static void RobotControl()
{
var team = RobocupTeam.Yellow;
var robotId = 1;
var robotCount = 8;
using var output = (ICommandsOutput) new GrSimCommandsOutput(team, IPEndPoint.Parse("127.0.0.1:20011"));
using var gamepad = EvDevDeviceInfo.EnumerateDevices()
.Single(_ => _.DevicePath == "/dev/input/event25").OpenGamepad();
var commands = Enumerable.Repeat(RobotCommand.Idle, robotCount).ToArray();
var rnd = new Random();
while (true)
{
Console.WriteLine("{0:#0.000} {1:#0.000} {2:#0.000} {3:#0.000}", gamepad.LeftX.Value, gamepad.LeftY.Value,
gamepad.RightX.Value, gamepad.RightY.Value);
commands[robotId].VelocityTangent = gamepad.LeftY.Value;
commands[robotId].VelocityNormal = gamepad.LeftX.Value;
commands[robotId].AngularVelocity = gamepad.RightX.Value * 10;
commands[robotId].EnableDribbler = true;
output.PostCommands(commands.ToArray());
Thread.Sleep(1000 / 60);
}
}
static void Main(string[] args)
{
var devices = EvDevDeviceInfo.EnumerateDevices()
.Select(d =>
{
var match = Regex.Match(d.DevicePath, @"\/dev\/input\/event([0-9]+)");
if (match.Success)
{
return(int.Parse(match.Groups[1].Value), d);
}
else
{
return(int.MaxValue, d);
}
}).OrderBy(x => x.Item1).ThenBy(x => x.Item2).Select(x => x.Item2).ToList();
void Tab(int count, string s)
{
for (var c = 0; c < count; c++)
{
Console.Write(" ");
}
Console.WriteLine(s);
}
foreach (var dev in devices)
{
Console.WriteLine("Device " + dev.DevicePath);
Tab(1, $"Id: {dev.Id}");
Tab(1, $"Name: {dev.Name}");
Tab(1, $"Guessed type: {dev.GuessedDeviceType}");
Tab(1, "Properties: " + string.Join(",", dev.Properties));
if (dev.RelativeAxises != null)
{
Tab(1, "Relative axises: " + string.Join(",", dev.RelativeAxises.OrderBy(x => x)));
}
if (dev.AbsoluteAxises != null)
{
Tab(1, "Absolute axises: ");
foreach (var axis in dev.AbsoluteAxises.OrderBy(x => x.Key))
{
Tab(2, "\t" + axis.Key);
Tab(3, $"Value: {axis.Value.Value}");
Tab(3, $"Min: {axis.Value.Min}");
Tab(3, $"Max: {axis.Value.Max}");
if (axis.Value.Resolution != 0)
{
Tab(3, $"Resolution: {axis.Value.Resolution}");
}
if (axis.Value.Flat != 0)
{
Tab(3, $"Flat: {axis.Value.Flat}");
}
if (axis.Value.Fuzz != 0)
{
Tab(3, $"Fuzz: {axis.Value.Fuzz}");
}
}
}
if (dev.Keys != null)
{
Tab(1, "Keys:");
foreach (var k in dev.Keys)
{
Tab(2, k.ToString());
}
}
}
}
