/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.

 This software may be distributed and modified under the terms of the GNU
 General Public License version 2 (GPL2) as published by the Free Software
 Foundation and appearing in the file GPL2.TXT included in the packaging of
 this file. Please note that GPL2 Section 2[b] requires that all works based
 on this software must also be made publicly available under the terms of
 the GPL2 ("Copyleft").

 Contact information
 -------------------

 Kristian Lauszus, TKJ Electronics
 Web      :  http://www.tkjelectronics.com
 e-mail   :  kristianl@tkjelectronics.com

 getBatteryLevel and checkStatus functions made by timstamp.co.uk found using BusHound from Perisoft.net
 */

#include "XBOXRECV.h"
// To enable serial debugging uncomment "#define DEBUG_USB_HOST" in message.h
//#define EXTRADEBUG // Uncomment to get even more debugging data
//#define PRINTREPORT // Uncomment to print the report send by the Xbox 360 Controller

XBOXRECV::XBOXRECV(USB *p) :
pUsb(p), // pointer to USB class instance - mandatory
bAddress(0), // device address - mandatory
bPollEnable(false) { // don't start polling before dongle is connected
        for (uint8_t i = 0; i < XBOX_MAX_ENDPOINTS; i++) {
                epInfo[i].epAddr = 0;
                epInfo[i].maxPktSize = (i) ? 0 : 8;
                epInfo[i].epAttribs = 0;
                epInfo[i].bmNakPower = (i) ? USB_NAK_NOWAIT : USB_NAK_MAX_POWER;
        }

        if (pUsb) // register in USB subsystem
                pUsb->RegisterDeviceClass(this); //set devConfig[] entry
}

uint8_t XBOXRECV::Init(uint8_t parent, uint8_t port, bool lowspeed) {
        uint8_t buf[sizeof (USB_DEVICE_DESCRIPTOR)];
        uint8_t rcode;
        UsbDevice *p = NULL;
        EpInfo *oldep_ptr = NULL;
        uint16_t PID;
        uint16_t VID;

        // get memory address of USB device address pool
        AddressPool &addrPool = pUsb->GetAddressPool();
#ifdef EXTRADEBUG
        Notify(PSTR("\r\nXBOXRECV Init"), 0x80);
#endif
        // check if address has already been assigned to an instance
        if (bAddress) {
#ifdef DEBUG_USB_HOST
                Notify(PSTR("\r\nAddress in use"), 0x80);
#endif
                return USB_ERROR_CLASS_INSTANCE_ALREADY_IN_USE;
        }

        // Get pointer to pseudo device with address 0 assigned
        p = addrPool.GetUsbDevicePtr(0);

        if (!p) {
#ifdef DEBUG_USB_HOST
                Notify(PSTR("\r\nAddress not found"), 0x80);
#endif
                return USB_ERROR_ADDRESS_NOT_FOUND_IN_POOL;
        }

        if (!p->epinfo) {
#ifdef DEBUG_USB_HOST
                Notify(PSTR("\r\nepinfo is null"), 0x80);
#endif
                return USB_ERROR_EPINFO_IS_NULL;
        }

        // Save old pointer to EP_RECORD of address 0
        oldep_ptr = p->epinfo;

        // Temporary assign new pointer to epInfo to p->epinfo in order to avoid toggle inconsistence
        p->epinfo = epInfo;

        p->lowspeed = lowspeed;

        // Get device descriptor
        rcode = pUsb->getDevDescr(0, 0, sizeof (USB_DEVICE_DESCRIPTOR), (uint8_t*)buf); // Get device descriptor - addr, ep, nbytes, data
        // Restore p->epinfo
        p->epinfo = oldep_ptr;

        if (rcode)
                goto FailGetDevDescr;

        VID = ((USB_DEVICE_DESCRIPTOR*)buf)->idVendor;
        PID = ((USB_DEVICE_DESCRIPTOR*)buf)->idProduct;

        if (VID != XBOX_VID && VID != MADCATZ_VID) // We just check if it's a xbox receiver using the Vendor ID
                goto FailUnknownDevice;
        else if (PID != XBOX_WIRELESS_RECEIVER_PID && PID != XBOX_WIRELESS_RECEIVER_THIRD_PARTY_PID) {
#ifdef DEBUG_USB_HOST
                Notify(PSTR("\r\nYou'll need a wireless receiver for this libary to work"), 0x80);
#endif
                goto FailUnknownDevice;
        }

