public void Pulse(ushort strength, ushort duration)
{
if (isConnected)
{
OutputPacket pack = new OutputPacket();
pack.restart = false;
pack.hapticStr = strength;
pack.hapticDur = duration;
Compose(pack);
tx.StoreAsync();
}
else
{
throw new System.InvalidOperationException("Controller not connected");
}
}
public void Restart()
{
if (isConnected)
{
OutputPacket pack = new OutputPacket();
pack.restart = true;
pack.hapticStr = 0;
pack.hapticDur = 0;
Compose(pack);
tx.StoreAsync();
}
else
{
throw new System.InvalidOperationException("Controller not connected");
}
}
private void Compose(OutputPacket pack)
{
// Convert the packet to a byte array
byte[] buf = new byte[OUTPUT_LENGTH];
buf[0] = (byte)((pack.restart) ? 1 : 0);
buf[1] = (byte)((pack.hapticStr & 0xFF00) >> 8);
buf[2] = (byte)(pack.hapticStr & 0x00FF);
buf[3] = (byte)((pack.hapticDur & 0xFF00) >> 8);
buf[4] = (byte)(pack.hapticDur & 0x00FF);
int sz = buf.Length + 2; // Size of the actual data we send
// Find out how many extra bytes to send
foreach (byte b in buf)
{
if (b == START || b == END || b == ESCAPE)
{
sz++;
}
}
// Allocate data to send
byte[] data = new byte[sz];
data[0] = START;
data[sz - 1] = END;
// Fill the data
int ind = 1;
foreach (byte b in buf)
{
if (b == START || b == END || b == ESCAPE)
{
// If a byte is a delim char, send an escape code
data[ind] = ESCAPE;
ind++;
}
data[ind] = b;
ind++;
}
// Finally, write the data to the sream
tx.WriteBytes(data);
}
