private void X_StateChanged(object?sender, XboxControllerStateChangedEventArgs e)
{
PreviousState = NewState;
NewState = new(
X.IsDPadUpPressed,
X.IsDPadDownPressed,
X.IsDPadLeftPressed,
X.IsDPadRightPressed,
X.IsAPressed,
X.IsBPressed,
X.IsBackPressed,
X.IsStartPressed);
var AnyKeyWentDown =
(!PreviousState.IsAPressed && NewState.IsAPressed) ||
(!PreviousState.IsBPressed && NewState.IsBPressed) ||
(!PreviousState.IsBackPressed && NewState.IsBackPressed) ||
(!PreviousState.IsStartPressed && NewState.IsStartPressed) ||
(!PreviousState.IsDPadUpPressed && NewState.IsDPadUpPressed) ||
(!PreviousState.IsDPadDownPressed && NewState.IsDPadDownPressed) ||
(!PreviousState.IsDPadLeftPressed && NewState.IsDPadLeftPressed) ||
(!PreviousState.IsDPadRightPressed && NewState.IsDPadRightPressed);
if (AnyKeyWentDown)
{
OnAnyKeyDown(EventArgs.Empty);
}
}
async void handHeldController_StateChanged(object sender, XboxControllerStateChangedEventArgs e)
{
if (null != panTilt && null != firingControl)
{
await UserInputControl.HandleInput(this, panTilt, firingControl, null, this.handHeldController);
}
}
void _selectedController_StateChanged(object sender, XboxControllerStateChangedEventArgs e)
{
OnPropertyChanged("SelectedController");
var p = new DoublePoint(-SelectedController.RightThumbStick.X,
SelectedController.RightThumbStick.Y);
System.Diagnostics.Trace.WriteLine(string.Format("game x({0}) y({1})", p.X, p.Y));
if (Math.Abs(p.X) > 10000 || Math.Abs(p.Y) > 10000)
{
changeDebounce = 0;
DiamondPoint = DiamondToolbox.CartesianToDiamond(p, 32767);
DiamondPoint.Left = Scale(DiamondPoint.Left, -32767, 32767, -100, 100);
DiamondPoint.Right = Scale(DiamondPoint.Right, -32767, 32767, -100, 100);
System.Diagnostics.Trace.WriteLine(string.Format("DiamondPoint left({0}) right({1})",
DiamondPoint.Left, DiamondPoint.Right));
string jsn = JsonConvert.SerializeObject(new { Cmd = "MOV", M1 = (float)DiamondPoint.Left, M2 = (float)DiamondPoint.Right });
if (Mqtt?.IsConnected ?? false)
Mqtt.Publish("robot1/Cmd", UTF8Encoding.ASCII.GetBytes(jsn));
}
else
{
if (++changeDebounce < 10 )
{
string jsn = JsonConvert.SerializeObject(new { Cmd = "MOV", M1 = (float)0, M2 = (float)0 });
if (Mqtt?.IsConnected ?? false)
Mqtt.Publish("robot1/Cmd", UTF8Encoding.ASCII.GetBytes(jsn));
}
}
}
private void _selectedController_StateChanged(object sender, XboxControllerStateChangedEventArgs e)
{
MethodInvoker mi = delegate
{
leftStickXBar.Value = normalizeValue(_selectedController.LeftThumbStick.X, 32768);
leftStickYBar.Value = normalizeValue(_selectedController.RightThumbStick.X, 32768);
rightStickYBar.Value = normalizeValue(_selectedController.RightThumbStick.Y, 32768);
leftStickXLabel.Text = _selectedController.LeftThumbStick.X.ToString();
leftStickYLabel.Text = _selectedController.LeftThumbStick.Y.ToString();
if (_selectedController.IsDPadDownPressed)
ChangeOffset(false);
if (_selectedController.IsDPadUpPressed)
ChangeOffset(true);
if (_selectedController.IsStartPressed)
_shutdown = _shutdown == -1 ? 0 : -2;
label3.Text = _selectedController.RightThumbStick.Y.ToString();
};
if (InvokeRequired)
this.Invoke(mi);
//OnPropertyChanged("SelectedController");
if (updated)
{
for (int i = 0; i < 3; ++i)
oldVals[i] = newVals[i];
updated = false;
}
newVals[0] = (int)ExtensionMethods.Map(leftStickXBar.Value, 0, 65536, 45, 135);
newVals[1] = (int)ExtensionMethods.Map(leftStickYBar.Value, 0, 65536, 45, 135);
newVals[2] = (int)ExtensionMethods.Map(rightStickYBar.Value, 0, 65536, 0, 180);
}
void xBoxControl_StateChanged(object sender, XboxControllerStateChangedEventArgs e)
{
