Joystick makes even less sense at 3am

Issue: #38

1 files changed, 3 insertions, 3 deletions

diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp
index 34ac0dca..195dd760 100644
--- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp
+++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp
@@ -225,9 +225,9 @@ void FTNoIR_Tracker::GetHeadPoseData(double *data)
             auto mid = (min_[idx] + max_[idx]) / 2;
             auto val = values[idx] - mid;
 
-            auto max = (max_[idx] - min_[idx]) / 2;
-            auto min = (min_[idx] - max_[idx]) / -2;
-            data[i] = val * limits[i] / (double) (val >= 0 ? max : min);
+            auto max = (max_[idx] - mid) * 2;
+            auto min = (mid - min_[idx]) * 2;
+            data[i] = val * limits[i] / (double) (val > mid ? max : min);
         }
     }
 }