public Form1()
{
InitializeComponent();
// start a new instance of the xbox one controller
xb1c = new XInputController();
// if there is a connection then update the current values
if (xb1c.connected)
{
base_val = xb1c.leftThumb.X;
shoulder_val = xb1c.leftThumb.Y;
elbow_val = xb1c.rightThumb.Y;
gripper_val = xb1c.rightThumb.X;
}
else
{
MessageBox.Show(this, "The Xbox One controller did not connect properly.\n", "Warning", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
//init xbees
comms = new Comms(THIS_ID);
comms.InitConnection(TransportProtocol.ZIGBEE_LINK, "COM3", "", 57600);
comms.AddAddress(UGV_ID, "0013A20040917A31", 0);
comms.LinkCallback(new NGCP.ArmPosition(0, 0, 0, 0), new CallBack(ArmPositionCallBack));
comms.LoadKey("NGCP Project 2016");
comms.Run();
// set timer event to start reading and updating from the controller
timer1.Start();
}