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guhpad

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legop3
2025-11-18 03:21:13 -05:00
parent 98b61a7845
commit e7793c8ef2
8 changed files with 84 additions and 36 deletions
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webui/src/components/AdvancedSettings.jsx
+2 -1
View File
@@ -3,6 +3,7 @@ import { useControlSystem } from '../controls/index.js';
import AuthPanel from './AuthPanel.jsx';
import AdminPanel from './AdminPanel.jsx';
import KeymapSettings from './KeymapSettings.jsx';
import InputSettings from './InputSettings.jsx';
const manualTabs = [
{ key: 'start', label: 'Start OI' },
@@ -31,10 +32,10 @@ export default function AdvancedSettings() {
if (!roverId) return;
setSensorStream(enable);
};
// why is this broken
return (
<div className="space-y-1">
<KeymapSettings />
<InputSettings />
<section className="rounded-sm bg-[#242a32] p-1 text-sm text-slate-100">
<p className="text-xs text-slate-400">Manual OI commands</p>
<div className="mt-1 flex flex-wrap gap-1">
webui/src/components/MobileControls.jsx
+40 -12
View File
@@ -1,10 +1,11 @@
import { useCallback, useEffect, useRef, useState } from 'react';
import { useControlSystem } from '../controls/index.js';
import { clampUnit } from '../controls/controlMath.js';
import { useSettingsNamespace } from '../settings/index.js';
import { INPUT_SETTINGS_DEFAULTS } from '../settings/namespaces.js';
import DriveModeToggle from './controls/DriveModeToggle.jsx';
const SOURCE = 'mobile-joystick';
const JOYSTICK_RADIUS = 80;
const AUX_BUTTONS = [
{ id: 'main-forward', label: 'Main +', values: { main: 127 }, hold: true, color: 'bg-emerald-600' },
{ id: 'main-reverse', label: 'Main -', values: { main: -127 }, hold: true, color: 'bg-emerald-800' },
@@ -16,7 +17,7 @@ const AUX_BUTTONS = [
{ id: 'stop-all', label: 'Stop', values: { main: 0, side: 0, vacuum: 0 }, hold: false, color: 'bg-slate-900' },
];
function FloatingJoystick({ disabled, layout, onMove, onStop }) {
function FloatingJoystick({ disabled, layout, radius, onMove, onStop }) {
const containerRef = useRef(null);
const pointerIdRef = useRef(null);
const baseRef = useRef({ x: 0, y: 0 });
@@ -57,13 +58,13 @@ function FloatingJoystick({ disabled, layout, onMove, onStop }) {
const currentY = event.clientY - rect.top;
const dx = currentX - baseRef.current.x;
const dy = currentY - baseRef.current.y;
const distance = Math.min(Math.hypot(dx, dy), JOYSTICK_RADIUS);
const distance = Math.min(Math.hypot(dx, dy), radius);
const angle = Math.atan2(dy, dx);
const knobX = Math.cos(angle) * distance;
const knobY = Math.sin(angle) * distance;
const vector = {
x: clampUnit(knobX / JOYSTICK_RADIUS),
y: clampUnit(-knobY / JOYSTICK_RADIUS),
x: clampUnit(knobX / radius),
y: clampUnit(-knobY / radius),
boost: false,
};
setVisual((prev) => ({ ...prev, knob: { x: knobX, y: knobY } }));
@@ -134,6 +135,8 @@ function MobileJoystickPanel({ layout }) {
state: { roverId, camera },
actions: { setDriveVector, registerInputState, stopAllMotion, setServoAngle },
} = useControlSystem();
const { value: inputSettings } = useSettingsNamespace('inputs', INPUT_SETTINGS_DEFAULTS);
const mobileSettings = inputSettings.mobile ?? INPUT_SETTINGS_DEFAULTS.mobile;
const disabled = !roverId;
const cameraConfig = camera?.config;
const cameraEnabled = Boolean(roverId && camera?.enabled && cameraConfig);
@@ -142,9 +145,18 @@ function MobileJoystickPanel({ layout }) {
const cameraValue =
typeof camera?.angle === 'number'
? camera.angle
: typeof cameraConfig?.homeAngle === 'number'
? cameraConfig.homeAngle
: (cameraMin + cameraMax) / 2;
: typeof cameraConfig?.homeAngle === 'number'
? cameraConfig.homeAngle
: (cameraMin + cameraMax) / 2;
const joystickRadius = Math.max(40, mobileSettings.joystickRadius ?? INPUT_SETTINGS_DEFAULTS.mobile.joystickRadius);
const smoothing = Math.min(Math.max(mobileSettings.joystickSmoothing ?? 0, 0), 0.85);
const smoothedVectorRef = useRef({ x: 0, y: 0, boost: false });
useEffect(() => {
if (disabled) {
smoothedVectorRef.current = { x: 0, y: 0, boost: false };
}
}, [disabled]);
const handleMove = useCallback(
(vector = {}) => {
@@ -154,15 +166,25 @@ function MobileJoystickPanel({ layout }) {
y: clampUnit(vector.y ?? 0),
boost: Boolean(vector.boost),
};
setDriveVector(next, { source: SOURCE });
registerInputState(SOURCE, { vector: next, lastEvent: 'move' });
const applied =
smoothing > 0
? {
x: smoothedVectorRef.current.x + (next.x - smoothedVectorRef.current.x) * (1 - smoothing),
