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Factor out the application of a two-domain mapping ('calibration').

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Replaces repeated code, and should be more reliable as well as
avoiding division by 0.
This commit is contained in:
Ryan Pavlik
2012-06-28 16:19:31 -05:00
parent 84fb39dcb3
commit 2db3dd3a03
1 changed files with 14 additions and 14 deletions
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28
src/dynamics.c
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@@ -130,6 +130,18 @@ void calculate_gforce(struct accel_t* ac, struct vec3b_t* accel, struct gforce_t
gforce->z = ((float)accel->z - (float)ac->cal_zero.z) / zg; gforce->z = ((float)accel->z - (float)ac->cal_zero.z) / zg;
} }
static float applyCalibration(float inval, float minval, float maxval, float centerval) {
float ret;
/* We don't use the exact ranges but the ranges + 1 in case we get bad calibration data - avoid div0 */
if (inval == centerval) {
ret = 0;
} else if (inval < centerval) {
ret = (inval - centerval) / (centerval - minval + 1);
} else {
ret = (inval - centerval) / (maxval - centerval + 1);
}
return ret;
}
/** /**
* @brief Calculate the angle and magnitude of a joystick. * @brief Calculate the angle and magnitude of a joystick.
@@ -157,20 +169,8 @@ void calc_joystick_state(struct joystick_t* js, float x, float y) {
* The range is therefore -1 to 1, 0 being the exact center rather than * The range is therefore -1 to 1, 0 being the exact center rather than
* the middle of min and max. * the middle of min and max.
*/ */
if (x == js->center.x) rx = applyCalibration(x, js->min.x, js->max.x, js->center.x);
rx = 0; ry = applyCalibration(y, js->min.y, js->max.y, js->center.y);
else if (x >= js->center.x)
rx = ((float)(x - js->center.x) / (float)(js->max.x - js->center.x));
else
rx = ((float)(x - js->min.x) / (float)(js->center.x - js->min.x)) - 1.0f;
if (y == js->center.y)
ry = 0;
else if (y >= js->center.y)
ry = ((float)(y - js->center.y) / (float)(js->max.y - js->center.y));
else
ry = ((float)(y - js->min.y) / (float)(js->center.y - js->min.y)) - 1.0f;
/* calculate the joystick angle and magnitude */ /* calculate the joystick angle and magnitude */
ang = RAD_TO_DEGREE(atanf(ry / rx)); ang = RAD_TO_DEGREE(atanf(ry / rx));
ang -= 90.0f; ang -= 90.0f;