ulysse
/
controller_2025-2026
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Changed encoding of joystick value for more precision.

This commit is contained in:
Ulysse Cura 2026-02-20 17:30:27 +01:00
parent 1e86c7a162
commit 1305a9727c
1 changed files with 6 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
program/src/inputs.c
View File

@ -5,7 +5,7 @@
#include <hardware/adc.h> #include <hardware/adc.h>
#include "headers/controller.h" #include "headers/controller.h"
#define JOYSTICK_DEAD_ZONE 3 #define JOYSTICK_DEAD_ZONE 5
void inputs_init(void) void inputs_init(void)
{ {
@ -25,14 +25,17 @@ void inputs_init(void)
void inputs_update(void) void inputs_update(void)
{ {
// Encoding in 9 bits for values to be between -256 and 255, not optimal now,
// but useful later during transaction between the main controller and the motion controller.
// Update joystick x and y position // Update joystick x and y position
adc_select_input(JOYSTICK_X_AXIS_ADC_INPUT); adc_select_input(JOYSTICK_X_AXIS_ADC_INPUT);
uint16_t joystick_raw = adc_read(); uint16_t joystick_raw = adc_read();
controller.inputs.joystick_x = (joystick_raw >> 4) - 128; controller.inputs.joystick_x = (joystick_raw >> 3) - 256;
adc_select_input(JOYSTICK_Y_AXIS_ADC_INPUT); adc_select_input(JOYSTICK_Y_AXIS_ADC_INPUT);
joystick_raw = adc_read(); joystick_raw = adc_read();
controller.inputs.joystick_y = (joystick_raw >> 4) - 128; controller.inputs.joystick_y = (joystick_raw >> 3) - 256;
// Dead zone // Dead zone
if(abs(controller.inputs.joystick_x) < JOYSTICK_DEAD_ZONE) if(abs(controller.inputs.joystick_x) < JOYSTICK_DEAD_ZONE)