public StartMenu()
{
var types = Application.Current.GetType().GetTypeInfo().Assembly.GetTypes();
foreach (var t in types)
{
var p = t.GetTypeInfo().GetCustomAttributes <SceneMenuEntryAttribute>();
if (p.Count() > 0)
{
// TODO: Ordering!!
Items.Add(new MenuItem()
{
Destination = t, Details = p.First()
});
}
}
this.InitializeComponent();
ListItems.Loaded += (s, e) => { ListItems.SelectedIndex = 0; };
GamepadButtons old_buttons = GamepadButtons.None;
Task.Run(async() =>
{
while (Running)
{
await Task.Delay(1000 / 15);
if (Gamepad.Gamepads.Count > 0)
{
var buttons = Gamepad.Gamepads[0].GetCurrentReading().Buttons;
if (buttons.HasFlag(GamepadButtons.DPadDown) && !old_buttons.HasFlag(GamepadButtons.DPadDown))
{
var ignore = Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
if (ListItems.SelectedIndex < Items.Count - 1)
{
++ListItems.SelectedIndex;
}
});
}
if (buttons.HasFlag(GamepadButtons.DPadUp) && !old_buttons.HasFlag(GamepadButtons.DPadUp))
{
var ignore = Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
if (ListItems.SelectedIndex > 0)
{
--ListItems.SelectedIndex;
}
});
}
if (buttons.HasFlag(GamepadButtons.A) && !old_buttons.HasFlag(GamepadButtons.A))
{
var ignore = Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
var m = ListItems.SelectedItem as MenuItem;
Running = false;
Frame.Navigate(m.Destination);
});
}
old_buttons = buttons;
}
}
});
}
private GamePadButtonStatus ConvertButtonsFromMsft(GamepadButtons buttonsenum)
{
var gamepadbuttons = new GamePadButtonStatus();
if (buttonsenum.HasFlag((GamepadButtons)0))
{
gamepadbuttons.None = true;
}
if (buttonsenum.HasFlag((GamepadButtons)1))
{
gamepadbuttons.Menu = true;
}
if (buttonsenum.HasFlag((GamepadButtons)2))
{
gamepadbuttons.View = true;
}
if (buttonsenum.HasFlag((GamepadButtons)4))
{
gamepadbuttons.A = true;
}
if (buttonsenum.HasFlag((GamepadButtons)8))
{
gamepadbuttons.B = true;
}
if (buttonsenum.HasFlag((GamepadButtons)16))
{
gamepadbuttons.X = true;
}
if (buttonsenum.HasFlag((GamepadButtons)32))
{
gamepadbuttons.Y = true;
}
if (buttonsenum.HasFlag((GamepadButtons)64))
{
gamepadbuttons.Up = true;
}
if (buttonsenum.HasFlag((GamepadButtons)128))
{
gamepadbuttons.Down = true;
}
if (buttonsenum.HasFlag((GamepadButtons)256))
{
gamepadbuttons.Left = true;
}
if (buttonsenum.HasFlag((GamepadButtons)512))
{
gamepadbuttons.Right = true;
}
if (buttonsenum.HasFlag((GamepadButtons)1024))
{
gamepadbuttons.LeftShoulder = true;
}
if (buttonsenum.HasFlag((GamepadButtons)2048))
{
gamepadbuttons.RightShoulder = true;
}
if (buttonsenum.HasFlag((GamepadButtons)4096))
{
gamepadbuttons.LeftThumbstick = true;
}
if (buttonsenum.HasFlag((GamepadButtons)8192))
{
gamepadbuttons.RightThumbstick = true;
}
return(gamepadbuttons);
}
private GamePadButtonStatus ConvertButtonsFromMsft(GamepadButtons buttonsenum)
{
var gamepadbuttons = new GamePadButtonStatus();
if (buttonsenum.HasFlag((GamepadButtons)0))
gamepadbuttons.None = true;
if (buttonsenum.HasFlag((GamepadButtons)1))
gamepadbuttons.Menu = true;
if (buttonsenum.HasFlag((GamepadButtons)2))
gamepadbuttons.View = true;
if (buttonsenum.HasFlag((GamepadButtons)4))
gamepadbuttons.A = true;
if (buttonsenum.HasFlag((GamepadButtons)8))
gamepadbuttons.B = true;
if (buttonsenum.HasFlag((GamepadButtons)16))
gamepadbuttons.X = true;
if (buttonsenum.HasFlag((GamepadButtons)32))
gamepadbuttons.Y = true;
if (buttonsenum.HasFlag((GamepadButtons)64))
gamepadbuttons.Up = true;
if (buttonsenum.HasFlag((GamepadButtons)128))
gamepadbuttons.Down = true;
if (buttonsenum.HasFlag((GamepadButtons)256))
gamepadbuttons.Left = true;
if (buttonsenum.HasFlag((GamepadButtons)512))
