private void onMouseMove(object sender, MouseEventArgs e)
{
if (driveCanvas.IsMouseCaptured)
{
double x, y;
var pos = e.GetPosition(driveCanvas);
//x = Math.Min(driveCanvas.ActualWidth, Math.Max(pos.X, 0.0));
//y = Math.Min(driveCanvas.ActualHeight, Math.Max(pos.Y, 0.0));
x = pos.X * 2000.0 / driveCanvas.ActualWidth - 1000.0;
y = pos.Y * 2000.0 / driveCanvas.ActualHeight - 1000.0;
if (Math.Abs(x) > 1000.0)
{
double f = 1000.0 / Math.Abs(x);
x *= f;
y *= f;
}
if (Math.Abs(y) > 1000.0)
{
double f = 1000.0 / Math.Abs(y);
x *= f;
y *= f;
}
game.Axes axes = new game.Axes();
axes.X = (int)x;
axes.Y = (int)y;
UpdateJoystickAxes(axes);
}
}
private void picJoystick_MouseMove(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Left)
{
int x, y;
x = Math.Min(picJoystick.Width, Math.Max(e.X, 0));
y = Math.Min(picJoystick.Height, Math.Max(e.Y, 0));
x = x * 2000 / picJoystick.Width - 1000;
y = y * 2000 / picJoystick.Height - 1000;
game.Axes axes = new game.Axes();
axes.X = x;
axes.Y = y;
UpdateJoystickAxes(axes);
}
}
private void onMouseMove(object sender, MouseEventArgs e)
{
if (driveCanvas.IsMouseCaptured)
{
double x, y;
var pos = e.GetPosition(driveCanvas);
x = Math.Min(driveCanvas.ActualWidth, Math.Max(pos.X, 0.0));
y = Math.Min(driveCanvas.ActualHeight, Math.Max(pos.Y, 0.0));
x = x * 2000.0 / driveCanvas.ActualWidth - 1000.0;
y = y * 2000.0 / driveCanvas.ActualHeight - 1000.0;
game.Axes axes = new game.Axes();
axes.X = (int)x;
axes.Y = (int)y;
UpdateJoystickAxes(axes);
}
}
/// <summary>
/// Handle movements over the Track Ball
/// </summary>
/// <param name="sender">The Track Ball</param>
/// <param name="e">The Mouse event arguments</param>
private void JoystickPictureMouseMove(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Left)
{
int x, y;
x = Math.Min(this.JoystickPicture.Width, Math.Max(e.X, 0));
y = Math.Min(this.JoystickPicture.Height, Math.Max(e.Y, 0));
// Convert the values so that they are in the range -1000 to +1000
x = ((x * 2000) / this.JoystickPicture.Width) - 1000;
y = ((y * 2000) / this.JoystickPicture.Height) - 1000;
// Simulate a message from the Xbox Controller
joystick.Axes axes = new joystick.Axes();
axes.X = x;
axes.Y = y;
this.UpdateJoystickAxes(axes);
}
}
/// <summary>
/// From SimpleDashboard sample
/// </summary>
/// <param name="axes"></param>
public void UpdateJoystickAxes(game.Axes axes)
{
DrawJoystick(axes.X, -axes.Y);
double left;
double right;
if (axes.Y < 0)
{
left = (-axes.Y + axes.X / 2) / 1000.0;
right = (-axes.Y - axes.X / 2) / 1000.0;
}
else
{
left = (-axes.Y + axes.X / 2) / 1000.0;
right = (-axes.Y - axes.X / 2) / 1000.0;
}
if (left > 1.0)
{
left = 1.0;
}
if (left < -1.0)
{
left = -1.0;
}
if (right > 1.0)
{
right = 1.0;
}
if (right < -1.0)
{
right = -1.0;
}
DrawMotors(left, right);
drivePort.Post(new Tuple <double, double>(left, right));
}
public void UpdateJoystickAxes(game.Axes axes)
{
int x = axes.X;
int y = -axes.Y;
lblX.Text = x.ToString();
lblY.Text = y.ToString();
lblZ.Text = axes.Z.ToString();
DrawJoystick(x, y);
if (!chkStop.Checked)
{
int left;
int right;
if (chkDrive.Checked == true)
{
if (y > -100)
{
left = y + axes.X / 4;
right = y - axes.X / 4;
}
else
{
left = y - axes.X / 4;
right = y + axes.X / 4;
}
}
else
{
left = right = 0;
}
_eventsPort.Post(new OnMove(this, left, right));
}
}
/// <summary>
/// Handle updates to the joystick position
/// </summary>
/// <param name="axes">The new Axis values</param>
public void UpdateJoystickAxes(joystick.Axes axes)
{
int x = axes.X;
int y = -axes.Y;
this.lastAxes = axes;
this.lblX.Text = x.ToString();
this.lblY.Text = y.ToString();
this.lblZ.Text = axes.Z.ToString();
this.DrawJoystick(x, y);
// Only send a drive reqeust if not stopped and enabled
if (this.StopCheckBox.Checked == false)
{
double left;
double right;
if (this.DriveCheckBox.Checked == true)
{
// This is the raw length of the vector
double magnitude = Math.Sqrt((x * x) + (y * y));
// Check for the "dead zone"
// Adjust the speed values so that they do not
// suddenly jump after leaving the Dead Zone
if (Math.Abs(x) < this.options.DeadZoneX)
{
x = 0;
}
else
{
// Subtract off the dead zone value so that the
// coord starts from zero
if (x > 0)
{
// Remove the Dead Zone and rescale
int temp = x - (int)this.options.DeadZoneX;
x = temp * 1000 / (1000 - (int)this.options.DeadZoneX);
}
else
{
// Remove the Dead Zone and rescale
int temp = x + (int)this.options.DeadZoneX;
x = temp * 1000 / (1000 - (int)this.options.DeadZoneX);
}
}
if (Math.Abs(y) < this.options.DeadZoneY)
{
y = 0;
}
else
{
if (y > 0)
{
// Remove the Dead Zone and rescale
int temp = y - (int)this.options.DeadZoneY;
y = temp * 1000 / (1000 - (int)this.options.DeadZoneY);
}
else
{
// Remove the Dead Zone and rescale
int temp = y + (int)this.options.DeadZoneY;
y = temp * 1000 / (1000 - (int)this.options.DeadZoneY);
}
}
if (x == 0 && y == 0)
{
// Totally dead in the middle!
