private static void HandleXboxInputPanTilt(MainWindow mainWindow, PanTiltController panTilt, FiringController firingController,
XboxController handHeldController)
{
try
{
var convertedXboxInputX = ConvertXInputCoordinateToVelocity(handHeldController.LeftThumbStick.X);
var convertedXboxInputY = ConvertXInputCoordinateToVelocity(handHeldController.LeftThumbStick.Y);
Console.WriteLine("X Value Converted - " + convertedXboxInputX);
//Pan Up & Pan Down for Manual Tracking
if (convertedXboxInputY <= PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarDown && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
s_PanTiltTooFarUp = false;
mainWindow.CannonYVelocity = convertedXboxInputY;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (convertedXboxInputY >= -1 * PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarUp && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
mainWindow.CannonYVelocity = convertedXboxInputY;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarDown = false;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (convertedXboxInputY <= PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarDown && mainWindow.TrackingMode == TrackingMode.AUDIBLE)
{
s_PanTiltTooFarUp = false;
mainWindow.CannonYVelocity = convertedXboxInputY;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (convertedXboxInputY >= -1 * PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarUp && mainWindow.TrackingMode == TrackingMode.AUDIBLE)
{
mainWindow.CannonYVelocity = convertedXboxInputY;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarDown = false;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (mainWindow.CannonXVelocity >= -1 * PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarRight && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
mainWindow.CannonXVelocity = convertedXboxInputX;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarLeft = false;
panTilt.PanX(mainWindow.CannonXVelocity);
}
if (mainWindow.CannonXVelocity <= PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarLeft && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
mainWindow.CannonXVelocity = convertedXboxInputX;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarRight = false;
panTilt.PanX(mainWindow.CannonXVelocity);
}
}
//anything goes wrong, stop pantilt and crash the app
catch (Exception ex)
{
panTilt.Disengage();
throw ex;
}
}
/// <summary>
/// Returns the singleton instance. We will always have only 1 pan/tilt controller
/// </summary>
/// <returns></returns>
public static PanTiltController GetOrCreatePanTiltController()
{
if (s_Singleton == null)
{
s_Singleton = new PanTiltController();
}
return s_Singleton;
}
/// <summary>
/// Returns the singleton instance. We will always have only 1 pan/tilt controller
/// </summary>
/// <returns></returns>
public static PanTiltController GetOrCreatePanTiltController()
{
if (s_Singleton == null)
{
s_Singleton = new PanTiltController();
}
return(s_Singleton);
}
private static void HandlePanTilt(MainWindow mainWindow, PanTiltController panTilt, FiringController firingController,
Key key)
{
try
{
//Pan Up
if (key == System.Windows.Input.Key.Down && !s_PanTiltTooFarDown && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
if (mainWindow.CannonYVelocity <= PAN_TILT_SPEED_LIMIT)
{
mainWindow.CannonYVelocity += 20;
}
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarUp = false;
panTilt.PanY(mainWindow.CannonYVelocity);
}
else if (key == System.Windows.Input.Key.Up && !s_PanTiltTooFarUp && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
if (mainWindow.CannonYVelocity >= -1 * PAN_TILT_SPEED_LIMIT)
{
mainWindow.CannonYVelocity -= 20;
}
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarDown = false;
panTilt.PanY(mainWindow.CannonYVelocity);
}
