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More minor gyro changes

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This commit is contained in:
Travis Nickles 2017-07-16 19:42:43 -05:00
parent dba2b1bbb3
commit 9972e85e13
3 changed files with 30 additions and 21 deletions
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2
DS4Windows/DS4Control/MouseCursor.cs
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@ -21,7 +21,7 @@ namespace DS4Windows
private double GYRO_MOUSE_COEFFICIENT = 0.0095; private double GYRO_MOUSE_COEFFICIENT = 0.0095;
private int GYRO_MOUSE_DEADZONE = 12; private int GYRO_MOUSE_DEADZONE = 12;
private double GYRO_MOUSE_OFFSET = 0.1463; private double GYRO_MOUSE_OFFSET = 0.1463;
private double GYRO_SMOOTH_MOUSE_OFFSET = 0.14695; private double GYRO_SMOOTH_MOUSE_OFFSET = 0.14696;
private const int SMOOTH_BUFFER_LEN = 3; private const int SMOOTH_BUFFER_LEN = 3;
private double[] xSmoothBuffer = new double[SMOOTH_BUFFER_LEN]; private double[] xSmoothBuffer = new double[SMOOTH_BUFFER_LEN];

43
DS4Windows/DS4Library/DS4Sixaxis.cs
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@ -15,7 +15,7 @@ namespace DS4Windows
public class SixAxis public class SixAxis
{ {
public readonly int gyroX, gyroY, gyroZ, deltaX, deltaY, deltaZ, accelX, accelY, accelZ; public readonly int gyroYaw, gyroPitch, gyroRoll, deltaX, deltaY, deltaZ, accelX, accelY, accelZ;
public readonly int gyroYawFull, gyroPitchFull, gyroRollFull; public readonly int gyroYawFull, gyroPitchFull, gyroRollFull;
public readonly int accelXFull, accelYFull, accelZFull; public readonly int accelXFull, accelYFull, accelZFull;
public readonly byte touchID; public readonly byte touchID;
@ -23,16 +23,18 @@ namespace DS4Windows
public readonly SixAxis previousAxis = null; public readonly SixAxis previousAxis = null;
public SixAxis(int X, int Y, int Z, int aX, int aY, int aZ, double milliseconds, SixAxis prevAxis = null) public SixAxis(int X, int Y, int Z, int aX, int aY, int aZ, double milliseconds, SixAxis prevAxis = null)
{ {
gyroX = -X / 256; gyroYaw = -X / 256;
gyroY = Y / 256; gyroPitch = Y / 256;
gyroZ = -Z / 256; gyroRoll = -Z / 256;
gyroYawFull = -X; gyroYawFull = -X;
gyroPitchFull = Y; gyroPitchFull = Y;
gyroRollFull = -Z; gyroRollFull = -Z;
// Put accel ranges between 0 - 128 abs
accelX = -aX / 64; accelX = -aX / 64;
accelY = -aY / 64; accelY = -aY / 64;
accelZ = aZ / 64; accelZ = aZ / 64;
accelXFull = -aX; accelXFull = -aX;
accelYFull = -aY; accelYFull = -aY;
accelZFull = aZ; accelZFull = aZ;
@ -41,26 +43,29 @@ namespace DS4Windows
previousAxis = prevAxis; previousAxis = prevAxis;
if (previousAxis != null) if (previousAxis != null)
{ {
deltaX = gyroX - previousAxis.gyroX; deltaX = gyroYaw - previousAxis.gyroYaw;
deltaY = gyroY - previousAxis.gyroY; deltaY = gyroPitch - previousAxis.gyroPitch;
deltaZ = gyroZ - previousAxis.gyroZ; deltaZ = gyroRoll - previousAxis.gyroRoll;
} }
} }
} }
public class DS4SixAxis public class DS4SixAxis
{ {
public event EventHandler<SixAxisEventArgs> SixAccelMoved = null; // no status change for the touchpad itself... but other sensors may have changed, or you may just want to do some processing // no status change for the touchpad itself... but other sensors may have changed, or you may just want to do some processing
