/// <summary>
/// Transforms the input values from controller to left and right speed
/// values for the motors
/// </summary>
/// <param name="controller"></param>
/// <returns>A Tuple(int, int) with left and right speed values</int></returns>
private Tuple <int, int> CalculateSpeedValues(XBoxController controller)
{
controller.Update();
float rightTrigger = controller.RightTrigger;
float leftTrigger = controller.LeftTrigger;
double rightThumbX = controller.RightThumb.X;
int leftspeed = 0;
int rightspeed = 0;
// calculate speed based on left and right triggers (right trigger forward, left trigger backward)
int tempSpeed = (int)((rightTrigger - leftTrigger));// / 255 * 100);
if (rightThumbX > 0)
{
double multiplier = rightThumbX / 100;
leftspeed = (int)(tempSpeed + multiplier * 255);
rightspeed = (int)(tempSpeed - multiplier * 255);
}
else if (rightThumbX < 0)
{
double multiplier = rightThumbX / -100;
leftspeed = (int)(tempSpeed - multiplier * 255);
rightspeed = (int)(tempSpeed + multiplier * 255);
}
else
{
rightspeed = leftspeed = tempSpeed;
}
return(Tuple.Create(leftspeed, rightspeed));
}
/// <summary>
/// Log the Contorller values.
/// </summary>
/// <param name="controller"></param>
/// <returns></returns>
private bool TestConrollerOutputs(XBoxController controller)
{
OnIsRunngingChanged(true);
while (!_shouldStop)
{
Thread.Sleep(200); // give console some time after each iteration
controller.Update();
Application.Current.Dispatcher.BeginInvoke(DispatcherPriority.Normal, new Action(() => {
log.Info("\nLeft Thumb X: " + controller.LeftThumb.X + " " + "\nLeft Thumb Y: " + controller.LeftThumb.Y + "\n" +
"A?: " + controller.Buttons.Equals(GamepadButtonFlags.A) + "\n" +
"Rigth Thumb X: " + controller.RightThumb.X + "\n" +
"Rigth Thumb Y: " + controller.RightThumb.Y + "\n" +
"Left Trigger: " + controller.LeftTrigger + "\n" +
"Right Trigger: " + controller.RightTrigger);
}));
//Console.WriteLine(controller.leftThumb + " " + controller.rightThumb + " " + controller.leftTrigger + " " + controller.rightTrigger);
}
log.Info("Controller test ended");
OnIsRunngingChanged(false);
return(true);
}
/// <summary>
/// Start the ControllerTest
/// runs synchronously until it hits an “await” (or throws an exception).
/// </summary>
/// <param name="info"></param>
public override async void Start(ControllerTestInfo info)
{
Stop();
_shouldStop = false;
controller.Update();
switch (info.Case)
{
case ControllerTestInfo.TestCase.MotorOutput:
await Task.Run(() => TestMotorControl(controller, true));
break;
case ControllerTestInfo.TestCase.ControllerOutput:
await Task.Run(() => TestConrollerOutputs(controller));
break;
default:
await Task.Run(() => TestMotorControl(controller));
break;
}
}