static void PlaySound(BaseToBotPrx bot) { Console.WriteLine("Which sound?"); var sounds = Enum.GetValues(typeof(Sound)).Cast <Sound>(); Console.WriteLine(string.Join(", ", sounds.Select((s, i) => i + ". " + s))); string line = Console.ReadLine(); Sound snd = (Sound)Enum.Parse(typeof(Sound), line, true); bot.playSound(snd); }
static void XboxControls(BaseToBotPrx bot, BotToBaseImpl botToBase) { // Adjustable constants const int commandFrequency = 20; // commands per second const float speedMul = 60; const float headMul = 2.0f; const int moveSpeed = 8; // Mutable state float headAngle = 0; GamePadButtons buttons = GamePad.GetState(PlayerIndex.One).Buttons; int prevLSpeed = 0; int prevRSpeed = 0; Console.WriteLine("Use the left and right thumbsticks to move the wheels"); Console.WriteLine("Use the left and right triggers to rotate the head"); while (true) { GamePadState state = GamePad.GetState(PlayerIndex.One); if (!state.IsConnected) { Console.WriteLine("Gamepad not connected!"); bot.move(0, 0); return; } // Calculate wheel speed int lSpeed, rSpeed; if (state.DPad.Up == ButtonState.Pressed) { lSpeed = rSpeed = moveSpeed; } else if (state.DPad.Down == ButtonState.Pressed) { lSpeed = rSpeed = -moveSpeed; } else if (state.DPad.Left == ButtonState.Pressed) { bot.move(-moveSpeed, moveSpeed); lSpeed = -moveSpeed; rSpeed = moveSpeed; } else if (state.DPad.Right == ButtonState.Pressed) { lSpeed = moveSpeed; rSpeed = -moveSpeed; } else { lSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Left.Y); rSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Right.Y); } // Move; make sure we don't send the same speed repeatedly if (!(lSpeed == prevLSpeed && rSpeed == prevRSpeed)) { bot.move(lSpeed, rSpeed); } prevLSpeed = lSpeed; prevRSpeed = rSpeed; // Calculate head angle float headAngleDelta = state.Triggers.Left - state.Triggers.Right; if (headAngleDelta != 0) { headAngle += headMul * headAngleDelta; bot.rotateHead((int) headAngle); } // Play sound? if (state.Buttons.A == ButtonState.Pressed && state.Buttons.A != buttons.A) { bot.playSound(Sound.CHEERFUL); } else if (state.Buttons.B == ButtonState.Pressed && state.Buttons.B != buttons.B) { bot.playSound(Sound.EXCITED); } else if (state.Buttons.X == ButtonState.Pressed && state.Buttons.X != buttons.X) { bot.playSound(Sound.LAUGHING); } else if (state.Buttons.Y == ButtonState.Pressed && state.Buttons.Y != buttons.Y) { bot.playSound(Sound.SAD); } // Move flap? if (state.Buttons.RightShoulder == ButtonState.Pressed && state.Buttons.RightShoulder != buttons.RightShoulder) { bot.setFlapState(FlapState.FLAPOPEN); } else if (state.Buttons.LeftShoulder == ButtonState.Pressed && state.Buttons.LeftShoulder != buttons.LeftShoulder) { bot.setFlapState(FlapState.FLAPCLOSED); } buttons = state.Buttons; Thread.Sleep(1000 / commandFrequency); } }
static void XboxControls(BaseToBotPrx bot, BotToBaseImpl botToBase) { // Adjustable constants const int commandFrequency = 20; // commands per second const float speedMul = 60; const float headMul = 2.0f; const int moveSpeed = 8; // Mutable state float headAngle = 0; GamePadButtons buttons = GamePad.GetState(PlayerIndex.One).Buttons; int prevLSpeed = 0; int prevRSpeed = 0; Console.WriteLine("Use the left and right thumbsticks to move the wheels"); Console.WriteLine("Use the left and right triggers to rotate the head"); while (true) { GamePadState state = GamePad.GetState(PlayerIndex.One); if (!state.IsConnected) { Console.WriteLine("Gamepad not connected!"); bot.move(0, 0); return; } // Calculate wheel speed int lSpeed, rSpeed; if (state.DPad.Up == ButtonState.Pressed) { lSpeed = rSpeed = moveSpeed; } else if (state.DPad.Down == ButtonState.Pressed) { lSpeed = rSpeed = -moveSpeed; } else if (state.DPad.Left == ButtonState.Pressed) { bot.move(-moveSpeed, moveSpeed); lSpeed = -moveSpeed; rSpeed = moveSpeed; } else if (state.DPad.Right == ButtonState.Pressed) { lSpeed = moveSpeed; rSpeed = -moveSpeed; } else { lSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Left.Y); rSpeed = Convert.ToInt32(speedMul * state.ThumbSticks.Right.Y); } // Move; make sure we don't send the same speed repeatedly if (!(lSpeed == prevLSpeed && rSpeed == prevRSpeed)) { bot.move(lSpeed, rSpeed); } prevLSpeed = lSpeed; prevRSpeed = rSpeed; // Calculate head angle float headAngleDelta = state.Triggers.Left - state.Triggers.Right; if (headAngleDelta != 0) { headAngle += headMul * headAngleDelta; bot.rotateHead((int)headAngle); } // Play sound? if (state.Buttons.A == ButtonState.Pressed && state.Buttons.A != buttons.A) { bot.playSound(Sound.CHEERFUL); } else if (state.Buttons.B == ButtonState.Pressed && state.Buttons.B != buttons.B) { bot.playSound(Sound.EXCITED); } else if (state.Buttons.X == ButtonState.Pressed && state.Buttons.X != buttons.X) { bot.playSound(Sound.LAUGHING); } else if (state.Buttons.Y == ButtonState.Pressed && state.Buttons.Y != buttons.Y) { bot.playSound(Sound.SAD); } // Move flap? if (state.Buttons.RightShoulder == ButtonState.Pressed && state.Buttons.RightShoulder != buttons.RightShoulder) { bot.setFlapState(FlapState.FLAPOPEN); } else if (state.Buttons.LeftShoulder == ButtonState.Pressed && state.Buttons.LeftShoulder != buttons.LeftShoulder) { bot.setFlapState(FlapState.FLAPCLOSED); } buttons = state.Buttons; Thread.Sleep(1000 / commandFrequency); } }
static void PlaySound(BaseToBotPrx bot) { Console.WriteLine("Which sound?"); var sounds = Enum.GetValues(typeof(Sound)).Cast<Sound>(); Console.WriteLine(string.Join(", ", sounds.Select((s, i) => i + ". " + s))); string line = Console.ReadLine(); Sound snd = (Sound)Enum.Parse(typeof(Sound), line, true); bot.playSound(snd); }