Ok, I need alot of help. The only programing I have done is on uC's. Do it on windows is alot harder.
First I don't know which option to choose in visual studio for these examples. For my arm control test I knew I wanted buttons to control each direction and joint, so I used a form. Here I just want to display what button is pressed on the joy stick. What would be the best?
Second, I don't know where all the different parts of the code goes.
I hope im not asking to much.
Thanks
-Arthur
*EDIT*
I decided that it would just be easier to modify the sample code for the directx joystick. I tried to add a serial communication code to it but it kept giving me errors. I will post the original code:
//-----------------------------------------------------------------------------
// File: Joystick.cpp
//
// Desc: Demonstrates an application which receives immediate
// Joystick data in exclusive mode via a dialog timer.
//
// Copyright (c) Microsoft Corporation. All rights reserved.
//-----------------------------------------------------------------------------
#define STRICT
#define DIRECTINPUT_VERSION 0x0800
#define _CRT_SECURE_NO_DEPRECATE
#ifndef _WIN32_DCOM
#define _WIN32_DCOM
#endif
#include <windows.h>
#include <commctrl.h>
#include <basetsd.h>
#include <dinput.h>
#include <dinputd.h>
#include <assert.h>
#include <oleauto.h>
#include <shellapi.h>
#include <tchar.h>
#pragma warning( disable : 4996 ) // disable deprecated warning
#include <strsafe.h>
#pragma warning( default : 4996 )
#include "resource.h"
//-----------------------------------------------------------------------------
// Function-prototypes
//-----------------------------------------------------------------------------
INT_PTR CALLBACK MainDlgProc( HWND hDlg, UINT msg, WPARAM wParam, LPARAM lParam );
BOOL CALLBACK EnumObjectsCallback( const DIDEVICEOBJECTINSTANCE* pdidoi, VOID* pContext );
BOOL CALLBACK EnumJoysticksCallback( const DIDEVICEINSTANCE* pdidInstance, VOID* pContext );
HRESULT InitDirectInput( HWND hDlg );
VOID FreeDirectInput();
HRESULT UpdateInputState( HWND hDlg );
// Stuff to filter out XInput devices
#include <wbemidl.h>
HRESULT SetupForIsXInputDevice();
bool IsXInputDevice( const GUID* pGuidProductFromDirectInput );
void CleanupForIsXInputDevice();
struct XINPUT_DEVICE_NODE
{
DWORD dwVidPid;
XINPUT_DEVICE_NODE* pNext;
};
struct DI_ENUM_CONTEXT
{
DIJOYCONFIG* pPreferredJoyCfg;
bool bPreferredJoyCfgValid;
};
bool g_bFilterOutXinputDevices = false;
XINPUT_DEVICE_NODE* g_pXInputDeviceList = NULL;
//-----------------------------------------------------------------------------
// Defines, constants, and global variables
//-----------------------------------------------------------------------------
#define SAFE_DELETE(p) { if(p) { delete (p); (p)=NULL; } }
#define SAFE_RELEASE(p) { if(p) { (p)->Release(); (p)=NULL; } }
LPDIRECTINPUT8 g_pDI = NULL;
LPDIRECTINPUTDEVICE8 g_pJoystick = NULL;
//-----------------------------------------------------------------------------
// Name: WinMain()
// Desc: Entry point for the application. Since we use a simple dialog for
// user interaction we don't need to pump messages.
//-----------------------------------------------------------------------------
int APIENTRY WinMain( HINSTANCE hInst, HINSTANCE, LPSTR, int )
{
InitCommonControls();
WCHAR* strCmdLine;
int nNumArgs;
LPWSTR* pstrArgList = CommandLineToArgvW( GetCommandLineW(), &nNumArgs );
for( int iArg = 1; iArg < nNumArgs; iArg++ )
{
strCmdLine = pstrArgList[iArg];
// Handle flag args
if( *strCmdLine == L'/' || *strCmdLine == L'-' )
{
strCmdLine++;
int nArgLen = ( int )wcslen( L"noxinput" );
if( _wcsnicmp( strCmdLine, L"noxinput", nArgLen ) == 0 && strCmdLine[nArgLen] == 0 )
{
g_bFilterOutXinputDevices = true;
continue;
}
}
}
LocalFree( pstrArgList );
// Display the main dialog box.
