/// <summary>
/// UI操作下发数据
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void tmrUI_Tick(object sender, EventArgs e)
{
//LED及舵角操作
int iLed = this.trbLED.Value; //LED
int iSteering_Engine1 = trbSteering_Engine1.Value + 500; //舵机1
int iSteering_Engine2 = trbSteering_Engine2.Value + 500; //舵机2
//点击测试
sends = new JosystickSend();
sends.UpDown_Value_Y = trbVertical.Value; //垂直
sends.Forward_Back_Value_R = trbAround.Value; //前后
sends.Direc_Value_Z = trbRotate.Value; //旋转
sends.Side_Shift_Value_X = trbTranslation.Value; //平移
if (isAround) //前后
{
sends.Forward_Back_Value_R = trbAround.Value; //前后
sends.Side_Shift_Value_X = 128; //平移
sends.Direc_Value_Z = 128; //旋转
}
if (isRotate) //旋转
{
sends.Direc_Value_Z = trbRotate.Value; //旋转
sends.Forward_Back_Value_R = 128; //前后
sends.Side_Shift_Value_X = 128; //平移
}
if (isTranslation) //平移
{
sends.Side_Shift_Value_X = trbTranslation.Value; //平移
sends.Forward_Back_Value_R = 128; //前后
sends.Direc_Value_Z = 128; //旋转
}
byte[] sendDate = SendTransmitData(iLed, iSteering_Engine1, iSteering_Engine2, sends);
NetSendData(sendDate);//下发UI操作数据
}
/// <summary>
/// 下发数据组
/// </summary>
/// <param name="iLed">LED</param>
/// <param name="iSteering_Engine1">舵机1</param>
/// <param name="iSteering_Engine2">舵机2</param>
/// <param name="SendMotorData">手柄操作（手柄）/UI操作（测试）</param>
/// <returns></returns>
public byte[] SendTransmitData(int iLed, int iSteering_Engine1, int iSteering_Engine2, JosystickSend SendMotorData)
{
byte[] theData = new byte[27];
int inforData = GetInfoWord();
int index = 0;
//报文头
theData[index++] = 0xfe;
theData[index++] = 0xfe;
theData[index++] = Convert.ToByte(inforData / 256);
theData[index++] = Convert.ToByte(inforData % 256);;
//LED
theData[index++] = Convert.ToByte(iLed / 256); //高位
theData[index++] = Convert.ToByte(iLed % 256); //低位
theData[index++] = Convert.ToByte(iLed / 256); //高位
theData[index++] = Convert.ToByte(iLed % 256); //低位
//舵机1
theData[index++] = Convert.ToByte(iSteering_Engine1 / 256); //高位
theData[index++] = Convert.ToByte(iSteering_Engine1 % 256); //低位
//舵机2
theData[index++] = Convert.ToByte(iSteering_Engine2 / 256); //高位
theData[index++] = Convert.ToByte(iSteering_Engine2 % 256); //低位
//空值
for (int i = 0; i < 8; i++)
{
theData[index++] = 0x00;
}
//运动控制数据
theData[index++] = Convert.ToByte(SendMotorData.Forward_Back_Value_R); //电机前后运动控制值
theData[index++] = Convert.ToByte(SendMotorData.Side_Shift_Value_X); //电机平移运动控制值
theData[index++] = Convert.ToByte(SendMotorData.Direc_Value_Z); //电机转向运动控制值
theData[index++] = Convert.ToByte(SendMotorData.UpDown_Value_Y); //电机垂直运动控制值
byte sum = theData[0];
for (int i = 1; i <= index - 1; i++)
{
sum = Convert.ToByte(sum ^ theData[i]);
}
//校验和
theData[index++] = sum;
//结尾
theData[index++] = 0xfd;
theData[index++] = 0xfd;
return(theData);
}
/// <summary>
/// 手柄操作定时器
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void tmrHandle_Tick(object sender, EventArgs e)
{
//LED及舵角操作
int iLed = this.trbLED.Value; //LED
int iSteering_Engine1 = trbSteering_Engine1.Value + 500; //舵机1
int iSteering_Engine2 = trbSteering_Engine2.Value + 500; //舵机2
//手柄操作
JoystickHandle handle = joy.OnTimerCallback();
vscY.Value = Convert.ToInt32(handle.Ypos / 256); //上浮/下潜
hscX.Value = Convert.ToInt32(handle.Xpos / 256); //左移/右移
vscR.Value = Convert.ToInt32(handle.Rpos / 256); //前进后退
hscZ.Value = Convert.ToInt32(handle.Zpos / 256); //左转/右转
sends = new JosystickSend();
sends.UpDown_Value_Y = vscY.Value;//垂直
//左摇杆X轴数据处理
if (((handle.Rpos > 32757) && (handle.Rpos < 32777)) && ((handle.Zpos > 32757) && (handle.Zpos < 32777))) //判断右摇杆是否处于中间状态
{
sends.Side_Shift_Value_X = hscX.Value; //平移赋值
sends.Forward_Back_Value_R = 128; //R轴赋中值
sends.Direc_Value_Z = 128; //Z轴赋中值
}
else //右摇杆操作或者左摇杆与右摇杆同时操作
{
if ((handle.Zpos >= 32767) && (handle.Rpos <= 32767)) //第一象限
{
if (handle.Rpos <= (65535 - handle.Zpos)) //靠近R周
{
sends.Forward_Back_Value_R = vscR.Value; //向前走
sends.Direc_Value_Z = 128; //Z轴赋中值
}
else//靠近Z轴
{
sends.Direc_Value_Z = hscZ.Value; //旋转
sends.Forward_Back_Value_R = 128; //R轴赋中值
}
}
else if ((handle.Zpos < 32767) && (handle.Rpos <= 32767)) //第二象限
{
if (handle.Rpos <= handle.Zpos) //靠近R轴
{
sends.Forward_Back_Value_R = vscR.Value;
sends.Direc_Value_Z = 128;//Z轴赋中值
}
else //靠近Z轴
{
sends.Direc_Value_Z = hscZ.Value; //旋转
sends.Forward_Back_Value_R = 128; //R轴赋中值
}
}
else if ((handle.Zpos < 32767) && (handle.Rpos > 32767)) //第三象限
{
if (handle.Rpos < 65535 - handle.Zpos) //靠近Z周
{
sends.Direc_Value_Z = hscZ.Value;
sends.Forward_Back_Value_R = 128;//R轴赋中值
}
else //靠近R轴
{
sends.Forward_Back_Value_R = vscR.Value;
sends.Direc_Value_Z = 128;
}
}
else if ((handle.Zpos >= 32767) && (handle.Rpos > 32767)) //第四象限
{
if (handle.Rpos >= handle.Zpos) //靠近R轴
{
sends.Forward_Back_Value_R = vscR.Value;
sends.Direc_Value_Z = 128;//Z轴赋中值
}
else //靠近Z轴
{
sends.Direc_Value_Z = hscZ.Value;
sends.Forward_Back_Value_R = 128;//R轴赋中值
}
}
sends.Side_Shift_Value_X = 128;//平移中值
}
byte[] sendDate = SendTransmitData(iLed, iSteering_Engine1, iSteering_Engine2, sends);
NetSendData(sendDate);//下发手柄操作数据
}