else if (key == System.Windows.Input.Key.Right && !s_PanTiltTooFarRight && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
if (mainWindow.CannonXVelocity >= -1 * PAN_TILT_SPEED_LIMIT)
{
mainWindow.CannonXVelocity -= 20;
}
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarLeft = false;
panTilt.PanX(mainWindow.CannonXVelocity);
}
else if (key == System.Windows.Input.Key.Left && !s_PanTiltTooFarLeft && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
if (mainWindow.CannonXVelocity <= PAN_TILT_SPEED_LIMIT)
{
mainWindow.CannonXVelocity += 20;
}
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarRight = false;
panTilt.PanX(mainWindow.CannonXVelocity);
}
}
//anything goes wrong, stop pantilt and crash the app
catch (Exception ex)
{
panTilt.Disengage();
throw ex;
}
}
private static void HandlePanTilt(MainWindow mainWindow, PanTiltController panTilt, FiringController firingController,
Key key)
{
try
{
//Pan Up
if (key == System.Windows.Input.Key.Down && !s_PanTiltTooFarDown && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
if (mainWindow.CannonYVelocity <= PAN_TILT_SPEED_LIMIT)
{
mainWindow.CannonYVelocity += 20;
}
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarUp = false;
panTilt.PanY(mainWindow.CannonYVelocity);
}
else if (key == System.Windows.Input.Key.Up && !s_PanTiltTooFarUp && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
if (mainWindow.CannonYVelocity >= -1 * PAN_TILT_SPEED_LIMIT)
{
mainWindow.CannonYVelocity -= 20;
}
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarDown = false;
panTilt.PanY(mainWindow.CannonYVelocity);
}
else if (key == System.Windows.Input.Key.Right && !s_PanTiltTooFarRight && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
if (mainWindow.CannonXVelocity >= -1 * PAN_TILT_SPEED_LIMIT)
{
mainWindow.CannonXVelocity -= 20;
}
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarLeft = false;
panTilt.PanX(mainWindow.CannonXVelocity);
}
else if (key == System.Windows.Input.Key.Left && !s_PanTiltTooFarLeft && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
if (mainWindow.CannonXVelocity <= PAN_TILT_SPEED_LIMIT)
{
mainWindow.CannonXVelocity += 20;
}
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarRight = false;
panTilt.PanX(mainWindow.CannonXVelocity);
}
}
//anything goes wrong, stop pantilt and crash the app
catch (Exception ex)
{
panTilt.Disengage();
throw ex;
}
}
public MainWindow()
{
// one sensor is currently supported
this.kinectSensor = KinectSensor.GetDefault();
// get the coordinate mapper
this.coordinateMapper = this.kinectSensor.CoordinateMapper;
// open the reader for the body frames
this.bodyFrameReader = this.kinectSensor.BodyFrameSource.OpenReader();
this.colorFrameReader = this.kinectSensor.ColorFrameSource.OpenReader();
this.audioReader = this.kinectSensor.AudioSource.OpenReader();
// get the depth (display) extents
FrameDescription jointFrameDescription = this.kinectSensor.DepthFrameSource.FrameDescription;
FrameDescription colorFrameDescription = this.kinectSensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Bgra);
FrameDescription infraredFrameDescription = this.kinectSensor.InfraredFrameSource.FrameDescription;
colorRenderer = new ColorFrameRenderer(colorFrameDescription.Width, colorFrameDescription.Height, jointFrameDescription.Width, jointFrameDescription.Height,
infraredFrameDescription.Width, infraredFrameDescription.Height);
var drawingGroup = new DrawingGroup();
var drawingImage = new DrawingImage(drawingGroup);
hudRenderer = new HudRenderer(drawingGroup, drawingImage, colorFrameDescription.Width, colorFrameDescription.Height);
AudioSource audioSource = this.kinectSensor.AudioSource;
// Allocate 1024 bytes to hold a single audio sub frame. Duration sub frame
// is 16 msec, the sample rate is 16khz, which means 256 samples per sub frame.
// With 4 bytes per sample, that gives us 1024 bytes.
