source: orbit/iOS/Orbit/Orbit/controllers/AdvancedViewController.m @ b094d6c

//
//  AdvancedViewController.m
//  orbit
//
//  Copyright (c) 2013 Puzzlebox Productions, LLC. All rights reserved.
//  Originally created by Jonathon Horsman.
//
//  This code is released under the GNU Public License (GPL) version 2
//  For more information please refer to http://www.gnu.org/copyleft/gpl.html
//

#import "AdvancedViewController.h"
#import "SignalConverter.h"
#import "AppDelegate.h"

//@interface AdvancedViewController ()
//
//@end

@implementation AdvancedViewController {
   SignalConverter *signalConverter;
}

@synthesize pitch, pitchPercent, yaw, yawPercent, throttle, throttlePercent;

- (void)viewDidLoad
{
   [super viewDidLoad];
   AppDelegate *appDelegate = (AppDelegate *)[[UIApplication sharedApplication] delegate];
   signalConverter = appDelegate.signalConverter;
   
   //   UIAlertView *alert = [[UIAlertView alloc] initWithTitle:@"Help Wanted" message:@"Please join our Open Source development community to help us port this feature! See link to Forums under Support tab" delegate:nil cancelButtonTitle:@"OK" otherButtonTitles: nil];
   //   [alert show];
   
   self.motionManager = [[CMMotionManager alloc] init];
   self.motionManager.accelerometerUpdateInterval = .2;
   self.motionManager.gyroUpdateInterval = .2;
   //   self.motionManager.accelerometerUpdateInterval = .1;
   //   self.motionManager.gyroUpdateInterval = .1;
   
   [self.motionManager startAccelerometerUpdatesToQueue:[NSOperationQueue currentQueue]
                                            withHandler:^(CMAccelerometerData *accelerometerData, NSError *error) {
                                               [self outputAccelertionData:accelerometerData.acceleration];
                                               if(error){
                                                  NSLog(@"%@", error);
                                               }
                                            }];
   
   [self.motionManager startGyroUpdatesToQueue:[NSOperationQueue currentQueue]
                                   withHandler:^(CMGyroData *gyroData, NSError *error) {
                                      [self outputRotationData:gyroData.rotationRate];
                                   }];
   
}

- (IBAction) resetButtonPressed:(id)button
{
   pitch.value = defaultControlPitch;
   yaw.value = defaultControlYaw;
   throttle.value = defaultControlThrottle;
   NSString *zero = @"0%";
   throttlePercent.text = zero;
   yawPercent.text = zero;
   pitchPercent.text = zero;
   [self adjustValues];
}

- (IBAction) pitchChanged:(id) sender
{
   pitchPercent.text = [self percentStringFromSlider:pitch];
   [self adjustValues];
}

- (IBAction) yawChanged:(id) sender
{
   yawPercent.text = [self percentStringFromSlider:yaw];
   [self adjustValues];
}

- (IBAction) throttleChanged:(id) sender
{
   throttlePercent.text = [self percentStringFromSlider:throttle];
   [self adjustValues];
}

- (NSString *) percentStringFromSlider:(UISlider *) slider
{
   return [NSString stringWithFormat:@"%i%%", (int)((slider.value - 0.5) * 200)]; // between -100% and 100%
}

- (void) adjustValues
{
   [signalConverter setControlSettings:[self yawValue]throttle:[self throttleValue] pitch:[self pitchValue]];
}

- (int) yawValue
{
   // We subtract the current Yaw position from the maximum slider value
   // because smaller values instruct the helicopter to spin to the right
   // (clockwise if looking down from above) whereas intuitively moving
   // the slider to the left should cause it to spin left
   
   return round((yaw.maximumValue - yaw.value) * 100);
}

- (int) pitchValue
{
   return round(pitch.value * 100);
}

- (int) throttleValue
{
   return round(throttle.value * 100);
}

- (IBAction) hoverButtonPressed:(id)sender {
   [self resetButtonPressed:(sender)];
   
}

- (IBAction) forwardButtonPressed:(id)sender {
   throttle.value = defaultControlThrottle;
   pitch.value = defaultControlPitch + 0.2;
   yaw.value = defaultControlYaw;
   [self adjustValues];
   
