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d/psmv: Scale rumble value on zcm1

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The motor on my psmv controller does not rumble at amplitudes < 0.25.
This commit is contained in:
Christoph Haag 2020-12-21 23:49:06 +01:00 committed by Jakob Bornecrantz
parent 712763c5c6
commit 6d7dff360c
1 changed files with 20 additions and 2 deletions
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22
src/xrt/drivers/psmv/psmv_driver.c
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@ -942,6 +942,20 @@ psmv_device_get_tracked_pose(struct xrt_device *xdev,
m_space_graph_resolve(&xgs, out_relation); m_space_graph_resolve(&xgs, out_relation);
} }
static float
amp_scale(struct psmv_device *psmv, float amp)
{
float min = 0.0;
float max = 1.0;
if (psmv->pid == PSMV_PID_ZCM1) {
// motor does not rumble below 0.25
min = 0.25;
}
return amp * (max - min) + min;
}
static void static void
psmv_device_set_output(struct xrt_device *xdev, psmv_device_set_output(struct xrt_device *xdev,
enum xrt_output_name name, enum xrt_output_name name,
@ -955,8 +969,12 @@ psmv_device_set_output(struct xrt_device *xdev,
os_mutex_lock(&psmv->lock); os_mutex_lock(&psmv->lock);
psmv->wants.rumble = float amp = value->vibration.amplitude;
psmv_clamp_zero_to_one_float_to_u8(value->vibration.amplitude); // don't scale amp = 0, it disables rumble
if (amp > 0) {
amp = amp_scale(psmv, value->vibration.amplitude);
}
psmv->wants.rumble = psmv_clamp_zero_to_one_float_to_u8(amp);
// Resend if the rumble has been changed. // Resend if the rumble has been changed.
int64_t now = os_monotonic_get_ns(); int64_t now = os_monotonic_get_ns();