        // Allocate new address according to device class
        bAddress = addrPool.AllocAddress(parent, false, port);

        if (!bAddress)
                return USB_ERROR_OUT_OF_ADDRESS_SPACE_IN_POOL;

        // Extract Max Packet Size from device descriptor
        epInfo[0].maxPktSize = (uint8_t)((USB_DEVICE_DESCRIPTOR*)buf)->bMaxPacketSize0;

        // Assign new address to the device
        rcode = pUsb->setAddr(0, 0, bAddress);
        if (rcode) {
                p->lowspeed = false;
                addrPool.FreeAddress(bAddress);
                bAddress = 0;
#ifdef DEBUG_USB_HOST
                Notify(PSTR("\r\nsetAddr: "), 0x80);
                D_PrintHex<uint8_t > (rcode, 0x80);
#endif
                return rcode;
        }
#ifdef EXTRADEBUG
        Notify(PSTR("\r\nAddr: "), 0x80);
        D_PrintHex<uint8_t > (bAddress, 0x80);
#endif
        p->lowspeed = false;

        //get pointer to assigned address record
        p = addrPool.GetUsbDevicePtr(bAddress);
        if (!p)
                return USB_ERROR_ADDRESS_NOT_FOUND_IN_POOL;

        p->lowspeed = lowspeed;

        // Assign epInfo to epinfo pointer - only EP0 is known
        rcode = pUsb->setEpInfoEntry(bAddress, 1, epInfo);
        if (rcode)
                goto FailSetDevTblEntry;

        /* The application will work in reduced host mode, so we can save program and data
           memory space. After verifying the VID we will use known values for the
           configuration values for device, interface, endpoints and HID for the XBOX360 Wireless receiver */

        /* Initialize data structures for endpoints of device */
        epInfo[ XBOX_INPUT_PIPE_1 ].epAddr = 0x01; // XBOX 360 report endpoint - poll interval 1ms
        epInfo[ XBOX_INPUT_PIPE_1 ].epAttribs = EP_INTERRUPT;
        epInfo[ XBOX_INPUT_PIPE_1 ].bmNakPower = USB_NAK_NOWAIT; // Only poll once for interrupt endpoints
        epInfo[ XBOX_INPUT_PIPE_1 ].maxPktSize = EP_MAXPKTSIZE;
        epInfo[ XBOX_INPUT_PIPE_1 ].bmSndToggle = bmSNDTOG0;
        epInfo[ XBOX_INPUT_PIPE_1 ].bmRcvToggle = bmRCVTOG0;
        epInfo[ XBOX_OUTPUT_PIPE_1 ].epAddr = 0x01; // XBOX 360 output endpoint - poll interval 8ms
        epInfo[ XBOX_OUTPUT_PIPE_1 ].epAttribs = EP_INTERRUPT;
        epInfo[ XBOX_OUTPUT_PIPE_1 ].bmNakPower = USB_NAK_NOWAIT; // Only poll once for interrupt endpoints
        epInfo[ XBOX_OUTPUT_PIPE_1 ].maxPktSize = EP_MAXPKTSIZE;
        epInfo[ XBOX_OUTPUT_PIPE_1 ].bmSndToggle = bmSNDTOG0;
        epInfo[ XBOX_OUTPUT_PIPE_1 ].bmRcvToggle = bmRCVTOG0;

        epInfo[ XBOX_INPUT_PIPE_2 ].epAddr = 0x03; // XBOX 360 report endpoint - poll interval 1ms
        epInfo[ XBOX_INPUT_PIPE_2 ].epAttribs = EP_INTERRUPT;
        epInfo[ XBOX_INPUT_PIPE_2 ].bmNakPower = USB_NAK_NOWAIT; // Only poll once for interrupt endpoints
        epInfo[ XBOX_INPUT_PIPE_2 ].maxPktSize = EP_MAXPKTSIZE;
        epInfo[ XBOX_INPUT_PIPE_2 ].bmSndToggle = bmSNDTOG0;
        epInfo[ XBOX_INPUT_PIPE_2 ].bmRcvToggle = bmRCVTOG0;
        epInfo[ XBOX_OUTPUT_PIPE_2 ].epAddr = 0x03; // XBOX 360 output endpoint - poll interval 8ms
        epInfo[ XBOX_OUTPUT_PIPE_2 ].epAttribs = EP_INTERRUPT;
        epInfo[ XBOX_OUTPUT_PIPE_2 ].bmNakPower = USB_NAK_NOWAIT; // Only poll once for interrupt endpoints
        epInfo[ XBOX_OUTPUT_PIPE_2 ].maxPktSize = EP_MAXPKTSIZE;
        epInfo[ XBOX_OUTPUT_PIPE_2 ].bmSndToggle = bmSNDTOG0;
        epInfo[ XBOX_OUTPUT_PIPE_2 ].bmRcvToggle = bmRCVTOG0;

