Beispiel #1
0
int main()
{
	Leap::Controller controller;
	Leap::Frame frame;
	Leap::HandList hands;
	Leap::Hand h1;
	Leap::FingerList fingers;
	Leap::Finger index;
	Leap::Finger thumb;
	Leap::PointableList pointables;
	float indexX = 0, indexY = 0, indexZ = 0, thumbX = 0, thumbY = 0, thumbZ = 0, sum = 0, supersample[20];

	int i = 0;

	// Setup serial port connection and needed variables.
	HANDLE hSerial = CreateFile(L"COM6", GENERIC_WRITE | GENERIC_READ, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, 0);

	if (hSerial != INVALID_HANDLE_VALUE)
	{
		printf("Port opened! \n");

		DCB dcbSerialParams;
		GetCommState(hSerial, &dcbSerialParams);

		dcbSerialParams.BaudRate = CBR_14400;
		dcbSerialParams.ByteSize = 8;
		dcbSerialParams.Parity = NOPARITY;
		dcbSerialParams.StopBits = ONESTOPBIT;

		SetCommState(hSerial, &dcbSerialParams);

		Sleep(1000);
	}

	else
	{
		if (GetLastError() == ERROR_FILE_NOT_FOUND)
		{
			printf("Serial port doesn't exist! \n");
		}

		printf("Error while setting up serial port! \n");
	}

	Controller[20].value = 9;	//Verification Byte sent to make sure everything else ends up in the right location
	FillByteSize();

	while (true)
	{
		UpdateControllerState();	//Updates all values on the controller
		WORD wButtons = g_Controllers[CONTROLLER1].state.Gamepad.wButtons;

		//Stores all of the values from the controller into the controller structure
		Controller[0].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRX;
		Controller[1].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRY;
		Controller[2].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLX;
		Controller[3].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLY;
		Controller[4].value = (g_Controllers[CONTROLLER1].state.Gamepad.bRightTrigger);
		Controller[5].value = (g_Controllers[CONTROLLER1].state.Gamepad.bLeftTrigger);
		Controller[6].value = (wButtons & XINPUT_GAMEPAD_RIGHT_THUMB);
		Controller[7].value = (wButtons & XINPUT_GAMEPAD_LEFT_THUMB);
		Controller[8].value = (wButtons & XINPUT_GAMEPAD_RIGHT_SHOULDER);
		Controller[9].value = (wButtons & XINPUT_GAMEPAD_LEFT_SHOULDER);
		Controller[10].value = (wButtons & XINPUT_GAMEPAD_DPAD_UP);
		Controller[11].value = (wButtons & XINPUT_GAMEPAD_DPAD_DOWN);
		Controller[12].value = (wButtons & XINPUT_GAMEPAD_DPAD_LEFT);
		Controller[13].value = (wButtons & XINPUT_GAMEPAD_DPAD_RIGHT);
		Controller[14].value = (wButtons & XINPUT_GAMEPAD_A);
		Controller[15].value = (wButtons & XINPUT_GAMEPAD_B);
		Controller[16].value = (wButtons & XINPUT_GAMEPAD_Y);
		Controller[17].value = (wButtons & XINPUT_GAMEPAD_X);
		Controller[18].value = (wButtons & XINPUT_GAMEPAD_START);
		Controller[19].value = (wButtons & XINPUT_GAMEPAD_BACK);

		CheckDeadZone();

		if (controller.isConnected() == true)
		{
			sum = 0;
			frame = controller.frame();
			hands = frame.hands();
			h1 = hands[0];
			fingers = frame.fingers();
			thumb = fingers[0];
			index = fingers[1];
			pointables = frame.pointables();

			Leapvalues[0].value = h1.palmVelocity().x;
			Leapvalues[1].value = h1.palmVelocity().y;
			Leapvalues[2].value = h1.palmVelocity().z;
			Leapvalues[3].value = h1.direction().pitch()*Leap::RAD_TO_DEG;
			Leapvalues[4].value = h1.direction().yaw()*Leap::RAD_TO_DEG;

			indexX = index.tipPosition().x;
			indexY = index.tipPosition().y;
			indexZ = index.tipPosition().z;

			thumbX = thumb.tipPosition().x;
			thumbY = thumb.tipPosition().y;
			thumbZ = thumb.tipPosition().z;

