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#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] =
{
{ 11, 500 },
{ 9, 300 },
{ 6, 150 },
{ 2.66, 35 },
{ 1.66, 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<slider_value> rot_sensitivity, pos_sensitivity;
value<slider_value> rot_deadzone, pos_deadzone;
value<slider_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, .1)),
pos_deadzone(b, "translation-deadzone", slider_value(.1, 0, 1)),
ewma(b, "ewma", slider_value(0, 0, 200))
{}
};
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