public void RunForever()
{
/* enable XInput, if gamepad is in DInput it will disable robot. This way you can
* use X mode for drive, and D mode for disable (instead of vice versa as the
* stock HERO implementation traditionally does). */
CTRE.UsbHostDevice.EnableXInputDevices();
while (true)
{
if (_gamepad.GetConnectionStatus() == CTRE.UsbDeviceConnection.Connected)
{
CTRE.Watchdog.Feed();
}
/* get buttons */
bool[] btns = new bool[_buttons.Length];
for (uint i = 1; i < 20; ++i)
{
btns[i] = _gamepad.GetButton(i);
}
/* get sticks */
for (uint i = 0; i < _sticks.Length; ++i)
{
_sticks[i] = _gamepad.GetAxis(i);
}
/* yield for a bit, and track timeouts */
System.Threading.Thread.Sleep(10);
if (_rumblingTimeMs < 5000)
{
_rumblingTimeMs += 10;
}
/* update the Talon using the shoulder analog triggers */
_tal.Set((_sticks[5] - _sticks[4]) * 0.60f);
/* fire some solenoids based on buttons */
_driver.Set(0, _buttons[1]);
_driver.Set(1, _buttons[2]);
_driver.Set(2, _buttons[3]);
_driver.Set(3, _buttons[4]);
/* rumble state machine */
switch (_rumblinSt)
{
/* rumbling is disabled, require some off time to save battery */
case 0:
_gamepad.SetLeftRumble(0);
_gamepad.SetRightRumble(0);
if (_rumblingTimeMs < 100)
{
/* waiting for off-time */
}
else if ((btns[1] && !_buttons[1])) /* button off => on */
{
/* off time long enough, user pressed btn */
_rumblingTimeMs = 0;
_rumblinSt = 1;
_gamepad.SetLeftRumble(0xFF);
}
else if ((btns[2] && !_buttons[2])) /* button off => on */
{
/* off time long enough, user pressed btn */
_rumblingTimeMs = 0;
_rumblinSt = 1;
_gamepad.SetRightRumble(0xFF);
}
break;
/* already vibrating, track the time */
case 1:
if (_rumblingTimeMs > 500)
{
/* vibrating too long, turn off now */
_rumblingTimeMs = 0;
_rumblinSt = 0;
_gamepad.SetLeftRumble(0);
_gamepad.SetRightRumble(0);
}
else if ((btns[3] && !_buttons[3])) /* button off => on */
{
/* immedietely turn off */
_rumblingTimeMs = 0;
_rumblinSt = 0;
_gamepad.SetLeftRumble(0);
_gamepad.SetRightRumble(0);
}
else if ((btns[1] && !_buttons[1])) /* button off => on */
{
_gamepad.SetLeftRumble(0xFF);
}
else if ((btns[2] && !_buttons[2])) /* button off => on */
{
_gamepad.SetRightRumble(0xFF);
}
break;
}
/* this will likley be replaced with a strongly typed interface,
* control the LEDs on the center XBOX emblem. */
if (btns[5] && !_buttons[5])
{
_gamepad.SetLEDCode(6);
}
if (btns[6] && !_buttons[6])
{
_gamepad.SetLEDCode(7);
}
if (btns[7] && !_buttons[7])
{
_gamepad.SetLEDCode(8);
}
if (btns[8] && !_buttons[8])
{
_gamepad.SetLEDCode(9);
}
/* build line to print */
StringBuilder sb = new StringBuilder();
foreach (float stick in _sticks)
{
sb.Append(Format(stick));
sb.Append(",");
}
sb.Append("-");
for (uint i = 1; i < _buttons.Length; ++i)
{
if (_buttons[i])
{
sb.Append("b" + i + ",");
}
}
/* print useful info */
sb.AppendLine();
Debug.Print(sb.ToString());
/* save button states for button-change states */
_buttons = btns;
}
}
