protected override void OnNavigatedTo(System.Windows.Navigation.NavigationEventArgs e)
{
System.Diagnostics.Debug.WriteLine("OnNavigatedTo ");
cam = new VideoCamera( CameraSource.PrimaryCamera );
cam.Initialized += new EventHandler(cam_Initialized);
visualer = new CameraVisualizer();
visualer.SetSource(cam);
}
protected override void OnNavigatedTo(System.Windows.Navigation.NavigationEventArgs e)
{
System.Diagnostics.Debug.WriteLine("OnNavigatedTo ");
cam = new VideoCamera(CameraSource.PrimaryCamera);
cam.Initialized += new EventHandler(cam_Initialized);
visualer = new CameraVisualizer();
visualer.SetSource(cam);
}
// Use this for initialization
void Start()
{
float degreePerBuilding = 360 / numOfBuildings;
cubeNum = numOfBuildings / 2;
float currentDegree = 0f;
foreach (Transform child in transform)
{
child.transform.rotation = Quaternion.Euler(currentDegree, 90f, 0f);
currentDegree += degreePerBuilding;
}
visualizer = cameras.GetComponent <CameraVisualizer> ();
numRanges = visualizer._spectrum.Length / (numOfBuildings);
}
void Timer1Tick(object sender, System.EventArgs e)
{
GetData(); //retrieve updated values from the joystick
if (servo1on) //we check to see if our Phidget is still connected.
{
motorController.Text = "Connected"; //display the status of our phidget
}
else
{
motorController.Text = "Not Connected"; //display the status of our phidget
}
if (joyfound) //This variable was set as either true or false back in a directX function
{
joystick.Text = "Connected"; //we will display this information as well
rawAxis.Text =
"X:" + state.X + "\r\n" +
"Y:" + state.Y + "\r\n" +
"Z:" + state.Z + "\r\n" +
"Rx:" + state.Rx + "\r\n" +
"Ry:" + state.Ry + "\r\n" +
"Rz:" + state.Rz + "\r\n";
rawAxis.Text += "POV: " + state.GetPointOfView()[0] + "\r\n"; //another value sent out for debugging.
}
else
{
joystick.Text = "Not Connected"; //we will also display if there is no joystick connected
}
if (!serialPort1.IsOpen) //we will also need to check to make sure that our Pololu is connected.
{
try{
serialPort1.Open(); //try/catch allows us to try to something which could crash the program, but continue on even if it fails.
}
catch (Exception
c) {}
}
int HorzPort; //there are some variable that we might need for this section, which are commonly used in ROVs
int VertPort; //there are some variable that we might need for this section, which are commonly used in ROVs
int VertStar; //there are some variable that we might need for this section, which are commonly used in ROVs
int HorzStar; //there are some variable that we might need for this section, which are commonly used in ROVs
int[] servo = new int[8]; //there are some variable that we might need for this section, which are commonly used in ROVs
#endregion
//;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
//
//Customize this section for your control Scheme.
//
//;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
//pololuEnable = false; //the pololu unit, is coded to automatically parse through values and send it out.
//setting this variable to false, allows the student to write thier own process for the pololu unit.
//it defaults to true, which is the current state.
int slider = (int)state.GetSlider()[0];
pov = state.GetPointOfView(); //we would like to have input from the "top-hat" on the joystick.
buttons = state.GetButtons(); //we would also like to have input from the various joystick buttons.
bool[] pressed = new bool[buttons.Length]; //the native format of button input from the joystick, is not a program friendly way
for (int i = 0; i < buttons.Length; i++)
{ // to read it.
if (buttons[i] == 128)
{
pressed[i] = true;
} //what we will do is a little bit of programming magic, to make it more useable.