left = right = 0;
}
else
{
// Angle of the vector
double theta = Math.Atan2(y, x);
// This is the maximum magnitude for a given angle
// double maxMag;
double scaledMag = 1.0;
// A scaled down magnitude according to above
// double scaledMag = magnitude * 1000 / maxMag;
scaledMag = magnitude;
// Decompose the vector into motor components
left = ((scaledMag * this.options.TranslateScaleFactor) * Math.Sin(theta)) +
((scaledMag * this.options.RotateScaleFactor) * Math.Cos(theta));
right = ((scaledMag * this.options.TranslateScaleFactor) * Math.Sin(theta)) -
((scaledMag * this.options.RotateScaleFactor) * Math.Cos(theta));
}
}
else
{
left = right = 0;
}
// Cap at 1000
left = Math.Min(left, 1000);
right = Math.Min(right, 1000);
left = Math.Max(left, -1000);
right = Math.Max(right, -1000);
// Quick and dirty way to display results for debugging -
// Uncomment the two lines below
////Console.WriteLine("Joy: " + data.X + ", " + data.Y
//// + " => " + left + ", " + right);
this.eventsPort.Post(new OnMove(this, (int)Math.Round(left), (int)Math.Round(right)));
}
}
private void picJoystick_MouseMove(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Left)
{
int x, y;
x = Math.Min(picJoystick.Width, Math.Max(e.X, 0));
y = Math.Min(picJoystick.Height, Math.Max(e.Y, 0));
x = x * 2000 / picJoystick.Width - 1000;
y = y * 2000 / picJoystick.Height - 1000;
joystick.Axes axes = new joystick.Axes();
axes.X = x;
axes.Y = y;
UpdateJoystickAxes(axes);
}
}
public void UpdateJoystickAxes(game.Axes axes)
{
int x = axes.X;
int y = -axes.Y;
lblX.Text = x.ToString();
lblY.Text = y.ToString();
lblZ.Text = axes.Z.ToString();
DrawJoystick(x, y);
//if (!chkStop.Checked)
//{
// int left;
// int right;
// if (chkDrive.Checked == true)
// {
// if (y > -100)
// {
// left = y + axes.X / 4;
// right = y - axes.X / 4;
// }
// else
// {
// left = y - axes.X / 4;
// right = y + axes.X / 4;
// }
// }
// else
// {
// left = right = 0;
// }
// _eventsPort.Post(new OnMove(this, left, right));
//}
if (!stopCheck)
{
double left;
double right;
if (driveCheck == true)
{
//this is the raw length of the vector
double magnitude = Math.Sqrt(y * y + x * x);
//angle of the vector
double theta = Math.Atan2(y, x);
//this is the maximum magnitude for a given angle
double maxMag;
if (Math.Abs(x) > Math.Abs(y))
{
maxMag = Math.Abs(1000 / Math.Cos(theta));
}
else
{
maxMag = Math.Abs(1000 / Math.Sin(theta));
}
//a scaled down magnitude according to above
double scaledMag = magnitude * 1000 / maxMag;
//decompose the vector into motor components
left = scaledMag * Math.Sin(theta) + scaledMag * Math.Cos(theta) / 3;
right = scaledMag * Math.Sin(theta) - scaledMag * Math.Cos(theta) / 3;
}
else
{
left = right = 0;
}
//cap at 1000
left = Math.Min(left, 1000);
right = Math.Min(right, 1000);
left = Math.Max(left, -1000);
right = Math.Max(right, -1000);
//throttle control
left *= (double)throttle.Value / 100.0;
right *= (double)throttle.Value / 100.0;
_eventsPort.Post(new OnMove(this, (int)Math.Round(left), (int)Math.Round(right)));
}
}