DialogBox( hInst, MAKEINTRESOURCE( IDD_JOYST_IMM ), NULL, MainDlgProc );
return 0;
}
//-----------------------------------------------------------------------------
// Name: MainDialogProc
// Desc: Handles dialog messages
//-----------------------------------------------------------------------------
INT_PTR CALLBACK MainDlgProc( HWND hDlg, UINT msg, WPARAM wParam, LPARAM lParam )
{
UNREFERENCED_PARAMETER( lParam );
switch( msg )
{
case WM_INITDIALOG:
if( FAILED( InitDirectInput( hDlg ) ) )
{
MessageBox( NULL, TEXT( "Error Initializing DirectInput" ),
TEXT( "DirectInput Sample" ), MB_ICONERROR | MB_OK );
EndDialog( hDlg, 0 );
}
// Set a timer to go off 30 times a second. At every timer message
// the input device will be read
SetTimer( hDlg, 0, 1000 / 30, NULL );
return TRUE;
case WM_ACTIVATE:
if( WA_INACTIVE != wParam && g_pJoystick )
{
// Make sure the device is acquired, if we are gaining focus.
g_pJoystick->Acquire();
}
return TRUE;
case WM_TIMER:
// Update the input device every timer message
if( FAILED( UpdateInputState( hDlg ) ) )
{
KillTimer( hDlg, 0 );
MessageBox( NULL, TEXT( "Error Reading Input State. " ) \
TEXT( "The sample will now exit." ), TEXT( "DirectInput Sample" ),
MB_ICONERROR | MB_OK );
EndDialog( hDlg, TRUE );
}
return TRUE;
case WM_COMMAND:
switch( LOWORD( wParam ) )
{
case IDCANCEL:
EndDialog( hDlg, 0 );
return TRUE;
}
case WM_DESTROY:
// Cleanup everything
KillTimer( hDlg, 0 );
FreeDirectInput();
return TRUE;
}
return FALSE; // Message not handled
}
//-----------------------------------------------------------------------------
// Name: InitDirectInput()
// Desc: Initialize the DirectInput variables.
//-----------------------------------------------------------------------------
HRESULT InitDirectInput( HWND hDlg )
{
HRESULT hr;
// Register with the DirectInput subsystem and get a pointer
// to a IDirectInput interface we can use.
// Create a DInput object
if( FAILED( hr = DirectInput8Create( GetModuleHandle( NULL ), DIRECTINPUT_VERSION,
IID_IDirectInput8, ( VOID** )&g_pDI, NULL ) ) )
return hr;
if( g_bFilterOutXinputDevices )
SetupForIsXInputDevice();
DIJOYCONFIG PreferredJoyCfg = {0};
DI_ENUM_CONTEXT enumContext;
enumContext.pPreferredJoyCfg = &PreferredJoyCfg;
enumContext.bPreferredJoyCfgValid = false;
IDirectInputJoyConfig8* pJoyConfig = NULL;
if( FAILED( hr = g_pDI->QueryInterface( IID_IDirectInputJoyConfig8, ( void** )&pJoyConfig ) ) )
return hr;
PreferredJoyCfg.dwSize = sizeof( PreferredJoyCfg );
if( SUCCEEDED( pJoyConfig->GetConfig( 0, &PreferredJoyCfg, DIJC_GUIDINSTANCE ) ) ) // This function is expected to fail if no Joystick is attached
enumContext.bPreferredJoyCfgValid = true;
SAFE_RELEASE( pJoyConfig );
// Look for a simple Joystick we can use for this sample program.
if( FAILED( hr = g_pDI->EnumDevices( DI8DEVCLASS_GAMECTRL,
EnumJoysticksCallback,
&enumContext, DIEDFL_ATTACHEDONLY ) ) )
return hr;
if( g_bFilterOutXinputDevices )
CleanupForIsXInputDevice();
// Make sure we got a Joystick
if( NULL == g_pJoystick )
{
MessageBox( NULL, TEXT( "Joystick not found. The sample will now exit." ),
TEXT( "DirectInput Sample" ),
MB_ICONERROR | MB_OK );
EndDialog( hDlg, 0 );
return S_OK;
}
// Set the data format to "simple Joystick" - a predefined data format
//
// A data format specifies which controls on a device we are interested in,
// and how they should be reported. This tells DInput that we will be
// passing a DIJOYSTATE2 structure to IDirectInputDevice::GetDeviceState().
if( FAILED( hr = g_pJoystick->SetDataFormat( &c_dfDIJoystick2 ) ) )
return hr;
// Set the cooperative level to let DInput know how this device should
// interact with the system and with other DInput applications.
if( FAILED( hr = g_pJoystick->SetCooperativeLevel( hDlg, DISCL_EXCLUSIVE |
DISCL_FOREGROUND ) ) )
return hr;
// Enumerate the Joystick objects. The callback function enabled user
// interface elements for objects that are found, and sets the min/max
// values property for discovered axes.
if( FAILED( hr = g_pJoystick->EnumObjects( EnumObjectsCallback,
( VOID* )hDlg, DIDFT_ALL ) ) )
return hr;
return S_OK;
}
//-----------------------------------------------------------------------------
// Enum each PNP device using WMI and check each device ID to see if it contains
// "IG_" (ex. "VID_045E&PID_028E&IG_00"). If it does, then it’s an XInput device
// Unfortunately this information can not be found by just using DirectInput.
// Checking against a VID/PID of 0x028E/0x045E won't find 3rd party or future
// XInput devices.
