First working commit ready to be released

enovations · Aug 20, 2015 · 18744b6 · 18744b6
1 parent d8843ff
commit 18744b6
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Showing 4 changed files with 111 additions and 20 deletions.
diff --git a/src/com/sourcegasm/riftvision/Main.java b/src/com/sourcegasm/riftvision/Main.java
@@ -20,10 +20,11 @@ public static void main(String[] args) throws IOException {
 		joystickSensors.startReceiving();
 		mainController.droneController = droneController;
 		mainController.oculusSensors = oculusSensors;
+		mainController.joyStickSensors = joystickSensors;
 
 		RenderRiftWindow frame = new RenderRiftWindow(mainController);
-
-        //frame.showFrame();
+        frame.showFrame();
+
 		new RenderManager(droneController, frame);
 	}
 }
diff --git a/src/com/sourcegasm/riftvision/control/MainController.java b/src/com/sourcegasm/riftvision/control/MainController.java
@@ -1,6 +1,7 @@
 package com.sourcegasm.riftvision.control;
 
 import com.sourcegasm.riftvision.helper.ControlModes;
+import com.sourcegasm.riftvision.sensors.JoyStickSensors;
 import com.sourcegasm.riftvision.sensors.OculusSensors;
 
 import java.io.IOException;
@@ -9,7 +10,10 @@
  * Created by klemen on 19.8.2015. ^selfish
  */
 public class MainController {
+
     public OculusSensors oculusSensors;
+    public JoyStickSensors joyStickSensors;
+
     private Thread thread;
     public DroneController droneController;
     private HeightController heightController = new HeightController();
@@ -19,25 +23,13 @@ public class MainController {
 
     public void startController() {
 
-    	/*heightController = new HeightController();
-        yawController.setZero(droneController, oculusSensors);*/
-
         heightController = new HeightController();
         yawController.setZero(droneController, oculusSensors);
-        contiune = true;
-        thread = new Thread(new Runnable() {
-            @Override
-            public void run() {
-                while (contiune) {
-                    oculusOnlyControllerLiteration();
-                }
-            }
-        });
-        thread.start();
 
-        /*switch (controlMode) {
+        switch (controlMode) {
             case OculusOnly:
 
+            	contiune = true;
                 thread = new Thread(new Runnable() {
                     @Override
                     public void run() {
@@ -49,13 +41,103 @@ public void run() {
                 thread.start();
 
                 break;
+
             case OculusYaw:
+
+            	contiune = true;
+                thread = new Thread(new Runnable() {
+                    @Override
+                    public void run() {
+                        while (contiune) {
+                        	oculusYawControllerLiteration();
+                        }
+                    }
+                });
+                thread.start();
+
+                break;
+
+            case OculusYawPitch:
+
+            	contiune = true;
+                thread = new Thread(new Runnable() {
+                    @Override
+                    public void run() {
+                        while (contiune) {
+                        	oculusYawPitchControllerLiteration();
+                        }
+                    }
+                });
+                thread.start();
+
                 break;
+
             case JoystickOnly:
+
+            	contiune = true;
+                thread = new Thread(new Runnable() {
+                    @Override
+                    public void run() {
+                        while (contiune) {
+                        	joysitckOnlyControllerLiteration();
+                        }
+                    }
+                });
+                thread.start();
+
                 break;
-        }*/
+        }
     }
+
+    private void joysitckOnlyControllerLiteration() {
+
+            try {
+                droneController.getDrone().move((float)joyStickSensors.getRawRool(), (float)joyStickSensors.getRawPitch(), (float)joyStickSensors.getRawHeight(), (float)joyStickSensors.getRawYaw());
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
 
+        try {
+            Thread.sleep(50);
+        } catch (InterruptedException e) {
+            e.printStackTrace();
+        }
+
+    }
+
+    private void oculusYawControllerLiteration() {
+
+    	double yaw = yawController.getYawMove(droneController, oculusSensors);
+            try {
+            	droneController.getDrone().move((float)joyStickSensors.getRawRool(), (float)joyStickSensors.getRawPitch(), (float)joyStickSensors.getRawHeight(), (float)yaw);
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+
+        try {
+            Thread.sleep(50);
+        } catch (InterruptedException e) {
+            e.printStackTrace();
+        }
+    }
+
+    private void oculusYawPitchControllerLiteration() {
+
+        float pitch = (float) (ExpoController.getExpo(oculusSensors.getSmoothedPitch()) / 90.0);
+        double yaw = yawController.getYawMove(droneController, oculusSensors);
+        try {
+        	droneController.getDrone().move((float)joyStickSensors.getRawRool(), (float)pitch, (float)joyStickSensors.getRawHeight(), (float)yaw);
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+
+        try {
+            Thread.sleep(50);
+        } catch (InterruptedException e) {
+            e.printStackTrace();
+        }
+    }
+
     private void oculusOnlyControllerLiteration() {
 
         float roll = (float) (ExpoController.getExpo(oculusSensors.getSmoothedRool()) / 90.0);

diff --git a/src/com/sourcegasm/riftvision/render/RenderManager.java b/src/com/sourcegasm/riftvision/render/RenderManager.java
@@ -1,17 +1,21 @@
 package com.sourcegasm.riftvision.render;
 
+import java.awt.image.BufferedImage;
+import java.awt.image.RescaleOp;
+
+import com.codeminders.ardrone.util.BufferedImageVideoListener;
 import com.sourcegasm.riftvision.control.DroneController;
 
 public class RenderManager {
 	public RenderManager(DroneController controller, final RenderRiftWindow frame) {
-		/*controller.getDrone().addImageListener(new BufferedImageVideoListener() {
+		controller.getDrone().addImageListener(new BufferedImageVideoListener() {
 			@Override
 			public void imageReceived(BufferedImage image) {
 				RescaleOp rescaleOp = new RescaleOp(1.2f, 15, null);
 				rescaleOp.filter(image, image);
 				frame.updateFrame(image, controller.getNavData());
 			}
-		});*/
+		});
 	}
 
 }
diff --git a/src/com/sourcegasm/riftvision/sensors/JoyStickSensors.java b/src/com/sourcegasm/riftvision/sensors/JoyStickSensors.java
@@ -47,7 +47,7 @@ public void run() {
 							rawPitch = (float) (ExpoController.getJoyStickExpo(Integer.parseInt(mami_array[3].trim())));
 							rawRoll = (float) (ExpoController.getJoyStickExpo(Integer.parseInt(mami_array[2].trim())));
 							rawYaw = (float) (ExpoController.getJoyStickExpo((Integer.parseInt(mami_array[0].trim()))));
-							rawHeight = (float) (ExpoController.getJoyStickExpo((Integer.parseInt(mami_array[1].trim()))));	
+							rawHeight = (float) ((Integer.parseInt(mami_array[1].trim()))) / -300.0f;
 						}
 
 					}
@@ -133,5 +133,9 @@ public double getRawPitch() {
 	public double getRawYaw() {
 		return rawYaw;
 	}
+
+	public double getRawHeight(){
+		return rawHeight;
+	}
 
 }