Bowler Studio Game Controllers

.gitignore

/.classpath
/.project

gameController.groovy

import com.neuronrobotics.sdk.addons.gamepad.IJInputEventListener;
import com.neuronrobotics.sdk.addons.kinematics.MobileBase
import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR
import com.neuronrobotics.sdk.common.DeviceManager
import com.neuronrobotics.sdk.util.ThreadUtil
import com.neuronrobotics.bowlerstudio.BowlerStudio
import com.neuronrobotics.bowlerstudio.scripting.ScriptingEngine
import com.neuronrobotics.sdk.addons.gamepad.BowlerJInputDevice;
import net.java.games.input.Component;
import net.java.games.input.Event;
import net.java.games.input.Controller;
import net.java.games.input.ControllerEnvironment;

BowlerJInputDevice g=null;// Create a variable to store the device
MobileBase cat =ScriptingEngine.gitScriptRun(	"https://github.com/OperationSmallKat/SmallKat_V2.git",
	"loadRobot.groovy",
["https://github.com/OperationSmallKat/greycat.git",
"MediumKat.xml","GameController_22","kevkat"]);
//Check if the device already exists in the device Manager
if(DeviceManager.getSpecificDevice(BowlerJInputDevice.class, "gamepad")==null){
	//If the device does not exist, prompt for the connection
	g = new BowlerJInputDevice(ControllerEnvironment.getDefaultEnvironment().getControllers()[0]); // This is the DyIO to talk to.
	g.connect(); // Connect to it.
	// add the device to the maager
	DeviceManager.addConnection(g,"gamepad");
}else{
	//the device is already present on the system, load the one that exists.
  g=(BowlerJInputDevice)DeviceManager.getSpecificDevice(BowlerJInputDevice.class, "gamepad")
}
//Set the DyIO into cached mode
//dyio.setCachedMode(true);

//ServoChannel pan = new ServoChannel(dyio.getChannel(11))
//ServoChannel tilt = new ServoChannel(dyio.getChannel(10))
def x =0;

def straif=0;
def rz=0;

IJInputEventListener listener = new IJInputEventListener() {
	@Override public void onEvent(Component comp, Event event1,float value, String eventString) {
		if(comp.getName().contentEquals("x")){
			straif=-value;System.out.println(comp.getName()+" is value= "+value);
		}
		else if(comp.getName().contentEquals("y")){
			x=-value;System.out.println(comp.getName()+" is value= "+value);
		}
		else if(comp.getName().contentEquals("rz")){
			//ignore
		}
		else if(comp.getName().contentEquals("rx")){
			rz=value;System.out.println(comp.getName()+" is value= "+value);
		}
		else
			System.out.println(comp.getName()+" is value= "+value);
		
	}
}
g.clearListeners()
// gamepad is a BowlerJInputDevice
g.addListeners(listener);
// wait while the application is not stopped
while(!Thread.interrupted() ){
	ThreadUtil.wait(20)
	if(Math.abs(x)>0.01 || Math.abs(straif)>0.01 || Math.abs(rz)>0.01) {
		def newPose = new TransformNR(x*0.2,straif*0.5,0,new RotationNR(0, rz*0.1, 0))
		//println newPose
		cat.DriveArc(newPose, 0.0020);
	}
}
//remove listener and exit
g.removeListeners(listener);