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];
}
}
@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;
}
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);
}
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);
}
}
}
