guhpad

webui/src/components/GamepadMappingSettings.jsx

@@ -25,17 +25,17 @@ function useGamepad() {
 }
 
 const ACTIONS = [
-  { id: 'driveHorizontal', label: 'Drive horizontal', type: 'axis', section: 'Drive stick', path: ['drive', 'horizontal'] },
-  { id: 'driveVertical', label: 'Drive vertical', type: 'axis', section: 'Drive stick', path: ['drive', 'vertical'] },
-  { id: 'cameraVertical', label: 'Camera vertical', type: 'axis', section: 'Camera stick', path: ['camera', 'vertical'] },
-  { id: 'mainTrigger', label: 'Main brush trigger', type: 'button', section: 'Brush triggers', path: ['triggers', 'main'] },
-  { id: 'mainReverse', label: 'Main reverse button', type: 'button', section: 'Brush triggers', path: ['buttons', 'mainReverse'] },
-  { id: 'sideTrigger', label: 'Side brush trigger', type: 'button', section: 'Brush triggers', path: ['triggers', 'side'] },
-  { id: 'sideReverse', label: 'Side reverse button', type: 'button', section: 'Brush triggers', path: ['buttons', 'sideReverse'] },
+  { id: 'driveHorizontal', label: 'Drive horizontal', type: 'axis', section: 'Drive joystick', path: ['drive', 'horizontal'] },
+  { id: 'driveVertical', label: 'Drive vertical', type: 'axis', section: 'Drive joystick', path: ['drive', 'vertical'] },
+  { id: 'cameraVertical', label: 'Camera vertical', type: 'axis', section: 'Camera joystick', path: ['camera', 'vertical'] },
+  { id: 'mainAxis', label: 'Main brush axis', type: 'axis', section: 'Brush analog', path: ['brushes', 'mainAxis'] },
+  { id: 'sideAxis', label: 'Side brush axis', type: 'axis', section: 'Brush analog', path: ['brushes', 'sideAxis'] },
+  { id: 'mainReverse', label: 'Toggle main reverse', type: 'button', section: 'Brush toggles', path: ['buttons', 'mainReverse'] },
+  { id: 'sideReverse', label: 'Toggle side reverse', type: 'button', section: 'Brush toggles', path: ['buttons', 'sideReverse'] },
   { id: 'vacuum', label: 'Vacuum button', type: 'button', section: 'Auxiliary buttons', path: ['buttons', 'vacuum'] },
-  { id: 'allAux', label: 'All aux forward button', type: 'button', section: 'Auxiliary buttons', path: ['buttons', 'allAux'] },
-  { id: 'driveMacro', label: 'Drive macro button', type: 'button', section: 'Mode buttons', path: ['buttons', 'driveMacro'] },
-  { id: 'dockMacro', label: 'Dock macro button', type: 'button', section: 'Mode buttons', path: ['buttons', 'dockMacro'] },
+  { id: 'allAux', label: 'All aux button', type: 'button', section: 'Auxiliary buttons', path: ['buttons', 'allAux'] },
+  { id: 'drive', label: 'Drive macro button', type: 'button', section: 'Mode buttons', path: ['buttons', 'drive'] },
+  { id: 'dock', label: 'Dock macro button', type: 'button', section: 'Mode buttons', path: ['buttons', 'dock'] },
 ];
 
 function formatAxis(value) {
@@ -71,8 +71,13 @@ export default function GamepadMappingSettings() {
         if (capture.type === 'axis') {
           for (let i = 0; i < pad.axes.length; i += 1) {
             const value = pad.axes[i];
-            if (Math.abs(value) > 0.55) {
-              save((prev) => updatePath(prev, capture.path, () => ({ index: i, invert: value < 0 })));
+            if (Math.abs(value) > 0.65) {
+              save((prev) =>
+                updatePath(prev, capture.path, () => ({
+                  index: i,
+                  invert: value < 0,
+                })),
+              );
               setCapture(null);
               return;
             }
@@ -120,7 +125,9 @@ export default function GamepadMappingSettings() {
         <div>
           <p className="text-xs font-semibold uppercase tracking-wide text-slate-400">Gamepad mapping</p>
           <p className="text-[0.65rem] text-slate-500">
-            {gamepadConnected ? 'Press buttons or move sticks when prompted.' : 'Connect a controller to configure.'}
+            {gamepadConnected
+              ? 'Move sticks/axes with a big sweep or press buttons when capturing.'
+              : 'Connect a controller to configure.'}
           </p>
           {capture && (
             <p className="mt-1 text-[0.7rem] text-emerald-400">Capturing {capture.label}…</p>

webui/src/controls/inputs/GamepadInputManager.jsx

@@ -54,19 +54,20 @@ export default function GamepadInputManager() {
     Boolean(mapping?.drive?.horizontal) &&
     Boolean(mapping?.drive?.vertical) &&
     Boolean(mapping?.camera?.vertical) &&
-    Boolean(mapping?.triggers?.main) &&
-    Boolean(mapping?.triggers?.side) &&
+    Boolean(mapping?.brushes?.mainAxis) &&
+    Boolean(mapping?.brushes?.sideAxis) &&
     Boolean(mapping?.buttons?.mainReverse) &&
     Boolean(mapping?.buttons?.sideReverse) &&
     Boolean(mapping?.buttons?.vacuum) &&
     Boolean(mapping?.buttons?.allAux) &&
-    Boolean(mapping?.buttons?.driveMacro) &&
-    Boolean(mapping?.buttons?.dockMacro);
+    Boolean(mapping?.buttons?.drive) &&
+    Boolean(mapping?.buttons?.dock);
   const rafRef = useRef(null);
   const lastVectorRef = useRef({ x: 0, y: 0, boost: false });
   const lastAuxRef = useRef({ main: 0, side: 0, vacuum: 0 });
   const buttonStateRef = useRef(new Map());
   const servoThrottleRef = useRef(0);
+  const reverseStateRef = useRef({ main: false, side: false });
 
   const handleButtonEdge = useCallback((key, pressed) => {
     const prev = buttonStateRef.current.get(key) || false;
@@ -126,13 +127,15 @@ export default function GamepadInputManager() {
       setDriveVector(vector, { source: SOURCE });
     }
 
