public mainForm()
{
InitializeComponent();
robot = new RobotClass();
ReadConfig();
gridStatus.Rows.Add(10);
gridStatus.Rows[0].Cells[0].Value = "NAK";
gridStatus.Rows[0].Cells[0].Style.Alignment = DataGridViewContentAlignment.MiddleCenter;
gridStatus.Rows[0].Cells[1].Value = "CRC";
gridStatus.Rows[1].Cells[1].Value = "CONN";
gridStatus.Rows[2].Cells[0].Value = "Volts/Watts";
gridStatus.Rows[3].Cells[0].Value = "Amps/mAh";
gridStatus.Rows[4].Cells[0].Value = "Uptime";
gridStatus.Rows[5].Cells[0].Value = "Drv speed";
gridStatus.Rows[6].Cells[0].Value = "Srv speed";
gridStatus.Rows[7].Cells[0].Value = "Mode";
gridStatus.Rows[8].Cells[0].Value = "X; Y; Z";
gridStatus.Rows[9].Cells[0].Value = "j0 offset";
gridServo.Rows.Add(robot.Servos.Length);
try
{
id = new InputDevice(Handle);
id.JoystickEvent += new InputDevice.DeviceEventHandler(JoyEvent);
}
catch (ApplicationException e)
{
error(e.Message);
}
}
private void inputDevice_KeyPressed(object sender, InputDevice.KeyControlEventArgs e)
{
//TODO: Send the keyboard that the input came from to the controller_changed event instead of the programmer and let the presenter figure it out
Programmer controllingProgrammer = Programmer.Neither;
if (string.IsNullOrEmpty(keyboardId1))
keyboardId1 = e.Keyboard.deviceHandle.ToString();
else if(string.IsNullOrEmpty(keyboardId2) && e.Keyboard.deviceHandle.ToString() != keyboardId1)
keyboardId2 = e.Keyboard.deviceHandle.ToString();
if (e.Keyboard.deviceHandle.ToString() == keyboardId1)
controllingProgrammer = programmer1;
if (e.Keyboard.deviceHandle.ToString() == keyboardId2)
controllingProgrammer = programmer2;
if (Controller_Changed != null)
Controller_Changed(this, new ControllerChangedEventArgs(controllingProgrammer));
}
private void Form1_Load(object sender, EventArgs e)
{
inputDevice = new InputDevice(Handle);
inputDevice.EnumerateDevices();
handler = new InputDevice.DeviceEventHandler(inputDevice_KeyPressed);
IntervalTimer = new Timer();
}
private void JoyEvent(object sender, InputDevice.JoystickEventArgs e)
{
if (e.Buttons[4]) DriveHelper.IncSpeed(2);
if (e.Buttons[6]) DriveHelper.IncSpeed(-2);
// motors
DriveHelper.Up(e.Up);
DriveHelper.Down(e.Down);
DriveHelper.Left(e.Left);
DriveHelper.Right(e.Right);
// mode select
if (e.Buttons[2]) SetControlMode(ControlMode.A);
if (e.Buttons[1]) SetControlMode(ControlMode.B);
if (e.Buttons[3]) SetControlMode(ControlMode.X);
if (e.Buttons[0]) SetControlMode(ControlMode.Y);
if (chbServoControl.Checked)
{
if (controlMode == ControlMode.A)
{
if (e.X1 < STICK_MIN) robot.SetServoMove("j0", -1);
else if (e.X1 > STICK_MAX) robot.SetServoMove("j0", 1);
else robot.SetServoMove("j0", 0);
if (e.Y1 < STICK_MIN) robot.SetServoMove("j1", 1);
else if (e.Y1 > STICK_MAX) robot.SetServoMove("j1", -1);
else robot.SetServoMove("j1", 0);
if (e.Y2 < STICK_MIN) robot.SetServoMove("j2", 1);
else if (e.Y2 > STICK_MAX) robot.SetServoMove("j2", -1);
else robot.SetServoMove("j2", 0);
if (e.Buttons[10]) { robot.ParkServo("j0"); robot.ParkServo("j1"); }
if (e.Buttons[11]) { robot.ParkServo("j2"); }
}
else if (controlMode == ControlMode.B)
{
if (e.X1 < STICK_MIN) robot.SetServoMove("j3", -1);
else if (e.X1 > STICK_MAX) robot.SetServoMove("j3", 1);
else robot.SetServoMove("j3", 0);
if (e.Y1 < STICK_MIN) robot.SetServoMove("j4", 1);
else if (e.Y1 > STICK_MAX) robot.SetServoMove("j4", -1);
else robot.SetServoMove("j4", 0);
if (e.X2 < STICK_MIN) robot.SetServoMove("j5", -1);
else if (e.X2 > STICK_MAX) robot.SetServoMove("j5", 1);
else robot.SetServoMove("j5", 0);
if (e.Y2 < STICK_MIN) robot.SetServoMove("grip", 1);
else if (e.Y2 > STICK_MAX) robot.SetServoMove("grip", -1);
else robot.SetServoMove("grip", 0);
if (e.Buttons[10]) { robot.ParkServo("j3"); robot.ParkServo("j4"); }
if (e.Buttons[11]) { robot.ParkServo("j5"); robot.ParkServo("grip"); }
}
else if (controlMode == ControlMode.X)
{
//
}
// disable the arm
if (e.Buttons[8]) robot.EnableAllServos(false);
// goto start position
if (e.Buttons[9]) robot.ParkAllServos();
}
}
void inputDevice_KeyPressed(object sender, InputDevice.KeyControlEventArgs e)
{
//TODO: How can I clean this up?
//TODO: Associate the keyboards from config or admin menu
Programmer controllingProgrammer = Programmer.Neither;
if (string.IsNullOrEmpty(keyboardId1))
keyboardId1 = e.Keyboard.deviceHandle.ToString();
else if(string.IsNullOrEmpty(keyboardId2) && e.Keyboard.deviceHandle.ToString() != keyboardId1)
keyboardId2 = e.Keyboard.deviceHandle.ToString();
if (e.Keyboard.deviceHandle.ToString() == keyboardId1)
controllingProgrammer = programmer1;
if (e.Keyboard.deviceHandle.ToString() == keyboardId2)
controllingProgrammer = programmer2;
if (Controller_Changed != null)
Controller_Changed(this, new ControllerChangedEventArgs(controllingProgrammer));
}