/// <summary>
/// 定时器的回调方法
/// </summary>
/// <param name="state"></param>
//private void OnTimerCallback(object state)
public JoystickHandle OnTimerCallback()
{
JoyHandle = new JoystickHandle();
JoystickAPI.JOYINFOEX infoEx = new JoystickAPI.JOYINFOEX();
infoEx.dwSize = Marshal.SizeOf(typeof(JoystickAPI.JOYINFOEX));
infoEx.dwFlags = (int)JoystickAPI.JOY_RETURNBUTTONS;
int result = JoystickAPI.joyGetPosEx(this.Id, ref infoEx);
if (result == JoystickAPI.JOYERR_NOERROR)
{
JoyHandle.Xpos = infoEx.dwXpos;
JoyHandle.Ypos = infoEx.dwYpos;
JoyHandle.Zpos = infoEx.dwZpos;
JoyHandle.Rpos = infoEx.dwRpos;
}
return(JoyHandle);
}
/// <summary>
/// 手柄操作定时器
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void tmrHandle_Tick(object sender, EventArgs e)
{
//LED及舵角操作
int iLed = this.trbLED.Value; //LED
int iSteering_Engine1 = trbSteering_Engine1.Value + 500; //舵机1
int iSteering_Engine2 = trbSteering_Engine2.Value + 500; //舵机2
//手柄操作
JoystickHandle handle = joy.OnTimerCallback();
vscY.Value = Convert.ToInt32(handle.Ypos / 256); //上浮/下潜
hscX.Value = Convert.ToInt32(handle.Xpos / 256); //左移/右移
vscR.Value = Convert.ToInt32(handle.Rpos / 256); //前进后退
hscZ.Value = Convert.ToInt32(handle.Zpos / 256); //左转/右转
sends = new JosystickSend();
sends.UpDown_Value_Y = vscY.Value;//垂直
//左摇杆X轴数据处理
if (((handle.Rpos > 32757) && (handle.Rpos < 32777)) && ((handle.Zpos > 32757) && (handle.Zpos < 32777))) //判断右摇杆是否处于中间状态
{
sends.Side_Shift_Value_X = hscX.Value; //平移赋值
sends.Forward_Back_Value_R = 128; //R轴赋中值
sends.Direc_Value_Z = 128; //Z轴赋中值
}
else //右摇杆操作或者左摇杆与右摇杆同时操作
{
if ((handle.Zpos >= 32767) && (handle.Rpos <= 32767)) //第一象限
{
if (handle.Rpos <= (65535 - handle.Zpos)) //靠近R周
{
sends.Forward_Back_Value_R = vscR.Value; //向前走
sends.Direc_Value_Z = 128; //Z轴赋中值
}
else//靠近Z轴
{
sends.Direc_Value_Z = hscZ.Value; //旋转
sends.Forward_Back_Value_R = 128; //R轴赋中值
}
}
else if ((handle.Zpos < 32767) && (handle.Rpos <= 32767)) //第二象限
{
if (handle.Rpos <= handle.Zpos) //靠近R轴
{
sends.Forward_Back_Value_R = vscR.Value;
sends.Direc_Value_Z = 128;//Z轴赋中值
}
else //靠近Z轴
{
sends.Direc_Value_Z = hscZ.Value; //旋转
sends.Forward_Back_Value_R = 128; //R轴赋中值
}
}
else if ((handle.Zpos < 32767) && (handle.Rpos > 32767)) //第三象限
{
if (handle.Rpos < 65535 - handle.Zpos) //靠近Z周
{
sends.Direc_Value_Z = hscZ.Value;
sends.Forward_Back_Value_R = 128;//R轴赋中值
}
else //靠近R轴
{
sends.Forward_Back_Value_R = vscR.Value;
sends.Direc_Value_Z = 128;
}
}
else if ((handle.Zpos >= 32767) && (handle.Rpos > 32767)) //第四象限
{
if (handle.Rpos >= handle.Zpos) //靠近R轴
{
sends.Forward_Back_Value_R = vscR.Value;
sends.Direc_Value_Z = 128;//Z轴赋中值
}
else //靠近Z轴
{
sends.Direc_Value_Z = hscZ.Value;
sends.Forward_Back_Value_R = 128;//R轴赋中值
}
}
sends.Side_Shift_Value_X = 128;//平移中值
}
byte[] sendDate = SendTransmitData(iLed, iSteering_Engine1, iSteering_Engine2, sends);
NetSendData(sendDate);//下发手柄操作数据
}