}

- (IBAction) leftButtonPressed:(id)sender {
   throttle.value = defaultControlThrottle;
   pitch.value = defaultControlPitch;
   yaw.value = defaultControlYaw - 0.5;
   [self adjustValues];
   
}

- (IBAction) rightButtonPressed:(id)sender {
   throttle.value = defaultControlThrottle;
   pitch.value = defaultControlPitch;
   yaw.value = defaultControlYaw + 0.3;
   [self adjustValues];
   
}

- (IBAction)changeSwitchTiltSensorControl:(id)sender{
   
   // With thanks to Kyro Apps
   // http://kyroapps.weebly.com/xcode-tutorial-452---uiswitch.html
   
   if([sender isOn]){
      NSLog(@"DEBUG: Tilt Sensor Enabled");
      [_switchTiltSensorControlThrottle setEnabled:YES];
   } else{
      NSLog(@"DEBUG: Tilt Sensor Disabled");
      [_switchTiltSensorControlThrottle setOn:NO animated:YES];
      [_switchTiltSensorControlThrottle setEnabled:NO];
      referenceTiltX = 0;
                referenceTiltY = 0;
   }
   
}

- (IBAction)changeSwitchTiltSensorControlThrottle:(id)sender{
   
   if([sender isOn]){
      NSLog(@"DEBUG: Throttle Tilt Sensor Enabled");
      referenceTiltY = 0;
   } else{
      NSLog(@"DEBUG: Throttle Tilt Sensor Disabled");
      referenceTiltX = 0;
                referenceTiltY = 0;
   }
   
}

-(void)outputAccelertionData:(CMAcceleration)acceleration
{
   // With thanks to NSCookbook
   // http://nscookbook.com/2013/03/ios-programming-recipe-19-using-core-motion-to-access-gyro-and-accelerometer/
   
   
   
   // TODO Add routing to smooth out changes
   // Abrupt movements is breaking signal transmission
   
   
   
   if ([_switchTiltSensorControl isOn]) {
      
      if (! [_switchTiltSensorControlThrottle isOn]) {
         
         // Pitch/Yaw Tilt Control
         
         double tiltX = acceleration.x;
         double tiltY = acceleration.y * -1;  // invert the Y axis so that negative values equal left
         
         //   NSLog(@"DEBUG: tiltX:%f tiltY:%f", tiltX, tiltY);
         
         if (referenceTiltX == 0) {
            referenceTiltX = tiltX;
            referenceTiltY = tiltY;
         }
         
         double newYaw = defaultControlYaw + (tiltX - referenceTiltX);
         double newPitch = defaultControlPitch - (tiltY - referenceTiltY);
         
         //   NSLog(@"DEBUG: yaw:%f pitch:%f", yaw.value, pitch.value);
         //   NSLog(@"DEBUG: newYaw:%f newPitch:%f", newYaw, newPitch);
         
         // Filter changes below titleSensorMinimumThreshold
         if (((newYaw > yaw.value) && (newYaw - yaw.value > titleSensorMinimumThreshold)) ||
             ((newYaw < yaw.value) && (yaw.value - newYaw > titleSensorMinimumThreshold))) {
            
            yaw.value = newYaw;
         }
         
         if (((newPitch > pitch.value) && (newPitch - pitch.value > titleSensorMinimumThreshold)) ||
             ((newPitch < pitch.value) && (pitch.value - newPitch > titleSensorMinimumThreshold))) {
            pitch.value = newPitch;
         }
         
      } // Pitch/Yaw Tilt Control
      
      else {
         
         // Throttle Tilt Control
         
         double tiltY = acceleration.y * 1;  // invert the Y axis so that negative values equal forward
         
         if (referenceTiltY == 0) {
            referenceTiltY = tiltY;
         }
         
         double newThrottle = defaultControlThrottle - (tiltY - referenceTiltY);
         
         if (((newThrottle > throttle.value) && (newThrottle - throttle.value > titleSensorMinimumThreshold)) ||
             ((newThrottle < throttle.value) && (throttle.value - newThrottle > titleSensorMinimumThreshold))) {
            throttle.value = newThrottle;
         }
         
      } // Throttle Tilt Control
      
      
      [self adjustValues];
      
   }
   
}

-(void)outputRotationData:(CMRotationRate)rotation
{
   
}

- (void)didReceiveMemoryWarning
{
   [super didReceiveMemoryWarning];
   // Dispose of any resources that can be recreated.
}


@end