virtual bool control() override
{
if(joystickIntervalCounter++ > 40){
joystickIntervalCounter = 0;
joystick.readCurrentState();
}
double thrust[2];
double thrust_updown;
double hyd = 0.0;
thrust[0] = -joystick.getPosition(3); // right
thrust[1] = -joystick.getPosition(1); // left
thrust_updown = joystick.getPosition(5); //up、down
ThrusterDevice* thrusterDevice[3];
for(size_t i = 0; i < thrusts.size(); ++i){
thrusterDevice[i] = thrusts[i];
if(thrusts[i]->id()){
// Set hydraulic power.
if(thrust[i - 1]){
hyd = thrust[i - 1] * 0.75;
}else{
hyd = 0.0;
}
}else{
if(thrust_updown){
hyd = thrust_updown * 0.75;
}else{
hyd = 0.0;
}
}
thrusterDevice[i]->setHydraulic(hyd);
thrusterDevice[i]->notifyStateChange();
}
if(light){
bool changed = false;
bool lightButtonState = joystick.getButtonState(0);
if(lightButtonState){
if(!prevLightButtonState){
light->on(!light->on());
changed = true;
}
}
prevLightButtonState = lightButtonState;
if(changed){
light->notifyStateChange();
}
}
return true;
}
