mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -04:00
1245a139a3
add elevons to joystick control. fixup possible autodetect problem. (was occuring when an axis was not centered on detect start) add save mode confirmation
437 lines
17 KiB
C#
437 lines
17 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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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 System.Windows.Forms;
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using Microsoft.DirectX.DirectInput;
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namespace ArdupilotMega
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{
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public partial class JoystickSetup : Form
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{
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bool startup = true;
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int noButtons = 0;
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public JoystickSetup()
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{
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InitializeComponent();
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}
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private void Joystick_Load(object sender, EventArgs e)
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{
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try
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{
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DeviceList joysticklist = Joystick.getDevices();
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foreach (DeviceInstance device in joysticklist)
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{
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CMB_joysticks.Items.Add(device.ProductName);
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}
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}
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catch { MessageBox.Show("Error geting joystick list: do you have the directx redist installed?"); this.Close(); return; }
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if (CMB_joysticks.Items.Count > 0)
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CMB_joysticks.SelectedIndex = 0;
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CMB_CH1.DataSource = (Enum.GetValues(typeof(Joystick.joystickaxis)));
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CMB_CH2.DataSource = (Enum.GetValues(typeof(Joystick.joystickaxis)));
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CMB_CH3.DataSource = (Enum.GetValues(typeof(Joystick.joystickaxis)));
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CMB_CH4.DataSource = (Enum.GetValues(typeof(Joystick.joystickaxis)));
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try
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{
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//CMB_CH1
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CMB_CH1.Text = MainV2.config["CMB_CH1"].ToString();
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CMB_CH2.Text = MainV2.config["CMB_CH2"].ToString();
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CMB_CH3.Text = MainV2.config["CMB_CH3"].ToString();
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CMB_CH4.Text = MainV2.config["CMB_CH4"].ToString();
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//revCH1
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revCH1.Checked = bool.Parse(MainV2.config["revCH1"].ToString());
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revCH2.Checked = bool.Parse(MainV2.config["revCH2"].ToString());
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revCH3.Checked = bool.Parse(MainV2.config["revCH3"].ToString());
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revCH4.Checked = bool.Parse(MainV2.config["revCH4"].ToString());
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//expo_ch1
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expo_ch1.Text = MainV2.config["expo_ch1"].ToString();
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expo_ch2.Text = MainV2.config["expo_ch2"].ToString();
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expo_ch3.Text = MainV2.config["expo_ch3"].ToString();
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expo_ch4.Text = MainV2.config["expo_ch4"].ToString();
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CHK_elevons.Checked = bool.Parse(MainV2.config["joy_elevons"].ToString());
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}
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catch { } // IF 1 DOESNT EXIST NONE WILL
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if (MainV2.joystick != null && MainV2.joystick.enabled)
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{
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timer1.Start();
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BUT_enable.Text = "Disable";
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}
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startup = false;
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}
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int[] getButtonNumbers()
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{
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int[] temp = new int[128];
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temp[0] = -1;
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for (int a = 0; a < temp.Length - 1; a++)
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{
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temp[a + 1] = a;
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}
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return temp;
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}
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private void BUT_enable_Click(object sender, EventArgs e)
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{
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if (MainV2.joystick == null || MainV2.joystick.enabled == false)
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{
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try
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{
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if (MainV2.joystick != null)
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MainV2.joystick.UnAcquireJoyStick();
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}
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catch { }
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Joystick joy = new Joystick();
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joy.setChannel(1, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH1.Text), revCH1.Checked, int.Parse(expo_ch1.Text));
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joy.setChannel(2, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH2.Text), revCH2.Checked, int.Parse(expo_ch2.Text));
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joy.setChannel(3, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH3.Text), revCH3.Checked, int.Parse(expo_ch3.Text));
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joy.setChannel(4, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH4.Text), revCH4.Checked, int.Parse(expo_ch4.Text));
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joy.elevons = CHK_elevons.Checked;
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for (int f = 0; f < noButtons; f++)
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{
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string name = (f + 1).ToString();
