private void JoystickCheckButton()
{
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.Button9) == true)
{
labelDegeri = "select";
if (moder == true)
{
moder = false;
}
}
if (m_CJoy.IsUp(Ojw.CJoystick.PadKey.Button9) == true)
{
if (moder == false)
{
Moder();
moder = true;
}
}
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.Button10) == true)
{
labelDegeri = "start";
if (visibility == true)
{
visibility = false;
}
}
if (m_CJoy.IsUp(Ojw.CJoystick.PadKey.Button10) == true)
{
if (visibility == false)
{
Visibility();
visibility = true;
}
}
if (mouseMod == true)
{
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.POVLeft) == true)
{
labelDegeri = "← ";
SendKeys.Send("{LEFT}");
}
else if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.POVRight) == true)
{
labelDegeri = "→ ";
SendKeys.Send("{RIGHT}");
}
else
{
labelDegeri = "";
}
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.POVUp) == true)
{
labelDegeri += "↑";
SendKeys.Send("{UP}");
}
else if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.POVDown) == true)
{
labelDegeri += "↓";
SendKeys.Send("{DOWN}");
}
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.Button4) == true)
{
labelDegeri = "Y";
SendKeys.Send("%{LEFT}");//alt-left, undo
}
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.Button3) == true)
{
labelDegeri = "X";
SendMessageW(this.Handle, WM_APPCOMMAND, this.Handle, (IntPtr)APPCOMMAND_VOLUME_DOWN);
//volume-down
}
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.Button2) == true)
{
labelDegeri = "B";
SendKeys.Send("%{RIGHT}");//alt-right, redo
}
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.Button1) == true)
{
labelDegeri = "A";
SendMessageW(this.Handle, WM_APPCOMMAND, this.Handle, (IntPtr)APPCOMMAND_VOLUME_UP);
//vol-up
}
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.Button5) == true)
{
labelDegeri = "L1";
SendKeys.Send("{TAB}");
}
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.Button6) == true)
{
labelDegeri = "R1";
SendKeys.Send("{ENTER}");
}
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.Button7) == true)
{
labelDegeri = "L2";
SendKeys.Send("{ESC}");
}
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.Button8) == true)
{
labelDegeri = "R2";
SendKeys.Send("{ENTER}");
}
//Fare tıklamasını tek seferlik hale getiren kod bloğu
label1.Text = labelDegeri;
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.Button11) == true)
{
if (mouseLeftClicked == true)
{
mouse_event(MOUSEEVENT_LEFTDOWN, 0, 0, 0, 0);
mouseLeftClicked = false;
}
}
if (m_CJoy.IsUp(Ojw.CJoystick.PadKey.Button11) == true)
{
if (mouseLeftClicked == false)
{
mouse_event(MOUSEEVENT_LEFTUP, 0, 0, 0, 0);
mouseLeftClicked = true;
}
}
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.Button12) == true)
{
if (mouseRightClicked == true)
{
mouse_event(MOUSEEVENT_RIGHTDOWN, 0, 0, 0, 0);
mouseRightClicked = false;
}
}
if (m_CJoy.IsUp(Ojw.CJoystick.PadKey.Button12) == true)
{
if (mouseRightClicked == false)
{
mouse_event(MOUSEEVENT_RIGHTUP, 0, 0, 0, 0);
mouseRightClicked = true;
}
}
}
}
private void Joystick_Check_Data()
{
if (HMController.IsDown(Ojw.CJoystick.PadKey.POVLeft) == true)
{
DpadSpanish = "Izquierda ";