//
// This function stores the list of xinput devices in a linked list
// at g_pXInputDeviceList, and IsXInputDevice() searchs that linked list
//-----------------------------------------------------------------------------
HRESULT SetupForIsXInputDevice()
{
IWbemServices* pIWbemServices = NULL;
IEnumWbemClassObject* pEnumDevices = NULL;
IWbemLocator* pIWbemLocator = NULL;
IWbemClassObject* pDevices[20] = {0};
BSTR bstrDeviceID = NULL;
BSTR bstrClassName = NULL;
BSTR bstrNamespace = NULL;
DWORD uReturned = 0;
bool bCleanupCOM = false;
UINT iDevice = 0;
VARIANT var;
HRESULT hr;
// CoInit if needed
hr = CoInitialize( NULL );
bCleanupCOM = SUCCEEDED( hr );
// Create WMI
hr = CoCreateInstance( __uuidof( WbemLocator ),
NULL,
CLSCTX_INPROC_SERVER,
__uuidof( IWbemLocator ),
( LPVOID* )&pIWbemLocator );
if( FAILED( hr ) || pIWbemLocator == NULL )
goto LCleanup;
// Create BSTRs for WMI
bstrNamespace = SysAllocString( L"\\\\.\\root\\cimv2" ); if( bstrNamespace == NULL ) goto LCleanup;
bstrDeviceID = SysAllocString( L"DeviceID" ); if( bstrDeviceID == NULL ) goto LCleanup;
bstrClassName = SysAllocString( L"Win32_PNPEntity" ); if( bstrClassName == NULL ) goto LCleanup;
// Connect to WMI
hr = pIWbemLocator->ConnectServer( bstrNamespace, NULL, NULL, 0L,
0L, NULL, NULL, &pIWbemServices );
if( FAILED( hr ) || pIWbemServices == NULL )
goto LCleanup;
// Switch security level to IMPERSONATE
CoSetProxyBlanket( pIWbemServices, RPC_C_AUTHN_WINNT, RPC_C_AUTHZ_NONE, NULL,
RPC_C_AUTHN_LEVEL_CALL, RPC_C_IMP_LEVEL_IMPERSONATE, NULL, 0 );
// Get list of Win32_PNPEntity devices
hr = pIWbemServices->CreateInstanceEnum( bstrClassName, 0, NULL, &pEnumDevices );
if( FAILED( hr ) || pEnumDevices == NULL )
goto LCleanup;
// Loop over all devices
for(; ; )
{
// Get 20 at a time
hr = pEnumDevices->Next( 10000, 20, pDevices, &uReturned );
if( FAILED( hr ) )
goto LCleanup;
if( uReturned == 0 )
break;
for( iDevice = 0; iDevice < uReturned; iDevice++ )
{
// For each device, get its device ID
hr = pDevices[iDevice]->Get( bstrDeviceID, 0L, &var, NULL, NULL );
if( SUCCEEDED( hr ) && var.vt == VT_BSTR && var.bstrVal != NULL )
{
// Check if the device ID contains "IG_". If it does, then it’s an XInput device
// Unfortunately this information can not be found by just using DirectInput
if( wcsstr( var.bstrVal, L"IG_" ) )
{
// If it does, then get the VID/PID from var.bstrVal
DWORD dwPid = 0, dwVid = 0;
WCHAR* strVid = wcsstr( var.bstrVal, L"VID_" );
if( strVid && swscanf( strVid, L"VID_%4X", &dwVid ) != 1 )
dwVid = 0;
WCHAR* strPid = wcsstr( var.bstrVal, L"PID_" );
if( strPid && swscanf( strPid, L"PID_%4X", &dwPid ) != 1 )
dwPid = 0;
DWORD dwVidPid = MAKELONG( dwVid, dwPid );
// Add the VID/PID to a linked list
XINPUT_DEVICE_NODE* pNewNode = new XINPUT_DEVICE_NODE;
if( pNewNode )
{
pNewNode->dwVidPid = dwVidPid;
pNewNode->pNext = g_pXInputDeviceList;
g_pXInputDeviceList = pNewNode;
}
}
}
SAFE_RELEASE( pDevices[iDevice] );
}
}
LCleanup:
if( bstrNamespace )
SysFreeString( bstrNamespace );
if( bstrDeviceID )
SysFreeString( bstrDeviceID );
if( bstrClassName )
SysFreeString( bstrClassName );
for( iDevice = 0; iDevice < 20; iDevice++ )
SAFE_RELEASE( pDevices[iDevice] );
SAFE_RELEASE( pEnumDevices );
SAFE_RELEASE( pIWbemLocator );
SAFE_RELEASE( pIWbemServices );
return hr;
}
//-----------------------------------------------------------------------------
// Returns true if the DirectInput device is also an XInput device.