else
{
pressed[i] = false;
}
}
HorzPort = (yAxisDirection * state.Y) + (rxAxisDirection * state.Rz); // Sets variable for PulseWidthModulation using the joysticks
HorzStar = (yAxisDirection * state.Y) - (rxAxisDirection * state.Rz); // Sets variable for PWM using the joysticks
//determine if the sway button has been pressed
bool swayMode = false;
int swayButton = (int)swayButtonNUD.Value;
if (pressed[swayButton])
{
swayMode = true;
}
int swayComponent = (xAxisDirection * state.X);
if (!swayMode)
{
swayComponent = 0;
}
if (axisRadio.Checked)
{
VertPort = (zAxisDirection * state.Z) + (swayComponent); // Sets variable for PWM using the joysticks
VertStar = (zAxisDirection * state.Z) - (swayComponent); // Sets variable for PWM using the joysticks
}
else
{
VertPort = (zAxisDirection * slider) + (swayComponent); // Sets variable for PWM using the joysticks
VertStar = (zAxisDirection * slider) - (swayComponent); // Sets variable for PWM using the joysticks
}
/*
* if(pressed[0]&&pressed[1]){beltSwitch = 572 ;} //we want to do certain things when different joystick buttons are pressed.
* else{beltSwitch = -40 ;}
*/
/*
* if(pressed[2]){ //we want to do certain things when different joystick buttons are pressed.
* if(!joyDelay){
* if(camSwitch == 572){camSwitch = -40;} //this is a toggle of a relay. notice that it determines it's current state
* else{camSwitch = 572;} // and uses that to decide what to do next.
* joyDelay = true;
* }
* }
* if(!pressed[2]){
* joyDelay = false;}
*/
PerformJoystickClick(pressed[2], ref joyDelay, ref camSwitch);
PerformJoystickClick(pressed[3], ref joyDelay2, ref altCamSwitch);
/*
* if (pressed[3])
* { //we want to do certain things when different joystick buttons are pressed.
* if (!joyDelay2)
* {
* if (altCamSwitch == 572) { altCamSwitch = -40; } //this is a toggle of a relay. notice that it determines it's current state
* else { altCamSwitch = 572; } // and uses that to decide what to do next.
* joyDelay2 = true;
* }
* }
* if (!pressed[3])
* {
* joyDelay2 = false;
* }
*/
// if(camSwitch == 572){axis.Text+="Camera B" + "\r\n";}else{axis.Text+="Camera A" + "\r\n";} //we also want to display these values to help us debug our program.
// if(altCamSwitch ==572){axis.Text+="Alt A" + "\r\n";}else{ axis.Text+="Alt B" + "\r\n";} //we also want to display these values to help us debug our program.
Image img = new Bitmap(cameraDiagram.Width, cameraDiagram.Height);
CameraVisualizer.DrawVisual(ref img, (camSwitch != 572), (altCamSwitch == 572));
cameraDiagram.Image = img;
//camAngle = (int)((2.5)*(camAngle) + 3000);//analyze everything as a joystick input.
int midPoint = 3040;
int jumpAmt = 150; // 10 is slow but easy to control. 25 is a bit faster, much choppier, still easy to control.
//50 is a nicer speed,just as choppy as 25, same ease of use. 100 seems to match a slider, still choppy though. 150 is perfect. 200 deoesn't give any real improvement.
//we want to know when a button has been released. after a delay of x, then modify the camera angle, however if the button is released, then restart the count.
int delay = 1;
// axis.Text += "counter: " + counter + "\r\n"; //another value sent out for debugging.
//axis.Text += "POV: " + hat + "\r\n"; //another value sent out for debugging.
int hat = pov[0];
if (hat == -1)
{
counter = 0;
}
else
{
counter++;
}
if (counter == delay)
{
if (hat == 0)
{
camAngle -= jumpAmt;
} //controlling a motor with poportional control is difficult without using a proportional input.
if (hat == 9000)
{
camAngle = midPoint;
} //so we can work out a simple way to use buttons to control.
if (hat == 18000)
{
camAngle += jumpAmt;
}
if (hat == 27000)
{
camAngle = midPoint;
}
counter = 0;
}
camAngle = Limit_Device(camAngle, camMaxAngle, camMinAngle); //many of the devices we may use have hardware based max and min values,
// it is always good practice to ensure that they never get a value outside of their range.
cameraAngle1.Angle = camAngle;
int camVal = (int)((2.5) * (camSwitch) + 3000); //analyze everything as a joystick input.
int altCamVal = (int)((2.5) * (altCamSwitch) + 3000); //analyze everything as a joystick input.
