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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
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9
program/src/inputs.c
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@ -5,7 +5,7 @@
#include <hardware/adc.h>
#include "headers/controller.h"
#define JOYSTICK_DEAD_ZONE 3
#define JOYSTICK_DEAD_ZONE 5
void inputs_init(void)
{
@ -25,14 +25,17 @@ void inputs_init(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
adc_select_input(JOYSTICK_X_AXIS_ADC_INPUT);
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);
joystick_raw = adc_read();
controller.inputs.joystick_y = (joystick_raw >> 4) - 128;
controller.inputs.joystick_y = (joystick_raw >> 3) - 256;
// Dead zone
if(abs(controller.inputs.joystick_x) < JOYSTICK_DEAD_ZONE)