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try
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{
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joy.setButton(f, int.Parse(this.Controls.Find("cmbbutton" + name, false)[0].Text), this.Controls.Find("cmbaction" + name, false)[0].Text);
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}
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catch { MessageBox.Show("Set Button "+ name + " Failed"); }
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}
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joy.start(CMB_joysticks.Text);
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MainV2.joystick = joy;
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MainV2.joystick.enabled = true;
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BUT_enable.Text = "Disable";
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//timer1.Start();
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}
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else
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{
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MAVLink.__mavlink_rc_channels_override_t rc = new MAVLink.__mavlink_rc_channels_override_t();
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rc.target_component = MainV2.comPort.compid;
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rc.target_system = MainV2.comPort.sysid;
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rc.chan1_raw = 0;
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rc.chan2_raw = 0;
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rc.chan3_raw = 0;
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rc.chan4_raw = 0;
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rc.chan5_raw = 0;
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rc.chan6_raw = 0;
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rc.chan7_raw = 0;
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rc.chan8_raw = 0;
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MainV2.comPort.generatePacket(MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, rc);
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System.Threading.Thread.Sleep(20);
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MainV2.comPort.generatePacket(MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, rc);
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System.Threading.Thread.Sleep(20);
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MainV2.comPort.generatePacket(MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, rc);
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//timer1.Stop();
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MainV2.joystick.enabled = false;
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MainV2.joystick = null;
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BUT_enable.Text = "Enable";
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}
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/*
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MainV2.cs.rcoverridech1 = pickchannel(1, CMB_CH1.Text, revCH1.Checked, int.Parse(expo_ch1.Text));//(ushort)(((int)state.Rz / 65.535) + 1000);
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MainV2.cs.rcoverridech2 = pickchannel(2, CMB_CH2.Text, revCH2.Checked, int.Parse(expo_ch2.Text));//(ushort)(((int)state.Y / 65.535) + 1000);
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MainV2.cs.rcoverridech3 = pickchannel(3, CMB_CH3.Text, revCH3.Checked, int.Parse(expo_ch3.Text));//(ushort)(1000 - ((int)slider[0] / 65.535) + 1000);
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MainV2.cs.rcoverridech4 = pickchannel(4, CMB_CH4.Text, revCH4.Checked, int.Parse(expo_ch4.Text));//(ushort)(((int)state.X / 65.535) + 1000);
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*/
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}
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private void BUT_save_Click(object sender, EventArgs e)
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{
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//CMB_CH1
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MainV2.config["CMB_CH1"] = CMB_CH1.Text;
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MainV2.config["CMB_CH2"] = CMB_CH2.Text;
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MainV2.config["CMB_CH3"] = CMB_CH3.Text;
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MainV2.config["CMB_CH4"] = CMB_CH4.Text;
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//revCH1
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MainV2.config["revCH1"] = revCH1.Checked;
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MainV2.config["revCH2"] = revCH2.Checked;
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MainV2.config["revCH3"] = revCH3.Checked;
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MainV2.config["revCH4"] = revCH4.Checked;
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//expo_ch1
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MainV2.config["expo_ch1"] = expo_ch1.Text;
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MainV2.config["expo_ch2"] = expo_ch2.Text;
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MainV2.config["expo_ch3"] = expo_ch3.Text;
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MainV2.config["expo_ch4"] = expo_ch4.Text;
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MainV2.config["joy_elevons"] = CHK_elevons.Checked;
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for (int f = 0; f < noButtons; f++)
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{
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string name = (f + 1).ToString();
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MainV2.config["butno" + name] = this.Controls.Find("cmbbutton" + name, false)[0].Text;
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MainV2.config["butaction" + name] = this.Controls.Find("cmbaction" + name, false)[0].Text;
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}
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}
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private void timer1_Tick(object sender, EventArgs e)
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{
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try
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{
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if (MainV2.joystick == null || MainV2.joystick.enabled == false)
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{
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//Console.WriteLine(DateTime.Now.Millisecond + " start ");
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Joystick joy = MainV2.joystick;
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if (joy == null)
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{
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joy = new Joystick();
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joy.setChannel(1, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH1.Text), revCH1.Checked, int.Parse(expo_ch1.Text));
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joy.setChannel(2, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH2.Text), revCH2.Checked, int.Parse(expo_ch2.Text));
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joy.setChannel(3, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH3.Text), revCH3.Checked, int.Parse(expo_ch3.Text));
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joy.setChannel(4, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), CMB_CH4.Text), revCH4.Checked, int.Parse(expo_ch4.Text));
