public void HandleSixaxis(byte[] gyro, byte[] accel, DS4State state)
{
int currentX = (short)((ushort)(gyro[0] << 8) | gyro[1]) / 64;
int currentY = (short)((ushort)(gyro[2] << 8) | gyro[3]) / 64;
int currentZ = (short)((ushort)(gyro[4] << 8) | gyro[5]) / 64;
int AccelX = (short)((ushort)(accel[2] << 8) | accel[3]) / 256;
int AccelY = (short)((ushort)(accel[0] << 8) | accel[1]) / 256;
int AccelZ = (short)((ushort)(accel[4] << 8) | accel[5]) / 256;
if ((AccelX == 0) && (AccelY == 0) && (AccelZ == 0))
{
return;
}
if (SixAccelMoved != null)
{
SixAxis sPrev = new SixAxis(lastGyroX, lastGyroY, lastGyroZ, lastAX, lastAY, lastAZ);
SixAxis now = new SixAxis(currentX, currentY, currentZ, AccelX, AccelY, AccelZ, sPrev);
SixAxisEventArgs args = new SixAxisEventArgs(state.ReportTimeStamp, now);
SixAccelMoved(this, args);
}
lastGyroX = currentX;
lastGyroY = currentY;
lastGyroZ = currentZ;
lastAX = AccelX;
lastAY = AccelY;
lastAZ = AccelZ;
}
public SixAxis(int X, int Y, int Z, int aX, int aY, int aZ, SixAxis prevAxis = null)
{
gyroX = X;
gyroY = Y;
gyroZ = Z;
accelX = aX;
accelY = aY;
accelZ = aZ;
previousAxis = prevAxis;
if (previousAxis != null)
{
deltaX = X - previousAxis.gyroX;
deltaY = Y - previousAxis.gyroY;
deltaZ = Z - previousAxis.gyroZ;
}
}
public SixAxisEventArgs(DateTime utcTimestamp, SixAxis sa)
{
sixAxis = sa;
timeStamp = utcTimestamp;
}