gamepadbuttons.Right = true;
if (buttonsenum.HasFlag((GamepadButtons)1024))
gamepadbuttons.LeftShoulder = true;
if (buttonsenum.HasFlag((GamepadButtons)2048))
gamepadbuttons.RightShoulder = true;
if (buttonsenum.HasFlag((GamepadButtons)4096))
gamepadbuttons.LeftThumbstick = true;
if (buttonsenum.HasFlag((GamepadButtons)8192))
gamepadbuttons.RightThumbstick = true;
return gamepadbuttons;
}
private void DisplayControllerState(GamepadReading reading, GamepadButtons buttons)
{
LeftThumbstickState.Text = "Left Stick: " + Math.Round(reading.LeftThumbstickX, 1) + ", " + Math.Round(reading.LeftThumbstickY, 1);
RightThumbstickState.Text = "Right Stick: " + Math.Round(reading.RightThumbstickX, 1) + ", " + Math.Round(reading.RightThumbstickY, 1);
LeftTriggerState.Text = "Left Trigger: " + Math.Round(reading.LeftTrigger, 1);
RightTriggerState.Text = "Right Trigger: " + Math.Round(reading.RightTrigger, 1);
LeftBumperState.Text = "Left Bumper: " + buttons.HasFlag(GamepadButtons.LeftShoulder);
RightBumperState.Text = "Right Bumper: " + buttons.HasFlag(GamepadButtons.RightShoulder);
MenuState.Text = "Menu: " + buttons.HasFlag(GamepadButtons.Menu).ToString();
ViewState.Text = "View: " + buttons.HasFlag(GamepadButtons.View).ToString();
LeftThumbButtonState.Text = "Left Stick Button: " + buttons.HasFlag(GamepadButtons.LeftThumbstick).ToString();
RightThumbButtonState.Text = "Right Stick Button: " + buttons.HasFlag(GamepadButtons.RightThumbstick).ToString();
DPadUpState.Text = "D-Pad Up: " + buttons.HasFlag(GamepadButtons.DPadUp).ToString();
DPadDownState.Text = "D-Pad Down: " + buttons.HasFlag(GamepadButtons.DPadDown).ToString();
DPadLeftState.Text = "D-Pad Left: " + buttons.HasFlag(GamepadButtons.DPadLeft).ToString();
DPadRightState.Text = "D-Pad Right: " + buttons.HasFlag(GamepadButtons.DPadRight).ToString();
AState.Text = "A: " + buttons.HasFlag(GamepadButtons.A).ToString();
BState.Text = "B: " + buttons.HasFlag(GamepadButtons.B).ToString();
XState.Text = "X: " + buttons.HasFlag(GamepadButtons.X).ToString();
YState.Text = "Y: " + buttons.HasFlag(GamepadButtons.Y).ToString();
}
private async void DispatcherTimer_TickAsync(object sender, object e)
{
if (arduino != null)
{
string arduinoStatus = arduino.ReadBufferAndGetStatus();
ArduinoDisplay.Text = arduinoStatus;
if (arduino.IsSimulator)
{
ArduinoDisplay.Text += "\n(Simulator)";
}
}
if (functionRunningName != "" && functionRunningName.StartsWith("AIM"))
{
if (!isAiming)
{
if (targetSet)
{
SendCommand_Async("STOP");
if (functionRunningName == "AIM THEN FIRE")
{
SendCommand_Async("FIRE");
targetSet = false;
}
functionRunningName = "";
}
else
{
AimRobot_Async();
}
}
}
if (Gamepad.Gamepads.Count > 0)
{
controller = Gamepad.Gamepads.First(); // Get the first controller
GamepadReading reading = controller.GetCurrentReading(); // Get the controller's reading
GamepadButtons buttons = reading.Buttons; // Get the button enum from this reading
// Update button states on-screen
DisplayControllerState(reading, buttons);
// Controller Mapping
// ==================
// Left Stick : Steering (X) [Acceleration (Y)]
// Left Trigger : Acceleration
// Right Trigger : Deceleration
// D-Up : Follow Line
// D-Down : Goto Range
// D-Left : Complete Auto
// D-Right : Auto Aim and Fire 5x
// Right Bumper : Fire
// A : Auto Aim
// B : Stop Automation
// X : Record Start/Stop
// Y : Record Go
// View : Goto Start / Set Start
// Button Handlers
if (buttons.HasFlag(GamepadButtons.DPadUp))
{
buttonTimes[0] += 1;
}
else if (buttonTimes[0] > 0)
{
if (functionRunningName == "")
{