public event EventHandler<SixAxisEventArgs> SixAccelMoved = null;
internal int lastGyroYaw, lastGyroPitch, lastGyroRoll,
lastAX, lastAY, lastAZ; // tracks 0, 1 or 2 touches; we maintain touch 1 and 2 separately
internal int lastGyroX, lastGyroY, lastGyroZ, lastAX, lastAY, lastAZ; // tracks 0, 1 or 2 touches; we maintain touch 1 and 2 separately
internal double lastMilliseconds; internal double lastMilliseconds;
internal byte[] previousPacket = new byte[8]; internal byte[] previousPacket = new byte[8];
public void handleSixaxis(byte[] gyro, byte[] accel, DS4State state, double milliseconds) public void handleSixaxis(byte[] gyro, byte[] accel, DS4State state, double milliseconds)
{ {
int currentX = (short)((ushort)(gyro[3] << 8) | gyro[2]); // Gyro Yaw int currentYaw = (short)((ushort)(gyro[3] << 8) | gyro[2]); // Gyro Yaw
int currentY = (short)((ushort)(gyro[1] << 8) | gyro[0]); // Gyro Pitch int currentPitch = (short)((ushort)(gyro[1] << 8) | gyro[0]); // Gyro Pitch
int currentZ = (short)((ushort)(gyro[5] << 8) | gyro[4]); // Gyro Roll int currentRoll = (short)((ushort)(gyro[5] << 8) | gyro[4]); // Gyro Roll
int AccelX = (short)((ushort)(accel[1] << 8) | accel[0]); int AccelX = (short)((ushort)(accel[1] << 8) | accel[0]);
int AccelY = (short)((ushort)(accel[3] << 8) | accel[2]); int AccelY = (short)((ushort)(accel[3] << 8) | accel[2]);
int AccelZ = (short)((ushort)(accel[5] << 8) | accel[4]); int AccelZ = (short)((ushort)(accel[5] << 8) | accel[4]);
@ -71,16 +76,20 @@ namespace DS4Windows
if (SixAccelMoved != null) if (SixAccelMoved != null)
{ {
SixAxis sPrev = null, now = null; SixAxis sPrev = null, now = null;
sPrev = new SixAxis(lastGyroX, lastGyroY, lastGyroZ, lastAX, lastAY, lastAZ, lastMilliseconds); sPrev = new SixAxis(lastGyroYaw, lastGyroPitch, lastGyroRoll,
now = new SixAxis(currentX, currentY, currentZ, AccelX, AccelY, AccelZ, milliseconds, sPrev); lastAX, lastAY, lastAZ, lastMilliseconds);
now = new SixAxis(currentYaw, currentPitch, currentRoll,
AccelX, AccelY, AccelZ, milliseconds, 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);
} }
lastGyroX = currentX; lastGyroYaw = currentYaw;
lastGyroY = currentY; lastGyroPitch = currentPitch;
lastGyroZ = currentZ; lastGyroRoll = currentRoll;
lastAX = AccelX; lastAX = AccelX;
lastAY = AccelY; lastAY = AccelY;
lastAZ = AccelZ; lastAZ = AccelZ;

6
DS4Windows/DS4Library/DS4StateExposed.cs
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@ -43,9 +43,9 @@ namespace DS4Windows
byte R2 { get { return _state.R2; } } byte R2 { get { return _state.R2; } }
int Battery { get { return _state.Battery; } } int Battery { get { return _state.Battery; } }
public int GyroYaw { get { return _state.Motion.gyroX; } } public int GyroYaw { get { return _state.Motion.gyroYaw; } }
public int GyroPitch { get { return _state.Motion.gyroY; } } public int GyroPitch { get { return _state.Motion.gyroPitch; } }
public int GyroRoll { get { return _state.Motion.gyroZ; } } public int GyroRoll { get { return _state.Motion.gyroRoll; } }
public int AccelX { get { return _state.Motion.accelX; } } public int AccelX { get { return _state.Motion.accelX; } }
public int getAccelX() public int getAccelX()