public int Get(ref GameControllerValues toFill, uint idx)
{
/* set the device mask bits, these are global */
_gpInts[16] = (int)_maskBits;
const uint numDwords = 17; /* only send params to be read */
return(SyncGet(ref toFill, numDwords));
}
public int Sync(ref GameControllerValues toFill, uint rumbleL, uint rumbleR, uint ledCode, uint controlFlags, uint idx)
{
/* save commands */
_gpInts[20] = (int)rumbleL;
_gpInts[21] = (int)rumbleR;
_gpInts[22] = (int)ledCode;
_gpInts[23] = (int)controlFlags;
/* set the device mask bits, these are global */
_gpInts[16] = (int)_maskBits;
return(SyncGet(ref toFill, (uint)_gpInts.Length));
}
void Awake()
{
GameObject[] objs = GameObject.FindGameObjectsWithTag("GameController");
if (objs.Length > 1)
{
Destroy(this.gameObject);
}
savedValues = new GameControllerValues();
DontDestroyOnLoad(this.gameObject);
gameRandom = new System.Random();
}
//////////////////////////////////////
/// Debug helper functions
//////////////////////////////////////
void printGamepadAxes()
{
GameControllerValues values = new GameControllerValues();
js0.GetAllValues(ref values);
string output = "";
for (int i = 0; i < values.axes.Length; ++i)
{
output += values.axes[i] + ",";
}
Debug.Print(output);
}
void printGamepadButtons()
{
GameControllerValues values = new GameControllerValues();
js0.GetAllValues(ref values);
string output = "";
for (int i = 0; i < 15; ++i)
{
uint current = values.btns & 0x1;
values.btns = values.btns >> 1;
output += current + ",";
}
Debug.Print(output);
}
static void LoadGameController()
{
string directoryPath = Application.persistentDataPath + "/" + fileSlot;
if (File.Exists(directoryPath + "/GameController.save"))
{
GameControllerValues loadedController = new GameControllerValues();
BinaryFormatter bf = new BinaryFormatter();
FileStream file = File.Open(directoryPath + "/GameController.save", FileMode.Open);
loadedController = (GameControllerValues)bf.Deserialize(file);
file.Close();
Commands.GetGameCont().LoadGameControllerData(loadedController);
}
else
{
Debug.Log("No save file found for slot!");
}
}
/**
* Interface for anything that provides gamepad/joystick values (could be from a host pc or from USB attached gamepad).
* @return Negative If values could not be retrieved due to connection issue. toFill is cleared.
* Zero if values are stale (no new data). toFill is left untouched.
* Positive if values are updated. toFill is filled in.
*/
private int SyncGet(ref GameControllerValues toFill, uint numDwords)
{
/* always get latest data for now */
updateCnt = 0;
int ret = CTRE.Native.HDU.GetJoy(ref updateCnt, _gpInts, (uint)numDwords, _gpFlts, (uint)_gpFlts.Length);
if (ret < 0)
{
/* negative error code means data is unreliable */
if (toFill != null)
{
toFill.Copy(GameControllerValues.ZeroGameControllerValues);
}
/* on the next poll, always get latest */
updateCnt = 0;
}
else if (ret == 0)
{
/* no changes*/
}
else
{
/* new data, copy it over */
if (toFill != null)
{
toFill.axes[0] = _gpFlts[0];
toFill.axes[1] = _gpFlts[1];
toFill.axes[2] = _gpFlts[2];
toFill.axes[3] = _gpFlts[3];
toFill.axes[4] = _gpFlts[4];
toFill.axes[5] = _gpFlts[5];
toFill.btns = (uint)_gpInts[0];
toFill.pov = _gpInts[1];
toFill.vid = (uint)_gpInts[6];
toFill.pid = (uint)_gpInts[7];
toFill.vendorSpecF = _gpFlts;
toFill.vendorSpecI = _gpInts;
toFill.flagBits = (uint)_gpInts[8];
}
}
return(ret);
}
/**
* This will allow for Logitech gamepads with DInput selected.
* Selecting XInput on the gamepad will cause joystick to
* disconnect (typically disabling robot).
* This is the default setting for freshly powered HEROs, and also what
* is hardcoded in previous HERO releases.
*/
//public static void EnableDInputDevices()
//{
// _maskBits = 0;
//}
/**
* This will allow for Logitech gamepads with XInput selected.
* Selecting Dinput on the gamepad will cause joystick to
* disconnect (typically disabling robot).
* This can be used to leverage the advanced features of the F710 series
* gamepad (analog triggers, vibration, more resolute axis data).
*/
//public static void EnableXInputDevices()
//{
// _maskBits = 2 + 4;
//}
public void SetSelectableXInputFilter(SelectableXInputFilter filter)
{
switch (filter)
{
case SelectableXInputFilter.BothDInputAndXInput:
_maskBits = 4;
break;
case SelectableXInputFilter.DInputDevices:
_maskBits = 0;
break;
case SelectableXInputFilter.XInputDevices:
_maskBits = 2 + 4;
break;
}
/* ignore return */
GameControllerValues gv = null;
Get(ref gv, index);
}
public void LoadGameControllerData(GameControllerValues loadedController)
{
savedValues.currentMode = loadedController.currentMode;
newGame = false;
}
public static void Main()
{
var casterDrive = new CasterDrive();
// uncomment this if you need to zero the swerves
/*while (true)
* {
* Debug.Print("Angle: " + casterDrive.casters[0].Angle + "\t" + casterDrive.casters[1].Angle + "\t" + casterDrive.casters[2].Angle);
* }*/
var cannon = new Cannon();
// TODO: Move controller stuff to operator input class
var controller = new GameController(UsbHostDevice.GetInstance());
Debug.Print("Program started");
var controllerValues = new GameControllerValues();
var stopwatch = new Stopwatch();
var watchdogListener = new Listener(false);
var shootModeToggler = new Toggler(true);
var shootListener = new Listener(true);
var zeroListener = new Listener(false);
while (true)
{
double dt = stopwatch.Duration;
stopwatch.Start();
controller.GetAllValues(ref controllerValues);
bool isEnabled = controller.GetButton(5);
if (isEnabled && controller.GetConnectionStatus() == UsbDeviceConnection.Connected)
{
Watchdog.Feed();
}
double turn = -controller.GetAxis(2);
casterDrive.Drive(new Vector2(-controller.GetAxis(0), controller.GetAxis(1)), turn);
bool shootMode = shootModeToggler.Get(isEnabled && controller.GetButton(1));
if (zeroListener.Get(controller.GetButton(3)))
{
Debug.Print("Zeroing Gyro");
casterDrive.ZeroGyro();
}
bool firing = isEnabled && shootListener.Get(controller.GetButton(6));
if (watchdogListener.Get(Watchdog.IsEnabled()))
{
cannon.Setpoint = cannon.Angle;
}
double adjust;
if (controllerValues.pov == 0)
{
adjust = 30.0 * dt;
}
else if (controllerValues.pov == 4)
{
adjust = -30.0 * dt;
}
else
{
adjust = 0.0;
}
cannon.Update(shootMode, firing, adjust);
//Debug.Print(controllerValues.pov +"");
//Debug.Print(dt +"");
//cannon.DebugPID();
/*
* leftMax = Math.Max(leftMax, casterDrive.casters[0].TurnCurrent);
* rightMax = Math.Max(rightMax, casterDrive.casters[1].TurnCurrent);
* backMax = Math.Max(backMax, casterDrive.casters[2].TurnCurrent);
* Debug.Print("Left: " + leftMax + "\tRight: " + rightMax + "\tBack: " + backMax);
*/
}
}
