mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 17:40:46 -04:00
slop tank steering
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legop3
@@ -28,6 +28,24 @@ function SettingsGroupLabel({ children }) {
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return <p className="mx-auto w-full max-w-lg text-sm font-semibold text-white">{children}</p>;
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}
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function physicalInputKey(source) {
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/* Inversion and activation thresholds describe how an input is interpreted, not which physical
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control it is. Ignoring those fields ensures Axis 3 cannot silently own both a tank track and
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camera tilt merely because one binding happens to be inverted. */
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if (source?.kind === 'axis' || source?.kind === 'axisButton') return `axis:${source.index}`;
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if (source?.kind === 'button' || source?.kind === 'buttonAxis') return `button:${source.index}`;
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return JSON.stringify(source);
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}
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function sourcesUseSamePhysicalInput(left, right) {
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if (!left || !right) return false;
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return physicalInputKey(left) === physicalInputKey(right);
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}
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function actionDriveMode(actionId) {
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return ACTIONS.find((action) => action.id === actionId)?.driveMode ?? null;
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}
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function CurveField({ label, value, onChange }) {
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return (
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<label className="mx-auto block w-full max-w-lg rounded bg-neutral-800/80 px-1.5 py-1">
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@@ -136,19 +154,15 @@ export default function GamepadMappingSettings() {
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const [actionFilter, setActionFilter] = useState('');
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const baselineRef = useRef(null);
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const captureCandidateRef = useRef(null);
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const grouped = useMemo(() => {
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const query = actionFilter.trim().toLowerCase();
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const visibleActions = query
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? ACTIONS.filter((action) => `${action.label} ${action.section}`.toLowerCase().includes(query))
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: ACTIONS;
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return groupActions(visibleActions);
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}, [actionFilter]);
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useEffect(() => {
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/* The Controller tab is a diagnostic surface. Locking for its entire mounted lifetime makes
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calibration and casual input testing safe, not only the brief moment a binding is captured. */
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return acquireControllerControlLock('controller-settings');
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}, []);
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/* The settings panel remains a live control surface so operators can tune calibration while
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driving and immediately feel the result. Only capture owns the controller lock: without
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that narrow guard, pressing the input being assigned could also drive a wheel, start a
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motor, or toggle rover hardware before the new binding is saved. */
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if (!captureAction) return undefined;
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return acquireControllerControlLock('controller-binding-capture');
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}, [captureAction]);
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const activePad = useMemo(
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() => pickActivePad(hubState.pads, gamepadSettings.activeInstanceKey),
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@@ -166,6 +180,19 @@ export default function GamepadMappingSettings() {
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);
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return resolveGamepadProfile(storedProfile, GAMEPAD_PROFILE_DEFAULT);
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}, [activeSignature, gamepadSettings?.defaults?.profile, gamepadSettings?.profiles]);
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const driveMode = activeProfile.calibration?.driveMode === 'tank' ? 'tank' : 'single';
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const grouped = useMemo(() => {
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const query = actionFilter.trim().toLowerCase();
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/* Only the active steering scheme is shown. Keeping inactive track/stick bindings out of the
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mapping list prevents operators from tuning controls that currently have no runtime effect. */
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const modeActions = ACTIONS.filter(
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(action) => !action.driveMode || action.driveMode === driveMode,
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);
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const visibleActions = query
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? modeActions.filter((action) => `${action.label} ${action.section}`.toLowerCase().includes(query))
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: modeActions;
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return groupActions(visibleActions);
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}, [actionFilter, driveMode]);
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useEffect(() => {
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if (!activePad || !activeSignature) return;
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@@ -219,12 +246,16 @@ export default function GamepadMappingSettings() {
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current.profiles?.[activeSignature] ?? current?.defaults?.profile,
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GAMEPAD_PROFILE_DEFAULT,
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);
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const descriptorKey = JSON.stringify(descriptor);
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const bindingsWithoutConflict = Object.fromEntries(
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Object.entries(baseProfile.bindings ?? {}).map(([actionId, binding]) => {
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if (actionId === captureAction.id) return [actionId, binding];
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const otherMode = actionDriveMode(actionId);
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const captureMode = actionDriveMode(captureAction.id);
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/* Opposing mode-only actions may intentionally reuse a physical input because runtime
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never activates them together. Common actions still conflict with both modes. */
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if (captureMode && otherMode && captureMode !== otherMode) return [actionId, binding];
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const sources = (binding?.sources ?? []).filter(
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(source) => JSON.stringify(source) !== descriptorKey,
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(source) => !sourcesUseSamePhysicalInput(source, descriptor),
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);
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return [actionId, { ...binding, sources }];
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}),
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@@ -417,6 +448,11 @@ export default function GamepadMappingSettings() {
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const outputs = diagnostics?.outputs;
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if (!outputs) return false;
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if (actionId === 'drive') return Math.hypot(outputs.driveVector.x, outputs.driveVector.y) > 0.01;
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if (actionId === 'tankLeft') return Math.abs(outputs.tankTracks?.left ?? 0) > 0.01;
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if (actionId === 'tankRight') return Math.abs(outputs.tankTracks?.right ?? 0) > 0.01;
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if (actionId === 'tankCameraUp' || actionId === 'tankCameraDown') {
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return Boolean(outputs.buttons[actionId]);
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}
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if (actionId === 'cameraTilt') return Math.abs(outputs.cameraAxis) > 0.01;
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if (actionId === 'mainBrush') return Math.abs(outputs.auxAxis.main) > 0.01;
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if (actionId === 'sideBrush') return Math.abs(outputs.auxAxis.side) > 0.01;
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@@ -500,6 +536,25 @@ export default function GamepadMappingSettings() {
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</div>
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<p className="mt-0.5 text-xs leading-snug text-white">Override this only when the browser reports the controller incorrectly.</p>
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</label>
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<label className="mx-auto block w-full max-w-lg rounded bg-neutral-800/80 px-1.5 py-1">
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<div className="grid grid-cols-[minmax(0,1fr)_auto] items-start gap-1.5 text-sm text-white">
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<span className="min-w-0 font-semibold text-white">Steering mode</span>
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<select
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value={driveMode}
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onChange={(event) => {
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updateCalibration({ driveMode: event.target.value });
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setCaptureAction(null);
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}}
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className="rounded border border-neutral-600 bg-neutral-900 px-1 py-0.5 text-sm text-white"
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>
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<option value="single">Single stick</option>
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<option value="tank">Tank sticks</option>
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</select>
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</div>
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<p className="mt-0.5 text-xs leading-snug text-white">
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Tank mode controls the left and right wheels with separate stick axes.