DpadEnglish = "Left ";
}
else if (HMController.IsDown(Ojw.CJoystick.PadKey.POVRight) == true)
{
DpadSpanish = "Derecha ";
DpadEnglish = "Right ";
}
else
{
DpadSpanish = "";
DpadEnglish = "";
}
if (HMController.IsDown(Ojw.CJoystick.PadKey.POVUp) == true)
{
DpadSpanish += "Arriba";
DpadEnglish += "Up";
}
else if (HMController.IsDown(Ojw.CJoystick.PadKey.POVDown) == true)
{
DpadSpanish += "Abajo";
DpadEnglish += "Down";
}
if (DpadSpanish == "")
{
DpadSpanish = "Sin presionar";
DpadEnglish = "Not pressed";
}
if (HMController.IsDown(Ojw.CJoystick.PadKey.Button4) == true)
{
lblY.ForeColor = Color.Red;
}
else
{
lblY.ForeColor = Color.Black;
}
if (HMController.IsDown(Ojw.CJoystick.PadKey.Button3) == true)
{
lblX.ForeColor = Color.Red;
}
else
{
lblX.ForeColor = Color.Black;
}
if (HMController.IsDown(Ojw.CJoystick.PadKey.Button2) == true)
{
lblB.ForeColor = Color.Red;
}
else
{
lblB.ForeColor = Color.Black;
}
if (HMController.IsDown(Ojw.CJoystick.PadKey.Button1) == true)
{
lblA.ForeColor = Color.Red;
}
else
{
lblA.ForeColor = Color.Black;
}
if (HMController.IsDown(Ojw.CJoystick.PadKey.Button5) == true)
{
lblLeft.ForeColor = Color.Red;
}
else
{
lblLeft.ForeColor = Color.Black;
}
if (HMController.IsDown(Ojw.CJoystick.PadKey.Button6) == true)
{
lblRight.ForeColor = Color.Red;
}
else
{
lblRight.ForeColor = Color.Black;
}
//Formula para mapear 0 -> 1 a -1 -> +1
// Y= 2x - 1
double Vx1 = (2 * HMController.dX0 - (1)),
Vx2 = (2 * HMController.dX1 - (1)),
Vy1 = (2 * HMController.dY0 - (1)),
Vy2 = (2 * HMController.dY1 - (1));
label1.Text = DpadSpanish + "\r\n" + DpadEnglish;
radioButton1.Location = new Point((int)(x1 * 1.8 * HMController.dX0), (int)(y1 * 1.8 * HMController.dY0));
radioButton2.Location = new Point((int)(x2 * 1.8 * HMController.dX1), (int)(y2 * 1.8 * HMController.dY1));
textBox1.Text = Convert.ToString("X = " + Vx1 + "\r\nY = " + Vy1);
textBox2.Text = Convert.ToString("X = " + Vx2 + "\r\nY = " + Vy2);
radioButton3.Location = new Point((int)(168 - HMController.Slide * 168), 10);
}
private void pad_check_data()
{
double mecFB = 0;
double mecRL = 0;
double mecT = 0;
int inside = 0;
if (mecanumMode == true)//메카넘모드일때
{
if (pad.dY1 > 0.52 | pad.dY1 < 0.48)
{
mecFB = -(pad.dY1 - 0.5) * mecanumSpeed * mecanumAdd;
}
if (pad.dX1 > 0.52 | pad.dX1 < 0.48)
{
mecRL = (pad.dX1 - 0.5) * mecanumSpeed * mecanumAdd;
}
/*if (pad.dX0 > 0.55 | pad.dX0 < 0.45)
* {
* mecT = (pad.dX0 - 0.5) * mecanumSpeed * mecanumAdd;
* light = true;
* }*/
if (pad.Slide > 0.52 | pad.Slide < 0.48)
{
mecT = -(pad.Slide - 0.5) * mecanumSpeed * mecanumAdd;
}
if (pad.dX0 > 0.52 | pad.dX0 <0.48 | pad.dY0> 0.52 | pad.dY0 < 0.48)
{
mecFB = -(pad.dY0 - 0.5) * mecanumSpeed * mecanumAdd2;
mecT = (pad.dX0 - 0.5) * mecanumSpeed * mecanumAdd2;
/*if (mecFB < 0)
* {
* mecT = -mecT;
* }*/
}
if (pad.IsDown(Ojw.CJoystick.PadKey.Button1) == true)
{
// A 보정 기능
inside = 100;
}
if (pad.IsDown(Ojw.CJoystick.PadKey.POVUp) == true) //위 버튼
{
mecFB = mecanumSpeed;
}
else if (pad.IsDown(Ojw.CJoystick.PadKey.POVDown) == true) //아래 버튼
{
mecFB = -mecanumSpeed;
}
if (pad.IsDown(Ojw.CJoystick.PadKey.POVRight) == true)
{
mecRL = mecanumSpeed;
}
