@Override
public double[] getControls() {
JXInputManager.updateFeatures();
double e = -ax_y.getValue();
if (Math.abs(e) < 0.1) {
e = 0.0;
}
double a = ax_x.getValue();
if (Math.abs(a) < 0.1) {
a = 0;
}
double t = ax_t.getValue();
if (Math.abs(t) < 0.2) {
t = 0.2 * pid_t.update(speed);
} else {
t = 0.5 + t * 0.5;
}
if (t > 0.1 || altitude > 5) {
pid_t.setRef(10 * (1 + t));
t = pid_t.update(speed);
t = (t + 1) / 2;
} else {
t = 0;
}
pid_a.setRef(a * 8);
if (altitude > 5) {
a = pid_a.update(roll * 180 / Math.PI);
} else {
// pid_a.update(roll * 180 / Math.PI);
}
if (altitude > 5) {
pid_h.setRef(25 + e * 10);
double h = pid_h.update(altitude);
pid_e.setRef(-15 * h);
e = pid_e.update(pitch * 180 / Math.PI);
// Compensatre for roll
double r = 4; // r = m*g/2k
e -= r * roll * roll;
}
// t= -1; // Debug
// System.out.println(String.format("roll: %3.2f A: %2.2f", roll, a));
// System.out.println(String.format("speed: %3.2f T: %2.2f", speed, t));
double[] result = {e + a, e - a, t};
// System.out.println(String.format("t: %1.3f",t));
// System.out.println(String.format("e: %1.3f", e));
// System.out.println(String.format("h: %1.3f", h));
return result;
}
@Override
public void changed(final JXInputAxisEvent jxiae) {
final Axis axis = jxiae.getAxis();
final boolean neg = axis.getValue() < -0.5;
final boolean beyondThreshold = Math.abs(axis.getValue()) > 0.5;
if (Controllers.this.polling && !this.conflicting(axis) && beyondThreshold) {
if (Controllers.this.pollType == 0) {
Controllers.this.upA = axis;
Controllers.this.upAName = axis.getName();
Controllers.this.upANeg = neg;
final Game access$400 = Controllers.this.game;
++access$400.controllerSelectionIndex;
Controllers.this.getControl(1);
} else if (Controllers.this.pollType == 1) {
Controllers.this.downA = axis;
Controllers.this.downAName = axis.getName();
Controllers.this.downANeg = neg;
final Game access$2 = Controllers.this.game;
++access$2.controllerSelectionIndex;
Controllers.this.getControl(2);
} else if (Controllers.this.pollType == 2) {
Controllers.this.leftA = axis;
Controllers.this.leftAName = axis.getName();
Controllers.this.leftANeg = neg;
final Game access$3 = Controllers.this.game;
++access$3.controllerSelectionIndex;
Controllers.this.getControl(3);
} else if (Controllers.this.pollType == 3) {
Controllers.this.rightA = axis;
Controllers.this.rightAName = axis.getName();
Controllers.this.rightANeg = neg;
final Game access$4 = Controllers.this.game;
++access$4.controllerSelectionIndex;
Controllers.this.getControl(5);
}
}
if ((Controllers.this.upA != null & axis == Controllers.this.upA)
&& axis.getName().equals(Controllers.this.upAName)) {
Controllers.this.upPressed = (Controllers.this.upANeg == neg && beyondThreshold);
}
if (Controllers.this.downA != null
&& axis == Controllers.this.downA
&& axis.getName().equals(Controllers.this.downAName)) {
Controllers.this.downPressed = (Controllers.this.downANeg == neg && beyondThreshold);
}
if (Controllers.this.leftA != null
&& axis == Controllers.this.leftA
&& axis.getName().equals(Controllers.this.leftAName)) {
Controllers.this.leftPressed = (Controllers.this.leftANeg == neg && beyondThreshold);
}
if (Controllers.this.rightA != null
&& axis == Controllers.this.rightA
&& axis.getName().equals(Controllers.this.rightAName)) {
Controllers.this.rightPressed = (Controllers.this.rightANeg == neg && beyondThreshold);
}
}