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Support steering wheel

This commit is contained in:
Xavier Del Campo Romero 2022-07-23 20:21:22 +02:00
parent 99313c0e45
commit 44bb7d0d46
1 changed files with 20 additions and 56 deletions
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76
src/libs/robottools/rthumandriver.cpp
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@ -1029,28 +1029,11 @@ static void common_drive(const int index, tCarElt* car, tSituation *s)
case GFCTRL_TYPE_JOY_AXIS:
ax0 = joyInfo->ax[cmd[CMD_LEFTSTEER].val];
// limit and normalise
if (ax0 > cmd[CMD_LEFTSTEER].max) {
ax0 = cmd[CMD_LEFTSTEER].max;
} else if (ax0 < cmd[CMD_LEFTSTEER].min) {
ax0 = cmd[CMD_LEFTSTEER].min;
}
ax0 = (ax0 - cmd[CMD_LEFTSTEER].min) / (cmd[CMD_LEFTSTEER].max - cmd[CMD_LEFTSTEER].min);
// pow used to indicate the polarity of 'more turn'
if (cmd[CMD_LEFTSTEER].pow > 0)
ax0 = ax0 - cmd[CMD_LEFTSTEER].deadZone;
else
ax0 = 1 - ax0 - cmd[CMD_LEFTSTEER].deadZone;
if (ax0 < 0) ax0 = 0;
if (1 - cmd[CMD_LEFTSTEER].deadZone != 0)
ax0 = ax0 / (1 - cmd[CMD_LEFTSTEER].deadZone);
else
if (ax0 > 0.0f) {
ax0 = 0;
}
leftSteer = fabs(cmd[CMD_LEFTSTEER].pow) * pow(ax0, 1.0f / cmd[CMD_LEFTSTEER].sens) / (1.0 + cmd[CMD_LEFTSTEER].spdSens * car->_speed_xy / 100.0);
leftSteer = -ax0;
break;
case GFCTRL_TYPE_MOUSE_AXIS:
ax0 = mouseInfo->ax[cmd[CMD_LEFTSTEER].val] - cmd[CMD_LEFTSTEER].deadZone;
@ -1117,28 +1100,11 @@ static void common_drive(const int index, tCarElt* car, tSituation *s)
case GFCTRL_TYPE_JOY_AXIS:
ax0 = joyInfo->ax[cmd[CMD_RIGHTSTEER].val];
// limit and normalise
if (ax0 > cmd[CMD_RIGHTSTEER].max) {
ax0 = cmd[CMD_RIGHTSTEER].max;
} else if (ax0 < cmd[CMD_RIGHTSTEER].min) {
ax0 = cmd[CMD_RIGHTSTEER].min;
}
ax0 = (ax0 - cmd[CMD_RIGHTSTEER].min) / (cmd[CMD_RIGHTSTEER].max - cmd[CMD_RIGHTSTEER].min);
// pow used to indicate the polarity of 'more turn'
if (cmd[CMD_RIGHTSTEER].pow > 0)
ax0 = ax0 - cmd[CMD_RIGHTSTEER].deadZone;
else
ax0 = 1 - ax0 - cmd[CMD_RIGHTSTEER].deadZone;
if (ax0 < 0) ax0 = 0;
if (1 - cmd[CMD_RIGHTSTEER].deadZone != 0)
ax0 = ax0 / (1 - cmd[CMD_RIGHTSTEER].deadZone);
else
if (ax0 < 0.0f) {
ax0 = 0;
}
rightSteer = -1 * fabs(cmd[CMD_RIGHTSTEER].pow) * pow(ax0, 1.0f / cmd[CMD_RIGHTSTEER].sens) / (1.0 + cmd[CMD_RIGHTSTEER].spdSens * car->_speed_xy / 100.0);
rightSteer = -ax0;
break;
case GFCTRL_TYPE_MOUSE_AXIS:
ax0 = mouseInfo->ax[cmd[CMD_RIGHTSTEER].val] - cmd[CMD_RIGHTSTEER].deadZone;
@ -1202,7 +1168,8 @@ static void common_drive(const int index, tCarElt* car, tSituation *s)
}
car->_steerCmd = leftSteer + rightSteer;
car->_steerCmd *= fabs(car->_steerCmd);
//send force feedback effect to the wheel
//dont' even try to do it if steer command is on a keyboard because it somehow manage to crash (unable to identify the joystic to send FF to?)
if(cmd[CMD_LEFTSTEER].type != GFCTRL_TYPE_KEYBOARD && cmd[CMD_LEFTSTEER].type != GFCTRL_TYPE_MOUSE_AXIS){
@ -1347,20 +1314,16 @@ static void common_drive(const int index, tCarElt* car, tSituation *s)
car->ctrl.setupChangeCmd = item;
}
}
switch (cmd[CMD_BRAKE].type) {
case GFCTRL_TYPE_JOY_AXIS:
brake = joyInfo->ax[cmd[CMD_BRAKE].val];
if (brake > cmd[CMD_BRAKE].max) {
brake = cmd[CMD_BRAKE].max;
} else if (brake < cmd[CMD_BRAKE].min) {
brake = cmd[CMD_BRAKE].min;
}
car->_brakeCmd = fabs(cmd[CMD_BRAKE].pow *
pow(fabs((brake - cmd[CMD_BRAKE].minVal) /
(cmd[CMD_BRAKE].max - cmd[CMD_BRAKE].min)),
1.0f / cmd[CMD_BRAKE].sens));
brake += 1.0f;
brake /= 2.0f;
brake = 1.0f - brake;
car->_brakeCmd = brake;
break;
case GFCTRL_TYPE_MOUSE_AXIS:
ax0 = mouseInfo->ax[cmd[CMD_BRAKE].val] - cmd[CMD_BRAKE].deadZone;
@ -1443,15 +1406,16 @@ static void common_drive(const int index, tCarElt* car, tSituation *s)
switch (cmd[CMD_THROTTLE].type) {
case GFCTRL_TYPE_JOY_AXIS:
throttle = joyInfo->ax[cmd[CMD_THROTTLE].val];
throttle += 1.0f;
throttle /= 2.0f;
throttle = 1.0f - throttle;
if (throttle > cmd[CMD_THROTTLE].max) {
throttle = cmd[CMD_THROTTLE].max;
} else if (throttle < cmd[CMD_THROTTLE].min) {
throttle = cmd[CMD_THROTTLE].min;
}
car->_accelCmd = fabs(cmd[CMD_THROTTLE].pow *
pow(fabs((throttle - cmd[CMD_THROTTLE].minVal) /
(cmd[CMD_THROTTLE].max - cmd[CMD_THROTTLE].min)),
1.0f / cmd[CMD_THROTTLE].sens));
car->_accelCmd = throttle;
break;
case GFCTRL_TYPE_MOUSE_AXIS:
ax0 = mouseInfo->ax[cmd[CMD_THROTTLE].val] - cmd[CMD_THROTTLE].deadZone;