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This commit is contained in:
german 2020-08-23 20:41:59 -05:00
parent 2d207ec609
commit e6fc3b5662
2 changed files with 65 additions and 85 deletions
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40
src/input_common/motion_input.h
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@ -14,10 +14,16 @@ class MotionInput {
public:
MotionInput(f32 new_kp, f32 new_ki, f32 new_kd);
void SetAcceleration(Common::Vec3f acceleration);
void SetGyroscope(Common::Vec3f acceleration);
void SetQuaternion(Common::Quaternion<f32> quaternion);
void SetGyroDrift(Common::Vec3f drift);
MotionInput(const MotionInput&) = default;
MotionInput& operator=(const MotionInput&) = default;
MotionInput(MotionInput&&) = default;
MotionInput& operator=(MotionInput&&) = default;
void SetAcceleration(const Common::Vec3f& acceleration);
void SetGyroscope(const Common::Vec3f& acceleration);
void SetQuaternion(const Common::Quaternion<f32>& quaternion);
void SetGyroDrift(const Common::Vec3f& drift);
void SetGyroThreshold(f32 threshold);
void EnableReset(bool reset);
@ -26,23 +32,23 @@ public:
void UpdateRotation(u64 elapsed_time);
void UpdateOrientation(u64 elapsed_time);
std::array<Common::Vec3f, 3> GetOrientation();
Common::Vec3f GetAcceleration();
Common::Vec3f GetGyroscope();
Common::Vec3f GetRotations();
Common::Quaternion<f32> GetQuaternion();
std::array<Common::Vec3f, 3> GetOrientation() const;
Common::Vec3f GetAcceleration() const;
Common::Vec3f GetGyroscope() const;
Common::Vec3f GetRotations() const;
Common::Quaternion<f32> GetQuaternion() const;
bool IsMoving(f32 sensitivity);
bool IsCalibrated(f32 sensitivity);
bool IsMoving(f32 sensitivity) const;
bool IsCalibrated(f32 sensitivity) const;
private:
void ResetOrientation();
// PID constants
const f32 kp;
const f32 ki;
const f32 kd;
private:
void resetOrientation();
// PID errors
Common::Vec3f real_error;
Common::Vec3f integral_error;
@ -54,9 +60,9 @@ private:
Common::Vec3f gyro;
Common::Vec3f gyro_drift;
f32 gyro_threshold;
f32 reset_counter;
bool reset_enabled;
f32 gyro_threshold = 0.0f;
f32 reset_counter = 0.0f;
bool reset_enabled = true;
};
} // namespace InputCommon