int main ()
{
Joystick joystick(1);
while (true)
{
// Restrict rate
usleep(1000);
// Attempt to sample an event from the joystick
JoystickEvent event;
if (joystick.sample(&event))
{
if (event.isButton())
{
printf("Button %u is %s\n", event.number, event.value == 0 ? "up" : "down");
}
else if (event.isAxis())
{
printf("Axis %u is at position %d\n", event.number, event.value);
}
}
}
return 0;
}
void joystickControl()
{
// Attempt to sample an event from the joystick
JoystickEvent event;
if (joystick->sample(&event))
{
if (event.isButton())
{
printf("Button %u is %s\n",
event.number,
event.value == 0 ? "up" : "down");
}
else if (event.isAxis())
{
printf("Axis %u is at position %d\n", event.number, event.value);
switch(event.number)
{
case 0:
//balanceControl.spinSpeed =(float)event.value/JOYSTICK_AXIS_MAX;
smonthSpinSpeed = (float)event.value/JOYSTICK_AXIS_MAX;
//balanceControl.factorL = event.value/JOYSTICK_AXIS_MAX;
//balanceControl.factorR = 1-balanceControl.factorL;
break;
case 1:
break;
case 2: //右手左右
break;
case 3: //右手前后
//angle = axisToAngle(event.value);
//printf("angle %f\r\n", angle);
//servoSetAngle(&servoH, axisToAngle(event.value));
smonthSpeed = -(float)event.value/JOYSTICK_AXIS_MAX * 10;
//balanceControl.pidSpeed.desired = -(float)event.value/JOYSTICK_AXIS_MAX * 5;
break;
}
}
}
balanceControl.pidSpeed.desired = LPF(balanceControl.pidSpeed.desired, smonthSpeed);
balanceControl.spinSpeed = LPF(balanceControl.spinSpeed, smonthSpinSpeed);
speed_need = LPF(speed_need, smonthSpeed);
}
int main() {
init_serial();
char package[5];
package[0] = 'a';
package[4] = 0;
int v[3];
Joystick joystick("/dev/input/js0");
if (!joystick.isFound()) {
std::cerr << "no joystick found" << std::endl;
return 1;
}
while (true) {
int axis0_pos, axis1_pos, axis3_pos;
float v_ang, v_tan, v_norm;
JoystickEvent event;
if (joystick.sample(&event)) {
if ((event.isAxis()) && (event.number == 1)) {
axis1_pos = event.value;
if (axis1_pos > 4000 || axis1_pos < -4000) {
v_tan = (-(float)axis1_pos / 1000.0);
} else {
v_tan = 0;
}
v[0]=v_tan;
std::cout << "v_tan"<< v_tan << std::endl;
}
if ((event.isAxis()) && (event.number == 0)) {
axis0_pos = event.value;
if (axis0_pos > 4000 || axis0_pos < -4000) {
v_norm = (-(float)axis0_pos / 1000.0);
} else {
v_norm = 0;
}
v[1]=v_norm;
std::cout << "v_norm" <<v_norm << std::endl;
}
if ((event.isAxis()) && (event.number == 3)) {
axis3_pos = event.value;
if ((axis3_pos > 7000) || (axis3_pos < -1000)) {
v_ang = (-(float)axis3_pos / 1000.0);
}
else {
v_ang = 0;
}
v[2]=v_ang;
std::cout << "v_ang" << v_ang << std::endl;
}
for(int i = 0; i< 3; i++){
package[i+1] = v[i];
}
for(int i = 0; i < 5; i++){
serial_port.write(&package[i], 1);
std::cerr << package[i] << " ";
}
sleep(0.01);
}
}
return EXIT_SUCCESS;
}
void check_controller(rov_context_t *context)
{
JoystickEvent event;
bool result = context->joystick->sample(&event);
if(result && !event.isInitialState())
{
if(event.isAxis())
{
int value = event.value;
switch(event.number)
{
case 0: // The x axis
