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Issue 49. Patch from Aleksey Lagoshin. Improved calculation of Drone movements using game controllers. Now you can tilt or rotate Drone more accuracy.

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Esse commit está contido em:
Denis Shmyga
2013-01-31 14:29:15 +02:00
pai b22d13120a
commit 31a2ad04be
2 arquivos alterados com 33 adições e 25 exclusões
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controltower/src/main/java/com/codeminders/controltower/ControlTower.java
+30 -22
Ver Arquivo
@@ -45,7 +45,8 @@ public class ControlTower extends javax.swing.JFrame implements DroneStatusChang
private static final long READ_UPDATE_DELAY_MS = 5L; private static final long READ_UPDATE_DELAY_MS = 5L;
private static final long CONNECT_TIMEOUT = 10000L; private static final long CONNECT_TIMEOUT = 10000L;
private static float CONTROL_THRESHOLD = 0.5f; private static final float DEFAULT_CONTROL_THRESHOLD = 0.05f;
private final ImageIcon droneOn = new ImageIcon( private final ImageIcon droneOn = new ImageIcon(
getClass().getResource("/com/codeminders/controltower/images/drone_on.gif")); getClass().getResource("/com/codeminders/controltower/images/drone_on.gif"));
private final ImageIcon droneOff = new ImageIcon( private final ImageIcon droneOff = new ImageIcon(
@@ -71,6 +72,8 @@ public class ControlTower extends javax.swing.JFrame implements DroneStatusChang
private final BottomGaugePanel gauges = new BottomGaugePanel(); private final BottomGaugePanel gauges = new BottomGaugePanel();
private final ControlMap controlMap = new ControlMap(); private final ControlMap controlMap = new ControlMap();
private float controlThreshold = DEFAULT_CONTROL_THRESHOLD;
private static boolean isHIDLibLoaded = false; private static boolean isHIDLibLoaded = false;
static static
@@ -256,47 +259,52 @@ public class ControlTower extends javax.swing.JFrame implements DroneStatusChang
{ {
// Detecting if we need to move the drone // Detecting if we need to move the drone
int leftX = pad.getLeftJoystickX(); float leftX = pad.getLeftJoystickX() / 128f;
int leftY = pad.getLeftJoystickY(); float leftY = pad.getLeftJoystickY() / 128f;
int rightX = pad.getRightJoystickX(); float rightX = pad.getRightJoystickX() / 128f;
int rightY = pad.getRightJoystickY(); float rightY = pad.getRightJoystickY() / 128f;
float left_right_tilt = 0f; float leftRightTilt = 0f;
float front_back_tilt = 0f; float frontBackTilt = 0f;
float vertical_speed = 0f; float verticalSpeed = 0f;
float angular_speed = 0f; float angularSpeed = 0f;
if(Math.abs(((float) leftX) / 128f) > CONTROL_THRESHOLD) float ct = 1 - controlThreshold;
if(Math.abs(leftX) > controlThreshold)
{ {
left_right_tilt = ((float) leftX) / 128f; leftRightTilt = (leftX >= 0.0f ? (leftX - controlThreshold) / ct
: (leftX + controlThreshold) / ct);
} }
if(Math.abs(((float) leftY) / 128f) > CONTROL_THRESHOLD) if(Math.abs(leftY) > controlThreshold)
{ {
front_back_tilt = ((float) leftY) / 128f; frontBackTilt = (leftY >= 0.0f ? (leftY - controlThreshold) / ct
: (leftY + controlThreshold) / ct);
} }
if(Math.abs(((float) rightX) / 128f) > CONTROL_THRESHOLD) if(Math.abs(rightX) > controlThreshold)
{ {
angular_speed = ((float) rightX) / 128f; angularSpeed = (rightX >= 0.0f ? (rightX - controlThreshold) / ct
: (rightX + controlThreshold) / ct);
} }
if(Math.abs(-1 * ((float) rightY) / 128f) > CONTROL_THRESHOLD) if(Math.abs(rightY) > controlThreshold)
{ {
vertical_speed = -1 * ((float) rightY) / 128f; verticalSpeed = -1 * (rightY >= 0.0f ? (rightY - controlThreshold) / ct
: (rightY + controlThreshold) / ct);
} }
if(left_right_tilt != 0 || front_back_tilt != 0 || vertical_speed != 0 || angular_speed != 0) if(leftRightTilt != 0 || frontBackTilt != 0 || verticalSpeed != 0 || angularSpeed != 0)
{ {
if(flipSticks.get()) if(flipSticks.get())
{ {
drone.move(angular_speed, -1 * vertical_speed, -1 * front_back_tilt, left_right_tilt); drone.move(angularSpeed, -1 * verticalSpeed, -1 * frontBackTilt, leftRightTilt);
} }
else else
{ {
drone.move(left_right_tilt, front_back_tilt, vertical_speed, angular_speed); drone.move(leftRightTilt, frontBackTilt, verticalSpeed, angularSpeed);
} }
} }
else else
@@ -475,7 +483,7 @@ public class ControlTower extends javax.swing.JFrame implements DroneStatusChang
public void setControlThreshold(float sens) public void setControlThreshold(float sens)
{ {
CONTROL_THRESHOLD = sens; controlThreshold = sens;
} }
/** /**
controltower/src/main/java/com/codeminders/controltower/DroneConfig.java
+3 -3
Ver Arquivo
@@ -68,10 +68,10 @@ public class DroneConfig extends javax.swing.JDialog {
} }
try { try {
drone.setConfigOption("control:altitude_max", maxAltitude.getValue() + ""); drone.setConfigOption("control:altitude_max", maxAltitude.getValue() + "");
drone.setConfigOption("control:euler_angle_max", (((float) maxAngle.getValue()) / 100.0f) + ""); drone.setConfigOption("control:euler_angle_max", (maxAngle.getValue() / 100.0f) + "");
drone.setConfigOption("control:control_vz_max", maxSpeed.getValue() + ""); drone.setConfigOption("control:control_vz_max", maxSpeed.getValue() + "");
drone.setConfigOption("control:control_yaw", (((float) maxYaw.getValue()) / 100.0f) + ""); drone.setConfigOption("control:control_yaw", (maxYaw.getValue() / 100.0f) + "");
tower.setControlThreshold(((float) controllerDeadzone.getValue()) / 100.0f); tower.setControlThreshold(controllerDeadzone.getValue() / 100.0f);
} catch (IOException ex) { } catch (IOException ex) {
Logger.getLogger(DroneConfig.class.getName()).error("Exception Setting data: {0}", ex); Logger.getLogger(DroneConfig.class.getName()).error("Exception Setting data: {0}", ex);
} }