else if (pad.IsDown(Ojw.CJoystick.PadKey.POVLeft) == true)
{
mecRL = -mecanumSpeed;
}
motor.Set_Turn(30, (int)(-mecFB + mecRL + mecT - inside));
motor.Set_Turn(31, (int)(-mecFB - mecRL + mecT + (2 * inside)));
motor.Set_Turn(32, (int)(mecFB - mecRL + mecT - (2 * inside)));
motor.Set_Turn(33, (int)(mecFB + mecRL + mecT + inside));
motor.Send_Motor(10);
motor.Wait(10);
}
else//걷기모드일때
{
if (!walking) //걷고있지 않을때
{
if (pad.IsDown_Event(Ojw.CJoystick.PadKey.POVUp) == true) //위 버튼
{
btnWalkFront_Click(null, null);
}
else if (pad.IsDown_Event(Ojw.CJoystick.PadKey.POVDown) == true) //아래 버튼
{
btnWalkBack_Click(null, null);
}
else if (pad.IsDown_Event(Ojw.CJoystick.PadKey.POVRight) == true)
{
btnWalkTurnRight_Click(null, null);
}
else if (pad.IsDown_Event(Ojw.CJoystick.PadKey.POVLeft) == true)
{
btnWalkTurnLeft_Click(null, null);
}
//X버튼
if (pad.IsDown_Event(Ojw.CJoystick.PadKey.Button3) == true)
{
btnStairLeft_Click(null, null);
}
if (pad.IsDown_Event(Ojw.CJoystick.PadKey.Button4) == true)
{
btnStairRight_Click(null, null);
}
}
//B 버튼
if (pad.IsDown(Ojw.CJoystick.PadKey.Button2) == true)
{
btnWalkStop_Click(null, null);
}
}
//왼쪽 트리거 버튼
if (pad.IsDown_Event(Ojw.CJoystick.PadKey.Button5) == true) // 보행 모드
{
if (mecanumMode == true) //메카넘 모드일때
{
btnTransformToWalk_Click(null, null);
}
else
{
btnStandPose_Click(null, null);
}
}
//오른쪽 트리거 버튼
if (pad.IsDown_Event(Ojw.CJoystick.PadKey.Button6) == true) // 메카넘 모드 버튼
{
if (mecanumMode == false) //보행 모드일때
{
btnTransformToMecanum_Click(null, null);
}
else
{
btnMecanumPose_Click(null, null);
}
}
if (pad.IsDown_Event(Ojw.CJoystick.PadKey.Button7) == true)
{
// BACK
motor.SetTorq(false);
}
if (pad.IsDown_Event(Ojw.CJoystick.PadKey.Button8) == true)
{
// START
motor.SetTorq(true);
}
}
private void FJoystick_Check_Data()
{
double cjy = m_CJoy.dX0;
double cjx = m_CJoy.dY0;
double cjz = m_CJoy.dY1;
if (cjy > 0.53 | cjy < 0.47)
{
y -= (int)((cjy - 0.5) * joystickSpd);
txtWarning.Text = "";
if (posOK(x, y, z) == false)
{
txtWarning.Text = "범위 이상의 모터 각도";
y += (int)((cjy - 0.5) * joystickSpd);
}
}
if (cjx > 0.53 | cjx < 0.47)
{
x -= (int)((cjx - 0.5) * joystickSpd);
txtWarning.Text = "";
if (posOK(x, y, z) == false)
{
txtWarning.Text = "범위 이상의 모터 각도";
x += (int)((cjx - 0.5) * joystickSpd);
}
}
if (cjz > 0.53 | cjz < 0.47)
{
z -= (int)((cjz - 0.5) * joystickSpd);
txtWarning.Text = "";
if (posOK(x, y, z) == false)
{
txtWarning.Text = "범위 이상의 모터 각도";
z += (int)((cjz - 0.5) * joystickSpd);
}
}
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.Button2) == true)
{
lblB.ForeColor = Color.Red;
grabOK2 = false;
}
else
{
lblB.ForeColor = Color.Black;
}
if (m_CJoy.IsDown(Ojw.CJoystick.PadKey.Button1) == true)
{
lblA.ForeColor = Color.Red;
grabOK2 = true;
}
else
{
lblA.ForeColor = Color.Black;
}
if (grabOK2)
{
m.Set_Angle(5, gripperGrab);
m.Send_Motor(500);
}
else
{
m.Set_Angle(5, gripperUngrab);
m.Send_Motor(500);
}
txtGamepadDisp.Text = "X = " + m_CJoy.dX0 + "\r\nY = " + m_CJoy.dY0 + "\r\nZ = " + m_CJoy.dY1;
radioButton1.Location = new Point((int)(187 * m_CJoy.dX0), (int)(187 * m_CJoy.dY0));
radioButton2.Location = new Point(10, (int)(186 * m_CJoy.dY1));
InverseKinematicsMove(x, y, z, 300, 0);
}
