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Change SixAxis routines

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Hopefully I won't regret this later
This commit is contained in:
Travis Nickles 2017-09-20 11:34:53 -05:00
parent 9ae43db945
commit 39d0579f09
1 changed files with 48 additions and 23 deletions
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71
DS4Windows/DS4Library/DS4Sixaxis.cs
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@ -24,11 +24,10 @@ namespace DS4Windows
public int outputAccelX, outputAccelY, outputAccelZ; public int outputAccelX, outputAccelY, outputAccelZ;
public double accelXG, accelYG, accelZG; public double accelXG, accelYG, accelZG;
public double angVelYaw, angVelPitch, angVelRoll; public double angVelYaw, angVelPitch, angVelRoll;
public readonly int gyroYawFull, gyroPitchFull, gyroRollFull; public int gyroYawFull, gyroPitchFull, gyroRollFull;
public readonly int accelXFull, accelYFull, accelZFull; public int accelXFull, accelYFull, accelZFull;
public readonly byte touchID; public double elapsed;
public readonly double elapsed; public SixAxis previousAxis = null;
public readonly SixAxis previousAxis = null;
double recip = 1d / 8192d; double recip = 1d / 8192d;
double tempDouble = 0d; double tempDouble = 0d;
@ -36,6 +35,42 @@ namespace DS4Windows
public SixAxis(int X, int Y, int Z, public SixAxis(int X, int Y, int Z,
int aX, int aY, int aZ, int aX, int aY, int aZ,
double elapsedDelta, SixAxis prevAxis = null) double elapsedDelta, SixAxis prevAxis = null)
{
populate(X, Y, Z, aX, aY, aZ, elapsedDelta, prevAxis);
}
public void copy(SixAxis src)
{
gyroYaw = src.gyroYaw;
gyroPitch = src.gyroPitch;
gyroRoll = src.gyroRoll;
gyroYawFull = src.gyroYawFull;
accelXFull = src.accelXFull; accelYFull = src.accelYFull; accelZFull = src.accelZFull;
angVelYaw = src.angVelYaw;
angVelPitch = src.angVelPitch;
angVelRoll = src.angVelRoll;
accelXG = src.accelXG;
accelYG = src.accelYG;
accelZG = src.accelZG;
// Put accel ranges between 0 - 128 abs
accelX = src.accelX;
accelY = src.accelY;
accelZ = src.accelZ;
outputAccelX = accelX;
outputAccelY = accelY;
outputAccelZ = accelZ;
elapsed = src.elapsed;
previousAxis = src.previousAxis;
}
public void populate(int X, int Y, int Z,
int aX, int aY, int aZ,
double elapsedDelta, SixAxis prevAxis = null)
{ {
gyroYaw = -X / 256; gyroYaw = -X / 256;
gyroPitch = Y / 256; gyroPitch = Y / 256;
@ -68,12 +103,13 @@ namespace DS4Windows
public class DS4SixAxis public class DS4SixAxis
{ {
public event EventHandler<SixAxisEventArgs> SixAccelMoved = null; public event EventHandler<SixAxisEventArgs> SixAccelMoved = null;
private SixAxis sPrev = null, now = null;
private int lastGyroYaw, lastGyroPitch, lastGyroRoll, public DS4SixAxis()
lastAX, lastAY, lastAZ; {
sPrev = new SixAxis(0, 0, 0, 0, 0, 0, 0.0);
private double lastElapsedDelta; now = new SixAxis(0, 0, 0, 0, 0, 0, 0.0);
private byte[] previousPacket = new byte[8]; }
public void handleSixaxis(byte[] gyro, byte[] accel, DS4State state, public void handleSixaxis(byte[] gyro, byte[] accel, DS4State state,
double elapsedDelta) double elapsedDelta)
@ -90,25 +126,14 @@ namespace DS4Windows
{ {
if (SixAccelMoved != null) if (SixAccelMoved != null)
{ {
SixAxis sPrev = null, now = null; sPrev.copy(now);
sPrev = new SixAxis(lastGyroYaw, lastGyroPitch, lastGyroRoll, now.populate(currentYaw, currentPitch, currentRoll,
lastAX, lastAY, lastAZ, lastElapsedDelta);
now = new SixAxis(currentYaw, currentPitch, currentRoll,
AccelX, AccelY, AccelZ, elapsedDelta, sPrev); AccelX, AccelY, AccelZ, elapsedDelta, sPrev);
args = new SixAxisEventArgs(state.ReportTimeStamp, now); args = new SixAxisEventArgs(state.ReportTimeStamp, now);
state.Motion = now; state.Motion = now;
SixAccelMoved(this, args); SixAccelMoved(this, args);
} }
lastGyroYaw = currentYaw;
lastGyroPitch = currentPitch;
lastGyroRoll = currentRoll;
lastAX = AccelX;
lastAY = AccelY;
lastAZ = AccelZ;
lastElapsedDelta = elapsedDelta;
} }
} }
} }