public void UpdateJoystick(VModel Vmodel)
{
JoystickState state = joystick.CurrentJoystickState;//M
//Capture Position.C>
Model.vGM.button_data1 = 0;
Model.vGM.button_data2 = 0;
byte[] buttons = state.GetButtons();
int[] sligterP = state.GetSlider();
int[] viewP = state.GetPointOfView();
for (int i = 0; i < 12; i++)
{
if (buttons[i] != 0)
{
Buttons[i] = 1;
}
else
{
Buttons[i] = 0;
}
}
//C<
//костыль для изменения кнопок блютуза и инвертирования камер
int change = Buttons[0];
Buttons[0] = Buttons[1];
Buttons[1] = change;
change = Buttons[3];
Buttons[3] = Buttons[11];
Buttons[11] = change;
for (int i = 0; i <= 7; i++)//C>
{
if ((Buttons[i] == 1))
{
Model.vGM.button_data1 = (sbyte)(((int)Model.vGM.button_data1) | (1 << i));
}
}
for (int i = 8; i < 12; i++)
{
if ((Buttons[i] == 1))
{
Model.vGM.button_data2 = (sbyte)(((int)Model.vGM.button_data2) | (1 << (i - 8)));
}
}
if (viewP[2] == 0)
{
viewP[0] = 0;
}
Model.vGM.manipulator_p = (sbyte)viewP[0];
if (Model.vGM.manipulator_p == (sbyte)40)
{
Model.vGM.manipulator_p = (sbyte)1;
}
if (Model.vGM.manipulator_p == (sbyte)120)
{
Model.vGM.manipulator_p = (sbyte)3;
}
if (Model.vGM.manipulator_p == (sbyte)80)
{
Model.vGM.manipulator_p = (sbyte)2;
}
if (Model.vGM.manipulator_p == (sbyte)0)
{
Model.vGM.manipulator_p = (sbyte)4;
}
if (Model.vGM.manipulator_p == (sbyte)-1)
{
Model.vGM.manipulator_p = 0;
}
if (Buttons[6] == 1)
{
Vmodel.SpeedMode = "1";
SpeedK = 0.25;
}
if (Buttons[5] == 1)
{
Vmodel.SpeedMode = "2";
SpeedK = 0.5;
}
if (Buttons[4] == 1)
{
Vmodel.SpeedMode = "3";
SpeedK = 1.0;
}
Model.vGM.axisY_p = (sbyte)Math.Round(state.X * SpeedK);
Model.vGM.axisX_p = (sbyte)Math.Round(state.Y * SpeedK * -1);
Model.vGM.axisW_p = (sbyte)Math.Round(state.Z * SpeedK);
Model.vGM.axisZ_p = (sbyte)Math.Round(state.Rz * SpeedK);
if (sligterP[0] > -50 && sligterP[0] < 50)
{
sligterP[0] = 0;
}
Model.vGM.slighter_p = (sbyte)(sligterP[0]);//V<
}
public MainWindow()
{
InitializeComponent();
vmodel = new VModel(new Model());
mainconnection = new UARTConnection();
}
