public RecordForm(Drone drone, InputManager inputManager)
{
this.drone = drone;
this.inputManager = inputManager;
InitializeComponent();
}
public void Update(InputManager manager)
{
if (!UpdateState())
return;
if (CheckButtonPressed(2))
manager.SendClear();
if (CheckButtonPressed(1))
manager.StopDrone();
if (CheckButtonPressed(0))
manager.ArmDrone();
if (CheckButtonReleased(0))
manager.DisarmDrone();
float deadZone = 0.075f;
if (!manager.DeadZone)
deadZone = 0;
const int maxValue = UInt16.MaxValue / 2;
TargetData target = new TargetData();
target.Roll = DeadZone.Compute(currentState.X - maxValue, maxValue, deadZone);
target.Pitch = DeadZone.Compute(currentState.Y - maxValue, maxValue, deadZone);
target.RotationalSpeed = DeadZone.Compute(currentState.RotationZ - maxValue, maxValue, deadZone);
target.Thrust = DeadZone.Compute(UInt16.MaxValue - currentState.Z, UInt16.MaxValue, deadZone);
manager.SendTargetData(target);
lastState = currentState;
}
public DebugForm(Drone drone, InputManager inputManager)
{
if (drone == null)
throw new ArgumentNullException(nameof(drone));
InitializeComponent();
this.Drone = drone;
this.Drone.OnDebugDataChange += Drone_OnDebugDataChange;
this.InputManager = inputManager;
UpdateDebugData(drone.DebugData);
}
public void Init(Drone drone)
{
if (drone == null)
throw new ArgumentNullException(nameof(drone));
this.drone = drone;
this.InputManager = new InputManager(drone);
this.InputManager.OnDeviceInfoChanged += InputManager_OnDeviceInfoChanged;
this.InputManager.OnTargetDataChanged += InputManager_OnTargetDataChanged;
this.drone.OnDebugDataChange += Drone_OnDebugDataChange;
SearchInputDevices();
UpdateTargetData();
UpdateDeviceInfo();
UpdateInputConfig();
}
public void Update(InputManager manager)
{
if (!IsConnected)
return;
currentState = controller.GetState();
if (CheckButtonPressed(GamepadButtonFlags.A))
manager.SendClear();
if (CheckButtonPressed(GamepadButtonFlags.B))
manager.StopDrone();
if (CheckButtonPressed(GamepadButtonFlags.Y))
manager.ToogleArmStatus();
float deadZone = 0.075f;
if (!manager.DeadZone)
deadZone = 0;
TargetData target = new TargetData();
target.Roll = DeadZone.Compute(currentState.Gamepad.LeftThumbX, short.MaxValue, deadZone);
target.Pitch = -DeadZone.Compute(currentState.Gamepad.LeftThumbY, short.MaxValue, deadZone);
target.RotationalSpeed = DeadZone.Compute(currentState.Gamepad.RightThumbX, short.MaxValue, deadZone);
target.Thrust = DeadZone.Compute(currentState.Gamepad.RightThumbY + short.MaxValue, short.MaxValue * 2, deadZone);
float x = GetButtonValue(GamepadButtonFlags.DPadRight) - GetButtonValue(GamepadButtonFlags.DPadLeft);
float y = -GetButtonValue(GamepadButtonFlags.DPadDown) - GetButtonValue(GamepadButtonFlags.DPadUp);
target.Roll += x * 0.1f;
target.Pitch += y * 0.1f;
manager.SendTargetData(target);
lastState = currentState;
firstUpdate = false;
}
