void Joydrive::drive(void)
{
int trans, rot;
int pan, tilt;
int zoom, nothing;
// if both buttons are pushed, zoom the joystick
if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(1) &&
myJoyHandler.getButton(2))
{
// set its speed so we get desired value range, we only care about y
myJoyHandler.setSpeeds(0, myZoomValCamera);
// get the values
myJoyHandler.getAdjusted(¬hing, &zoom);
// zoom the camera
myCam.zoomRel(zoom);
}
// if both buttons aren't pushed, see if one button is pushed
else
{
// if button one is pushed, drive the robot
if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(1))
{
// set the speed on the joystick so we get the values we want
myJoyHandler.setSpeeds(myRotValRobot, myTransValRobot);
// get the values
myJoyHandler.getAdjusted(&rot, &trans);
// set the robots speed
myRobot->setVel(trans);
myRobot->setRotVel(-rot);
}
// if button one isn't pushed, stop the robot
else
{
myRobot->setVel(0);
myRobot->setRotVel(0);
}
// if button two is pushed, move the camera
if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(2))
{
// set the speeds on the joystick so we get desired value range
myJoyHandler.setSpeeds(myPanValCamera, myTiltValCamera);
// get the values
myJoyHandler.getAdjusted(&pan, &tilt);
// drive the camera
myCam.panTiltRel(pan, tilt);
}
}
}
void Joydrive::down(void)
{
myCam.panTiltRel(0, -myUDAmount);
}
void Joydrive::right(void)
{
myCam.panTiltRel(myLRAmount, 0);
}
void Joydrive::up(void)
{
myCam.panTiltRel(0, myUDAmount);
}
void Joydrive::left(void)
{
myCam.panTiltRel(-myLRAmount, 0);
}
