static void Main(string[] args)
{
BotConnection botConn = null;
while (true) {
try {
var botToBase = new BotToBaseImpl();
botConn = new BotConnection(botToBase, "r2d2");
BaseToBotPrx bot = botConn.BotProxy;
while (true) {
Console.WriteLine("Choose a command:");
Console.WriteLine(" 1. Play sound");
Console.WriteLine(" 2. Move using XBox controller");
switch (Console.ReadKey(true).Key) {
case ConsoleKey.D1:
PlaySound(bot);
break;
case ConsoleKey.D2:
XboxControls(bot, botToBase);
break;
}
}
} catch (Exception e) {
Console.Error.WriteLine(e.ToString());
} finally {
if (botConn != null) { botConn.Dispose(); }
}
}
}
static void Main(string[] args)
{
BotConnection botConn = null;
while (true)
{
try {
var botToBase = new BotToBaseImpl();
botConn = new BotConnection(botToBase, "r2d2");
BaseToBotPrx bot = botConn.BotProxy;
while (true)
{
Console.WriteLine("Choose a command:");
Console.WriteLine(" 1. Play sound");
Console.WriteLine(" 2. Move using XBox controller");
switch (Console.ReadKey(true).Key)
{
case ConsoleKey.D1:
PlaySound(bot);
break;
case ConsoleKey.D2:
XboxControls(bot, botToBase);
break;
}
}
} catch (Exception e) {
Console.Error.WriteLine(e.ToString());
} finally {
if (botConn != null)
{
botConn.Dispose();
}
}
}
}
static void XboxControls(BaseToBotPrx bot, BotToBaseImpl botToBase)
{
// Adjustable constants
const int commandFrequency = 20; // commands per second
const float speedMul = 60;
const float headMul = 2.0f;
const int moveSpeed = 8;
// Mutable state
float headAngle = 0;
GamePadButtons buttons = GamePad.GetState(PlayerIndex.One).Buttons;
int prevLSpeed = 0;
int prevRSpeed = 0;
Console.WriteLine("Use the left and right thumbsticks to move the wheels");
Console.WriteLine("Use the left and right triggers to rotate the head");
while (true)
{
GamePadState state = GamePad.GetState(PlayerIndex.One);
if (!state.IsConnected)
{
Console.WriteLine("Gamepad not connected!");
bot.move(0, 0);
return;
}
// Calculate wheel speed
int lSpeed, rSpeed;
if (state.DPad.Up == ButtonState.Pressed)
{
lSpeed = rSpeed = moveSpeed;
}
else if (state.DPad.Down == ButtonState.Pressed)
{
lSpeed = rSpeed = -moveSpeed;
}
else if (state.DPad.Left == ButtonState.Pressed)
{
bot.move(-moveSpeed, moveSpeed);
lSpeed = -moveSpeed;
rSpeed = moveSpeed;
}
else if (state.DPad.Right == ButtonState.Pressed)
{
lSpeed = moveSpeed;
rSpeed = -moveSpeed;
}
else
{
lSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Left.Y);
rSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Right.Y);
}
// Move; make sure we don't send the same speed repeatedly
if (!(lSpeed == prevLSpeed && rSpeed == prevRSpeed))
{
bot.move(lSpeed, rSpeed);
}
prevLSpeed = lSpeed;
prevRSpeed = rSpeed;
// Calculate head angle
float headAngleDelta = state.Triggers.Left - state.Triggers.Right;
if (headAngleDelta != 0)
{
headAngle += headMul * headAngleDelta;
bot.rotateHead((int)headAngle);
}
// Play sound?
if (state.Buttons.A == ButtonState.Pressed && state.Buttons.A != buttons.A)
{
bot.playSound(Sound.CHEERFUL);
}
else if (state.Buttons.B == ButtonState.Pressed && state.Buttons.B != buttons.B)
{
bot.playSound(Sound.EXCITED);
}
else if (state.Buttons.X == ButtonState.Pressed && state.Buttons.X != buttons.X)
{
bot.playSound(Sound.LAUGHING);
}
else if (state.Buttons.Y == ButtonState.Pressed && state.Buttons.Y != buttons.Y)
{
bot.playSound(Sound.SAD);
}
// Move flap?