functionRunningName = "FOLLOW";
SendCommand_Async("FOLLOW");
}
buttonTimes[0] = 0;
}
if (buttons.HasFlag(GamepadButtons.DPadDown))
{
buttonTimes[1] += 1;
}
else if (buttonTimes[1] > 0)
{
if (functionRunningName == "")
{
functionRunningName = "GOTO RANGE";
SendCommand_Async("GOTO RANGE");
}
buttonTimes[1] = 0;
}
if (buttons.HasFlag(GamepadButtons.DPadLeft))
{
buttonTimes[2] += 1;
}
else if (buttonTimes[2] > 0)
{
if (functionRunningName == "")
{
functionRunningName = "COMPLETE";
}
buttonTimes[2] = 0;
}
if (buttons.HasFlag(GamepadButtons.DPadRight))
{
buttonTimes[3] += 1;
}
else if (buttonTimes[3] > 0)
{
if (functionRunningName == "" && inRange)
{
functionRunningName = "AIM THEN FIRE";
}
buttonTimes[3] = 0;
}
if (buttons.HasFlag(GamepadButtons.RightShoulder))
{
buttonTimes[4] += 1;
}
else if (buttonTimes[4] > 0)
{
if (functionRunningName == "" && inRange)
{
// Fire
SendCommand_Async("FIRE");
}
buttonTimes[4] = 0;
}
if (buttons.HasFlag(GamepadButtons.A))
{
buttonTimes[5] += 1;
}
else if (buttonTimes[5] > 0)
{
if (functionRunningName == "" && inRange)
{
targetSet = false;
functionRunningName = "AIM";
}
buttonTimes[5] = 0;
}
if (buttons.HasFlag(GamepadButtons.B))
{
buttonTimes[6] += 1;
}
else if (buttonTimes[6] > 0)
{
if (functionRunningName != "")
{
// Stop
functionRunningName = "";
SendCommand_Async("STOP");
}
buttonTimes[6] = 0;
}
if (buttons.HasFlag(GamepadButtons.X))
{
buttonTimes[7] += 1;
}
else if (buttonTimes[7] > 0)
{
if (functionRunningName == "")
{
functionRunningName = "RECORD";
SendCommand_Async("RECORD START");
}
else if (functionRunningName == "RECORD")
{
functionRunningName = "";
SendCommand_Async("RECORD STOP");
}
buttonTimes[7] = 0;
}
if (buttons.HasFlag(GamepadButtons.Y))
{
buttonTimes[8] += 1;
}
else if (buttonTimes[8] > 0)
{
if (functionRunningName == "")
{
functionRunningName = "RECORD GO";
SendCommand_Async("RECORD GO");
}
buttonTimes[8] = 0;
}
if (buttons.HasFlag(GamepadButtons.View))
{
buttonTimes[9] += 1;
if (functionRunningName == "" && buttonTimes[9] == viewButtonLong)
{
// Set START
SendCommand_Async("SETSTART");
}
}
else if (buttonTimes[9] > 0)
{
if (functionRunningName == "" && buttonTimes[9] < viewButtonLong)
{
functionRunningName = "GOTO START";
SendCommand_Async("GOTO START");
}
buttonTimes[9] = 0;
}
if (functionRunningName == "")
{
motorSpeeds = new double[] { 0, 0 };
if (manualMotorDrive)
{
motorSpeeds = new double[] { reading.LeftThumbstickY, reading.RightThumbstickY };
}
else
{
// Once done, remove rounding!
double steering = reading.LeftThumbstickX;
// Use either the left stick Y or the triggers for acceleration value:
double acceleration = reading.LeftTrigger - reading.RightTrigger; // Use triggers
//double acceleration = reading.LeftThumbstickY; // Use left stick Y
// Remove sensitivity around 0 zones
double zoneRadius = 0.1;
steering = -zoneRadius < steering && steering < zoneRadius ? 0 : steering;
acceleration = -zoneRadius < acceleration && acceleration < zoneRadius ? 0 : acceleration;
motorSpeeds = ComputeMotorSpeeds(steering, acceleration, buttons.HasFlag(GamepadButtons.LeftThumbstick) ? 0.5 : 1);
}
if (loopsUntilMotorSend <= 0)
{
SendCommand_Async("SETMOTORS " + Math.Round(motorSpeeds[0], 2).ToString() + "," + Math.Round(motorSpeeds[1], 2).ToString());
loopsUntilMotorSend = loopsUntilMotorSendReset;
}
else
{
loopsUntilMotorSend--;
}
}
FunctionDisplay.Text = functionRunningName;
}
}
private void g_Gamepad_OnButtonUp(object sender, GamepadButtons e)
{
if (e.HasFlag(GamepadButtons.A))
{
StopJump();
}
else if (e.HasFlag(GamepadButtons.X))
{
if (InHandItem != null)
InHandItem.FinishAction();
}
}