this.audioBuffer = new byte[audioSource.SubFrameLengthInBytes];
this.colorFrameReader.FrameArrived += this.Reader_ColorFrameArrived;
this.audioReader.FrameArrived += audioReader_FrameArrived;
//on startup hide the audio meter
AudioMeterVisibility = Visibility.Hidden;
this.infraredFrameReader = this.kinectSensor.InfraredFrameSource.OpenReader();
//Infrared
// open the reader for the depth frames
this.infraredFrameReader = this.kinectSensor.InfraredFrameSource.OpenReader();
// wire handler for frame arrival
this.infraredFrameReader.FrameArrived += this.colorRenderer.Reader_InfraredFrameArrived;
// set IsAvailableChanged event notifier
this.kinectSensor.IsAvailableChanged += this.Sensor_IsAvailableChanged;
// open the sensor
this.kinectSensor.Open();
// set the status text TODO: change namespace name in resources
this.StatusText = this.kinectSensor.IsAvailable ? Microsoft.Samples.Kinect.BodyBasics.Properties.Resources.RunningStatusText
: Microsoft.Samples.Kinect.BodyBasics.Properties.Resources.NoSensorStatusText;
// use the window object as the view model in this simple example
this.DataContext = this;
// initialize the components (controls) of the window
this.InitializeComponent();
//register the code which will tell the system what to do when keys are pressed
SetupKeyHandlers();
//initialize
panTilt = PanTiltController.GetOrCreatePanTiltController();
firingControl = FiringController.GetOrCreateFiringController();
var panTiltErr = panTilt.TryInitialize();
var firingErr = firingControl.TryInitialize();
if (panTiltErr != null)
{
//crash the app. we can't do anything if it doesn't intialize
throw panTiltErr;
}
if (firingErr != null)
{
//crash the app. we can't do anything if it doesn't intialize
throw firingErr;
}
string safetyText;
if (this.firingControl.VirtualSafetyOn)
{
safetyText = Microsoft.Samples.Kinect.BodyBasics.Properties.Resources.SafetyDisengagedText;
}
else
{
safetyText = Microsoft.Samples.Kinect.BodyBasics.Properties.Resources.SafetyEngagedText;
}
panTilt.TryInitialize();
//draw the headsup display initially
this.hudRenderer.RenderHud(new HudRenderingParameters()
{
CannonX = this.CannonX,
CannonY = this.CannonY,
//CannonTheta = this.CannonTheta,
StatusText = this.statusText,
SystemReady = (this.kinectSensor.IsAvailable && this.kinectSensor.IsOpen && this.panTilt.IsReady),
FrameRate = this.FrameRate,
TrackingMode = this.trackingMode,
FiringSafety = this.firingControl.VirtualSafetyOn,
FiringSafetyText = safetyText
});
//set voice synth to Hazel
this.voiceSynth.SelectVoice("Microsoft Hazel Desktop");
this.voiceSynth.SpeakAsync("Kinect Cannon Fully Initialized");
//debug start frame rate counter
FPSTimerStart();
// Try to use the controller
}
//Static for now... not sure if we actually need to make this class instatiable
public static async Task HandleInput(MainWindow mainWindow, PanTiltController panTilt, FiringController firingController,
Key?key, XboxController handHeldController)
{
////////////////////////////////////////////////////////////////////////////
//Manual Control Logic
////////////////////////////////////////////////////////////////////////////
if (panTilt.IsReady)
{
if (key != null)
{
HandlePanTilt(mainWindow, panTilt, firingController, (Key)key);
}
else
{
HandleXboxInputPanTilt(mainWindow, panTilt, firingController, handHeldController);
}
}
if (key == Key.NumPad1 || key == Key.D1 || handHeldController.IsXPressed)
{
mainWindow.TrackingMode = TrackingMode.MANUAL;
mainWindow.AudioMeterVisibility = Visibility.Hidden;
}
else if (key == Key.NumPad2 || key == Key.D2 || handHeldController.IsAPressed)
{
mainWindow.TrackingMode = TrackingMode.SKELETAL;
mainWindow.AudioMeterVisibility = Visibility.Hidden;
}
else if (key == Key.NumPad3 || key == Key.D3 || handHeldController.IsBPressed)
{
mainWindow.TrackingMode = TrackingMode.AUDIBLE;
mainWindow.AudioMeterVisibility = Visibility.Visible;
}
//The ordering rational of the key assignments is based on
