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;
}
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;
}