        epInfo[ XBOX_INPUT_PIPE_3 ].epAddr = 0x05; // XBOX 360 report endpoint - poll interval 1ms
        epInfo[ XBOX_INPUT_PIPE_3 ].epAttribs = EP_INTERRUPT;
        epInfo[ XBOX_INPUT_PIPE_3 ].bmNakPower = USB_NAK_NOWAIT; // Only poll once for interrupt endpoints
        epInfo[ XBOX_INPUT_PIPE_3 ].maxPktSize = EP_MAXPKTSIZE;
        epInfo[ XBOX_INPUT_PIPE_3 ].bmSndToggle = bmSNDTOG0;
        epInfo[ XBOX_INPUT_PIPE_3 ].bmRcvToggle = bmRCVTOG0;
        epInfo[ XBOX_OUTPUT_PIPE_3 ].epAddr = 0x05; // XBOX 360 output endpoint - poll interval 8ms
        epInfo[ XBOX_OUTPUT_PIPE_3 ].epAttribs = EP_INTERRUPT;
        epInfo[ XBOX_OUTPUT_PIPE_3 ].bmNakPower = USB_NAK_NOWAIT; // Only poll once for interrupt endpoints
        epInfo[ XBOX_OUTPUT_PIPE_3 ].maxPktSize = EP_MAXPKTSIZE;
        epInfo[ XBOX_OUTPUT_PIPE_3 ].bmSndToggle = bmSNDTOG0;
        epInfo[ XBOX_OUTPUT_PIPE_3 ].bmRcvToggle = bmRCVTOG0;

        epInfo[ XBOX_INPUT_PIPE_4 ].epAddr = 0x07; // XBOX 360 report endpoint - poll interval 1ms
        epInfo[ XBOX_INPUT_PIPE_4 ].epAttribs = EP_INTERRUPT;
        epInfo[ XBOX_INPUT_PIPE_4 ].bmNakPower = USB_NAK_NOWAIT; // Only poll once for interrupt endpoints
        epInfo[ XBOX_INPUT_PIPE_4 ].maxPktSize = EP_MAXPKTSIZE;
        epInfo[ XBOX_INPUT_PIPE_4 ].bmSndToggle = bmSNDTOG0;
        epInfo[ XBOX_INPUT_PIPE_4 ].bmRcvToggle = bmRCVTOG0;
        epInfo[ XBOX_OUTPUT_PIPE_4 ].epAddr = 0x07; // XBOX 360 output endpoint - poll interval 8ms
        epInfo[ XBOX_OUTPUT_PIPE_4 ].epAttribs = EP_INTERRUPT;
        epInfo[ XBOX_OUTPUT_PIPE_4 ].bmNakPower = USB_NAK_NOWAIT; // Only poll once for interrupt endpoints
        epInfo[ XBOX_OUTPUT_PIPE_4 ].maxPktSize = EP_MAXPKTSIZE;
        epInfo[ XBOX_OUTPUT_PIPE_4 ].bmSndToggle = bmSNDTOG0;
        epInfo[ XBOX_OUTPUT_PIPE_4 ].bmRcvToggle = bmRCVTOG0;

        rcode = pUsb->setEpInfoEntry(bAddress, 9, epInfo);
        if (rcode)
                goto FailSetDevTblEntry;

        delay(200); //Give time for address change

        rcode = pUsb->setConf(bAddress, epInfo[ XBOX_CONTROL_PIPE ].epAddr, 1);
        if (rcode)
                goto FailSetConfDescr;