y: smoothedVectorRef.current.y + (next.y - smoothedVectorRef.current.y) * (1 - smoothing),
boost: next.boost,
}
: next;
smoothedVectorRef.current = applied;
setDriveVector(applied, { source: SOURCE });
registerInputState(SOURCE, { vector: applied, lastEvent: 'move' });
},
[disabled, registerInputState, setDriveVector],
[disabled, registerInputState, setDriveVector, smoothing],
);
const handleStop = useCallback(() => {
if (disabled) return;
const zero = { x: 0, y: 0, boost: false };
smoothedVectorRef.current = zero;
setDriveVector(zero, { source: SOURCE });
registerInputState(SOURCE, { vector: zero, lastEvent: 'stop' });
}, [disabled, registerInputState, setDriveVector]);
@@ -177,7 +199,13 @@ function MobileJoystickPanel({ layout }) {
return (
<div className="flex flex-col gap-1 text-slate-100">
<DriveModeToggle size="compact" />
<FloatingJoystick disabled={disabled} layout={layout} onMove={handleMove} onStop={handleStop} />
<FloatingJoystick
disabled={disabled}
layout={layout}
radius={joystickRadius}
onMove={handleMove}
onStop={handleStop}
/>
<button
type="button"
onClick={stopAllMotion}
webui/src/controls/inputs/GamepadInputManager.jsx
+28 -9
View File
@@ -1,12 +1,13 @@
import { useCallback, useEffect, useRef } from 'react';
import { useControlSystem } from '../ControlContext.jsx';
import { clampUnit } from '../controlMath.js';
import { useSettingsNamespace } from '../../settings/index.js';
import { INPUT_SETTINGS_DEFAULTS } from '../../settings/namespaces.js';
const SOURCE = 'gamepad';
const DEADZONE = 0.2;
function applyDeadzone(value) {
return Math.abs(value) < DEADZONE ? 0 : value;
function applyDeadzone(value, amount) {
return Math.abs(value) < amount ? 0 : value;
}
function computeTriggerSpeed(button, reverseButton, max = 127, reverseScale = 1) {
@@ -42,6 +43,12 @@ export default function GamepadInputManager() {
registerInputState,
},
} = useControlSystem();
const { value: inputSettings } = useSettingsNamespace('inputs', INPUT_SETTINGS_DEFAULTS);
const gamepadSettings = inputSettings.gamepad ?? INPUT_SETTINGS_DEFAULTS.gamepad;
const driveDeadzone = Math.min(Math.max(gamepadSettings.driveDeadzone ?? 0.2, 0), 0.8);
const cameraDeadzone = Math.min(Math.max(gamepadSettings.cameraDeadzone ?? 0.25, 0), 0.9);
const servoStep = gamepadSettings.servoStep ?? INPUT_SETTINGS_DEFAULTS.gamepad.servoStep;
const auxReverseScale = gamepadSettings.auxReverseScale ?? INPUT_SETTINGS_DEFAULTS.gamepad.auxReverseScale;
const rafRef = useRef(null);
const lastVectorRef = useRef({ x: 0, y: 0, boost: false });
const lastAuxRef = useRef({ main: 0, side: 0, vacuum: 0 });
@@ -76,8 +83,8 @@ export default function GamepadInputManager() {
return;
}
const axisLX = clampUnit(applyDeadzone(pad.axes?.[0] ?? 0));
const axisLY = clampUnit(applyDeadzone(-(pad.axes?.[1] ?? 0)));
const axisLX = clampUnit(applyDeadzone(pad.axes?.[0] ?? 0, driveDeadzone));
const axisLY = clampUnit(applyDeadzone(-(pad.axes?.[1] ?? 0), driveDeadzone));
const vector = { x: axisLX, y: axisLY, boost: false };
if (!vectorsEqual(vector, lastVectorRef.current)) {
lastVectorRef.current = vector;
@@ -85,7 +92,7 @@ export default function GamepadInputManager() {
}
const main = computeTriggerSpeed(pad.buttons?.[7], pad.buttons?.[5]);
const side = computeTriggerSpeed(pad.buttons?.[6], pad.buttons?.[4], 127, 0.55);
const side = computeTriggerSpeed(pad.buttons?.[6], pad.buttons?.[4], 127, auxReverseScale);
const vacuum = pad.buttons?.[1]?.pressed ? 127 : 0;
let aux = { main, side, vacuum };
if (pad.buttons?.[0]?.pressed) {
@@ -96,11 +103,11 @@ export default function GamepadInputManager() {
setAuxMotors(aux);
}
const cameraAxis = clampUnit(applyDeadzone(-(pad.axes?.[3] ?? 0)));
const cameraAxis = clampUnit(applyDeadzone(-(pad.axes?.[3] ?? 0), cameraDeadzone));
const now = performance.now();
if (Math.abs(cameraAxis) > 0.25 && now - servoThrottleRef.current > 120) {
servoThrottleRef.current = now;
nudgeServo(cameraAxis > 0 ? 2 : -2);
nudgeServo(cameraAxis > 0 ? servoStep : -servoStep);
}
if (handleButtonEdge(14, pad.buttons?.[14]?.pressed)) {
@@ -124,7 +131,19 @@ export default function GamepadInputManager() {
rb: pad.buttons?.[5]?.pressed || false,
},
});
}, [handleButtonEdge, nudgeServo, registerInputState, runMacro, setAuxMotors, setDriveVector, setMode]);
}, [
auxReverseScale,
cameraDeadzone,
driveDeadzone,
handleButtonEdge,
nudgeServo,
registerInputState,
runMacro,
servoStep,
setAuxMotors,
setDriveVector,
setMode,
]);
useEffect(() => {
function loop() {