added function deadzone_aplyer to clen up code and added redabilety/m…

…odefiabilety
grammers · Sep 26, 2018 · eda7bb5 · eda7bb5
1 parent 500d9b9
commit eda7bb5
Showing 1 changed file with 21 additions and 16 deletions.
diff --git a/joy/src/joy_node.cpp b/joy/src/joy_node.cpp
@@ -142,10 +142,24 @@ class Joystick
       }
     }
 
+
     closedir(dev_dir);
     return "";
   }
 
+  // Aplay deadzone
+  // Enshore thate the values inside the deadzond is zero
+  // Allso adapt the scale of val to be consistent whit deadzond
+  void deadzone_aplyer(double* val, double* unscaled_deadzone){
+	if (*val > *unscaled_deadzone)
+   	  *val -= *unscaled_deadzone;
+  	else if (*val < -*unscaled_deadzone)
+   	  *val  += *unscaled_deadzone;
+  	else
+   	  *val = 0;
+  }
+
+
 public:
   Joystick() : nh_(), diagnostic_(), ff_fd_(-1)
   {}
@@ -413,20 +427,15 @@ class Joystick
               last_published_joy_msg.axes.resize(event.number+1);
               sticky_buttons_joy_msg.axes.resize(event.number+1);
               for(unsigned int i=old_size;i<joy_msg.axes.size();i++){
-                joy_msg.axes[i] = 0.0;
+                joy_msg.axes[i] = 0.0; 
                 last_published_joy_msg.axes[i] = 0.0;
                 sticky_buttons_joy_msg.axes[i] = 0.0;
               }
             }
             if(default_trig_val_){
-              // Allows deadzone to be "smooth"
-              if (val > unscaled_deadzone)
-                val -= unscaled_deadzone;
-              else if (val < -unscaled_deadzone)
-                val += unscaled_deadzone;
-              else
-                val = 0;
-              joy_msg.axes[event.number] = val * scale;
+              // Aplye deadzone to val
+			  deadzone_aplyer(&val, &unscaled_deadzone);
+			  joy_msg.axes[event.number] = val * scale;
               // Will wait a bit before sending to try to combine events.
               publish_soon = true;
               break;
@@ -435,13 +444,9 @@ class Joystick
             {
               if (!(event.type & JS_EVENT_INIT))
               {
-                val = event.value;
-                if(val > unscaled_deadzone)
-                  val -= unscaled_deadzone;
-                else if(val < -unscaled_deadzone)
-                  val += unscaled_deadzone;
-                else
-                  val=0;
+				// Aplaye deadzone to val
+			    val = event.value;
+				deadzone_aplyer(&val, &unscaled_deadzone);
                 joy_msg.axes[event.number]= val * scale;
               }