Chief Delphi

Chief Delphi (http://www.chiefdelphi.com/forums/index.php)
-   C/C++ (http://www.chiefdelphi.com/forums/forumdisplay.php?f=183)
-   -   Deadzone Programming (http://www.chiefdelphi.com/forums/showthread.php?t=113072)

Arrowhead 08-02-2013 20:12
Deadzone Programming
 
I looked around a bit but couldn't find any resources on this for c++
How do you program in a deadzone for a attack 3 joystick?
I wrote this code but it doesn't seem to be working.

Code:
        void driving(){
                double y;          //variable for forward/backward movement
                double x;          //variable for side to side movement
                double turn;        //variable for turning movement
                if(driverStick.GetY()>0.3||driverStick.GetY()<-0.3){
                        y=driverStick.GetY();
                }
                if(driverStick.GetX()>0.3||driverStick.GetX()<-0.3){
                        x=driverStick.GetX();
                        }
                if(driverStick2.GetX()>0.3||driverStick2.GetX()<-0.3){
                        turn=driverStick2.GetX();
                        }

DjMaddius 08-02-2013 20:20
Re: Deadzone Programming
 
Try this, you need to set default values. Also I just cleaned it up a bit.

Code:
void driving(){
        double y = 0;          //variable for forward/backward movement
        double x = 0;          //variable for side to side movement
        double turn = 0;        //variable for turning movement
        double deadzone = 0.3;        //variable for amount of deadzone

        if(driverStick.GetY() > deadzone || driverStick.GetY() < -deadzone) {
                y = driverStick.GetY();
        }

        if(driverStick.GetX() > deadzone || driverStick.GetX() < -deadzone) {
                x = driverStick.GetX();
        }

        if(driverStick2.GetX() > deadzone || driverStick2.GetX() < -deadzone){
                turn = driverStick2.GetX();
        }

Arrowhead 08-02-2013 20:22
Re: Deadzone Programming
 
Ok, thanks, I'll try that at practice on monday.
Also, how does setting default values for those variables change it?

DjMaddius 08-02-2013 20:24
Re: Deadzone Programming
 
Quote:
Originally Posted by Arrowhead (Post 1230166)
Ok, thanks, I'll try that at practice on monday.
Also, how does setting default values for those variables change it?
Well, if you don't and you try to use it later after the if statement failing the value is set to null and you'll get an error.

kylelanman 09-02-2013 09:46
Re: Deadzone Programming
 
We've found the following to work great for dead zones. The main advantage is you can still generate values between 0 and .3. With the previously posted solution once you get out of the dead zone you're instantly outputting .3 or 30%. If you notice we have a lot of 127s in the middle of the array. Those provide the dead zone but we shift everything else over so that once your out of the dead zone it doesn't go straight to .3.

This was written on the old control system. Technically the cRio has enough power to run the equation we are using to generate the array. We've just never taken the time to switch it over.

Code:
const char inputShape[255] = {0,1,3,4,5,6,7,9,10,11,12,13,15,16,17,18,19,21,22,23,24,25,27,28,29,30,31,
                33,34,35,36,37,38,40,41,42,43,44,46,47,48,49,50,52,53,54,55,56,58,59,60,61,62,
                64,65,66,67,68,70,71,72,73,74,76,77,78,79,80,82,83,84,85,86,88,89,90,91,92,94,
                95,96,97,98,100,101,102,103,104,106,107,108,109,110,112,113,114,115,116,117,
                118,119,120,121,121,122,123,123,124,124,125,125,125,126,126,126,126,126,127,
                127,127,127,127,127,127,127,127,127,127,127,127,127,127,127,127,127,127,127,
                128,128,128,128,128,129,129,129,130,130,131,131,132,133,133,134,135,136,
                137,138,139,140,141,142,144,145,146,147,148,150,151,152,153,154,156,157,158,
                159,160,162,163,164,165,166,168,169,170,171,172,174,175,176,177,178,180,181,
                182,183,184,186,187,188,189,190,192,193,194,195,196,198,199,200,201,202,204,
                205,206,207,208,210,211,212,213,214,216,217,218,219,220,221,223,224,225,226,
                227,229,230,231,232,233,235,236,237,238,239,241,242,243,244,245,247,248,249,
                250,251,253,254,255};
*/
float InputShape(float userValue)
        {
                int iUserValue;

                iUserValue = (int)(userValue * 127);
                iUserValue += 127;
                iUserValue = inputShape[iUserValue];
                userValue = iUserValue - 127;
                userValue /= 127;
                return userValue;
        }

--SNIP--

ly = InputShape(stick->GetRawAxis(2));
ry = InputShape(stick->GetRawAxis(5));

Arrowhead 11-02-2013 11:12
Re: Deadzone Programming
 
Quote:
Originally Posted by kylelanman (Post 1230408)
We've found the following to work great for dead zones. The main advantage is you can still generate values between 0 and .3. With the previously posted solution once you get out of the dead zone you're instantly outputting .3 or 30%. If you notice we have a lot of 127s in the middle of the array. Those provide the dead zone but we shift everything else over so that once your out of the dead zone it doesn't go straight to .3.

