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➕ Another dramatic improvement to gyro control

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isXander
2023-06-12 22:03:01 +01:00
parent 4df60549c6
commit 3f820e1c01
8 changed files with 138 additions and 53 deletions
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8
src/main/java/dev/isxander/controlify/controller/gamepad/GamepadController.java
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@ -22,7 +22,7 @@ public class GamepadController extends AbstractController<GamepadState, GamepadC
private final RumbleManager rumbleManager;
private GamepadState.GyroState absoluteGyro = GamepadState.GyroState.ORIGIN;
private final GamepadDrivers drivers;
public final GamepadDrivers drivers;
private final Set<Driver> uniqueDrivers;
private int antiSnapbackTicksL, antiSnapbackTicksR;
@ -85,9 +85,9 @@ public class GamepadController extends AbstractController<GamepadState, GamepadC
}
}
// todo: make this configurable
GamepadState.GyroState gyroState = drivers.gyroDriver().getGyroState().deadzone(0.05f);
this.absoluteGyro = this.absoluteGyro.add(gyroState);
// TODO: Add some sort of gyro filtering
GamepadState.GyroState gyroState = drivers.gyroDriver().getGyroState().subtracted(config().gyroCalibration);
this.absoluteGyro = this.absoluteGyro.added(gyroState);
state = new GamepadState(deadzoneAxesState, basicState.axes(), basicState.buttons(), gyroState, absoluteGyro);
}