#ifdef DEBUG_USB_HOST
        Notify(PSTR("\r\nXbox Wireless Receiver Connected\r\n"), 0x80);
#endif
        XboxReceiverConnected = true;
        bPollEnable = true;
        return 0; // successful configuration

        /* diagnostic messages */
FailGetDevDescr:
#ifdef DEBUG_USB_HOST
        NotifyFailGetDevDescr();
        goto Fail;
#endif

FailSetDevTblEntry:
#ifdef DEBUG_USB_HOST
        NotifyFailSetDevTblEntry();
        goto Fail;
#endif

FailSetConfDescr:
#ifdef DEBUG_USB_HOST
        NotifyFailSetConfDescr();
#endif
        goto Fail;

FailUnknownDevice:
#ifdef DEBUG_USB_HOST
        NotifyFailUnknownDevice(VID,PID);
#endif
        rcode = USB_DEV_CONFIG_ERROR_DEVICE_NOT_SUPPORTED;

Fail:
#ifdef DEBUG_USB_HOST
        Notify(PSTR("\r\nXbox 360 Init Failed, error code: "), 0x80);
        NotifyFail(rcode);
#endif
        Release();
        return rcode;
}

/* Performs a cleanup after failed Init() attempt */
uint8_t XBOXRECV::Release() {
        XboxReceiverConnected = false;
        for (uint8_t i = 0; i < 4; i++)
                Xbox360Connected[i] = 0x00;
        pUsb->GetAddressPool().FreeAddress(bAddress);
        bAddress = 0;
        bPollEnable = false;
        return 0;
}

uint8_t XBOXRECV::Poll() {
        if (!bPollEnable)
                return 0;
        if (!timer || ((millis() - timer) > 3000)) { // Run checkStatus every 3 seconds
                timer = millis();
                checkStatus();
        }
        uint8_t inputPipe;
        uint16_t bufferSize;
        for (uint8_t i = 0; i < 4; i++) {
                switch (i) {
                        case 0: inputPipe = XBOX_INPUT_PIPE_1;
                                break;
                        case 1: inputPipe = XBOX_INPUT_PIPE_2;
                                break;
                        case 2: inputPipe = XBOX_INPUT_PIPE_3;
                                break;
                        case 3: inputPipe = XBOX_INPUT_PIPE_4;
                                break;
                }
                bufferSize = EP_MAXPKTSIZE; // This is the maximum number of bytes we want to receive
                pUsb->inTransfer(bAddress, epInfo[ inputPipe ].epAddr, &bufferSize, readBuf);
                if (bufferSize > 0) { // The number of received bytes
#ifdef EXTRADEBUG
                        Notify(PSTR("Bytes Received: "), 0x80);
                        D_PrintHex<uint16_t > (bufferSize, 0x80);
                        Notify(PSTR("\r\n"), 0x80);
#endif
                        readReport(i);
#ifdef PRINTREPORT
                        printReport(i, bufferSize); // Uncomment "#define PRINTREPORT" to print the report send by the Xbox 360 Controller
#endif
                }
        }
        return 0;
}

void XBOXRECV::readReport(uint8_t controller) {
        if (readBuf == NULL)
                return;
        // This report is send when a controller is connected and disconnected
        if (readBuf[0] == 0x08 && readBuf[1] != Xbox360Connected[controller]) {
                Xbox360Connected[controller] = readBuf[1];
#ifdef DEBUG_USB_HOST
                Notify(PSTR("Controller "), 0x80);
                Notify(controller, 0x80);
#endif
                if (Xbox360Connected[controller]) {
#ifdef DEBUG_USB_HOST
                        char* str = 0;
                        switch (readBuf[1]) {
                                case 0x80: str = PSTR(" as controller\r\n");
                                        break;
                                case 0x40: str = PSTR(" as headset\r\n");
                                        break;
                                case 0xC0: str = PSTR(" as controller+headset\r\n");
                                        break;
                        }
                        Notify(PSTR(": connected"), 0x80);
                        Notify(str, 0x80);
#endif
                        LED led;
                        switch (controller) {
                                case 0: led = LED1;
                                        break;
                                case 1: led = LED2;
                                        break;
                                case 2: led = LED3;
                                        break;
                                case 3: led = LED4;
                                        break;
                        }
                        setLedOn(led, controller);
                }
#ifdef DEBUG_USB_HOST
                else
                        Notify(PSTR(": disconnected\r\n"), 0x80);
#endif
                return;
        }
        // Controller status report
        if (readBuf[1] == 0x00 && readBuf[3] & 0x13 && readBuf[4] >= 0x22) {
                controllerStatus[controller] = ((uint16_t)readBuf[3] << 8) | readBuf[4];
                return;
        }
        if (readBuf[1] != 0x01) // Check if it's the correct report - the receiver also sends different status reports
                return;