//camAngle = (int)camBar.Value;
//the array of Servo objects, is used by the pololu, remember earlier when we mentioned the pololuEnable variable,
// this is how we would normally set the values for the pololu.
servo[0] = camAngle;
servo[1] = camVal; //battleswitch 1
servo[2] = altCamVal; // battleswitch 2
servo[3] = 3000; //3000 is the midpoint on the device and corresponds to a neutral position.
servo[4] = 3000; //For example, when dealing with motors, this is a stop position.
servo[5] = 3000;
servo[6] = 3000;
servo[7] = 3000;
//;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
//
//Do not Edit past this point.
//
//;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
#region hardcode B
#region Output
if (operate.Checked)
{
label6.Text = "On";
label6.ForeColor = Color.Green;
HorzPort = (int)func_axis_limit(HorzPort);
VertPort = (int)func_axis_limit(VertPort);
VertStar = (int)func_axis_limit(VertStar);
HorzStar = (int)func_axis_limit(HorzStar);
plb1.PowerLevel = VertPort;
plb2.PowerLevel = HorzPort;
plb3.PowerLevel = HorzStar;
plb4.PowerLevel = VertStar;
/*
* axis.Text += "HorzPort: " + HorzPort + "\r\n";
* axis.Text += "VertPort: " + VertPort + "\r\n";
* axis.Text += "VertStar: " + VertStar + "\r\n";
* axis.Text += "HorzStar: " + HorzStar + "\r\n";
*/
if (servo1on)
{
try
{
servo1.servos[0].Position = Limit_Device((int)(((0.052) * (HorzPort)) + 119), Phidget_Max, Phidget_Min); //sets the hardware's pin 0.
servo1.servos[1].Position = Limit_Device((int)(((0.052) * (VertPort)) + 119), Phidget_Max, Phidget_Min); //sets the hardware's pin 1.
servo1.servos[2].Position = Limit_Device((int)(((0.052) * (VertStar)) + 119), Phidget_Max, Phidget_Min); //sets the hardware's pin 2.
servo1.servos[3].Position = Limit_Device((int)(((0.052) * (HorzStar)) + 119), Phidget_Max, Phidget_Min); //sets the hardware's pin 3.
//
/*
* servo1.servos[4].Position = Limit_Device((int)(((0.052) * (HorzPort)) + 119), Phidget_Max, Phidget_Min);//sets the hardware's pin 4.
* servo1.servos[5].Position = Limit_Device((int)(((0.052) * (VertPort)) + 119), Phidget_Max, Phidget_Min);//sets the hardware's pin 5.
* servo1.servos[6].Position = Limit_Device((int)(((0.052) * (VertStar)) + 119), Phidget_Max, Phidget_Min);//sets the hardware's pin 6.
* servo1.servos[7].Position = Limit_Device((int)(((0.052) * (HorzStar)) + 119), Phidget_Max, Phidget_Min);//sets the hardware's pin 7.
*/
}
catch (Exception r) {
}
}
if (pololuEnable)
{
for (int i = 0; i < 8; i++)
{
int temp = Limit_Device(servo[i], Pololu_Max, Pololu_Min);
byte[] message = Create_Message(temp, i);
if (serialPort1.IsOpen)
{
serialPort1.Write(message, 0, 6);
}
}
}
}
else
{
label6.Text = "Off";
label6.ForeColor = Color.Red;
}
#endregion
}
