private void cBGPEnable_CheckedChanged(object sender, EventArgs e)
{
if (cBGPEnable.Checked)
{
try { ControlGamePad.Initialize(); }
catch { }
}
}
private void timer1_Tick(object sender, EventArgs e)
{
try
{
ControlGamePad.gamePad.Poll();
var datas = ControlGamePad.gamePad.GetBufferedData();
foreach (var state in datas)
{
lblgp.Text = state.Offset + " Value: " + state.Value.ToString();
processGamepad(state);
}
}
catch
{
try { ControlGamePad.Initialize(); timer1.Interval = 200; }
catch { timer1.Interval = 5000; }
}
}
private void processGamePadNew()
{
string command = "";
try
{
if (ControlGamePad.gamePad != null)
{
ControlGamePad.gamePad.Poll();
var datas = ControlGamePad.gamePad.GetBufferedData();
if (datas.Length > 0) // no trigger if no change in data
{
bool doJog = false;
var property = Properties.Settings.Default;
foreach (var state in datas)
{
string offset = state.Offset.ToString(); // execute gPButtonsx strings
int value = state.Value;
if ((value > 0) && (offset.IndexOf("Buttons") >= 0)) // Buttons
{
try
{
command = Properties.Settings.Default["gamePad" + offset].ToString(); // gP
if (command.IndexOf('#') >= 0)
{
processSpecialCommands(command);
}
else
{
processCommands(command);
}
}
catch (Exception)
{ }
return;
}
else if (offset.IndexOf("PointOfViewControllers0") >= 0)
{
command = "";
if (value == 0)
{
command = Properties.Settings.Default.gamePadPOVC00;
} // up
else if (value == 4500)
{
command = Properties.Settings.Default.gamePadPOVC01;
} // up-right
else if (value == 9000)
{
command = Properties.Settings.Default.gamePadPOVC02;
} // right
else if (value == 13500)
{
command = Properties.Settings.Default.gamePadPOVC03;
} // down-right
else if (value == 18000)
{
command = Properties.Settings.Default.gamePadPOVC04;
} // down
else if (value == 22500)
{
command = Properties.Settings.Default.gamePadPOVC05;
} // down-left
else if (value == 27000)
{
command = Properties.Settings.Default.gamePadPOVC06;
} // left
else if (value == 31500)
{
command = Properties.Settings.Default.gamePadPOVC07;
} // up-left
if (command.IndexOf('#') >= 0)
{
processSpecialCommands(command);
}
else
{
processCommands(command);
}
}
else if ((offset == "X") || (offset == "Y") || (offset == "Z") || (offset == "RotationZ"))
{
doJog = true;
if (!gamePadValue.ContainsKey(offset)) // just keep latest value
{
gamePadValue.Add(offset, value);
}
else
{
gamePadValue[offset] = value;
}
}
} // end foreach
if (doJog)
{ // execute analog joystick https://github.com/gnea/grbl/wiki/Grbl-v1.1-Jogging#joystick-implementation
gamePadSendString = "";
float maxSpeed = 0, maxValue = 0, minAxisSteps = 1000; // max. feed rate on axis
int jval, jdir, invert = 1;
int center = 32767, deadzone = 1000;
center = (int)Properties.Settings.Default.gamePadAnalogOffset;
deadzone = (int)Properties.Settings.Default.gamePadAnalogDead;
string axis = "X";
foreach (var item in gamePadValue.Where(kvp => Math.Abs(kvp.Value - center) <= deadzone).ToList())
{
gamePadValue.Remove(item.Key);
} // if value within deadzone, nothing to do
foreach (string key in gamePadValue.Keys) // find maxima, keep values as long as they are not < limit
{
jval = Math.Abs(gamePadValue[key] - center);
if ((gamePadValue[key] <= 0) || (gamePadValue[key] >= 65535))
{
jval = 32767;
}
maxValue = Math.Max(maxValue, jval);
axis = gamePadGetAssignedAxis(key);
maxSpeed = Math.Max(maxSpeed, grbl.getSetting(110 + getGrblSetupOffset(axis)));
minAxisSteps = Math.Min(minAxisSteps, grbl.getSetting(100 + getGrblSetupOffset(axis)));
}
if (maxValue > deadzone) // send move-command if any value is > limit; otherwise send jog-cancel
{
float feedRate = maxSpeed * (maxValue - deadzone) / (32767f - deadzone);
float minFeedRate = 1800 / minAxisSteps;
if (feedRate < minFeedRate)
{
feedRate = 1.1f * 1800 / minAxisSteps; // 10% above minimum speed
}
float stepWidth;
bool justOneAxis = (gamePadValue.Keys.Count <= 1);
foreach (string key in gamePadValue.Keys)
{
jdir = Math.Sign(gamePadValue[key] - center);
jval = Math.Abs(gamePadValue[key] - center);
if ((gamePadValue[key] <= 0) || (gamePadValue[key] >= 65535))
{
jval = 32767;
}
axis = gamePadGetAssignedAxis(key);
invert = gamePadGetAssignedDir(key);
// step width must be a bit longer to avoid finishing move within timer-interval
stepWidth = 1.2f * feedRate * jdir * invert * gamePadTimer.Interval / 60000; // s = v * dt 20% longer
stepWidth *= jval / maxValue;
if (justOneAxis && (jval <= (int)Properties.Settings.Default.gamePadAnalogMinimum))
{
gamePadSendString += string.Format("{0}{1:0.000}", axis, Properties.Settings.Default.gamePadAnalogMinStep);
feedRate = (float)Properties.Settings.Default.gamePadAnalogMinFeed;
gamePadTimer.Interval = 200;
}
else
{
gamePadSendString += string.Format("{0}{1:0.000}", axis, stepWidth);
gamePadTimer.Interval = 50;
}
}
if (_serial_form.getFreeBuffer() >= 99)
{
gamePadSendString = "G91" + gamePadSendString;
if (grbl.isMarlin)
{
gamePadSendString += ";";
}
gamePadSendString += string.Format("F{0:0}", feedRate);
sendCommands(gamePadSendString.Replace(",", "."), true);
}
}
else
{
sendRealtimeCommand(133); // Stop jogging
gamePadSendString = "";
}
}
} // end if datalength
else
{ // if (datas.Length > 0)
if ((gamePadSendString.Length > 0) && (_serial_form.getFreeBuffer() >= 99)) // keep sending commands if joystick is still on full speed
{
sendCommands(gamePadSendString.Replace(",", "."), true);
}
}
}
else
{ // if (ControlGamePad.gamePad == null)
try { ControlGamePad.Initialize(); gamePadTimer.Interval = 50; }
catch { gamePadTimer.Interval = 5000; }
}
}
catch // ControlGamePad.gamePad failed
{
try { ControlGamePad.Initialize(); gamePadTimer.Interval = 50; }
catch { gamePadTimer.Interval = 5000; }
}
}