//the bottom row of the keyboard
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.Z)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.A;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.X)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.B;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.C)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.C;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.V)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.D;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.B)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.E;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.N)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.F;
}
else if (key == Key.NumPad4 || key == Key.D4 || handHeldController.IsYPressed)
{
//toggle 'night vision' mode
if (mainWindow.DisplayMode == DisplayMode.INFRARED)
{
mainWindow.DisplayMode = DisplayMode.COLOR;
}
else
{
mainWindow.DisplayMode = DisplayMode.INFRARED;
}
//check to see if this is the UI thread, xbox controller uses different thread
if (!mainWindow.Dispatcher.CheckAccess())
{
await mainWindow.Dispatcher.BeginInvoke((Action)(() => {
mainWindow.CameraFeedImageSource.Source = mainWindow.ImageSource;
}));
}
else
{
//we're on the UI thread directly change the UI element image source, keyboard stroke hits this path
mainWindow.CameraFeedImageSource.Source = mainWindow.ImageSource;
}
}
if (handHeldController.IsDPadRightPressed)
{
mainWindow.RequestedTrackedSkeleton++;
//Console.WriteLine(mainWindow.RequestedTrackedSkeleton);
}
if (handHeldController.IsDPadLeftPressed)
{
mainWindow.RequestedTrackedSkeleton--;
}
if (handHeldController.IsDPadDownPressed)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.A;
}
/////////////////////////////////////////////////////////
//Rage Safteys - Makey Makey Board Provides These Events
/////////////////////////////////////////////////////////
try
{
//mainWindow.Cannon is too high
if (key == Key.A && !s_PanTiltTooFarUp)
{
s_PanTiltTooFarUp = true;
mainWindow.CannonYVelocity = 0;
panTilt.PanY(mainWindow.CannonYVelocity);
}
//mainWindow.Cannon is too low
else if (key == Key.S && !s_PanTiltTooFarDown)
{
s_PanTiltTooFarDown = true;
mainWindow.CannonYVelocity = 0;
panTilt.PanY(mainWindow.CannonYVelocity);
}
//mainWindow.Cannon is too far right
else if (key == Key.D && !s_PanTiltTooFarRight)
{
s_PanTiltTooFarRight = true;
mainWindow.CannonXVelocity = 0;
panTilt.PanX(mainWindow.CannonXVelocity);
}
//mainWindow.Cannon is too far left
else if (key == Key.F && !s_PanTiltTooFarLeft)
{
s_PanTiltTooFarLeft = true;
mainWindow.CannonXVelocity = 0;
panTilt.PanX(mainWindow.CannonXVelocity);
}
}
//if anything at all goes wrong we gotta stop the pantilt and crash the app
catch (Exception ex)
{
panTilt.Disengage();
throw ex;
}
if ((key == Key.P || (handHeldController.IsLeftShoulderPressed & handHeldController.IsRightShoulderPressed)) && firingController.VirtualSafetyOn)
{
//keep safety from being toggled too fast
if ((DateTime.Now - s_LastDisarmTime > s_DisarmWaitTime) || s_LastDisarmTime == null)
{
s_LastDisarmTime = DateTime.Now;
//toggle the safety
firingController.VirtualSafetyOn = !firingController.VirtualSafetyOn;
s_VoiceSynth.SelectVoice("Microsoft Hazel Desktop");
s_VoiceSynth.SpeakAsync("System Armed, Pull both triggers simultaneously to fire!");
}
//handHeldController.Vibrate(40.0, 40.0, 10.0);
}
else if ((key == Key.P || (handHeldController.IsLeftShoulderPressed & handHeldController.IsRightShoulderPressed)) && !firingController.VirtualSafetyOn)
{
//keep safety from being toggled too fast
if (DateTime.Now - s_LastDisarmTime > s_DisarmWaitTime)
{
s_LastDisarmTime = DateTime.Now;
//toggle the safety
firingController.VirtualSafetyOn = !firingController.VirtualSafetyOn;
s_VoiceSynth.SelectVoice("Microsoft Hazel Desktop");
s_VoiceSynth.SpeakAsync("System Disarmed!");
}
}
//MAYBE WE SHOULD PICK A HARDER TO PRESS KEY THAN THE SPACE BAR?