XinputKey.GetXinputKey(e);
SetKeys();
}
void _selectedController_StateChanged(object sender, XboxControllerStateChangedEventArgs e)
{
OnPropertyChanged("SelectedController");
}
private void ControllerOnStateChanged(object sender, XboxControllerStateChangedEventArgs xboxControllerStateChangedEventArgs)
{
if (!this.Controller.IsConnected || !this.AcceptingControllerInput)
return;
// Simulate keyboard presses for left thumbstick movement, A button press
ControllerThumbstickPosition previousPosition =
GetPositionForGamepad(xboxControllerStateChangedEventArgs.PreviousInputState.Gamepad);
ControllerThumbstickPosition currentPosition =
GetPositionForGamepad(xboxControllerStateChangedEventArgs.CurrentInputState.Gamepad);
if (currentPosition != previousPosition)
{
if (currentPosition == ControllerThumbstickPosition.Left)
SendKeys.SendWait("{LEFT}");
else if (currentPosition == ControllerThumbstickPosition.Right)
SendKeys.SendWait("{RIGHT}");
}
if (this.Controller.IsAPressed)
SendKeys.SendWait("{ENTER}");
}
public static void GetXinputKey(XboxControllerStateChangedEventArgs arg)
{
_arg = arg;
#region Tigger
if (arg.CurrentInputState.Gamepad.bLeftTrigger != 0)
{
XKS.LeftTigger = Down;
}
else if (arg.CurrentInputState.Gamepad.bLeftTrigger == 0 && arg.PreviousInputState.Gamepad.bLeftTrigger != 0)
{
XKS.LeftTigger = Up;
}
else
{
XKS.LeftTigger = NaN;
}
if (arg.CurrentInputState.Gamepad.bRightTrigger != 0 && arg.PreviousInputState.Gamepad.bRightTrigger==0)
{
XKS.RightTigger = Down;//arg.CurrentInputState.Gamepad.bRightTrigger;
}
else if(arg.CurrentInputState.Gamepad.bRightTrigger == 0 && arg.PreviousInputState.Gamepad.bRightTrigger != 0)
{
XKS.RightTigger = Up;
}
else
{
XKS.RightTigger = NaN;
}
#endregion
#region LeftStick
if (arg.CurrentInputState.Gamepad.sThumbLY > 0)
{
XKS.LeftStickUp = arg.CurrentInputState.Gamepad.sThumbLY;
}
else if (arg.CurrentInputState.Gamepad.sThumbLY < 0)
{
XKS.LeftStickDown = -arg.CurrentInputState.Gamepad.sThumbLY;
}
else
{
XKS.LeftStickUp = NaN;
XKS.LeftStickDown = NaN;
}
if (arg.CurrentInputState.Gamepad.sThumbLX > 0)
{
XKS.LeftStickRight = arg.CurrentInputState.Gamepad.sThumbLX;
}
else if (arg.CurrentInputState.Gamepad.sThumbLX < 0)
{
XKS.LeftStickLeft = -arg.CurrentInputState.Gamepad.sThumbLX;
}
else
{
XKS.LeftStickRight = NaN;
XKS.LeftStickLeft = NaN;
}
#endregion
#region RightStick
if (arg.CurrentInputState.Gamepad.sThumbRY != 0)
{
XKS.RightStickUp = arg.CurrentInputState.Gamepad.sThumbRY;
}
else
{
XKS.RightStickUp = NaN;
}
if (arg.CurrentInputState.Gamepad.sThumbRX != 0)
{
XKS.RightStickLeft = arg.CurrentInputState.Gamepad.sThumbRX;
}
else
{
XKS.RightStickLeft = NaN;
}
#endregion
#region buttons
//十字键
XKS.Up = setKeys((int)ButtonFlags.XINPUT_GAMEPAD_DPAD_UP);
XKS.Down = setKeys((int)ButtonFlags.XINPUT_GAMEPAD_DPAD_DOWN);
XKS.Left = setKeys((int)ButtonFlags.XINPUT_GAMEPAD_DPAD_LEFT);
XKS.Right = setKeys((int)ButtonFlags.XINPUT_GAMEPAD_DPAD_RIGHT);
//ABXY
XKS.X = setKeys((int)ButtonFlags.XINPUT_GAMEPAD_X);
XKS.Y = setKeys((int)ButtonFlags.XINPUT_GAMEPAD_Y);
XKS.A = setKeys((int)ButtonFlags.XINPUT_GAMEPAD_A);
XKS.B = setKeys((int)ButtonFlags.XINPUT_GAMEPAD_B);
//Bumper&Stick
XKS.LeftBumper = setKeys((int)ButtonFlags.XINPUT_GAMEPAD_LEFT_SHOULDER);
XKS.RightBumper = setKeys((int)ButtonFlags.XINPUT_GAMEPAD_RIGHT_SHOULDER);
XKS.LeftStick = setKeys((int)ButtonFlags.XINPUT_GAMEPAD_LEFT_THUMB);
XKS.RightStick = setKeys((int)ButtonFlags.XINPUT_GAMEPAD_RIGHT_THUMB);
//Start&Back
XKS.Start = setKeys((int)ButtonFlags.XINPUT_GAMEPAD_START);
XKS.Back = setKeys((int)ButtonFlags.XINPUT_GAMEPAD_BACK);
#endregion
}