        // A controller must be connected if it's sending data
        if (!Xbox360Connected[controller])
                Xbox360Connected[controller] |= 0x80;

        ButtonState[controller] = (uint32_t)(readBuf[9] | ((uint16_t)readBuf[8] << 8) | ((uint32_t)readBuf[7] << 16) | ((uint32_t)readBuf[6] << 24));

        hatValue[controller][LeftHatX] = (int16_t)(((uint16_t)readBuf[11] << 8) | readBuf[10]);
        hatValue[controller][LeftHatY] = (int16_t)(((uint16_t)readBuf[13] << 8) | readBuf[12]);
        hatValue[controller][RightHatX] = (int16_t)(((uint16_t)readBuf[15] << 8) | readBuf[14]);
        hatValue[controller][RightHatY] = (int16_t)(((uint16_t)readBuf[17] << 8) | readBuf[16]);

        //Notify(PSTR("\r\nButtonState: "), 0x80);
        //PrintHex<uint32_t>(ButtonState[controller], 0x80);

        if (ButtonState[controller] != OldButtonState[controller]) {
                buttonStateChanged[controller] = true;
                ButtonClickState[controller] = (ButtonState[controller] >> 16) & ((~OldButtonState[controller]) >> 16); // Update click state variable, but don't include the two trigger buttons L2 and R2
                if (((uint8_t)OldButtonState[controller]) == 0 && ((uint8_t)ButtonState[controller]) != 0) // The L2 and R2 buttons are special as they are analog buttons
                        R2Clicked[controller] = true;
                if ((uint8_t)(OldButtonState[controller] >> 8) == 0 && (uint8_t)(ButtonState[controller] >> 8) != 0)
                        L2Clicked[controller] = true;
                OldButtonState[controller] = ButtonState[controller];
        }
}

void XBOXRECV::printReport(uint8_t controller, uint8_t nBytes) { //Uncomment "#define PRINTREPORT" to print the report send by the Xbox 360 Controller
#ifdef PRINTREPORT
        if (readBuf == NULL)
                return;
        Notify(PSTR("Controller "), 0x80);
        Notify(controller, 0x80);
        Notify(PSTR(": "), 0x80);
        for (uint8_t i = 0; i < nBytes; i++) {
                D_PrintHex<uint8_t > (readBuf[i], 0x80);
                Notify(PSTR(" "), 0x80);
        }
        Notify(PSTR("\r\n"), 0x80);
#endif
}

uint8_t XBOXRECV::getButtonPress(Button b, uint8_t controller) {
        if (b == L2) // These are analog buttons
                return (uint8_t)(ButtonState[controller] >> 8);
        else if (b == R2)
                return (uint8_t)ButtonState[controller];
        return (bool)(ButtonState[controller] & ((uint32_t)pgm_read_word(&XBOXBUTTONS[(uint8_t)b]) << 16));
}

bool XBOXRECV::getButtonClick(Button b, uint8_t controller) {
        if (b == L2) {
                if (L2Clicked[controller]) {
                        L2Clicked[controller] = false;
                        return true;
                }
                return false;
        } else if (b == R2) {
                if (R2Clicked[controller]) {
                        R2Clicked[controller] = false;
                        return true;
                }
                return false;
        }
        uint16_t button = pgm_read_word(&XBOXBUTTONS[(uint8_t)b]);
        bool click = (ButtonClickState[controller] & button);
        ButtonClickState[controller] &= ~button; // clear "click" event
        return click;
}

int16_t XBOXRECV::getAnalogHat(AnalogHat a, uint8_t controller) {
        return hatValue[controller][a];
}

bool XBOXRECV::buttonChanged(uint8_t controller) {
        bool state = buttonStateChanged[controller];
        buttonStateChanged[controller] = false;
        return state;
}

