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Fix bugged coordinate/radius scaling

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- uncomment coordinate scaling which caused unwanted behaivor
    especially that radius never got to 1 when joystick diagonal
    resulting in loss of power/speed in curves
- now scaling radius only which is the desired functionality

- optimize debug logging
- fix joystick calibration config (invertion was mistaken)
This commit is contained in:
jonny_l480 2023-08-16 10:42:57 +02:00
parent e017932db7
commit d715f2e0f1
2 changed files with 22 additions and 10 deletions
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12
main/config.cpp
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@ -80,13 +80,13 @@ joystick_config_t configJoystick = {
//percentage of joystick range the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (0-100) //percentage of joystick range the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (0-100)
.tolerance_end_per = 4, .tolerance_end_per = 4,
//threshold the radius jumps to 1 before the stick is at max radius (range 0-1) //threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
.tolerance_radius = 0.05, .tolerance_radius = 0.08,
//min and max adc values of each axis (after inversion is applied) //min and max adc values of each axis, !!!AFTER INVERSION!!! is applied:
.x_min = 1260, //=> x=-1 .x_min = 1392, //=> x=-1
.x_max = 2680, //=> x=1 .x_max = 2815, //=> x=1
.y_min = 1250, //=> y=-1 .y_min = 1370, //=> y=-1
.y_max = 2700, //=> y=1 .y_max = 2795, //=> y=1
//invert adc measurement //invert adc measurement
.x_inverted = true, .x_inverted = true,
.y_inverted = true .y_inverted = true

20
main/joystick.cpp
View File

@ -54,6 +54,7 @@ int evaluatedJoystick::readAdc(adc1_channel_t adc_channel, bool inverted) {
int adc_reading = 0; int adc_reading = 0;
for (int i = 0; i < 16; i++) { for (int i = 0; i < 16; i++) {
adc_reading += adc1_get_raw(adc_channel); adc_reading += adc1_get_raw(adc_channel);
//TODO add delay for actual average
} }
adc_reading = adc_reading / 16; adc_reading = adc_reading / 16;
@ -75,7 +76,8 @@ int evaluatedJoystick::readAdc(adc1_channel_t adc_channel, bool inverted) {
joystickData_t evaluatedJoystick::getData() { joystickData_t evaluatedJoystick::getData() {
//get coordinates //get coordinates
//TODO individual tolerances for each axis? Otherwise some parameters can be removed //TODO individual tolerances for each axis? Otherwise some parameters can be removed
ESP_LOGV(TAG, "getting X coodrinate..."); //TODO duplicate code for each axis below:
ESP_LOGV(TAG, "getting X coodrdinate...");
uint32_t adcRead; uint32_t adcRead;
adcRead = readAdc(config.adc_x, config.x_inverted); adcRead = readAdc(config.adc_x, config.x_inverted);
float x = scaleCoordinate(readAdc(config.adc_x, config.x_inverted), config.x_min, config.x_max, x_center, config.tolerance_zeroX_per, config.tolerance_end_per); float x = scaleCoordinate(readAdc(config.adc_x, config.x_inverted), config.x_min, config.x_max, x_center, config.tolerance_zeroX_per, config.tolerance_end_per);
@ -103,6 +105,7 @@ joystickData_t evaluatedJoystick::getData() {
//define position //define position
data.position = joystick_evaluatePosition(x, y); data.position = joystick_evaluatePosition(x, y);
ESP_LOGD(TAG, "X=%.2f Y=%.2f radius=%.2f angle=%.2f", data.x, data.y, data.radius, data.angle);
return data; return data;
} }
@ -162,7 +165,7 @@ float scaleCoordinate(float input, float min, float max, float center, float tol
coordinate = -(center-input - tolerance_zero) / range; coordinate = -(center-input - tolerance_zero) / range;
} }
ESP_LOGD(TAG, "scaled coordinate from %.3f to %.3f, tolZero=%.3f, tolEnd=%.3f", input, coordinate, tolerance_zero, tolerance_end); ESP_LOGD(TAG, "scaling: in=%.3f coordinate=%.3f, tolZero=%.3f, tolEnd=%.3f", input, coordinate, tolerance_zero, tolerance_end);
//return coordinate (-1 to 1) //return coordinate (-1 to 1)
return coordinate; return coordinate;
@ -225,14 +228,23 @@ float scaleLinPoint(float value, float pointX, float pointY){
//function that updates a joystickData object with linear scaling applied to coordinates //function that updates a joystickData object with linear scaling applied to coordinates
//e.g. use to use more joystick resolution for lower speeds //e.g. use to use more joystick resolution for lower speeds
void joystick_scaleCoordinatesLinear(joystickData_t * data, float pointX, float pointY){ void joystick_scaleCoordinatesLinear(joystickData_t * data, float pointX, float pointY){
//scale x and y coordinate // --- scale x and y coordinate ---
/*
data->x = scaleLinPoint(data->x, pointX, pointY); data->x = scaleLinPoint(data->x, pointX, pointY);
data->y = scaleLinPoint(data->y, pointX, pointY); data->y = scaleLinPoint(data->y, pointX, pointY);
//re-calculate radius //re-calculate radius
data->radius = sqrt(pow(data->x,2) + pow(data->y,2)); data->radius = sqrt(pow(data->x,2) + pow(data->y,2));
if (data->radius > 1-0.07) {//FIXME hardcoded radius tolerance if (data->radius > 1-0.1) {//FIXME hardcoded radius tolerance
data->radius = 1; data->radius = 1;
} }
*/
//note: issue with scaling X, Y coordinates:
// - messed up radius calculation - radius never gets 1 at diagonal positions
//==> only scaling radius as only speed should be more acurate at low radius:
//--- scale radius only ---
data-> radius = scaleLinPoint(data->radius, pointX, pointY);
} }