid == true)
{
//// 좌상단 조이스틱
if (Math.Abs(m_CJoy.dX0 - 0.5) > 0.2)
{
if (m_CTmr_Throat.Get() > 100)
{
double dData = (double)Math.Abs(m_CJoy.dX0 - 0.5);
if (dData > 0)
{
//1448 +- 300
double dValue = 1448 + (dData * 2) * 300;// (dData * 2) * 100.0;
int nValue2 = (int)((dData * 2) * 65535);
nValue2 = (nValue2 != 0) ? 1 : 0;
Ojw.CMessage.Write("Data = {0}", dValue);
SendValue(1, nValue2, 1, nValue2, 1, (int)dValue, 1, (int)dValue, 1, (int)dValue);
}
else
{
//SendValue(0, 0, 0, 0, 1, 0, 1, 0, 1, 0);
}
m_CTmr_Throat.Set();
}
m_C3d.SetData(1, (float)((m_CJoy.dX0 - 0.5) / 5.0 * 10.0));
m_C3d.SetData(2, (float)((m_CJoy.dX0 - 0.5) / 5.0 * 10.0));
}
else
{
if (m_CTmr_Throat.Get() > 100)
{
m_CTmr_Throat.Set();
}
m_C3d.SetData(1, 0);
m_C3d.SetData(2, 0);
}
if (Math.Abs(m_CJoy.dY1 - 0.5) > 0.2)
{
m_C3d.SetData(0, (float)10.0f); //((m_CJoy.dY0 - 0.5) / 5.0 * 10.0));
}
else
{
m_C3d.SetData(0, 0);
}
#if _XBOX //
int nValue = 65535;
if (m_CJoy.IsDown_Event(Ojw.CJoystick.PadKey.Button5) == true)
//if (m_CJoy.IsDown_Event(Ojw.CJoystick.PadKey.Button7) == true)
{
//m_CSocket.Send(Ojw.CConvert.StrToBytes("0"));
m_C3d.SetColor_Second(0, 4, 4, 0, Color.Cyan);
//nRight = 100;
//Ojw.CMessage.Write("Clicked 9");
Ojw.CMessage.Write("Light Right 100");
SendValue(1, nValue, 1, nValue, 0, 0, 0, 0, 0, 0);
}
else if (m_CJoy.IsUp_Event(Ojw.CJoystick.PadKey.Button5) == true)
{
//nRight = 0;
m_C3d.SetColor_Second(0, 4, 4, 0, Color.Black);
Ojw.CMessage.Write("Light Right off");
SendValue(1, 0, 1, 0, 0, 0, 0, 0, 0, 0);
}
if (m_CJoy.IsDown_Event(Ojw.CJoystick.PadKey.Button6) == true)
//if (m_CJoy.IsDown_Event(Ojw.CJoystick.PadKey.Button8) == true)
{
//nLeft = 100;
m_C3d.SetColor_Second(1, 5, 5, 0, Color.Cyan);
//m_CSocket.Send(Ojw.CConvert.StrToBytes("1"));
Ojw.CMessage.Write("Light Left 100");
//Ojw.CMessage.Write("Clicked 10");
SendValue(1, nValue, 1, nValue, 0, 0, 0, 0, 0, 0);
}
else if (m_CJoy.IsUp_Event(Ojw.CJoystick.PadKey.Button6) == true)
{
//nLeft = 0;
m_C3d.SetColor_Second(1, 5, 5, 0, Color.Black);
Ojw.CMessage.Write("Light Left off");
SendValue(1, 0, 1, 0, 0, 0, 0, 0, 0, 0);
}
#else
if (m_CJoy.IsDown_Event(Ojw.CJoystick.PadKey.Button7) == true)
{
m_C3d.SetColor_Second(0, 4, 4, 0, Color.Cyan);
Ojw.CMessage.Write("Clicked 9");
SendValue(1, 100, 0, 0, 0, 0, 0, 0);
}
else if (m_CJoy.IsUp_Event(Ojw.CJoystick.PadKey.Button7) == true)
{
m_C3d.SetColor_Second(0, 4, 4, 0, Color.Black);
SendValue(1, 0, 0, 0, 0, 0, 0, 0);
}
if (m_CJoy.IsDown_Event(Ojw.CJoystick.PadKey.Button8) == true)
{
m_C3d.SetColor_Second(1, 5, 5, 0, Color.Cyan);
Ojw.CMessage.Write("Clicked 10");
SendValue(0, 0, 1, 100, 0, 0, 0, 0);
}
else if (m_CJoy.IsUp_Event(Ojw.CJoystick.PadKey.Button8) == true)
{
m_C3d.SetColor_Second(1, 5, 5, 0, Color.Black);
SendValue(0, 0, 1, 0, 0, 0, 0, 0);
}
#endif
// 이 부분이 어떤 버튼이 눌리는지를 화면상에 뿌려준다.
