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Sub: Change gamepad controls for light brightness

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This commit is contained in:
Rustom Jehangir 2016-02-27 10:42:22 -08:00
parent 5b3da93385
commit 9c8cf1cc37
2 changed files with 39 additions and 44 deletions
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3
ArduSub/README.md
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@ -117,9 +117,10 @@ The gamepad controls the ROV during operation. It has been tested with the Micro
- **Back Button:** Disarm vehicle
- **Y Button:** Switch to althold (learning) mode
- **B Button:** Switch to stabilize (manual) mode
- **Right Bumper:** Increase light brightness
- **Left Bumper:** Decrease light brightness
- **Buttonpad Up/Down Arrows:** Tilt camera (if applicable and set up in QGC)
- **Buttonpad Left/Right Arrows:** Increase/decrease roll trim (if IMU is not completely level)
- **Right Joystick Click:** Cycle through light brightness
- **Left Joystick Click:** Reset camera tilt angle
#### Modes ####

80
ArduSub/radio.cpp
View File

@ -135,53 +135,47 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
static int16_t mode;
static int16_t camTilt = 1500;
static int16_t lights = 1100;
static uint32_t lastLights;
static bool lightsBrighter = true;
static uint32_t buttonDebounce;
// Button logic to arm/disarm motors (Start and back buttons)
if ( buttons & (1 << 4) ) {
init_arm_motors(true);
} else if ( buttons & (1 << 5) ) {
init_disarm_motors();
}
// Debouncing timer
if ( tnow_ms - buttonDebounce > 50 ) {
buttonDebounce = tnow_ms;
// Button logic to change camera tilt (D-pad up and down + left joystick click to center)
if ( buttons & (1 << 0) ) {
camTilt = constrain_float(camTilt+20,800,2200);
} else if ( buttons & (1 << 1) ) {
camTilt = constrain_float(camTilt-20,800,2200);
} else if ( buttons & (1 << 6) ) {
camTilt = 1500; // Reset camera tilt
}
// Button logic for roll trim (D-pad left and right)
if ( (buttons & ( 1 << 2 )) && rollTrim > -200 ) {
rollTrim -= 10;
} else if ( (buttons & ( 1 << 3 )) && rollTrim < 200 ) {
rollTrim += 10;
}
// Button logic for mode changes (B for stabilize, Y for altitude hold)
if ( buttons & (1 << 14) ) {
mode = 2000;
} else if ( buttons & (1 << 12)) {
mode = 1000;
}
// Button logic for lights with cyclical dimming (right joystick click)
if ( (buttons & (1 << 7)) && (tnow_ms - lastLights > 100) ) {
lastLights = tnow_ms;
if ( lightsBrighter ) {
lights += 200;
} else {
lights -= 200;
// Button logic to arm/disarm motors (Start and back buttons)
if ( buttons & (1 << 4) ) {
init_arm_motors(true);
} else if ( buttons & (1 << 5) ) {
init_disarm_motors();
}
if ( lights >= 1900 ) {
lightsBrighter = false;
} else if ( lights <= 1100 ) {
lightsBrighter = true;
// Button logic to change camera tilt (D-pad up and down + left joystick click to center)
if ( buttons & (1 << 0) ) {
camTilt = constrain_float(camTilt-30,800,2200);
} else if ( buttons & (1 << 1) ) {
camTilt = constrain_float(camTilt+30,800,2200);
} else if ( buttons & (1 << 6) ) {
camTilt = 1500; // Reset camera tilt
}
// Button logic for roll trim (D-pad left and right)
if ( (buttons & ( 1 << 2 )) && rollTrim > -200 ) {
rollTrim -= 10;
} else if ( (buttons & ( 1 << 3 )) && rollTrim < 200 ) {
rollTrim += 10;
}
// Button logic for mode changes (B for stabilize, Y for altitude hold)
if ( buttons & (1 << 14) ) {
mode = 2000;
} else if ( buttons & (1 << 12)) {
mode = 1000;
}
// Button logic for lights with dimming (right bumper brighter, left bumper dimmer)
if ( buttons & (1 << 8) ) {
lights = constrain_float(lights-100,1100,1900);
} else if ( buttons & (1 << 9) ) {
lights = constrain_float(lights+100,1100,1900);
}
}