if (key == Key.Space || (handHeldController.RightTrigger > 250 && handHeldController.LeftTrigger > 250))
{
handHeldController.Vibrate(VIBRATION_INTENSITY, VIBRATION_INTENSITY, new TimeSpan(1));
await firingController.Fire(350);
}
}
//Static for now... not sure if we actually need to make this class instatiable
public static async Task HandleInput(MainWindow mainWindow, PanTiltController panTilt, FiringController firingController,
Key? key, XboxController handHeldController){
////////////////////////////////////////////////////////////////////////////
//Manual Control Logic
////////////////////////////////////////////////////////////////////////////
if (panTilt.IsReady)
{
if (key != null)
{
HandlePanTilt(mainWindow, panTilt, firingController, (Key)key);
}
else
{
HandleXboxInputPanTilt(mainWindow, panTilt, firingController, handHeldController);
}
}
if (key == Key.NumPad1 || key == Key.D1 || handHeldController.IsXPressed)
{
mainWindow.TrackingMode = TrackingMode.MANUAL;
mainWindow.AudioMeterVisibility = Visibility.Hidden;
}
else if (key == Key.NumPad2 || key == Key.D2 || handHeldController.IsAPressed)
{
mainWindow.TrackingMode = TrackingMode.SKELETAL;
mainWindow.AudioMeterVisibility = Visibility.Hidden;
}
else if (key == Key.NumPad3 || key == Key.D3 || handHeldController.IsBPressed)
{
mainWindow.TrackingMode = TrackingMode.AUDIBLE;
mainWindow.AudioMeterVisibility = Visibility.Visible;
}
//The ordering rational of the key assignments is based on
//the bottom row of the keyboard
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.Z)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.A;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.X)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.B;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.C)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.C;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.V)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.D;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.B)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.E;
}
else if (mainWindow.TrackingMode == TrackingMode.SKELETAL &&
key == Key.N)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.F;
}
else if (key == Key.NumPad4 || key == Key.D4 || handHeldController.IsYPressed)
{
//toggle 'night vision' mode
if (mainWindow.DisplayMode == DisplayMode.INFRARED)
{
mainWindow.DisplayMode = DisplayMode.COLOR;
}
else{
mainWindow.DisplayMode = DisplayMode.INFRARED;
}
//check to see if this is the UI thread, xbox controller uses different thread
if (!mainWindow.Dispatcher.CheckAccess())
{
await mainWindow.Dispatcher.BeginInvoke((Action)(()=>{
mainWindow.CameraFeedImageSource.Source = mainWindow.ImageSource;
}));
}
else
{
//we're on the UI thread directly change the UI element image source, keyboard stroke hits this path
mainWindow.CameraFeedImageSource.Source = mainWindow.ImageSource;
}
}
if (handHeldController.IsDPadRightPressed)
{
mainWindow.RequestedTrackedSkeleton++;
//Console.WriteLine(mainWindow.RequestedTrackedSkeleton);
}
if (handHeldController.IsDPadLeftPressed)
{
mainWindow.RequestedTrackedSkeleton--;
}
if (handHeldController.IsDPadDownPressed)
{
mainWindow.RequestedTrackedSkeleton = SkeletalLetter.A;
}
/////////////////////////////////////////////////////////
//Rage Safteys - Makey Makey Board Provides These Events
/////////////////////////////////////////////////////////
try
{
//mainWindow.Cannon is too high
if (key == Key.A && !s_PanTiltTooFarUp)
{
s_PanTiltTooFarUp = true;
mainWindow.CannonYVelocity = 0;
panTilt.PanY(mainWindow.CannonYVelocity);
}
//mainWindow.Cannon is too low
else if (key == Key.S && !s_PanTiltTooFarDown)
{
s_PanTiltTooFarDown = true;
mainWindow.CannonYVelocity = 0;
panTilt.PanY(mainWindow.CannonYVelocity);
}
//mainWindow.Cannon is too far right
else if (key == Key.D && !s_PanTiltTooFarRight)
{
s_PanTiltTooFarRight = true;
mainWindow.CannonXVelocity = 0;
panTilt.PanX(mainWindow.CannonXVelocity);
}
//mainWindow.Cannon is too far left
else if (key == Key.F && !s_PanTiltTooFarLeft)