/*
ControllerStatus Breakdown
    ControllerStatus[controller] & 0x0001   // 0
    ControllerStatus[controller] & 0x0002   // normal batteries, no rechargeable battery pack
    ControllerStatus[controller] & 0x0004   // controller starting up / settling
    ControllerStatus[controller] & 0x0008   // headset adapter plugged in, but no headphones connected (mute?)
    ControllerStatus[controller] & 0x0010   // 0
    ControllerStatus[controller] & 0x0020   // 1
    ControllerStatus[controller] & 0x0040   // battery level (high bit)
    ControllerStatus[controller] & 0x0080   // battery level (low bit)
    ControllerStatus[controller] & 0x0100   // 1
    ControllerStatus[controller] & 0x0200   // 1
    ControllerStatus[controller] & 0x0400   // headset adapter plugged in
    ControllerStatus[controller] & 0x0800   // 0
    ControllerStatus[controller] & 0x1000   // 1
    ControllerStatus[controller] & 0x2000   // 0
    ControllerStatus[controller] & 0x4000   // 0
    ControllerStatus[controller] & 0x8000   // 0
 */
uint8_t XBOXRECV::getBatteryLevel(uint8_t controller) {
        return ((controllerStatus[controller] & 0x00C0) >> 6);
}

void XBOXRECV::XboxCommand(uint8_t controller, uint8_t* data, uint16_t nbytes) {
        uint8_t rcode;
        uint8_t outputPipe;
        switch (controller) {
                case 0: outputPipe = XBOX_OUTPUT_PIPE_1;
                        break;
                case 1: outputPipe = XBOX_OUTPUT_PIPE_2;
                        break;
                case 2: outputPipe = XBOX_OUTPUT_PIPE_3;
                        break;
                case 3: outputPipe = XBOX_OUTPUT_PIPE_4;
                        break;
        }
        rcode = pUsb->outTransfer(bAddress, epInfo[ outputPipe ].epAddr, nbytes, data);
#ifdef EXTRADEBUG
        if (rcode)
                Notify(PSTR("Error sending Xbox message\r\n"), 0x80);
#endif
}

void XBOXRECV::setLedRaw(uint8_t value, uint8_t controller) {
        writeBuf[0] = 0x00;
        writeBuf[1] = 0x00;
        writeBuf[2] = 0x08;
        writeBuf[3] = value | 0x40;

        XboxCommand(controller, writeBuf, 4);
}

void XBOXRECV::setLedOn(LED led, uint8_t controller) {
        if (led != ALL) // All LEDs can't be on a the same time
                setLedRaw(pgm_read_byte(&XBOXLEDS[(uint8_t)led]) + 4, controller);
}

void XBOXRECV::setLedBlink(LED led, uint8_t controller) {
        setLedRaw(pgm_read_byte(&XBOXLEDS[(uint8_t)led]), controller);
}

void XBOXRECV::setLedMode(LEDMode ledMode, uint8_t controller) { // This function is used to do some speciel LED stuff the controller supports
        setLedRaw((uint8_t)ledMode, controller);
}

/* PC runs this at interval of approx 2 seconds
Thanks to BusHound from Perisoft.net for the Windows USB Analysis output
Found by timstamp.co.uk
 */
void XBOXRECV::checkStatus() {
        if (!bPollEnable)
                return;
        // Get controller info
        writeBuf[0] = 0x08;
        writeBuf[1] = 0x00;
        writeBuf[2] = 0x0f;
        writeBuf[3] = 0xc0;
        for (uint8_t i = 0; i < 4; i++) {
                XboxCommand(i, writeBuf, 4);
        }
        // Get battery status
        writeBuf[0] = 0x00;
        writeBuf[1] = 0x00;
        writeBuf[2] = 0x00;
        writeBuf[3] = 0x40;
        for (uint8_t i = 0; i < 4; i++) {
                if (Xbox360Connected[i])
                        XboxCommand(i, writeBuf, 4);
        }
}

void XBOXRECV::setRumbleOn(uint8_t lValue, uint8_t rValue, uint8_t controller) {
        writeBuf[0] = 0x00;
        writeBuf[1] = 0x01;
        writeBuf[2] = 0x0f;
        writeBuf[3] = 0xc0;
        writeBuf[4] = 0x00;
        writeBuf[5] = lValue; // big weight
        writeBuf[6] = rValue; // small weight

        XboxCommand(controller, writeBuf, 7);
}