{
x = value;
move_xy(context, x, y);
} break;
case 1: // The y axis
{
y = value;
move_xy(context, x, y);
} break;
case 2: // The twist axis
{
rotate_z(context, value);
} break;
case 3: // The kull axis
{
move_z(context, value);
} break;
case 4: // Top x-axis
{
top_x = value;
balance(context, top_x, top_y);
} break;
case 5: // Top y-axis
{
top_y = value;
balance(context, top_x, top_y);
} break;
}
}
else if(event.isButton())
{
if (event.value)
{
switch(event.number)
{
case 0:
{
rov_interface::control_gripper(context, 20);
} break;
case 1:
{
rov_interface::control_gripper(context, 150);
} break;
case 2:
{
rov_interface::switch_camera(context, 3);
} break;
case 3:
{
rov_interface::switch_camera(context, 4);
} break;
case 4:
{
rov_interface::switch_camera(context, 8);
} break;
case 8:
{
valve_opener_pwm -= 16;
} break;
case 9:
{
valve_opener_pwm += 16;
} break;
}
}
if (event.number == 10)
{
rov_interface::set_motor(context, VALVE_OPENER, event.value, false, valve_opener_pwm);
}
else if (event.number == 11)
{
rov_interface::set_motor(context, VALVE_OPENER, false, event.value, valve_opener_pwm);
}
}
}
}
int main(int argc, char *argv[])
{
logOpen();
initXWindows();
init_opengl();
init_sounds();
load_sounds();
Game game;
gblock_info gbi;
gbi.width = 8;
gbi.height = 8;
gbi.rows = 100;
gbi.columns = 100;
begin_game(game, gbi);
Joystick joystick;
init(&game);
init_textures(game);
printf("%f\n",game.Player_1.stats.color[0]);
srand(time(NULL));
clock_gettime(CLOCK_REALTIME, &timePause);
clock_gettime(CLOCK_REALTIME, &timeStart);
int done=0;
while (!done) {
while (XPending(dpy)) {
XEvent e;
XNextEvent(dpy, &e);
check_resize(&e);
check_mouse(&e, &game);
done = check_keys(&e);
}
//Joystick events need to be checked outside of XPending(dpy)
JoystickEvent event;
if (joystick.sample(&event)) {
if (event.isButton() || event.isAxis()){
getJoystickEvent(event, joy, axis);
}
}
clock_gettime(CLOCK_REALTIME, &timeCurrent);
timeSpan = timeDiff(&timeStart, &timeCurrent);
timeCopy(&timeStart, &timeCurrent);
physicsCountdown += timeSpan;
while (physicsCountdown >= physicsRate) {
physics(&game);
physicsCountdown -= physicsRate;
}
/*if (argc == 1) {
if (titleScreen) {
if (keys[XK_Return]) {
enterPressed = keys[XK_Return];
}
if (keys[XK_Down]) {
downPressed ^= keys[XK_Down];
upPressed = 0;
enterPressed = 0;
}
if (keys[XK_Up]) {
upPressed ^= keys[XK_Up];
downPressed = 0;
enterPressed = 0;
}
titleScreen = renderTitleScreen(introTextures, introImages,
enterPressed, downPressed, upPressed, keys);
} else if (Pause) {
QUIT = PAUSE(&game, keys);
if (QUIT)
return(0);
} else if (winCondition) {
//test
endCredits(&game, keys);
}
else {
glClearColor(0.8, 0.8, 0.8, 1.0);
render(&game);
}
}
if (winCondition) {
//test
endCredits(&game, keys);
}
else if (Pause) {
QUIT = PAUSE(&game, keys);
if (QUIT)
return(0);
} else {
glClearColor(0.8,0.8,0.8,1.0);
render(&game);
}*/
render(&game);
glXSwapBuffers(dpy, win);
}
cleanupXWindows();
cleanup_fonts();
logClose();
release_sounds();
return 0;
}