{
s_PanTiltTooFarLeft = true;
mainWindow.CannonXVelocity = 0;
panTilt.PanX(mainWindow.CannonXVelocity);
}
}
//if anything at all goes wrong we gotta stop the pantilt and crash the app
catch(Exception ex)
{
panTilt.Disengage();
throw ex;
}
if ((key == Key.P || (handHeldController.IsLeftShoulderPressed & handHeldController.IsRightShoulderPressed)) && firingController.VirtualSafetyOn)
{
//keep safety from being toggled too fast
if ((DateTime.Now - s_LastDisarmTime > s_DisarmWaitTime) || s_LastDisarmTime == null)
{
s_LastDisarmTime = DateTime.Now;
//toggle the safety
firingController.VirtualSafetyOn = !firingController.VirtualSafetyOn;
s_VoiceSynth.SelectVoice("Microsoft Hazel Desktop");
s_VoiceSynth.SpeakAsync("System Armed, Pull both triggers simultaneously to fire!");
}
//handHeldController.Vibrate(40.0, 40.0, 10.0);
}
else if ((key == Key.P || (handHeldController.IsLeftShoulderPressed & handHeldController.IsRightShoulderPressed)) && !firingController.VirtualSafetyOn)
{
//keep safety from being toggled too fast
if (DateTime.Now - s_LastDisarmTime > s_DisarmWaitTime)
{
s_LastDisarmTime = DateTime.Now;
//toggle the safety
firingController.VirtualSafetyOn = !firingController.VirtualSafetyOn;
s_VoiceSynth.SelectVoice("Microsoft Hazel Desktop");
s_VoiceSynth.SpeakAsync("System Disarmed!");
}
}
//MAYBE WE SHOULD PICK A HARDER TO PRESS KEY THAN THE SPACE BAR?
if (key == Key.Space || (handHeldController.RightTrigger > 250 && handHeldController.LeftTrigger > 250))
{
handHeldController.Vibrate(VIBRATION_INTENSITY, VIBRATION_INTENSITY, new TimeSpan(1));
await firingController.Fire(350);
}
}
private static void HandleXboxInputPanTilt(MainWindow mainWindow, PanTiltController panTilt, FiringController firingController,
XboxController handHeldController)
{
try
{
var convertedXboxInputX = ConvertXInputCoordinateToVelocity(handHeldController.LeftThumbStick.X);
var convertedXboxInputY = ConvertXInputCoordinateToVelocity(handHeldController.LeftThumbStick.Y);
Console.WriteLine("X Value Converted - " + convertedXboxInputX);
//Pan Up & Pan Down for Manual Tracking
if (convertedXboxInputY <= PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarDown && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
s_PanTiltTooFarUp = false;
mainWindow.CannonYVelocity = convertedXboxInputY;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (convertedXboxInputY >= -1 * PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarUp && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
mainWindow.CannonYVelocity = convertedXboxInputY;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarDown = false;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (convertedXboxInputY <= PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarDown && mainWindow.TrackingMode == TrackingMode.AUDIBLE)
{
s_PanTiltTooFarUp = false;
mainWindow.CannonYVelocity = convertedXboxInputY;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (convertedXboxInputY >= -1 * PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarUp && mainWindow.TrackingMode == TrackingMode.AUDIBLE)
{
mainWindow.CannonYVelocity = convertedXboxInputY;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarDown = false;
panTilt.PanY(mainWindow.CannonYVelocity);
}
if (mainWindow.CannonXVelocity >= -1 * PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarRight && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
mainWindow.CannonXVelocity = convertedXboxInputX;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarLeft = false;
panTilt.PanX(mainWindow.CannonXVelocity);
}
if (mainWindow.CannonXVelocity <= PAN_TILT_SPEED_LIMIT && !s_PanTiltTooFarLeft && mainWindow.TrackingMode == TrackingMode.MANUAL)
{
mainWindow.CannonXVelocity = convertedXboxInputX;
//set too far to false. if its stil too far the next key event handler will set to true
s_PanTiltTooFarRight = false;
panTilt.PanX(mainWindow.CannonXVelocity);
}
}
//anything goes wrong, stop pantilt and crash the app
catch (Exception ex)
{
panTilt.Disengage();
throw ex;
}
}