Ejemplo n.º 1
0
 private void initDevices() {
   final int devicesCount = JXInputManager.getNumberOfDevices();
   if (devicesCount > 0) {
     this.devices = new Device[devicesCount];
     for (int i = 0; i < devicesCount; ++i) {
       this.devices[i] = new Device(i, JXInputManager.getJXInputDevice(i));
     }
   } else {
     this.devices = new Device[0];
   }
 }
Ejemplo n.º 2
0
  @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;
  }
Ejemplo n.º 3
0
 public GamePadPilot() {
   JXInputDevice dev = JXInputManager.getJXInputDevice(0);
   ax_x = dev.getAxis(0);
   ax_y = dev.getAxis(1);
   ax_t = dev.getAxis(2);
   pid_t = new PIDController(0.15, 0.3, 0);
   pid_a = new PIDController(0.04, 0, 0.1);
   pid_e = new PIDController(0.04, 0, 0.1);
   pid_h = new PIDController(0.3, 0.01, 0.2);
 }
Ejemplo n.º 4
0
 public void pollDevices() {
   final boolean upWasPressed = this.upPressed;
   final boolean downWasPressed = this.downPressed;
   final boolean leftWasPressed = this.leftPressed;
   final boolean rightWasPressed = this.rightPressed;
   JXInputManager.updateFeatures();
   if (this.controlsSet) {
     if (!this.game.input.defUpDown || this.upPressed) {
       this.game.input.upDown = this.upPressed;
     }
     if (!this.game.input.defDownDown || this.downPressed) {
       this.game.input.downDown = this.downPressed;
     }
     this.game.input.leftDown = this.leftPressed;
     this.game.input.rightDown = this.rightPressed;
     this.game.input.runDown = this.bPressed;
     this.game.input.jumpDown = this.aPressed;
     if (!this.game.input.defStartDown || this.startPressed) {
       this.game.input.startDown = this.startPressed;
     }
     if (!upWasPressed && this.upPressed) {
       final Input input = this.game.input;
       this.game.input.getClass();
       input.addCheatKey(38);
     } else if (!downWasPressed && this.downPressed) {
       final Input input2 = this.game.input;
       this.game.input.getClass();
       input2.addCheatKey(40);
     } else if (!leftWasPressed && this.leftPressed) {
       final Input input3 = this.game.input;
       this.game.input.getClass();
       input3.addCheatKey(37);
     } else if (!rightWasPressed && this.rightPressed) {
       final Input input4 = this.game.input;
       this.game.input.getClass();
       input4.addCheatKey(39);
     }
   }
 }