// Call SetupForIsXInputDevice() before, and CleanupForIsXInputDevice() after
//-----------------------------------------------------------------------------
bool IsXInputDevice( const GUID* pGuidProductFromDirectInput )
{
// Check each xinput device to see if this device's vid/pid matches
XINPUT_DEVICE_NODE* pNode = g_pXInputDeviceList;
while( pNode )
{
if( pNode->dwVidPid == pGuidProductFromDirectInput->Data1 )
return true;
pNode = pNode->pNext;
}
return false;
}
//-----------------------------------------------------------------------------
// Cleanup needed for IsXInputDevice()
//-----------------------------------------------------------------------------
void CleanupForIsXInputDevice()
{
// Cleanup linked list
XINPUT_DEVICE_NODE* pNode = g_pXInputDeviceList;
while( pNode )
{
XINPUT_DEVICE_NODE* pDelete = pNode;
pNode = pNode->pNext;
SAFE_DELETE( pDelete );
}
}
//-----------------------------------------------------------------------------
// Name: EnumJoysticksCallback()
// Desc: Called once for each enumerated Joystick. If we find one, create a
// device interface on it so we can play with it.
//-----------------------------------------------------------------------------
BOOL CALLBACK EnumJoysticksCallback( const DIDEVICEINSTANCE* pdidInstance,
VOID* pContext )
{
DI_ENUM_CONTEXT* pEnumContext = ( DI_ENUM_CONTEXT* )pContext;
HRESULT hr;
if( g_bFilterOutXinputDevices && IsXInputDevice( &pdidInstance->guidProduct ) )
return DIENUM_CONTINUE;
// Skip anything other than the perferred Joystick device as defined by the control panel.
// Instead you could store all the enumerated Joysticks and let the user pick.
if( pEnumContext->bPreferredJoyCfgValid &&
!IsEqualGUID( pdidInstance->guidInstance, pEnumContext->pPreferredJoyCfg->guidInstance ) )
return DIENUM_CONTINUE;
// Obtain an interface to the enumerated Joystick.
hr = g_pDI->CreateDevice( pdidInstance->guidInstance, &g_pJoystick, NULL );
// If it failed, then we can't use this Joystick. (Maybe the user unplugged
// it while we were in the middle of enumerating it.)
if( FAILED( hr ) )
return DIENUM_CONTINUE;
// Stop enumeration. Note: we're just taking the first Joystick we get. You
// could store all the enumerated Joysticks and let the user pick.
return DIENUM_STOP;
}
//-----------------------------------------------------------------------------
// Name: EnumObjectsCallback()
// Desc: Callback function for enumerating objects (axes, buttons, POVs) on a
// Joystick. This function enables user interface elements for objects
// that are found to exist, and scales axes min/max values.
//-----------------------------------------------------------------------------
BOOL CALLBACK EnumObjectsCallback( const DIDEVICEOBJECTINSTANCE* pdidoi,
VOID* pContext )
{
HWND hDlg = ( HWND )pContext;
static int nSliderCount = 0; // Number of returned slider controls
static int nPOVCount = 0; // Number of returned POV controls
// For axes that are returned, set the DIPROP_RANGE property for the
// enumerated axis in order to scale min/max values.
if( pdidoi->dwType & DIDFT_AXIS )
{
DIPROPRANGE diprg;
diprg.diph.dwSize = sizeof( DIPROPRANGE );
diprg.diph.dwHeaderSize = sizeof( DIPROPHEADER );
diprg.diph.dwHow = DIPH_BYID;
diprg.diph.dwObj = pdidoi->dwType; // Specify the enumerated axis
diprg.lMin = -1000;
diprg.lMax = +1000;
// Set the range for the axis
if( FAILED( g_pJoystick->SetProperty( DIPROP_RANGE, &diprg.diph ) ) )
return DIENUM_STOP;
}
// Set the UI to reflect what objects the Joystick supports
if( pdidoi->guidType == GUID_XAxis )
{
EnableWindow( GetDlgItem( hDlg, IDC_X_AXIS ), TRUE );
EnableWindow( GetDlgItem( hDlg, IDC_X_AXIS_TEXT ), TRUE );
}
if( pdidoi->guidType == GUID_YAxis )
{
EnableWindow( GetDlgItem( hDlg, IDC_Y_AXIS ), TRUE );
EnableWindow( GetDlgItem( hDlg, IDC_Y_AXIS_TEXT ), TRUE );
}
if( pdidoi->guidType == GUID_ZAxis )
{
EnableWindow( GetDlgItem( hDlg, IDC_Z_AXIS ), TRUE );
EnableWindow( GetDlgItem( hDlg, IDC_Z_AXIS_TEXT ), TRUE );
}
if( pdidoi->guidType == GUID_RxAxis )
{
EnableWindow( GetDlgItem( hDlg, IDC_X_ROT ), TRUE );
EnableWindow( GetDlgItem( hDlg, IDC_X_ROT_TEXT ), TRUE );
}
if( pdidoi->guidType == GUID_RyAxis )
{
EnableWindow( GetDlgItem( hDlg, IDC_Y_ROT ), TRUE );
EnableWindow( GetDlgItem( hDlg, IDC_Y_ROT_TEXT ), TRUE );
