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ChiKyun Kim
174
Handler/Project/RunCode/Device/_Joystick.cs
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174
Handler/Project/RunCode/Device/_Joystick.cs
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using System;
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using System.Collections.Generic;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using AR;
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using arDev;
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namespace Project
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{
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public partial class FMain
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{
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private void Joystick_InputChanged(object sender, arDev.Joystick.JoystickRaw.InputChangedEventHandler e)
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{
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var keyName = e.input.ToString();
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if (e.input == HidSharp.Reports.Usage.Button5) keyName = "L-TRIGGER";
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else if (e.input == HidSharp.Reports.Usage.Button6) keyName = "R-TRIGGER";
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else if (e.input == HidSharp.Reports.Usage.Button9) keyName = "SELECT";
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else if (e.input == HidSharp.Reports.Usage.Button10) keyName = "START";
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else if (e.input == HidSharp.Reports.Usage.Button4) keyName = "BUT-Y";
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else if (e.input == HidSharp.Reports.Usage.Button1) keyName = "BUT-X";
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PUB.log.Add("JOYSTICK", string.Format("[{0}] {1}->{2}", keyName, e.oldValue, e.newValue));
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if (PUB.sm.Step != eSMStep.IDLE && PUB.sm.Step != eSMStep.ERROR && PUB.flag.get(eVarBool.FG_MOVE_PICKER) == false && PUB.sm.Step != eSMStep.WAITSTART) return;
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if (e.input == HidSharp.Reports.Usage.Button4) //stop
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{
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if (e.newValue > 0)
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{
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PUB.log.Add("Joystick Click : Stop");
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_BUTTON_STOP();
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}
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}
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else if (e.input == HidSharp.Reports.Usage.Button1) //reset
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{
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if (e.newValue > 0)
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{
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PUB.log.Add("Joystick Click : Reset");
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_BUTTON_RESET();
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}
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}
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else if (e.input == HidSharp.Reports.Usage.Button9) //select button
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{
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if (e.newValue == 1)
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{
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PUB.Result.JoystickAxisGroup += 1;
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if (PUB.Result.JoystickAxisGroup > 3) PUB.Result.JoystickAxisGroup = 0;
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}
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}
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else if (e.input == HidSharp.Reports.Usage.Button10) //start button
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{
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if (e.newValue == 1 && PUB.flag.get(eVarBool.FG_SCR_JOBSELECT) == false)
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{
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if (PUB.sm.Step >= eSMStep.IDLE)
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{
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PUB.log.AddI("START BUTTON");
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this._BUTTON_START();
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}
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}
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}
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else if (e.input == HidSharp.Reports.Usage.Button5) //ltrigger
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{
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AR.SETTING.Data.Enable_SpeedLimit = true;
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}
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else if (e.input == HidSharp.Reports.Usage.Button6) //ltrigger
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{
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AR.SETTING.Data.Enable_SpeedLimit = false;
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}
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//트리거 L,R을 눌렀을때 홈 가능한 위치라면 홈을 진행한다
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if (e.newValue > 0 && (e.input == HidSharp.Reports.Usage.Button5 || e.input == HidSharp.Reports.Usage.Button6))
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{
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//두개가 동시에 눌렷을때
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if (PUB.joystick.Buttons[4] && PUB.joystick.Buttons[5])
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{
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if (PUB.flag.get(eVarBool.FG_INIT_MOTIO) == false) return;
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if (PUB.sm.isRunning == true) return;
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if (DIO.IsEmergencyOn() == true) return;
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if (PUB.sm.Step == eSMStep.RUN) return;
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PUB.log.AddAT("조이스틱으로 홈 초기화작업");
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Func_sw_initialize();
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}
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}
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//동작중만 아니면 작동하게한다.
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if (PUB.sm.Step != eSMStep.RUN)
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{
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short axisH = 0;
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short axisV = 1;
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if (PUB.Result.JoystickAxisGroup == 1) //왼쪽뭉치
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{
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axisH = 2;
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axisV = 3;
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}
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else if (PUB.Result.JoystickAxisGroup == 2) //오른쪽뭉치
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{
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axisH = 4;
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axisV = 5;
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}
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else if (PUB.Result.JoystickAxisGroup == 3) //theta, picker-Z
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{
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axisH = 6;
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axisV = 1;
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}
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//X축으로 이동하는것은 PX,
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if (e.input == HidSharp.Reports.Usage.GenericDesktopX)
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{
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if (e.newValue == 0)
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{
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//좌
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PUB.mot.JOG(axisH, arDev.MOT.MOTION_DIRECTION.Negative, 100, 500, false, false);
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PUB.flag.set(eVarBool.FG_JOYSTICK, true, "joystick");
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}
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else if (e.newValue == 127)
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{
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//멈춤
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PUB.mot.MoveStop("Joystick", axisH);
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PUB.flag.set(eVarBool.FG_JOYSTICK, false, "joystick");
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}
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else if (e.newValue == 255)
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{
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//우
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PUB.mot.JOG(axisH, arDev.MOT.MOTION_DIRECTION.Positive, 100, 500, false, false);
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PUB.flag.set(eVarBool.FG_JOYSTICK, true, "joystick");
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}
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}
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else if (e.input == HidSharp.Reports.Usage.GenericDesktopY)
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{
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if (e.newValue == 0)
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{
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//상
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PUB.mot.JOG(axisV, arDev.MOT.MOTION_DIRECTION.Negative, 100, 500, false, false);
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PUB.flag.set(eVarBool.FG_JOYSTICK, true, "joystick");
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}
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else if (e.newValue == 127)
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{
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//멈춤
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PUB.mot.MoveStop("Joystick", axisV);
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PUB.flag.set(eVarBool.FG_JOYSTICK, false, "joystick");
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}
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else if (e.newValue == 255)
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{
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//하
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PUB.mot.JOG(axisV, arDev.MOT.MOTION_DIRECTION.Positive, 100, 500, false, false);
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PUB.flag.set(eVarBool.FG_JOYSTICK, true, "joystick");
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}
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}
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}
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}
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private void Joystick_Disconnected(object sender, EventArgs e)
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{
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PUB.log.AddE("조이스틱 연결 종료");
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}
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private void Joystick_Connected(object sender, EventArgs e)
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{
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PUB.log.AddI("조이스틱 연결 완료");
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}
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private void Joystick_Changed(object sender, EventArgs e)
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{
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PUB.log.AddAT("조이스틱 감지");
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}
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}
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}
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