rendered paste body//===================================================================// File: Joystick.cpp// Name: Robert Fitzgerald// Date: 3/8/2006// Description: Joy Stick program©//===================================================================#include <iostream.h>#include <windows.h>//=====================================// Global Constants//=====================================const char * APP_NAME = "R/C Control Program";const char * APP_VERSION = "[Build 0.01]";const char * APP_AUTHOR = "Robert Fitzgerald";const char * APP_COPYRIGHT1 = "Copyright (c) 2006";const char * APP_COPYRIGHT2 = "Robert Fitzgerald, CMPLUS Technologies, Inc.";const char * APP_COPYRIGHT3 = "All Rights Reserved.";const char * PORT_NAME = "COM1:";const int NUM_CHANNELS = 8;const int CHANNEL_STEERING = 0;const int CHANNEL_THROTTLE = 1;//=====================================// Function: main()//=====================================int main (int argc, char * argv []){ JOYINFOEX jixStick; HANDLE hPort; DCB myDCB; COMMTIMEOUTS myTimeOuts; unsigned char rcMsg[NUM_CHANNELS]; unsigned long bytesWritten; double feed = 0; int speed = 504; int xpos; int ypos; int zpos; int rpos; int upos; int vpos; bool running; /* ------------------------------------ * * Show program banner * * ------------------------------------ */ cout << endl << APP_NAME << " " << APP_VERSION << endl << APP_COPYRIGHT1 << endl << APP_COPYRIGHT2 << endl << APP_COPYRIGHT3 << endl << endl; /* ------------------------------------ * * Open connection to port * * ------------------------------------ */ cout << "Opening port'" << PORT_NAME << "' ... "; hPort = CreateFile(PORT_NAME, GENERIC_READ | GENERIC_WRITE, 0, 0, OPEN_EXISTING, FILE_FLAG_WRITE_THROUGH, 0); if (hPort == INVALID_HANDLE_VALUE){ cout << endl << "Unable to create connection." << endl; return (0); } cout << "opened" << endl; /* ------------------------------------ * * Set Port state values * * ------------------------------------ */ cout << "Setting DCB values ... "; if (!GetCommState(hPort, &myDCB)) { cout << endl << "Unable to set port values." << endl; } myDCB.DCBlength = sizeof(myDCB); myDCB.BaudRate = CBR_19200; myDCB.fBinary = TRUE; myDCB.fParity = NOPARITY; myDCB.fDtrControl = DTR_CONTROL_ENABLE; myDCB.fRtsControl = RTS_CONTROL_ENABLE; myDCB.ByteSize = 8; myDCB.Parity = NOPARITY; myDCB.StopBits = ONESTOPBIT; myDCB.fOutxCtsFlow = TRUE; myDCB.fOutxDsrFlow = FALSE; myDCB.fOutX = FALSE; myDCB.fInX = FALSE; myDCB.fDsrSensitivity = FALSE; myDCB.fTXContinueOnXoff = TRUE; myDCB.fErrorChar = FALSE; myDCB.fNull = FALSE; myDCB.fAbortOnError = FALSE; if (!SetCommState(hPort, &myDCB)) { cout << endl << "Unable to set poert values." << endl; return (0); } cout << "set" << endl; /* ------------------------------------ * * Set Port state values * * ------------------------------------ */ cout << "Setting timeout values ... "; if (!GetCommTimeouts(hPort, &myTimeOuts)) { cout << endl << "Unable to get communication timeouts." << endl; return (0); } myTimeOuts.ReadIntervalTimeout = 100; myTimeOuts.ReadTotalTimeoutConstant = 100; myTimeOuts.ReadTotalTimeoutMultiplier = 0; myTimeOuts.WriteTotalTimeoutConstant = 0; myTimeOuts.WriteTotalTimeoutMultiplier = 0; if (!SetCommTimeouts(hPort, &myTimeOuts)) { cout << endl << "Unable to set communication myTimeOuts." << endl; return (0); } cout << "set" << endl; /* ------------------------------------ * * Clear & Set Request to send (RTS) * * ------------------------------------ */ EscapeCommFunction(hPort, CLRBREAK); Sleep(60); EscapeCommFunction(hPort, CLRRTS); Sleep(60); EscapeCommFunction(hPort, SETRTS); Sleep(60); /* ------------------------------------ * * Initialize all channel * * ------------------------------------ */ cout << "Initializing all channels ... "; for (int i = 0; i < NUM_CHANNELS; i++) rcMsg[i] = (unsigned char) 125;// if (!WriteFile(hPort, rcMsg, sizeof(rcMsg), &bytesWritten, 0)) {// cout << endl << "Unable to initialize channels - write failed." << endl;// return (0);// } cout << "done" << endl; /* ------------------------------------ * * Run R/C Session * * ------------------------------------ */ cout << endl << "PC -> R/C session ... running "; cout << endl; running = true; for (; running == true; ) { memset(&jixStick, 0x00, sizeof(jixStick)); jixStick.dwSize = sizeof(JOYINFOEX); jixStick.dwFlags = JOY_RETURNALL; joyGetPosEx(JOYSTICKID1, &jixStick);// rcMsg[CHANNEL_STEERING] = (unsigned char) ((jixStick.dwXpos/262));// rcMsg[CHANNEL_THROTTLE] = (unsigned char) (fabs(feed-(jixStick.dwZpos/speed)));// WriteFile(hPort, rcMsg, sizeof(rcMsg), &bytesWritten, 0);// FlushFileBuffers(hPort);// 100 - 250 stop forward// 100 - 0 stop reverse xpos = (jixStick.dwXpos/262); ypos = (jixStick.dwYpos/262); zpos = (fabs(feed-(jixStick.dwZpos/speed))); rpos = (jixStick.dwRpos/262); upos = (jixStick.dwUpos/262); vpos = (jixStick.dwVpos/262); cout << "X-Y-Z Values: " << xpos << ", " << ypos << ", " << zpos << ", " << rpos << ", " << upos << ", " << vpos << endl; if ((jixStick.dwButtons & JOY_BUTTON3)) { speed = 504; feed = 0;// 650 346 521 435 0.0019074 504 542// PlaySound("./battle032.wav", 0, SND_SYNC); } if ((jixStick.dwButtons & JOY_BUTTON4)) { speed = 542; feed = 250;// PlaySound("./shotgun2.wav", 0, SND_SYNC); } if ((jixStick.dwButtons & JOY_BUTTON1)) running = false;// varibles loops arrays functions // if ((jixStick.dwButtons & JOY_BUTTON4)) {// cout << "Button 4 pressed" << endl;// PlaySound("./shotgun.wav", 0, SND_SYNC);// } } cout << endl << "PC -> R/C session ... stopped "; cout << endl; cout << endl; /* ------------------------------------ * * Reset all channels * * ------------------------------------ */ cout << "Reseting all channels ... "; for (int i = 0; i < NUM_CHANNELS; i++) rcMsg[i] = (unsigned char) 125;// if (!WriteFile(hPort, rcMsg, sizeof(rcMsg), &bytesWritten, 0)) {// cout << endl << "Unable to initialize channels - write failed." << endl;// return (0);// } cout << "done" << endl; /* ------------------------------------ * * Close connection to port and exit * * ------------------------------------ */ cout << "Closing port '" << PORT_NAME << "' ... "; if (CloseHandle(hPort)) cout << "closed" << endl; else cout << "Unable to close connection." << endl; cout << "Exiting program. " << endl; return 0;}