}
if( pdidoi->guidType == GUID_RzAxis )
{
EnableWindow( GetDlgItem( hDlg, IDC_Z_ROT ), TRUE );
EnableWindow( GetDlgItem( hDlg, IDC_Z_ROT_TEXT ), TRUE );
}
if( pdidoi->guidType == GUID_Slider )
{
switch( nSliderCount++ )
{
case 0 :
EnableWindow( GetDlgItem( hDlg, IDC_SLIDER0 ), TRUE );
EnableWindow( GetDlgItem( hDlg, IDC_SLIDER0_TEXT ), TRUE );
break;
case 1 :
EnableWindow( GetDlgItem( hDlg, IDC_SLIDER1 ), TRUE );
EnableWindow( GetDlgItem( hDlg, IDC_SLIDER1_TEXT ), TRUE );
break;
}
}
if( pdidoi->guidType == GUID_POV )
{
switch( nPOVCount++ )
{
case 0 :
EnableWindow( GetDlgItem( hDlg, IDC_POV0 ), TRUE );
EnableWindow( GetDlgItem( hDlg, IDC_POV0_TEXT ), TRUE );
break;
case 1 :
EnableWindow( GetDlgItem( hDlg, IDC_POV1 ), TRUE );
EnableWindow( GetDlgItem( hDlg, IDC_POV1_TEXT ), TRUE );
break;
case 2 :
EnableWindow( GetDlgItem( hDlg, IDC_POV2 ), TRUE );
EnableWindow( GetDlgItem( hDlg, IDC_POV2_TEXT ), TRUE );
break;
case 3 :
EnableWindow( GetDlgItem( hDlg, IDC_POV3 ), TRUE );
EnableWindow( GetDlgItem( hDlg, IDC_POV3_TEXT ), TRUE );
break;
}
}
return DIENUM_CONTINUE;
}
//-----------------------------------------------------------------------------
// Name: UpdateInputState()
// Desc: Get the input device's state and display it.
//-----------------------------------------------------------------------------
HRESULT UpdateInputState( HWND hDlg )
{
HRESULT hr;
TCHAR strText[512] = {0}; // Device state text
DIJOYSTATE2 js; // DInput Joystick state
if( NULL == g_pJoystick )
return S_OK;
// Poll the device to read the current state
hr = g_pJoystick->Poll();
if( FAILED( hr ) )
{
// DInput is telling us that the input stream has been
// interrupted. We aren't tracking any state between polls, so
// we don't have any special reset that needs to be done. We
// just re-acquire and try again.
hr = g_pJoystick->Acquire();
while( hr == DIERR_INPUTLOST )
hr = g_pJoystick->Acquire();
// hr may be DIERR_OTHERAPPHASPRIO or other errors. This
// may occur when the app is minimized or in the process of
// switching, so just try again later
return S_OK;
}
// Get the input's device state
if( FAILED( hr = g_pJoystick->GetDeviceState( sizeof( DIJOYSTATE2 ), &js ) ) )
return hr; // The device should have been acquired during the Poll()
// Display Joystick state to dialog
// Axes
StringCchPrintf( strText, 512, TEXT( "%ld" ), js.lX );
SetWindowText( GetDlgItem( hDlg, IDC_X_AXIS ), strText );
StringCchPrintf( strText, 512, TEXT( "%ld" ), js.lY );
SetWindowText( GetDlgItem( hDlg, IDC_Y_AXIS ), strText );
StringCchPrintf( strText, 512, TEXT( "%ld" ), js.lZ );
SetWindowText( GetDlgItem( hDlg, IDC_Z_AXIS ), strText );
StringCchPrintf( strText, 512, TEXT( "%ld" ), js.lRx );
SetWindowText( GetDlgItem( hDlg, IDC_X_ROT ), strText );
StringCchPrintf( strText, 512, TEXT( "%ld" ), js.lRy );
SetWindowText( GetDlgItem( hDlg, IDC_Y_ROT ), strText );
StringCchPrintf( strText, 512, TEXT( "%ld" ), js.lRz );
SetWindowText( GetDlgItem( hDlg, IDC_Z_ROT ), strText );
// Slider controls
StringCchPrintf( strText, 512, TEXT( "%ld" ), js.rglSlider[0] );
SetWindowText( GetDlgItem( hDlg, IDC_SLIDER0 ), strText );
StringCchPrintf( strText, 512, TEXT( "%ld" ), js.rglSlider[1] );
SetWindowText( GetDlgItem( hDlg, IDC_SLIDER1 ), strText );
// Points of view
StringCchPrintf( strText, 512, TEXT( "%ld" ), js.rgdwPOV[0] );
SetWindowText( GetDlgItem( hDlg, IDC_POV0 ), strText );
StringCchPrintf( strText, 512, TEXT( "%ld" ), js.rgdwPOV[1] );
SetWindowText( GetDlgItem( hDlg, IDC_POV1 ), strText );
StringCchPrintf( strText, 512, TEXT( "%ld" ), js.rgdwPOV[2] );
SetWindowText( GetDlgItem( hDlg, IDC_POV2 ), strText );
StringCchPrintf( strText, 512, TEXT( "%ld" ), js.rgdwPOV[3] );
SetWindowText( GetDlgItem( hDlg, IDC_POV3 ), strText );
if(IDC_POV3 > 0)
{
}
// Fill up text with which buttons are pressed
StringCchCopy( strText, 512, TEXT( "" ) );
for( int i = 0; i < 128; i++ )
{
if( js.rgbButtons[i] & 0x80 )
{
TCHAR sz[128];
StringCchPrintf( sz, 128, TEXT( "%02d " ), i );
StringCchCat( strText, 512, sz );
}
}
SetWindowText( GetDlgItem( hDlg, IDC_BUTTONS ), strText );
return S_OK;
}
//-----------------------------------------------------------------------------
// Name: FreeDirectInput()
// Desc: Initialize the DirectInput variables.
