modelec/TCPSocketServer
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remove joystick drift

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This commit is contained in:
ackimixs
2024-05-27 16:45:57 +02:00
parent eb87bb3109
commit fcc0c3cca9
1 changed files with 9 additions and 5 deletions
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14
TCPServer.cpp
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@@ -110,7 +110,7 @@ void TCPServer::acceptConnections()
void TCPServer::handleMessage(const std::string& message, int clientSocket)
{
// std::cout << message << std::endl;
std::cout << message << std::endl;
std::vector<std::string> tokens = Modelec::split(message, ";");
@@ -167,26 +167,30 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
if (tokens[2] == "axis") {
std::vector<std::string> args = Modelec::split(tokens[3], ",");
double value = std::stod(args[1]);
if (value > -1000 && value < 1000) {
if (value > -2000 && value < 2000) {
value = 0;
}
if (args[0] == "0") {
if (!handleEmergecnyFlag) {
int angle = static_cast<int>(Modelec::mapValue(value, -32767.0, 32768.0, - PI / 2, PI / 2));
int angle = static_cast<int>(Modelec::mapValue(value, -32767.0, 32768.0, -PI / 2, PI / 2));
this->broadcastMessage("strat;arduino;angle;" + std::to_string(angle) + "\n");
}
}
else if (args[0] == "1") {
int speed;
if (value > 4000 && value > 400) {
value = 0;
}
value = -value;
if (value < 0) {
speed = static_cast<int>(Modelec::mapValue(value, -32767.0, 0.0, -310.0, -70.0));
speed = static_cast<int>(Modelec::mapValue(value, -32767.0, -4000.0, -310.0, -70.0));
} else if (value == 0) {
speed = 0;
} else {
speed = static_cast<int>(Modelec::mapValue(value, 0.0, 32768.0, 70.0, 310.0));
speed = static_cast<int>(Modelec::mapValue(value, 4000.0, 32768.0, 70.0, 310.0));
}
if (!handleEmergecnyFlag) {