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joy.elevons = CHK_elevons.Checked;
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joy.AcquireJoystick(CMB_joysticks.Text);
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noButtons = joy.getNumButtons();
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for (int f = 0; f < noButtons; f++)
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{
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string name = (f + 1).ToString();
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doButtontoUI(name, 10, 195 + f * 25);
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joy.setButton(f, int.Parse(this.Controls.Find("cmbbutton" + name, false)[0].Text), this.Controls.Find("cmbaction" + name, false)[0].Text);
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}
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MainV2.joystick = joy;
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MainV2.fixtheme(this);
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CMB_joysticks.SelectedIndex = CMB_joysticks.Items.IndexOf(joy.name);
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}
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MainV2.joystick.elevons = CHK_elevons.Checked;
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MainV2.cs.rcoverridech1 = joy.getValueForChannel(1, CMB_joysticks.Text);
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MainV2.cs.rcoverridech2 = joy.getValueForChannel(2, CMB_joysticks.Text);
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MainV2.cs.rcoverridech3 = joy.getValueForChannel(3, CMB_joysticks.Text);
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MainV2.cs.rcoverridech4 = joy.getValueForChannel(4, CMB_joysticks.Text);
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//Console.WriteLine(DateTime.Now.Millisecond + " end ");
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}
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}
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catch { }
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progressBar1.Value = MainV2.cs.rcoverridech1;
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progressBar2.Value = MainV2.cs.rcoverridech2;
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progressBar3.Value = MainV2.cs.rcoverridech3;
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progressBar4.Value = MainV2.cs.rcoverridech4;
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try
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{
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for (int f = 0; f < noButtons; f++)
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{
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string name = (f + 1).ToString();
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((HorizontalProgressBar)this.Controls.Find("hbar" + name, false)[0]).Value = MainV2.joystick.isButtonPressed(f) ? 100 : 0;
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}
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}
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catch { }
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}
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private void CMB_joysticks_Click(object sender, EventArgs e)
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{
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CMB_joysticks.Items.Clear();
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DeviceList joysticklist = Joystick.getDevices();
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foreach (DeviceInstance device in joysticklist)
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{
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CMB_joysticks.Items.Add(device.ProductName);
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}
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if (CMB_joysticks.Items.Count > 0)
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CMB_joysticks.SelectedIndex = 0;
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}
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private void revCH1_CheckedChanged(object sender, EventArgs e)
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{
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if (MainV2.joystick != null)
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MainV2.joystick.setReverse(1, ((CheckBox)sender).Checked);
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}
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private void revCH2_CheckedChanged(object sender, EventArgs e)
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{
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if (MainV2.joystick != null)
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MainV2.joystick.setReverse(2, ((CheckBox)sender).Checked);
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}
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private void revCH3_CheckedChanged(object sender, EventArgs e)
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{
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if (MainV2.joystick != null)
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MainV2.joystick.setReverse(3, ((CheckBox)sender).Checked);
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}
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private void revCH4_CheckedChanged(object sender, EventArgs e)
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{
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if (MainV2.joystick != null)
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MainV2.joystick.setReverse(4, ((CheckBox)sender).Checked);
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}
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private void BUT_detch1_Click(object sender, EventArgs e)
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{
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CMB_CH1.Text = Joystick.getMovingAxis(CMB_joysticks.Text, 16000).ToString();
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}
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private void BUT_detch2_Click(object sender, EventArgs e)
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{
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CMB_CH2.Text = Joystick.getMovingAxis(CMB_joysticks.Text, 16000).ToString();
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}
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private void BUT_detch3_Click(object sender, EventArgs e)
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{
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CMB_CH3.Text = Joystick.getMovingAxis(CMB_joysticks.Text, 16000).ToString();
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}
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private void BUT_detch4_Click(object sender, EventArgs e)
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{
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CMB_CH4.Text = Joystick.getMovingAxis(CMB_joysticks.Text, 16000).ToString();
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}
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private void CMB_CH1_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup || MainV2.joystick == null)
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return;
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MainV2.joystick.setAxis(1, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), ((ComboBox)sender).Text));
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}
