brendanhaines/mecanum
1
0
Fork 0
mirror of https://github.com/brendanhaines/mecanum.git synced 2024-12-25 18:38:12 -07:00
Code Issues Packages Projects Releases Wiki Activity

modifies InterLinkElite get functions to return value (approximately) -1 to 1

Browse Source
This commit is contained in:
Brendan Haines 2015-05-16 19:10:43 -06:00
parent e5782709d8
commit 699fcdae6f
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
src/InterLinkElite.cpp
View File

@ -14,22 +14,22 @@ InterLinkElite::InterLinkElite( int port )
double InterLinkElite::getAile()
{
return stick->GetRawAxis( aile ) / (aileTrim[2]-aileTrim[0]);
return stick->GetRawAxis( aile ) * 2 / (aileTrim[2]-aileTrim[0]) - aileTrim[1];
}
double InterLinkElite::getElev()
{
return stick->GetRawAxis( elev ) / (elevTrim[2]-elevTrim[0]);
return stick->GetRawAxis( elev ) * 2 / (elevTrim[2]-elevTrim[0]) - elevTrim[1];
}
double InterLinkElite::getThro()
{
return stick->GetRawAxis( thro ) / (throTrim[2]-throTrim[0]);
return stick->GetRawAxis( thro ) * 2 / (throTrim[2]-throTrim[0]) - throTrim[1];
}
double InterLinkElite::getRudd()
{
return stick->GetRawAxis( rudd ) / (ruddTrim[2]-ruddTrim[0]);
return stick->GetRawAxis( rudd ) * 2 / (ruddTrim[2]-ruddTrim[0]) - ruddTrim[1];
}
double InterLinkElite::getCh5()
@ -41,7 +41,7 @@ double InterLinkElite::getCh5()
double InterLinkElite::getCh6()
{
return stick->GetRawAxis( ch6 ) / (ch6Trim[2]-ch6Trim[0]);
return stick->GetRawAxis( ch6 ) * 2 / (ch6Trim[2]-ch6Trim[0]) - ch6Trim[1];
}
double InterLinkElite::getCh7()