Gabriel Mongeon

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using System.Threading;
using Fez;
using GHIElectronics.NETMF.USBHost;
using Microsoft.SPOT;


namespace FirstApp
{
    public class Program
    {
        static USBH_Joystick j;

        public static void Main()
        {
            FEZ_Shields.DCMotorDriver2A.Initialize();
            // Instant stop      
            FEZ_Shields.DCMotorDriver2A.Move(0, 0);
            // Subscribe to USBH event.
            USBHostController.DeviceConnectedEvent += DeviceConnectedEvent;

            // Sleep forever
            Thread.Sleep(Timeout.Infinite);
        }
        static void DeviceConnectedEvent(USBH_Device device)
        {
            if (device.TYPE == USBH_DeviceType.Joystick)
            {
                Debug.Print("Joystick Connected");
                j = new USBH_Joystick(device);
                j.JoystickXYMove += JoystickXYMove;
                j.JoystickXY2Move += JoystickXYMove;
            }
        }
        static void JoystickXYMove(USBH_Joystick sender,
                                   USBH_JoystickEventArgs args)
        {
            sbyte leftMotor = sbyte.Parse((System.Math.Ceiling((double)sender.Cursor.Y / 512 * -100)).ToString());
            sbyte rightMotor = sbyte.Parse((System.Math.Ceiling((double)sender.Cursor2.Y / 512 * -100)).ToString());

            if (leftMotor>=-15 && leftMotor<=15)
                leftMotor = 0;
            if (rightMotor >= -15 && rightMotor <= 15)
                rightMotor = 0;
  
            FEZ_Shields.DCMotorDriver2A.Move(rightMotor, leftMotor);
        }
    }

}