commit 8ace380e1ade05ac4ee571876ac191c4d458bfb3
author Austin Schuh <austin.linux@gmail.com> Sun Apr 16 19:19:33 2017 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun May 28 17:25:31 2017 -0700
tree 80222d984f107b38a22975e6155b53403af8db47
parent 09b4927c292165babfd8a24c0d2b8f238c58c6a3

Switched to new pistol grip controller.

Change-Id: Ib38fe23d6ee54dd7d602ba4004c48b19300d8c04

y2017/joystick_reader.cc

diff --git a/y2017/joystick_reader.cc b/y2017/joystick_reader.cc
index a2de230..3ef6ef9 100644
--- a/y2017/joystick_reader.cc
+++ b/y2017/joystick_reader.cc
@@ -43,15 +43,12 @@
 
 #ifdef PISTOL
 // Pistol Grip controller
-const JoystickAxis kSteeringWheel(1, 1), kDriveThrottle(1, 2);
-//const ButtonLocation kQuickTurn(1, 7);
-const ButtonLocation kQuickTurn(1, 8);
+const JoystickAxis kSteeringWheel(1, 2), kDriveThrottle(1, 1);
+const ButtonLocation kQuickTurn(1, 7);
+const ButtonLocation kTurn1(1, 8);
 
 // Nop
-//const ButtonLocation kTurn1(1, 8);
 const ButtonLocation kTurn2(1, 9);
-
-const ButtonLocation kTurn1(1, 7);
 #endif
 
 #ifdef XBOX
@@ -155,14 +152,20 @@
 #endif
 
 #ifdef PISTOL
-    const double wheel = data.GetAxis(kSteeringWheel) / 0.488;
+    const double unscaled_wheel = data.GetAxis(kSteeringWheel);
+    double wheel;
+    if (unscaled_wheel < 0.0) {
+      wheel = unscaled_wheel / 0.484375;
+    } else {
+      wheel = unscaled_wheel / 0.385827;
+    }
 
     const double unscaled_throttle = -data.GetAxis(kDriveThrottle);
     double unmodified_throttle;
     if (unscaled_throttle < 0.0) {
-      unmodified_throttle = unscaled_throttle / 0.228;
+      unmodified_throttle = unscaled_throttle / 0.086614;
     } else {
-      unmodified_throttle = unscaled_throttle / 0.484;
+      unmodified_throttle = unscaled_throttle / 0.265625;
     }
     unmodified_throttle = Deadband(unmodified_throttle, 0.1);