This was written on the old control system. Technically the cRio has enough power to run the equation we are using to generate the array. We've just never taken the time to switch it over.

Code:
const char inputShape[255] = {0,1,3,4,5,6,7,9,10,11,12,13,15,16,17,18,19,21,22,23,24,25,27,28,29,30,31,
                33,34,35,36,37,38,40,41,42,43,44,46,47,48,49,50,52,53,54,55,56,58,59,60,61,62,
                64,65,66,67,68,70,71,72,73,74,76,77,78,79,80,82,83,84,85,86,88,89,90,91,92,94,
                95,96,97,98,100,101,102,103,104,106,107,108,109,110,112,113,114,115,116,117,
                118,119,120,121,121,122,123,123,124,124,125,125,125,126,126,126,126,126,127,
                127,127,127,127,127,127,127,127,127,127,127,127,127,127,127,127,127,127,127,
                128,128,128,128,128,129,129,129,130,130,131,131,132,133,133,134,135,136,
                137,138,139,140,141,142,144,145,146,147,148,150,151,152,153,154,156,157,158,
                159,160,162,163,164,165,166,168,169,170,171,172,174,175,176,177,178,180,181,
                182,183,184,186,187,188,189,190,192,193,194,195,196,198,199,200,201,202,204,
                205,206,207,208,210,211,212,213,214,216,217,218,219,220,221,223,224,225,226,
                227,229,230,231,232,233,235,236,237,238,239,241,242,243,244,245,247,248,249,
                250,251,253,254,255};
*/
float InputShape(float userValue)
        {
                int iUserValue;

                iUserValue = (int)(userValue * 127);
                iUserValue += 127;
                iUserValue = inputShape[iUserValue];
                userValue = iUserValue - 127;
                userValue /= 127;
                return userValue;
        }

--SNIP--

ly = InputShape(stick->GetRawAxis(2));
ry = InputShape(stick->GetRawAxis(5));
Quick question abotu the code, where does the variable userValue come from?

Alan Anderson 11-02-2013 11:35
Re: Deadzone Programming
 
Quote:
Originally Posted by Arrowhead (Post 1231528)
Quick question abotu the code, where does the variable userValue come from?
It comes from whatever line calls the InputShape() function.

Arrowhead 11-02-2013 13:27
Re: Deadzone Programming
 
Gah, wasnt paying attention lol

David++ 12-02-2013 13:51
Re: Deadzone Programming
 
Quote:
Originally Posted by DjMaddius (Post 1230164)
Try this, you need to set default values. Also I just cleaned it up a bit.

Code:
void driving(){
        double y = 0;          //variable for forward/backward movement
        double x = 0;          //variable for side to side movement
        double turn = 0;        //variable for turning movement
        double deadzone = 0.3;        //variable for amount of deadzone

        if(driverStick.GetY() > deadzone || driverStick.GetY() < -deadzone) {
                y = driverStick.GetY();
        }

        if(driverStick.GetX() > deadzone || driverStick.GetX() < -deadzone) {
                x = driverStick.GetX();
        }

        if(driverStick2.GetX() > deadzone || driverStick2.GetX() < -deadzone){
                turn = driverStick2.GetX();
        }
Instead of checking for both the positive and negative deadzone, you can just take the absolute value. In addition, you can reduce the number of function calls to GetX() and GetY() by assuming the value is valid and handling the exceptional situations.

Code:
#include <math.h>

...

void driving() {
    double y = driverStick.GetY();
    double x = driverStick.GetX();
    double turn = driverStick2.GetX();
    double deadzone = 0.3;

    if(fabs(y) < deadzone)
    {
        y = 0;
    }

    if(fabs(x) < deadzone)
    {
        x = 0;
    }

    if(fabs(turn) < deadzone)
    {
        turn = 0;
    }

...

}
Or, if you prefer the compact Arithmetic If operator:

Code:
#include <math.h>

...

void driving() {
    double y = driverStick.GetY();
    double x = driverStick.GetX();
    double turn = driverStick2.GetX();
    double deadzone = 0.3;

    y = ((fabs(y) < deadzone) ? (0) : (y));
    x = ((fabs(x) < deadzone) ? (0) : (x));
    turn = ((fabs(turn) < deadzone) ? (0) : (turn));

...

}

Arrowhead 12-02-2013 15:25
Re: Deadzone Programming
 
Thanks! Also, did you mean abs() instead of fabs()?

MathMaven 12-02-2013 17:41
Re: Deadzone Programming
 
abs() takes an int and returns an int. fabs() takes a float and returns a float.

Since Joystick::GetX() and GetY() return floats, he did mean fabs().

Arrowhead 12-02-2013 18:01
Re: Deadzone Programming
 
Ah, thanks for the correction.


All times are GMT -5. The time now is 12:19.

Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2017, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi