Changed encoding of joystick value for more precision.

program/src/headers/inputs.h

@@ -12,16 +12,16 @@ typedef enum inputs_pin_t {
     BUTTON_WHITE_PIN = 6,
     BUTTON_GREEN_PIN = 2,
 
-    BUTTON_L_PIN = 9,
-    BUTTON_R_PIN = 13,
+    BUTTON_L_PIN = 13,
+    BUTTON_R_PIN = 9,
 }  inputs_pin_t;
 
 #define JOYSTICK_X_AXIS_ADC_INPUT 0
 #define JOYSTICK_Y_AXIS_ADC_INPUT 1
 
 typedef struct inputs_t {
-    int8_t joystick_x;
-    int8_t joystick_y;
+    int16_t joystick_x;
+    int16_t joystick_y;
 
     struct {
         bool button_black : 1;

program/src/inputs.c

@@ -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)

program/src/wifi/udp_server.c

@@ -4,8 +4,8 @@
 #include <string.h>
 #include "headers/controller.h"
 
-#define MSG_LEN (sizeof(uint16_t) + sizeof(inputs_t)) / sizeof(uint8_t)
-#define MSG_DELAY_MS 50.0f
+#define MSG_LEN (sizeof(inputs_t)) / sizeof(uint8_t)
+#define MSG_DELAY_MS 20.0f
 
 int udp_server_init(void)
 {
@@ -30,8 +30,6 @@ void udp_server_send(void)
     static float elapsed_time_ms = 0.0f;
     elapsed_time_ms += controller.delta_time_ms;
 
-    static uint8_t counter = 0;
-
     if(elapsed_time_ms >= MSG_DELAY_MS)
     {
         static union data_t {
@@ -40,9 +38,8 @@ void udp_server_send(void)
             } hard;
 
             uint8_t raw[MSG_LEN];
-        } data = {0};
+        } data;
 
-        //data.hard.packet_number++; // Auto looping
         data.hard.inputs = controller.inputs;
 
         struct pbuf *p = pbuf_alloc(PBUF_TRANSPORT, MSG_LEN, PBUF_RAM);
@@ -58,7 +55,6 @@ void udp_server_send(void)
         }
 
         elapsed_time_ms = 0.0f;
-        counter++;
     }
 }