//-----------------------------------------------------------------------------
VOID FreeDirectInput()
{
// Unacquire the device one last time just in case
// the app tried to exit while the device is still acquired.
if( g_pJoystick )
g_pJoystick->Unacquire();
// Release any DirectInput objects.
SAFE_RELEASE( g_pJoystick );
SAFE_RELEASE( g_pDI );
}
And my serial program:
#pragma once
#define STRICT
#include <tchar.h>
#include <windows.h>
#include "stdafx.h"
namespace ARMcont {
using namespace System;
using namespace System::ComponentModel;
using namespace System::Collections;
using namespace System::Windows::Forms;
using namespace System::Data;
using namespace System::Drawing;
using namespace System;
using namespace System::IO::Ports;
/// <summary>
/// Summary for Form1
/// </summary>
public ref class Form1 : public System::Windows::Forms::Form
{
public:
Form1(void)
{
InitializeComponent();
//
//TODO: Add the constructor code here
//
}
protected:
/// <summary>
/// Clean up any resources being used.
/// </summary>
~Form1()
{
if (components)
{
delete components;
}
}
private: System::Windows::Forms::Button^ button1;
protected:
private: System::Windows::Forms::Button^ button2;
private: System::Windows::Forms::Button^ button3;
private: System::Windows::Forms::Button^ button4;
private: System::Windows::Forms::Button^ button5;
private: System::Windows::Forms::Button^ button6;
private: System::Windows::Forms::Button^ button7;
private: System::Windows::Forms::Button^ button8;
private: System::Windows::Forms::Button^ button9;
private: System::Windows::Forms::Button^ button10;
private: System::Windows::Forms::Button^ button11;
private: System::Windows::Forms::Button^ button12;
private: System::Windows::Forms::Button^ button13;
private: System::ComponentModel::IContainer^ components;
private:
/// <summary>
/// Required designer variable.
/// </summary>
#pragma region Windows Form Designer generated code
/// <summary>
/// Required method for Designer support - do not modify
/// the contents of this method with the code editor.
/// </summary>
void InitializeComponent(void)
{
this->button1 = (gcnew System::Windows::Forms::Button());
this->button2 = (gcnew System::Windows::Forms::Button());
this->button3 = (gcnew System::Windows::Forms::Button());
this->button4 = (gcnew System::Windows::Forms::Button());
this->button5 = (gcnew System::Windows::Forms::Button());
this->button6 = (gcnew System::Windows::Forms::Button());
this->button7 = (gcnew System::Windows::Forms::Button());
this->button8 = (gcnew System::Windows::Forms::Button());
this->button9 = (gcnew System::Windows::Forms::Button());
this->button10 = (gcnew System::Windows::Forms::Button());
this->button11 = (gcnew System::Windows::Forms::Button());
this->button12 = (gcnew System::Windows::Forms::Button());
this->button13 = (gcnew System::Windows::Forms::Button());
this->SuspendLayout();
//
// button1
//
this->button1->Location = System::Drawing::Point(12, 10);
this->button1->Name = L"button1";
this->button1->Size = System::Drawing::Size(103, 32);
this->button1->TabIndex = 0;
this->button1->Text = L"Base Left";
this->button1->UseVisualStyleBackColor = true;
this->button1->Click += gcnew System::EventHandler(this, &Form1::button1_Click);
//
// button2
//
this->button2->Location = System::Drawing::Point(157, 10);
this->button2->Name = L"button2";
this->button2->Size = System::Drawing::Size(103, 32);
this->button2->TabIndex = 1;
this->button2->Text = L"Base Right";
this->button2->UseVisualStyleBackColor = true;
this->button2->Click += gcnew System::EventHandler(this, &Form1::button2_Click);
//
// button3
//
this->button3->Location = System::Drawing::Point(12, 64);
this->button3->Name = L"button3";
this->button3->Size = System::Drawing::Size(103, 32);
this->button3->TabIndex = 2;
this->button3->Text = L"Shoulder Left";
this->button3->UseVisualStyleBackColor = true;
this->button3->Click += gcnew System::EventHandler(this, &Form1::button3_Click);
//
// button4
//
this->button4->Location = System::Drawing::Point(157, 64);
