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Fixed the deadband issue.

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This commit is contained in:
David Carley
2022-08-19 18:06:32 +00:00
parent bf85337832
commit a5f9779e46
2 changed files with 27 additions and 48 deletions
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4
src/py/bbctrl/Jog.py
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@@ -37,7 +37,7 @@ class Jog(inevent.JogHandler):
config = { config = {
"Logitech Logitech RumblePad 2 USB": { "Logitech Logitech RumblePad 2 USB": {
"deadband": 0.1, "deadband": 0.15,
"axes": [ABS_X, ABS_Y, ABS_RZ, ABS_Z], "axes": [ABS_X, ABS_Y, ABS_RZ, ABS_Z],
"dir": [1, -1, -1, 1], "dir": [1, -1, -1, 1],
"arrows": [ABS_HAT0X, ABS_HAT0Y], "arrows": [ABS_HAT0X, ABS_HAT0Y],
@@ -46,7 +46,7 @@ class Jog(inevent.JogHandler):
}, },
"default": { "default": {
"deadband": 0.1, "deadband": 0.15,
"axes": [ABS_X, ABS_Y, ABS_RY, ABS_RX], "axes": [ABS_X, ABS_Y, ABS_RY, ABS_RX],
"dir": [1, -1, -1, 1], "dir": [1, -1, -1, 1],
"arrows": [ABS_HAT0X, ABS_HAT0Y], "arrows": [ABS_HAT0X, ABS_HAT0Y],

71
src/py/inevent/JogHandler.py
View File

@@ -1,30 +1,3 @@
################################################################################
# #
# This file is part of the Buildbotics firmware. #
# #
# Copyright (c) 2015 - 2018, Buildbotics LLC #
# All rights reserved. #
# #
# This file ("the software") is free software: you can redistribute it #
# and/or modify it under the terms of the GNU General Public License, #
# version 2 as published by the Free Software Foundation. You should #
# have received a copy of the GNU General Public License, version 2 #
# along with the software. If not, see <http://www.gnu.org/licenses/>. #
# #
# The software is distributed in the hope that it will be useful, but #
# WITHOUT ANY WARRANTY; without even the implied warranty of #
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU #
# Lesser General Public License for more details. #
# #
# You should have received a copy of the GNU Lesser General Public #
# License along with the software. If not, see #
# <http://www.gnu.org/licenses/>. #
# #
# For information regarding this software email: #
# "Joseph Coffland" <joseph@buildbotics.com> #
# #
################################################################################
import logging import logging
from inevent.Constants import * from inevent.Constants import *
@@ -97,7 +70,31 @@ class JogHandler:
# Process event # Process event
if event.type == EV_ABS and event.code in config['axes']: if event.type == EV_ABS and event.code in config['axes']:
pass old_axes = list(self.axes)
deadband = config['deadband']
axis = config['axes'].index(event.code)
self.axes[axis] = event.stream.state.abs[event.code]
self.axes[axis] *= config['dir'][axis]
value = abs(self.axes[axis])
if value >= deadband:
sign = -1 if self.axes[axis] < 0 else 1
delta = value - deadband
range = 1 - deadband
# Scale the new value to the available range (full range, minus the deadband)
self.axes[axis] = (delta * sign) / range
else:
self.axes[axis] = 0
if self.horizontal_lock and axis not in [0, 3]:
self.axes[axis] = 0
if self.vertical_lock and axis not in [1, 2]:
self.axes[axis] = 0
if old_axes[axis] != self.axes[axis]: changed = True
elif event.type == EV_KEY and event.code in config['speed']: elif event.type == EV_KEY and event.code in config['speed']:
old_speed = self.speed old_speed = self.speed
@@ -115,22 +112,4 @@ class JogHandler:
log.debug(event_to_string(event, state)) log.debug(event_to_string(event, state))
# Update axes
old_axes = list(self.axes)
for axis in range(4):
self.axes[axis] = event.stream.state.abs[config['axes'][axis]]
self.axes[axis] *= config['dir'][axis]
if abs(self.axes[axis]) < config['deadband']:
self.axes[axis] = 0
if self.horizontal_lock and axis not in [0, 3]:
self.axes[axis] = 0
if self.vertical_lock and axis not in [1, 2]:
self.axes[axis] = 0
if old_axes != self.axes: changed = True
if changed: self.changed() if changed: self.changed()