#pragma once #include "options/options.hpp" using namespace options; #include "spline/spline.hpp" struct settings_accela : opts { static constexpr double rot_gains[16][2] = { { 8, 700 }, { 7, 300 }, { 6, 160 }, { 5, 95 }, { 4, 55 }, { 3, 25 }, { 1.66, 10 }, { 1, 4 }, { .5, .53 }, { 0, 0 }, { -1, 0 } }; static constexpr double pos_gains[16][2] = { { 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 }, { -1, 0 } }; static void make_splines(spline& rot, spline& trans); value rot_sensitivity, pos_sensitivity; value rot_deadzone, pos_deadzone; value ewma; value rot_nonlinearity; settings_accela() : opts("accela-sliders"), rot_sensitivity(b, "rotation-sensitivity", slider_value(1.5, .2, 2.5)), pos_sensitivity(b, "translation-sensitivity", slider_value(1., .05, 1.5)), rot_deadzone(b, "rotation-deadzone", slider_value(.03, 0, .1)), pos_deadzone(b, "translation-deadzone", slider_value(.1, 0, 1)), ewma(b, "ewma", slider_value(0, 0, 300)), rot_nonlinearity(b, "rotation-nonlinearity", slider_value(1.2, 1, 1.3)) {} };