this->button4->Name = L"button4";
this->button4->Size = System::Drawing::Size(103, 32);
this->button4->TabIndex = 3;
this->button4->Text = L"Shoulder Right";
this->button4->UseVisualStyleBackColor = true;
this->button4->Click += gcnew System::EventHandler(this, &Form1::button4_Click);
//
// button5
//
this->button5->Location = System::Drawing::Point(12, 116);
this->button5->Name = L"button5";
this->button5->Size = System::Drawing::Size(103, 32);
this->button5->TabIndex = 4;
this->button5->Text = L"Elbow Left";
this->button5->UseVisualStyleBackColor = true;
this->button5->Click += gcnew System::EventHandler(this, &Form1::button5_Click);
//
// button6
//
this->button6->Location = System::Drawing::Point(157, 116);
this->button6->Name = L"button6";
this->button6->Size = System::Drawing::Size(103, 32);
this->button6->TabIndex = 5;
this->button6->Text = L"Elbow Right";
this->button6->UseVisualStyleBackColor = true;
this->button6->Click += gcnew System::EventHandler(this, &Form1::button6_Click);
//
// button7
//
this->button7->Location = System::Drawing::Point(12, 173);
this->button7->Name = L"button7";
this->button7->Size = System::Drawing::Size(103, 32);
this->button7->TabIndex = 6;
this->button7->Text = L"Right Wrist 1";
this->button7->UseVisualStyleBackColor = true;
this->button7->Click += gcnew System::EventHandler(this, &Form1::button7_Click);
//
// button8
//
this->button8->Location = System::Drawing::Point(157, 173);
this->button8->Name = L"button8";
this->button8->Size = System::Drawing::Size(103, 32);
this->button8->TabIndex = 7;
this->button8->Text = L"Right Wrist 2";
this->button8->UseVisualStyleBackColor = true;
this->button8->Click += gcnew System::EventHandler(this, &Form1::button8_Click);
//
// button9
//
this->button9->Location = System::Drawing::Point(12, 230);
this->button9->Name = L"button9";
this->button9->Size = System::Drawing::Size(103, 32);
this->button9->TabIndex = 8;
this->button9->Text = L"Left Wrist 1";
this->button9->UseVisualStyleBackColor = true;
this->button9->Click += gcnew System::EventHandler(this, &Form1::button9_Click);
//
// button10
//
this->button10->Location = System::Drawing::Point(157, 230);
this->button10->Name = L"button10";
this->button10->Size = System::Drawing::Size(103, 32);
this->button10->TabIndex = 9;
this->button10->Text = L"Left Wrist 2";
this->button10->UseVisualStyleBackColor = true;
this->button10->Click += gcnew System::EventHandler(this, &Form1::button10_Click);
//
// button11
//
this->button11->Location = System::Drawing::Point(12, 279);
this->button11->Name = L"button11";
this->button11->Size = System::Drawing::Size(103, 32);
this->button11->TabIndex = 10;
this->button11->Text = L"Gripper Open";
this->button11->UseVisualStyleBackColor = true;
this->button11->Click += gcnew System::EventHandler(this, &Form1::button11_Click);
//
// button12
//
this->button12->Location = System::Drawing::Point(157, 279);
this->button12->Name = L"button12";
this->button12->Size = System::Drawing::Size(103, 32);
this->button12->TabIndex = 11;
this->button12->Text = L"Gripper Close";
this->button12->UseVisualStyleBackColor = true;
this->button12->Click += gcnew System::EventHandler(this, &Form1::button12_Click);
//
// button13
//
this->button13->Location = System::Drawing::Point(19, 331);
this->button13->Name = L"button13";
this->button13->Size = System::Drawing::Size(95, 32);
this->button13->TabIndex = 12;
this->button13->Text = L"button13";
this->button13->UseVisualStyleBackColor = true;
this->button13->Click += gcnew System::EventHandler(this, &Form1::button13_Click);
//
// Form1
//
this->AutoScaleDimensions = System::Drawing::SizeF(6, 13);
this->AutoScaleMode = System::Windows::Forms::AutoScaleMode::Font;
this->ClientSize = System::Drawing::Size(284, 379);
this->Controls->Add(this->button13);
this->Controls->Add(this->button12);
this->Controls->Add(this->button11);
this->Controls->Add(this->button10);
this->Controls->Add(this->button9);
this->Controls->Add(this->button8);
this->Controls->Add(this->button7);
this->Controls->Add(this->button6);
