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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 double accelXG, accelYG, accelZG;
public double angVelYaw, angVelPitch, angVelRoll;
public readonly int gyroYawFull, gyroPitchFull, gyroRollFull;
public readonly int accelXFull, accelYFull, accelZFull;
public readonly byte touchID;
public readonly double elapsed;
public readonly SixAxis previousAxis = null;
public int gyroYawFull, gyroPitchFull, gyroRollFull;
public int accelXFull, accelYFull, accelZFull;
public double elapsed;
public SixAxis previousAxis = null;
double recip = 1d / 8192d;
double tempDouble = 0d;
@ -36,6 +35,42 @@ namespace DS4Windows
public SixAxis(int X, int Y, int Z,
int aX, int aY, int aZ,
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;
gyroPitch = Y / 256;
@ -68,12 +103,13 @@ namespace DS4Windows
public class DS4SixAxis
{
public event EventHandler<SixAxisEventArgs> SixAccelMoved = null;
private SixAxis sPrev = null, now = null;
private int lastGyroYaw, lastGyroPitch, lastGyroRoll,
lastAX, lastAY, lastAZ;
private double lastElapsedDelta;
private byte[] previousPacket = new byte[8];
public DS4SixAxis()
{
sPrev = new SixAxis(0, 0, 0, 0, 0, 0, 0.0);
now = new SixAxis(0, 0, 0, 0, 0, 0, 0.0);
}
public void handleSixaxis(byte[] gyro, byte[] accel, DS4State state,
double elapsedDelta)
@ -90,25 +126,14 @@ namespace DS4Windows
{
if (SixAccelMoved != null)
{
SixAxis sPrev = null, now = null;
sPrev = new SixAxis(lastGyroYaw, lastGyroPitch, lastGyroRoll,
lastAX, lastAY, lastAZ, lastElapsedDelta);
now = new SixAxis(currentYaw, currentPitch, currentRoll,
sPrev.copy(now);
now.populate(currentYaw, currentPitch, currentRoll,
AccelX, AccelY, AccelZ, elapsedDelta, sPrev);
args = new SixAxisEventArgs(state.ReportTimeStamp, now);
state.Motion = now;
SixAccelMoved(this, args);
}
lastGyroYaw = currentYaw;
lastGyroPitch = currentPitch;
lastGyroRoll = currentRoll;
lastAX = AccelX;
lastAY = AccelY;
lastAZ = AccelZ;
lastElapsedDelta = elapsedDelta;
}
}
}