for (int i = 0; i < 30; i++)
{
if (m_CJoy.IsDown_Event((Ojw.CJoystick.PadKey)i) == true)
{
Ojw.CMessage.Write("Button Down{0}", i);
}
if (m_CJoy.IsUp_Event((Ojw.CJoystick.PadKey)i) == true)
{
Ojw.CMessage.Write("Button Up{0}", i);
}
}
}
#endregion JoyStick
}
private void pad_check_data()
{
double mecFB = 0;
double mecRL = 0;
double mecT = 0;
int inside = 0;
if (mecanumMode == true)//메카넘모드일때
{
if (pad.dY1 > 0.52 | pad.dY1 < 0.48)
{
mecFB = -(pad.dY1 - 0.5) * mecanumSpeed * mecanumAdd;
}
if (pad.dX1 > 0.52 | pad.dX1 < 0.48)
{
mecRL = (pad.dX1 - 0.5) * mecanumSpeed * mecanumAdd;
}
/*if (pad.dX0 > 0.55 | pad.dX0 < 0.45)
* {
* mecT = (pad.dX0 - 0.5) * mecanumSpeed * mecanumAdd;
* light = true;
* }*/
if (pad.Slide > 0.52 | pad.Slide < 0.48)
{
mecT = -(pad.Slide - 0.5) * mecanumSpeed * mecanumAdd;
}
if (pad.dX0 > 0.52 | pad.dX0 <0.48 | pad.dY0> 0.52 | pad.dY0 < 0.48)
{
mecFB = -(pad.dY0 - 0.5) * mecanumSpeed * mecanumAdd2;
mecT = (pad.dX0 - 0.5) * mecanumSpeed * mecanumAdd2;
/*if (mecFB < 0)
* {
* mecT = -mecT;
* }*/
}
if (pad.IsDown(Ojw.CJoystick.PadKey.Button1) == true)
{
// A 보정 기능
inside = 100;
}
if (pad.IsDown(Ojw.CJoystick.PadKey.POVUp) == true) //위 버튼
{
mecFB = mecanumSpeed;
}
else if (pad.IsDown(Ojw.CJoystick.PadKey.POVDown) == true) //아래 버튼
{
mecFB = -mecanumSpeed;
}
if (pad.IsDown(Ojw.CJoystick.PadKey.POVRight) == true)
{
mecRL = mecanumSpeed;
}
else if (pad.IsDown(Ojw.CJoystick.PadKey.POVLeft) == true)
{
mecRL = -mecanumSpeed;
}
motor.Set_Turn(30, (int)(-mecFB + mecRL + mecT - inside));
motor.Set_Turn(31, (int)(-mecFB - mecRL + mecT + (2 * inside)));
motor.Set_Turn(32, (int)(mecFB - mecRL + mecT - (2 * inside)));
motor.Set_Turn(33, (int)(mecFB + mecRL + mecT + inside));
motor.Send_Motor(10);
motor.Wait(10);
}
else//걷기모드일때
{
if (!walking) //걷고있지 않을때
{
if (pad.IsDown_Event(Ojw.CJoystick.PadKey.POVUp) == true) //위 버튼
{
btnWalkFront_Click(null, null);
}
else if (pad.IsDown_Event(Ojw.CJoystick.PadKey.POVDown) == true) //아래 버튼
{
btnWalkBack_Click(null, null);
}
else if (pad.IsDown_Event(Ojw.CJoystick.PadKey.POVRight) == true)
{
btnWalkTurnRight_Click(null, null);
}
else if (pad.IsDown_Event(Ojw.CJoystick.PadKey.POVLeft) == true)
{
btnWalkTurnLeft_Click(null, null);
}
//X버튼
if (pad.IsDown_Event(Ojw.CJoystick.PadKey.Button3) == true)
{
btnStairLeft_Click(null, null);
}
if (pad.IsDown_Event(Ojw.CJoystick.PadKey.Button4) == true)
{
btnStairRight_Click(null, null);
}
}
//B 버튼
if (pad.IsDown(Ojw.CJoystick.PadKey.Button2) == true)
{
btnWalkStop_Click(null, null);
}
}
//왼쪽 트리거 버튼
if (pad.IsDown_Event(Ojw.CJoystick.PadKey.Button5) == true) // 보행 모드
{
if (mecanumMode == true) //메카넘 모드일때
{
btnTransformToWalk_Click(null, null);
}
else
{
btnStandPose_Click(null, null);
}
}
//오른쪽 트리거 버튼
if (pad.IsDown_Event(Ojw.CJoystick.PadKey.Button6) == true) // 메카넘 모드 버튼
{
if (mecanumMode == false) //보행 모드일때
{
btnTransformToMecanum_Click(null, null);
}
else
{
btnMecanumPose_Click(null, null);
}
}
if (pad.IsDown_Event(Ojw.CJoystick.PadKey.Button7) == true)
{
// BACK
motor.SetTorq(false);
}
if (pad.IsDown_Event(Ojw.CJoystick.PadKey.Button8) == true)
{
// START
motor.SetTorq(true);
}
}