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private void CMB_CH2_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup || MainV2.joystick == null)
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return;
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MainV2.joystick.setAxis(2, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), ((ComboBox)sender).Text));
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}
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private void CMB_CH3_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup || MainV2.joystick == null)
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return;
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MainV2.joystick.setAxis(3, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), ((ComboBox)sender).Text));
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}
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private void CMB_CH4_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup || MainV2.joystick == null)
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return;
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MainV2.joystick.setAxis(4, (Joystick.joystickaxis)Enum.Parse(typeof(Joystick.joystickaxis), ((ComboBox)sender).Text));
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}
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private void cmbbutton_SelectedIndexChanged(object sender, EventArgs e)
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{
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if (startup)
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return;
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string name = ((ComboBox)sender).Name.Replace("cmbbutton", "");
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MainV2.joystick.changeButton((int.Parse(name) - 1), int.Parse(((ComboBox)sender).Text));
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}
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private void BUT_detbutton_Click(object sender, EventArgs e)
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{
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string name = ((MyButton)sender).Name.Replace("mybut", "");
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ComboBox cmb = (ComboBox)(this.Controls.Find("cmbbutton" + name, false)[0]);
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cmb.Text = Joystick.getPressedButton(CMB_joysticks.Text).ToString();
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}
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void doButtontoUI(string name, int x, int y)
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{
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MyLabel lbl = new MyLabel();
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ComboBox cmbbutton = new ComboBox();
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MyButton mybut = new MyButton();
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HorizontalProgressBar hbar = new HorizontalProgressBar();
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ComboBox cmbaction = new ComboBox();
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// do this here so putting in text works
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this.Controls.AddRange(new Control[] { lbl, cmbbutton, mybut, hbar, cmbaction });
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lbl.Location = new Point(x, y);
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lbl.Size = new Size(47, 13);
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lbl.Text = "Button " + name;
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cmbbutton.Location = new Point(72, y);
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cmbbutton.Size = new Size(70, 21);
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cmbbutton.DataSource = getButtonNumbers();
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cmbbutton.DropDownStyle = ComboBoxStyle.DropDownList;
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cmbbutton.Name = "cmbbutton" + name;
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if (MainV2.config["butno" + name] != null)
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cmbbutton.Text = (MainV2.config["butno" + name].ToString());
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cmbbutton.SelectedIndexChanged += new EventHandler(cmbbutton_SelectedIndexChanged);
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mybut.Location = new Point(BUT_detch1.Left, y);
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mybut.Size = BUT_detch1.Size;
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mybut.Text = BUT_detch1.Text;
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mybut.Name = "mybut" + name;
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mybut.Click += new EventHandler(BUT_detbutton_Click);
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hbar.Location = new Point(progressBar1.Left, y);
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hbar.Size = progressBar1.Size;
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hbar.Name = "hbar" + name;
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cmbaction.Location = new Point(hbar.Right + 5, y);
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cmbaction.Size = new Size(100, 21);
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cmbaction.DataSource = (Enum.GetValues(Common.getModes()));
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cmbaction.DropDownStyle = ComboBoxStyle.DropDownList;
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cmbaction.Name = "cmbaction" + name;
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if (MainV2.config["butaction" + name] != null)
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cmbaction.Text = MainV2.config["butaction" + name].ToString();
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this.Height += 25;
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}
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private void CMB_joysticks_SelectedIndexChanged(object sender, EventArgs e)
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{
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try
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{
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if (MainV2.joystick != null)
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MainV2.joystick.UnAcquireJoyStick();
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}
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catch { }
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}
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private void JoystickSetup_FormClosed(object sender, FormClosedEventArgs e)
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{
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if (MainV2.joystick != null && MainV2.joystick.enabled == false)
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{
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MainV2.joystick.UnAcquireJoyStick();
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MainV2.joystick = null;
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}
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}
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private void CHK_elevons_CheckedChanged(object sender, EventArgs e)
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{
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MainV2.joystick.elevons = CHK_elevons.Checked;
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}
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}
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}
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