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</p>
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</label>
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<SliderField
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label="Drive deadzone"
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description="Ignore small drive stick drift"
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@@ -532,20 +587,27 @@ export default function GamepadMappingSettings() {
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value={activeProfile.calibration?.turboSpeed ?? 500}
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onChange={(value) => updateCalibration({ turboSpeed: value })}
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/>
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<SliderField
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label="Camera deadzone"
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description="Ignore small camera tilt drift"
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min={0}
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max={0.4}
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step={0.01}
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value={activeProfile.calibration?.cameraDeadzone ?? 0.08}
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onChange={(value) => updateCalibration({ cameraDeadzone: value })}
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/>
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<CurveField
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label="Camera response"
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value={activeProfile.calibration?.cameraCurve ?? 'linear'}
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onChange={(value) => updateCalibration({ cameraCurve: value })}
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/>
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{driveMode === 'single' && (
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<>
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{/* Analog-only settings are hidden in tank mode because its two D-pad camera
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directions are digital velocity inputs. The values remain saved for when the
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operator returns to single-stick steering. */}
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<SliderField
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label="Velocity camera deadzone"
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description="Absolute mode always uses a 0.01 deadzone"
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min={0}
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max={0.4}
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step={0.01}
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value={activeProfile.calibration?.cameraDeadzone ?? 0.08}
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onChange={(value) => updateCalibration({ cameraDeadzone: value })}
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/>
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<CurveField
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label="Camera response"
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value={activeProfile.calibration?.cameraCurve ?? 'linear'}
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onChange={(value) => updateCalibration({ cameraCurve: value })}
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/>
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</>
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)}
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<SliderField
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label="Aux deadzone"
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description="Ignore small trigger noise"
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@@ -578,22 +640,24 @@ export default function GamepadMappingSettings() {
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value={activeProfile.calibration?.precisionSpeed ?? 100}
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onChange={(value) => updateCalibration({ precisionSpeed: value })}
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/>
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<label className="mx-auto block w-full max-w-lg rounded bg-neutral-800/80 px-1.5 py-1">
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{/* Camera mode is styled like the sliders so calibration controls read as one group
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even though this specific setting is a select instead of a range input. */}
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<div className="grid grid-cols-[minmax(0,1fr)_auto] items-start gap-1.5 text-sm text-white">
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<span className="min-w-0 font-semibold text-white">Camera mode</span>
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<select
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value={activeProfile.calibration?.cameraMode ?? 'velocity'}
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onChange={(event) => updateCalibration({ cameraMode: event.target.value })}
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className="rounded border border-neutral-600 bg-neutral-900 px-1 py-0.5 text-sm text-white"
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>
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<option value="absolute">Absolute</option>
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<option value="velocity">Velocity</option>
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</select>
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</div>
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<p className="mt-0.5 text-xs leading-snug text-white">Absolute maps stick to angle; velocity moves over time.</p>
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</label>
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{driveMode === 'single' && (
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<label className="mx-auto block w-full max-w-lg rounded bg-neutral-800/80 px-1.5 py-1">
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{/* Camera mode is styled like the sliders so calibration controls read as one group
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even though this specific setting is a select instead of a range input. */}
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<div className="grid grid-cols-[minmax(0,1fr)_auto] items-start gap-1.5 text-sm text-white">
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<span className="min-w-0 font-semibold text-white">Camera mode</span>
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<select
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value={activeProfile.calibration?.cameraMode ?? 'velocity'}
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onChange={(event) => updateCalibration({ cameraMode: event.target.value })}
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className="rounded border border-neutral-600 bg-neutral-900 px-1 py-0.5 text-sm text-white"
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>
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<option value="absolute">Absolute</option>
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<option value="velocity">Velocity</option>
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</select>
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</div>
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<p className="mt-0.5 text-xs leading-snug text-white">Absolute maps stick to angle; velocity moves over time.</p>
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</label>
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)}
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<SliderField
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label="Camera sensitivity"
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description="Velocity mode degrees per second"
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