-    const mainMagnitude = Math.round(getButtonValue(pad, mapping.triggers.main) * 127);
-    const mainReverse = isButtonPressed(pad, mapping.buttons.mainReverse);
-    const main = mainReverse ? -mainMagnitude : mainMagnitude;
+    const mainRaw = getAxisValue(pad, mapping.brushes.mainAxis);
+    const mainMagnitude = Math.round(Math.min(Math.abs(mainRaw), 1) * 127);
+    const main = reverseStateRef.current.main ? -mainMagnitude : mainMagnitude;
 
-    const sideMagnitude = Math.round(getButtonValue(pad, mapping.triggers.side) * 127);
-    const sideReverse = isButtonPressed(pad, mapping.buttons.sideReverse);
-    const side = sideReverse ? -Math.round(sideMagnitude * auxReverseScale) : sideMagnitude;
+    const sideRaw = getAxisValue(pad, mapping.brushes.sideAxis);
+    const sideMagnitude = Math.round(Math.min(Math.abs(sideRaw), 1) * 127);
+    const side = reverseStateRef.current.side
+      ? -Math.round(sideMagnitude * auxReverseScale)
+      : Math.round(sideMagnitude * auxReverseScale);
 
     const vacuum = isButtonPressed(pad, mapping.buttons.vacuum) ? 127 : 0;
     let aux = { main, side, vacuum };
@@ -151,28 +154,29 @@ export default function GamepadInputManager() {
       nudgeServo(cameraAxis > 0 ? servoStep : -servoStep);
     }
 
-    const driveMacroPressed = isButtonPressed(pad, mapping.buttons.driveMacro);
-    if (handleButtonEdge(`macro-${mapping.buttons.driveMacro.index}`, driveMacroPressed)) {
+    if (handleButtonEdge('toggle-main', isButtonPressed(pad, mapping.buttons.mainReverse))) {
+      reverseStateRef.current.main = !reverseStateRef.current.main;
+    }
+    if (handleButtonEdge('toggle-side', isButtonPressed(pad, mapping.buttons.sideReverse))) {
+      reverseStateRef.current.side = !reverseStateRef.current.side;
+    }
+
+    if (handleButtonEdge(`macro-${mapping.buttons.drive.index}`, isButtonPressed(pad, mapping.buttons.drive))) {
       setMode('drive');
       runMacro('drive-sequence');
     }
-    const dockMacroPressed = isButtonPressed(pad, mapping.buttons.dockMacro);
-    if (handleButtonEdge(`macro-${mapping.buttons.dockMacro.index}`, dockMacroPressed)) {
+    if (handleButtonEdge(`macro-${mapping.buttons.dock.index}`, isButtonPressed(pad, mapping.buttons.dock))) {
       setMode('dock');
       runMacro('seek-dock');
     }
 
     registerInputState(SOURCE, {
       connected: true,
+      mappingReady: true,
       id: pad.id,
       index: pad.index,
       axes: [axisLX, axisLY, cameraAxis],
-      buttons: {
-        a: pad.buttons?.[0]?.pressed || false,
-        b: pad.buttons?.[1]?.pressed || false,
-        lb: pad.buttons?.[4]?.pressed || false,
-        rb: pad.buttons?.[5]?.pressed || false,
-      },
+      reverse: { ...reverseStateRef.current },
     });
   }, [
     auxReverseScale,
@@ -183,16 +187,16 @@ export default function GamepadInputManager() {
     handleButtonEdge,
     isButtonPressed,
     mapping.buttons?.allAux,
-    mapping.buttons?.dockMacro,
-    mapping.buttons?.driveMacro,
+    mapping.buttons?.dock,
+    mapping.buttons?.drive,
     mapping.buttons?.mainReverse,
     mapping.buttons?.sideReverse,
     mapping.buttons?.vacuum,
     mapping.camera?.vertical,
     mapping.drive?.horizontal,
     mapping.drive?.vertical,
-    mapping.triggers?.main,
-    mapping.triggers?.side,
+    mapping.brushes?.mainAxis,
+    mapping.brushes?.sideAxis,
     mappingReady,
     nudgeServo,
     registerInputState,

webui/src/settings/namespaces.js

@@ -19,16 +19,16 @@ export const GAMEPAD_MAPPING_DEFAULT = {
   camera: {
     vertical: null,
   },
-  triggers: {
-    main: null,
-    side: null,
+  brushes: {
+    mainAxis: null,
+    sideAxis: null,
   },
   buttons: {
+    allAux: null,
+    vacuum: null,
     mainReverse: null,
     sideReverse: null,
-    vacuum: null,
-    allAux: null,
-    driveMacro: null,
-    dockMacro: null,
+    dock: null,
+    drive: null,
   },
 };