Cool_Tools/lindbergh-loader
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mirror of synced 2024-11-24 02:00:09 +01:00
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Turn JVS res to 10 and implement drive board

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This commit is contained in:
Bobby Dilley 2022-10-09 23:57:55 +01:00
parent c1e9120e89
commit 250fb9aa02
3 changed files with 60 additions and 5 deletions
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59
src/lindbergh/driveboard.c
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@ -1,6 +1,7 @@
#include "string.h"
#include "driveboard.h"
#include "jvs.h"
#define DRIVEBOARD_READY 0x00
#define DRIVEBOARD_NOT_INIT 0x11
@ -9,11 +10,16 @@
int wheelTest = 0;
unsigned char response = DRIVEBOARD_READY;
double steerValue = 0.5;
double force = 0.00;
int initDriveboard()
{
wheelTest = 0;
response = DRIVEBOARD_NOT_INIT;
setAnalogue(ANALOGUE_1, steerValue);
return 0;
}
@ -57,18 +63,67 @@ ssize_t driveboardWrite(int fd, const void *buf, size_t count)
}
break;
case 0x80:
{
if (buffer[1] == 0 && buffer[2] == 0)
{
force = 0;
}
if (buffer[1] == 1 && buffer[2] == 1)
{
if (steerValue >= 0.9 && force > 0)
break;
if (steerValue <= 0.1 && force < 0)
break;
steerValue += force;
setAnalogue(ANALOGUE_1, (int)(steerValue * 1024));
}
printf("Driveboard move %f %f\n", steerValue, force);
}
break;
case 0x9e:
case 0x84:
{
response = DRIVEBOARD_READY;
if (buffer[1] == 1)
force = ((-1 * ((double)buffer[2] / 128.0)) * 2) / 100;
if (buffer[1] == 0)
force = ((1 - ((double)buffer[2] / 128.0)) * 2) / 100;
printf("Driveboard set force%f %f\n", steerValue, force);
}
break;
case 0xFA:
case 0xFD:
{
printf("Driveboard: auto turn wheel mode\n");
if (wheelTest)
{
printf("Increment wheel until 0.9\n");
printf("Increment wheel until 0.9 -> %d\n", (int)(steerValue * 255));
steerValue += 0.09;
setAnalogue(ANALOGUE_1, (int)(steerValue * 1024));
response = DRIVEBOARD_BUSY;
if (steerValue >= 0.9)
{
wheelTest = 0;
response = DRIVEBOARD_READY;
}
}
}
break;
default:
printf("Driveboard: Unknown command received\n");
printf("Driveboard: Unknown command received %X\n", buffer[0]);
break;
}

4
src/lindbergh/graphics.c
View File

@ -197,8 +197,8 @@ int XNextEvent(Display *display, XEvent *event_return)
case MotionNotify:
{
setAnalogue(ANALOGUE_1, ((double)event_return->xmotion.x / (double)getConfig()->width) * 255.0);
setAnalogue(ANALOGUE_2, ((double)event_return->xmotion.y / (double)getConfig()->height) * 255.0);
setAnalogue(ANALOGUE_1, ((double)event_return->xmotion.x / (double)getConfig()->width) * 1024.0);
setAnalogue(ANALOGUE_2, ((double)event_return->xmotion.y / (double)getConfig()->height) * 1024.0);
}
break;

2
src/lindbergh/jvs.c
View File

@ -30,7 +30,7 @@ int initJVS()
io.capabilities.switches = 14;
io.capabilities.coins = 2;
io.capabilities.players = 2;
io.capabilities.analogueInBits = 8;
io.capabilities.analogueInBits = 10;
io.capabilities.rightAlignBits = 0;
io.capabilities.analogueInChannels = 20;
io.capabilities.generalPurposeOutputs = 20;