#pragma once #include "options/options.hpp" using namespace options; #include "spline/spline.hpp" // ------------------------------------ // debug knobs // ------------------------------------ //#define DEBUG_ACCELA //#define SPLINE_ROT_DEBUG //#define SPLINE_TRANS_DEBUG struct settings_accela : opts { struct gains { double x, y; }; static constexpr gains rot_gains[16] = { { 9, 300 }, { 8, 200 }, { 5, 100 }, { 2.5, 35 }, { 1.5, 8 }, { 1, 1.5 }, { .5, .4 }, }; static constexpr gains pos_gains[16] = { { 9, 200 }, { 8, 150 }, { 7, 110 }, { 5, 60 }, { 3, 24 }, { 2, 7.5 }, { 1.66, 4.5 }, { 1.33, 2.25 }, { .66, .75 }, { .33, .375 }, { 0, 0 }, }; static void make_splines(spline& rot, spline& pos); value rot_sensitivity, pos_sensitivity; value rot_deadzone, pos_deadzone; value ewma; settings_accela() : opts("accela-sliders"), rot_sensitivity(b, "rotation-sensitivity", slider_value(1.5, .05, 2.5)), pos_sensitivity(b, "translation-sensitivity", slider_value(1., .05, 1.5)), rot_deadzone(b, "rotation-deadzone", slider_value(.03, 0, .2)), pos_deadzone(b, "translation-deadzone", slider_value(.1, 0, 1)), ewma(b, "ewma", slider_value(0, 0, 200)) {} };