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// This is a component for EMC2 HAL
// Copyright 2008 Paul Willutzki <paul[at]willutzki[dot]de>
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of version 2 of the GNU General
// Public License as published by the Free Software Foundation.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
component joyhandle "sets nonlinear joypad movements, deadbands and scales";
pin in float in;
pin out float out;
param rw float power = 2.0;
param rw float deadband = 0.;
param rw float scale = 1.;
param rw float offset = 0.;
param rw bit inverse = 0;
description """
The component \\fBjoyhandle\\fR uses the following formula for a non linear joypad movements:
\\fBy = (scale * (a*x^power + b*x)) + offset\\fR
The parameters a and b are adjusted in such a way, that the function starts at (deadband,offset) and ends at (1,scale+offset).
Negative values will be treated point symetrically to origin. Values -deadband < x < +deadband will be set to zero.
Values x > 1 and x < -1 will be skipped to \\(+-(scale+offset). Invert transforms the function to a progressive movement.
With power one can adjust the nonlinearity (default = 2). Default for deadband is 0.
Valid values are: power >= 1.0 (reasonable values are 1.x .. 4-5, take higher power-values for higher deadbands (>0.5), if you want to start with a nearly horizontal slope), 0 <= deadband < 0.99 (reasonable 0.1).
An additional offset component can be set in special cases (default = 0).
All values can be adjusted for each instance separately.
""";
function _;
license "GPL";
;;
#include <rtapi_math.h>
FUNCTION(_) {
double p,a,b,alin,clin,xm,ym,xinv,yinv;
if (power < 1.0) power =1.0;
if (deadband >= 0.99) deadband = 0.99;
else if (deadband <= 0.) deadband = 0.;
p = power - 1.;
a = -1./(pow(deadband,p)-1.);
b = 1. - a;
alin = -scale/(deadband-1);
clin = 1.*(scale+offset-alin);
if (in >= 1.) out = scale + offset;
else if ((in <= deadband) && (in >= (-1*deadband))) out = 0.;
else if (in <= -1.) out = -scale - offset;
else if ((in > deadband) && (in < 1.))
{
if (power == 1.) out=alin*in + clin;
else {
if (inverse == 0) out = scale*(a*pow(in,power) + b*in) + offset;
else {
xm = (deadband+1)/2;
ym = alin*xm + clin;
xinv = 2*xm-in;
yinv = scale*(a*pow(xinv,power) + b*xinv) + offset;
out =2*ym-yinv;
}
}
}
else if ((in < (-1.*deadband)) && (in > -1.))
{
if (power == 1.) out=-1.*(alin*-1.*in + clin);
else {
if (inverse == 0) out = -1*(scale*(a*pow((-1.*in),power) - b*in) + offset);
else {
xm = (deadband+1)/2;
ym = alin*xm + clin;
xinv = 2*xm+in;
yinv = scale*(a*pow(xinv,power) + b*xinv) + offset;
out =-2*ym-yinv;
}
}
}
else out = 0.;
// out = scale*(a*pow(in,power) + b*in) + offset;
}
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