private void ButtonEvent(object sender, _3DxMouse._3DxMouse.ButtonEventArgs e)
{
//// Change the device?
// Show the buttons that are pressed
string gripper = "";
switch(e.ButtonMask.Pressed.ToString("X")){
case "1":
gripper = "grip";
break;
case "2":
case "3":
gripper = "release";
break;
}
if (gripper.Length > 0)
{
TCPSendMotionCoordinates(gripper);
this.ButtonLabel.Text = gripper;
}
//ResetCube();
}
private void MotionEvent(object sender, _3DxMouse._3DxMouse.MotionEventArgs e)
{
Vector3D tv = new Vector3D();
Vector3D rv = new Vector3D();
// Change the device?
_puckTimerDelay++;
// Currently Translations and Rotations arrive separately (T first, then R)
// but there is a firmware version that will deliver both together
// Translation Vector?
if (_puckTimerDelay>_puckTimerDeaySize && (e.TranslationVector != null || e.RotationVector != null))
{
double X = 0, Y = 0, Z = 0, rX = 0, rY = 0, rZ = 0;
if (e.TranslationVector != null)
{
X = e.TranslationVector.Y;
Y = -e.TranslationVector.X;
Z = e.TranslationVector.Z;
}
if (e.RotationVector != null)
{
rX = -e.RotationVector.X;
rY = -e.RotationVector.X;
rZ = -e.RotationVector.Z;
}
lblX.Text = X.ToString();
lblY.Text = Y.ToString();
lblZ.Text = Z.ToString();
// Swap axes from HID orientation to a right handed coordinate system that matches WPF model space
//tv.X = e.TranslationVector.X;
//tv.Y = -e.TranslationVector.Z;
//tv.Z = e.TranslationVector.Y;
TCPSendMotionCoordinates(String.Format("{0:0.00} {1:0.00} {2:0.00} {3:0.00} {4:0.00} {5:0.00}{6}", X * puckOutputScalingFactor, Y * puckOutputScalingFactor, Z * puckOutputScalingFactor, rX * puckOutputScalingFactor, rY * puckOutputScalingFactor, rZ * puckOutputScalingFactor, System.Environment.NewLine));
_puckTimerDelay = 0;
}
// Rotation Vector?
if (e.RotationVector != null)
{
//lblX.Text = e.RotationVector.X.ToString();
//lblY.Text = e.RotationVector.Y.ToString();
//lblZ.Text = e.RotationVector.Z.ToString();
//Swap axes from HID orientation to a right handed coordinate system that matches WPF model space
//TCPSendMotionCoordinates(String.Format("0 0 0 {0:0.00} {1:0.00} {2:0.00}{3}", X * puckOutputScalingFactor, Y * puckOutputScalingFactor, Z * puckOutputScalingFactor, System.Environment.NewLine));
}
//UpdateCube(tv, rv);
}