			Leapvalues[5].value = sqrt(pow((indexX - thumbX), 2) + pow((indexY - thumbY), 2) + pow((indexZ - thumbZ), 2));

			leapConnected = true;
			CheckLeapDeadZone();
		}



		for (i = 6; i < NUMBER_OF_BUTTONS; i++)	//DO NOT SET TO <= NUMBER_OF_BUTTONS, NOT A MISTAKE. Verification bit should always keep its value
		{
			{
				Controller[i].value = AnalogToDigital(Controller[i].value);	//converts all of the button presses on the controller to a binary value
			}
		}

		//turns all of the numerical values into buffers that can be passed to the arduino
		for (i = 0; i <= NUMBER_OF_BUTTONS; i++)
		{
			_itoa_s(Controller[i].value, Controller[i].passedValue, 10);
		}

		for (i = 0; i < NUMBER_OF_LEAP_INPUTS; i++)
		{
			_itoa_s(Leapvalues[i].value, Leapvalues[i].passedValue, 10);
		}

		SendData(hSerial);

		std::cout << Controller[8].value << std::endl;
	}
	return 0;
}
Beispiel #2
0
int main()
{

	unsigned long cycles = 0;


	int i = 0;

	// ********************************************************************************************************************
	// IMPORTANT: The serial port numbers here must correspond to those of the arduino on the ROV. The first number is the 
	// COM # and the second number is the baud rate set on the arduino.
	SerialPort.Open(8, 115200);
	// ********************************************************************************************************************

	Controller[20].value = 9;	//Verification Byte sent to make sure everything else ends up in the right location
	FillByteSize();

	while (true)
	{
		cycles++;
		UpdateControllerState();	//Updates all values on the controller
		WORD wButtons = g_Controllers[CONTROLLER1].state.Gamepad.wButtons;

		//Stores all of the values from the controller into the controller structure
		Controller[0].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRX;
		Controller[1].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRY;
		Controller[2].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLX;
		Controller[3].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLY;
		Controller[4].value = (g_Controllers[CONTROLLER1].state.Gamepad.bRightTrigger);
		Controller[5].value = (g_Controllers[CONTROLLER1].state.Gamepad.bLeftTrigger);
		Controller[6].value = (wButtons & XINPUT_GAMEPAD_RIGHT_THUMB);
		Controller[7].value = (wButtons & XINPUT_GAMEPAD_LEFT_THUMB);
		Controller[8].value = (wButtons & XINPUT_GAMEPAD_RIGHT_SHOULDER);
		Controller[9].value = (wButtons & XINPUT_GAMEPAD_LEFT_SHOULDER);
		Controller[10].value = (wButtons & XINPUT_GAMEPAD_DPAD_UP);
		Controller[11].value = (wButtons & XINPUT_GAMEPAD_DPAD_DOWN);
		Controller[12].value = (wButtons & XINPUT_GAMEPAD_DPAD_LEFT);
		Controller[13].value = (wButtons & XINPUT_GAMEPAD_DPAD_RIGHT);
		Controller[14].value = (wButtons & XINPUT_GAMEPAD_A);
		Controller[15].value = (wButtons & XINPUT_GAMEPAD_B);
		Controller[16].value = (wButtons & XINPUT_GAMEPAD_Y);
		Controller[17].value = (wButtons & XINPUT_GAMEPAD_X);
		Controller[18].value = (wButtons & XINPUT_GAMEPAD_START);
		Controller[19].value = (wButtons & XINPUT_GAMEPAD_BACK);

		CheckDeadZone();
		

		for (i = 6; i < NUMBER_OF_BUTTONS; i++)	//DO NOT SET TO <= NUMBER_OF_BUTTONS, NOT A MISTAKE. Verification bit should always keep its value
		{
			{
				Controller[i].value = AnalogToDigital(Controller[i].value);	//converts all of the button presses on the controller to a binary value
			}
		}

		//turns all of the numerical values into buffers that can be passed to the arduino
		for (i = 0; i <= NUMBER_OF_BUTTONS; i++)
		{
			_itoa_s(Controller[i].value, Controller[i].passedValue, 10);
		}

		
		if (SendData() == 1)
		{
			//SerialPort.ReadData(recieved[0], 3);
		}

		std::cout << Controller[5].value << Controller[4].value << Controller[1].value << std::endl;  // This shows the value being passed to the arduino from the selected controller button (#3 = Left stick Y position)
		
	}
	return 0;
}