this->Controls->Add(this->button5);
this->Controls->Add(this->button4);
this->Controls->Add(this->button3);
this->Controls->Add(this->button2);
this->Controls->Add(this->button1);
this->Name = L"Form1";
this->Text = L"Form1";
this->Load += gcnew System::EventHandler(this, &Form1::Form1_Load);
this->ResumeLayout(false);
}
#pragma endregion
private: System::Void button1_Click(System::Object^ sender, System::EventArgs^ e) {
SerialPort^ _serialPort;
_serialPort = gcnew SerialPort();
_serialPort->Open();
_serialPort->Write("@STEP 232,-100,0,0,0,0,0,0 \r");
_serialPort->Close();
}
private: System::Void button13_Click(System::Object^ sender, System::EventArgs^ e) {
}
private: System::Void button2_Click(System::Object^ sender, System::EventArgs^ e) {
SerialPort^ _serialPort;
_serialPort = gcnew SerialPort();
_serialPort->Open();
_serialPort->Write("@STEP 232,100,0,0,0,0,0,0 \r");
_serialPort->Close();
}
private: System::Void button3_Click(System::Object^ sender, System::EventArgs^ e) {
SerialPort^ _serialPort;
_serialPort = gcnew SerialPort();
_serialPort->Open();
_serialPort->Write("@STEP 232,0,-100,0,0,0,0,0 \r");
_serialPort->Close();
}
private: System::Void button4_Click(System::Object^ sender, System::EventArgs^ e) {
SerialPort^ _serialPort;
_serialPort = gcnew SerialPort();
_serialPort->Open();
_serialPort->Write("@STEP 232,0,100,0,0,0,0,0 \r");
_serialPort->Close();
}
private: System::Void button5_Click(System::Object^ sender, System::EventArgs^ e) {
SerialPort^ _serialPort;
_serialPort = gcnew SerialPort();
_serialPort->Open();
_serialPort->Write("@STEP 232,0,0,-100,0,0,0,0 \r");
_serialPort->Close();
}
private: System::Void button6_Click(System::Object^ sender, System::EventArgs^ e) {
SerialPort^ _serialPort;
_serialPort = gcnew SerialPort();
_serialPort->Open();
_serialPort->Write("@STEP 232,0,0,100,0,0,0,0 \r");
_serialPort->Close();
}
private: System::Void button7_Click(System::Object^ sender, System::EventArgs^ e) {
SerialPort^ _serialPort;
_serialPort = gcnew SerialPort();
_serialPort->Open();
_serialPort->Write("@STEP 232,0,0,0,-100,0,0,0 \r");
_serialPort->Close();
}
private: System::Void button8_Click(System::Object^ sender, System::EventArgs^ e) {
SerialPort^ _serialPort;
_serialPort = gcnew SerialPort();
_serialPort->Open();
_serialPort->Write("@STEP 232,0,0,0,100,0,0,0 \r");
_serialPort->Close();
}
private: System::Void button9_Click(System::Object^ sender, System::EventArgs^ e) {
SerialPort^ _serialPort;
_serialPort = gcnew SerialPort();
_serialPort->Open();
_serialPort->Write("@STEP 232,0,0,0,-100,0,0,0 \r");
_serialPort->Close();
}
private: System::Void button10_Click(System::Object^ sender, System::EventArgs^ e) {
SerialPort^ _serialPort;
_serialPort = gcnew SerialPort();
_serialPort->Open();
_serialPort->Write("@STEP 232,0,0,0,0,100,0,0 \r");
_serialPort->Close();
}
private: System::Void button11_Click(System::Object^ sender, System::EventArgs^ e) {
SerialPort^ _serialPort;
_serialPort = gcnew SerialPort();
_serialPort->Open();
_serialPort->Write("@STEP 232,0,0,0,0,0,-100,0 \r");
_serialPort->Close();
}
private: System::Void button12_Click(System::Object^ sender, System::EventArgs^ e) {
SerialPort^ _serialPort;
_serialPort = gcnew SerialPort();
_serialPort->Open();
_serialPort->Write("@STEP 232,0,0,0,0,0,100,0 \r");
_serialPort->Close();
}
private: System::Void Form1_Load(System::Object^ sender, System::EventArgs^ e) {
}
};
}
////// @STEP 232,00,0,0,0,0,0,0 ///////
I noticed that the second is form1.h while the first is joystick.cpp. Why cant I just pull out:
using namespace System;
using namespace System::IO::Ports;
and
SerialPort^ _serialPort;
_serialPort = gcnew SerialPort();
_serialPort->Open();
_serialPort->Write("@STEP 232,0,0,0,0,0,100,0 \r");
_serialPort->Close();
from form1.h and put it into joystick.cpp?
I understand that I would need some if statement. Something like if("the value of a button is over 1") {send this command to the robot}
Edited by arthur92710, 07 July 2010 - 07:48 PM.
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