Changeset b094d6c in orbit for iOS/Orbit

Timestamp:

12/31/13 02:45:27 (8 years ago)

Author:

Steve Castellotti <sc@…>

Branches:

master, Servo

Children:

16249e0

Parents:

67d9807

Message:

• Fine-tuning of Throttle/Yaw/Pitch? thresholds and range of settings
• Inverted calculations for Yaw so that left on the slider rotates left/counter-clockwise (when viewed from above) and vice versa

Location:

iOS/Orbit

Files:

• .DS_Store (modified) (previous)
• Orbit/SignalConverter.h (modified) (1 diff)
• Orbit/SignalConverter.m (modified) (1 diff)
• Orbit/controllers/AdvancedViewController.h (modified) (1 diff)
• Orbit/controllers/AdvancedViewController.m (modified) (3 diffs)
• Orbit/en.lproj/MainStoryboard.storyboard (modified) (3 diffs)

iOS/Orbit/Orbit/SignalConverter.h

@@ -46 +46 @@
 - (BOOL) isVolumeMax;
 - (BOOL) isAudioJackPlugged;
-- (void) setYaw:(int)y throttle:(int)t pitch:(int)p;
+- (void) setControlSettings:(int)y throttle:(int)t pitch:(int)p;
 - (void) playTestSound;
 - (void) stopTestSound;

iOS/Orbit/Orbit/SignalConverter.m

@@ -285 +285 @@
 }
 
-- (void) setYaw:(int)y throttle:(int)t pitch:(int)p
-{
+- (void) setControlSettings:(int)y throttle:(int)t pitch:(int)p
+{
+    
+    NSLog(@"DEBUG: Signal Converter: throttle:%d yaw:%d pitch:%d", t, y, p);
+    
+    throttle = t;
     yaw = y;
-    throttle = t;
     pitch = p;
     

iOS/Orbit/Orbit/controllers/AdvancedViewController.h

@@ -18 +18 @@
 
 double defaultControlThrottle = 0.8;
-double defaultControlYaw = 0.78;
+double defaultControlYaw = 0.47; // 0.78 is the actual setting required, but .47 is the inverse (1.25 - 0.78)
 double defaultControlPitch = 0.31;
 

iOS/Orbit/Orbit/controllers/AdvancedViewController.m

@@ -91 +91 @@
 - (void) adjustValues
 {
-   NSLog(@"DEBUG: yaw:%f pitch:%f", yaw.value, pitch.value);
-   [signalConverter setYaw:[self yawValue]throttle:[self throttleValue] pitch:[self pitchValue]];
+   [signalConverter setControlSettings:[self yawValue]throttle:[self throttleValue] pitch:[self pitchValue]];
 }
 
 - (int) yawValue
 {
-   return round(yaw.value * 100);
+   // 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);
 }
 
@@ -126 +130 @@
    throttle.value = defaultControlThrottle;
    pitch.value = defaultControlPitch;
-   yaw.value = defaultControlYaw - 0.3;
+   yaw.value = defaultControlYaw - 0.5;
    [self adjustValues];
    
@@ -207 +211 @@
          if (((newYaw > yaw.value) && (newYaw - yaw.value > titleSensorMinimumThreshold)) ||
              ((newYaw < yaw.value) && (yaw.value - newYaw > titleSensorMinimumThreshold))) {
+            
             yaw.value = newYaw;
          }

iOS/Orbit/Orbit/en.lproj/MainStoryboard.storyboard

@@ -82 +82 @@
                                     </label>
                                     <slider opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" value="0.80000000000000004" minValue="0.25" maxValue="1.25" id="mKS-gr-qpn" userLabel="Throttle">
-                                        <rect key="frame" x="20" y="16" width="280" height="30"/>
+                                        <rect key="frame" x="18" y="20" width="280" height="30"/>
                                         <autoresizingMask key="autoresizingMask" widthSizable="YES" flexibleMaxX="YES" flexibleMinY="YES" flexibleMaxY="YES"/>
                                         <connections>
@@ -114 +114 @@
                                         <nil key="highlightedColor"/>
                                     </label>
-                                    <slider opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" value="0.78000000000000003" minValue="0.25" maxValue="1.25" id="8k8-7Y-hWH" userLabel="Yaw">
+                                    <slider opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" value="0.46999999999999997" minValue="0.029999999999999999" maxValue="1.25" id="8k8-7Y-hWH" userLabel="Yaw">
                                         <rect key="frame" x="20" y="20" width="280" height="30"/>
                                         <autoresizingMask key="autoresizingMask" widthSizable="YES" flexibleMaxX="YES" flexibleMinY="YES" flexibleMaxY="YES"/>
@@ -147 +147 @@
                                         <nil key="highlightedColor"/>
                                     </label>
-                                    <slider opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" value="0.31" minValue="0.0" maxValue="0.63" id="pE4-wd-89x" userLabel="Throttle">
-                                        <rect key="frame" x="20" y="16" width="280" height="30"/>
+                                    <slider opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" value="0.31" minValue="0.01" maxValue="0.62" id="pE4-wd-89x" userLabel="Throttle">
+                                        <rect key="frame" x="20" y="20" width="280" height="30"/>
                                         <autoresizingMask key="autoresizingMask" widthSizable="YES" flexibleMaxX="YES" flexibleMinY="YES" flexibleMaxY="YES"/>
                                         <connections>