From d573cc5b2419188e9cdbde772c449e1482b12a61 Mon Sep 17 00:00:00 2001
From: jonny_ji7 <jonny@wwad.de>
Date: Thu, 14 Jul 2022 18:50:36 +0200
Subject: [PATCH] Revert "Add hysteresis to joystick position X-Axis"

While testing this feature briefly that approach did not appear to be a good idea.
- noticed that the driving with joystick was a little unintuitive/unexpected (maybe just not used to it?)
- BUG that the state does not reset to center when previous state was
  X-AXIS? Resulting in the armchair to slightly shake randomly at
  joystick center
  -> this has to be fixed if this approach is tested again.

This reverts commit b2b12fe5de1e16ea2f25dfa4b0c3ac6845024c71.
---
 main/http.cpp     |  2 +-
 main/http.hpp     |  2 --
 main/joystick.cpp | 46 ++++++++++------------------------------------
 main/joystick.hpp |  5 +----
 4 files changed, 12 insertions(+), 43 deletions(-)

diff --git a/main/http.cpp b/main/http.cpp
index 0231c56..0c76184 100644
--- a/main/http.cpp
+++ b/main/http.cpp
@@ -159,7 +159,7 @@ esp_err_t httpJoystick::receiveHttpData(httpd_req_t *req){
     //--- calculate angle ---
     data.angle = (atan(data.y/data.x) * 180) / 3.141;
     //--- evaluate position ---
-    data.position = joystick_evaluatePosition(data.x, data.y, &stickPosPrevious);
+    data.position = joystick_evaluatePosition(data.x, data.y);
 
     //log processed values
     ESP_LOGI(TAG, "processed values: x=%.3f  y=%.3f  radius=%.3f  angle=%.3f  pos=%s",
diff --git a/main/http.hpp b/main/http.hpp
index 55e8a85..eab53ef 100644
--- a/main/http.hpp
+++ b/main/http.hpp
@@ -68,6 +68,4 @@ class httpJoystick{
             .radius = 0,
             .angle = 0
         };
-        //store last joystick position for position hysteresis
-        joystickPos_t stickPosPrevious = joystickPos_t::CENTER;
 };
diff --git a/main/joystick.cpp b/main/joystick.cpp
index c4e15cc..fa4bd12 100644
--- a/main/joystick.cpp
+++ b/main/joystick.cpp
@@ -93,7 +93,7 @@ joystickData_t evaluatedJoystick::getData() {
     data.angle = (atan(data.y/data.x) * 180) / 3.141;
 
     //define position
-    data.position = joystick_evaluatePosition(x, y, &stickPosPrevious);
+    data.position = joystick_evaluatePosition(x, y);
 
     return data;
 }
@@ -234,67 +234,41 @@ void joystick_scaleCoordinatesLinear(joystickData_t * data, float pointX, float
 //========= joystick_evaluatePosition =========
 //=============================================
 //function that defines and returns enum joystickPos from x and y coordinates
-joystickPos_t joystick_evaluatePosition(float x, float y, joystickPos_t* prevPos){
-    joystickPos_t newPos;
+joystickPos_t joystick_evaluatePosition(float x, float y){
     //define position
     //--- center ---
     if((fabs(x) == 0) && (fabs(y) == 0)){ 
-        newPos = joystickPos_t::CENTER;
+        return joystickPos_t::CENTER;
     }
     //--- x axis ---
     else if(fabs(y) == 0){
-        newPos = joystickPos_t::X_AXIS;
+        return joystickPos_t::X_AXIS;
     }
     //--- y axis ---
     else if(fabs(x) == 0){
-        newPos = joystickPos_t::Y_AXIS;
+        return joystickPos_t::Y_AXIS;
     }
     //--- top right ---
     else if(x > 0 && y > 0){
-        newPos = joystickPos_t::TOP_RIGHT;
+        return joystickPos_t::TOP_RIGHT;
     }
     //--- top left ---
     else if(x < 0 && y > 0){
-        newPos = joystickPos_t::TOP_LEFT;
+        return joystickPos_t::TOP_LEFT;
     }
     //--- bottom left ---
     else if(x < 0 && y < 0){
-        newPos = joystickPos_t::BOTTOM_LEFT;
+        return joystickPos_t::BOTTOM_LEFT;
     }
     //--- bottom right ---
     else if(x > 0 && y < 0){
-        newPos = joystickPos_t::BOTTOM_RIGHT;
+        return joystickPos_t::BOTTOM_RIGHT;
     }
     //--- other ---
     else {
-        newPos = joystickPos_t::CENTER;
+        return joystickPos_t::CENTER;
     }
 
-
-
-    //--- apply hysteresis on change from X-AXIS ---
-    //=> prevent frequent switching between X-AXIS and other positions
-    //otherwise this results in a very jerky motor action when in driving mode
-    float xAxisHyst = 0.2;
-
-    //change in position
-    if (newPos != *prevPos) {
-
-        //switched FROM x-axis to other position
-        if(*prevPos == joystickPos_t::X_AXIS) { //switch FROM X_AXIS
-
-            //verify coordinate changed more than hysteresis
-            if (fabs(y) < xAxisHyst) { //less offset than hysteresis
-                newPos = joystickPos_t::X_AXIS; //stay at X_AXIS position
-            } else { //switch is valid (enough change)
-                *prevPos = newPos;
-            }
-
-        } else { //switched to any other position
-                *prevPos = newPos;
-        }
-    }
-    return newPos;
 }
 
 
diff --git a/main/joystick.hpp b/main/joystick.hpp
index 4dd4f8a..c631003 100644
--- a/main/joystick.hpp
+++ b/main/joystick.hpp
@@ -96,8 +96,6 @@ class evaluatedJoystick {
         joystickData_t data;
         float x;
         float y;
-        //store last joystick position for position hysteresis
-        joystickPos_t stickPosPrevious = joystickPos_t::CENTER;
 };
 
 
@@ -156,5 +154,4 @@ void joystick_scaleCoordinatesLinear(joystickData_t * data, float pointX, float
 //========= joystick_evaluatePosition =========
 //=============================================
 //function that defines and returns enum joystickPos from x and y coordinates
-//joystickPos_t joystick_evaluatePosition(float x, float y);
-joystickPos_t joystick_evaluatePosition(float x, float y, joystickPos_t* prevPos);
+joystickPos_t joystick_evaluatePosition(float x, float y);