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feat: implement dead zone for controller #2

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merged 1 commit into from
Aug 28, 2024
+9 −4
Merged

feat: implement dead zone for controller #2

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13 changes: 9 additions & 4 deletions main_app.c
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ static void update_motor_driver_from_control_input( struct bt_hid_state* state )

int left_output = forward_speed;
int right_output = forward_speed;
if( forward_speed > 0 )
if( forward_speed > 20 )
{
if( swerve_right_rate > 0 )
{
Expand All @@ -49,7 +49,7 @@ static void update_motor_driver_from_control_input( struct bt_hid_state* state )
left_output = clamp(left_output, 0, 128);
}
}
else if( forward_speed < 0 )
else if( forward_speed < -20 )
{
if( swerve_right_rate > 0 )
{
Expand All @@ -64,14 +64,19 @@ static void update_motor_driver_from_control_input( struct bt_hid_state* state )
}
else
{
if( swerve_right_rate != 0 )
if( swerve_right_rate >= 20 || swerve_right_rate <= -20 )
{
// rotate in place
// This handles both rotate left and right as left will be negative and right positive
left_output = swerve_right_rate;
right_output = -1*swerve_right_rate;
}
}
else
{
// otherwise no rotation
left_output = 0;
right_output = 0;
}
}

left_output = clamp(left_output, -127, 128);
Expand Down