if (state.Buttons.RightShoulder == ButtonState.Pressed &&
state.Buttons.RightShoulder != buttons.RightShoulder)
{
bot.setFlapState(FlapState.FLAPOPEN);
}
else if (state.Buttons.LeftShoulder == ButtonState.Pressed &&
state.Buttons.LeftShoulder != buttons.LeftShoulder)
{
bot.setFlapState(FlapState.FLAPCLOSED);
}
buttons = state.Buttons;
Thread.Sleep(1000 / commandFrequency);
}
}
static void XboxControls(BaseToBotPrx bot, BotToBaseImpl botToBase)
{
// Adjustable constants
const int commandFrequency = 20; // commands per second
const float speedMul = 60;
const float headMul = 2.0f;
const int moveSpeed = 8;
// Mutable state
float headAngle = 0;
GamePadButtons buttons = GamePad.GetState(PlayerIndex.One).Buttons;
int prevLSpeed = 0;
int prevRSpeed = 0;
Console.WriteLine("Use the left and right thumbsticks to move the wheels");
Console.WriteLine("Use the left and right triggers to rotate the head");
while (true) {
GamePadState state = GamePad.GetState(PlayerIndex.One);
if (!state.IsConnected) {
Console.WriteLine("Gamepad not connected!");
bot.move(0, 0);
return;
}
// Calculate wheel speed
int lSpeed, rSpeed;
if (state.DPad.Up == ButtonState.Pressed) {
lSpeed = rSpeed = moveSpeed;
} else if (state.DPad.Down == ButtonState.Pressed) {
lSpeed = rSpeed = -moveSpeed;
} else if (state.DPad.Left == ButtonState.Pressed) {
bot.move(-moveSpeed, moveSpeed);
lSpeed = -moveSpeed;
rSpeed = moveSpeed;
} else if (state.DPad.Right == ButtonState.Pressed) {
lSpeed = moveSpeed;
rSpeed = -moveSpeed;
} else {
lSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Left.Y);
rSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Right.Y);
}
// Move; make sure we don't send the same speed repeatedly
if (!(lSpeed == prevLSpeed && rSpeed == prevRSpeed)) {
bot.move(lSpeed, rSpeed);
}
prevLSpeed = lSpeed;
prevRSpeed = rSpeed;
// Calculate head angle
float headAngleDelta = state.Triggers.Left - state.Triggers.Right;
if (headAngleDelta != 0) {
headAngle += headMul * headAngleDelta;
bot.rotateHead((int) headAngle);
}
// Play sound?
if (state.Buttons.A == ButtonState.Pressed && state.Buttons.A != buttons.A) {
bot.playSound(Sound.CHEERFUL);
} else if (state.Buttons.B == ButtonState.Pressed && state.Buttons.B != buttons.B) {
bot.playSound(Sound.EXCITED);
} else if (state.Buttons.X == ButtonState.Pressed && state.Buttons.X != buttons.X) {
bot.playSound(Sound.LAUGHING);
} else if (state.Buttons.Y == ButtonState.Pressed && state.Buttons.Y != buttons.Y) {
bot.playSound(Sound.SAD);
}
// Move flap?
if (state.Buttons.RightShoulder == ButtonState.Pressed
&& state.Buttons.RightShoulder != buttons.RightShoulder) {
bot.setFlapState(FlapState.FLAPOPEN);
} else if (state.Buttons.LeftShoulder == ButtonState.Pressed
&& state.Buttons.LeftShoulder != buttons.LeftShoulder) {
bot.setFlapState(FlapState.FLAPCLOSED);
}
buttons = state.Buttons;
Thread.Sleep(1000 / commandFrequency);
}
}