Fix #47 part 1/2/3 not finished

Adam-Software · Oct 5, 2023 · a2c8ad9 · a2c8ad9
1 parent 904d531
commit a2c8ad9
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Showing 4 changed files with 35 additions and 34 deletions.
diff --git a/Configs/buttons.binding.default.json b/Configs/buttons.binding.default.json
@@ -1,14 +1,16 @@
 {
   /*
 
-  Action:
+
 
-  to_home_position: the command to return the Adam robot to the zero position
+  --
 
-  execution conditions:
-  if binding to buttons: button pressed value { == true } => execute
-  if binding to trigger: trigger value { >= 0.5 } => execute
-  if binding to axis: axis value { <= -0.5 or  >= 0.5 } => execute
+
+  --
+
+
+  --
+
 
   */
 

diff --git a/XpadControl.Common.Services/AdamActionsMethods/AdamActionsMethods.cs b/XpadControl.Common.Services/AdamActionsMethods/AdamActionsMethods.cs
@@ -43,10 +43,8 @@ public override void HomePositionCommandExecute()
 
         public override void HeadUpDown(float value)
         {
-            WriteDebubLog();
-
             int zeroPositions = mNeckZeroPosition;
-            int newGoalPosition = value.ToServoRange(zeroPositions);
+            int goalPosition = value.ToServoRange(zeroPositions);
 
             ServoCommands command = new()
             {
@@ -55,7 +53,7 @@ public override void HeadUpDown(float value)
                     new ServoCommandsItem
                     {
                         Name = ServoNames.Neck,
-                        GoalPosition = newGoalPosition
+                        GoalPosition = goalPosition
                     }
                 }
             };
@@ -69,18 +67,24 @@ public override void HeadUpDown(float value)
 
         #region HeadUp
 
-        public override void HeadUp(int value)
+        public override void HeadUp(float value)
         {
             WriteDebubLog();
 
+            if (value == float.NegativeInfinity)
+                value = value * -1;
+
+            int zeroPositions = mNeckZeroPosition;
+            int goalPosition = value.ToServoRange(zeroPositions);
+
             ServoCommands command = new()
             {
                 Motors = new List<ServoCommandsItem>
                 {
                     new ServoCommandsItem
                     {
                         Name = ServoNames.Neck,
-                        GoalPosition = mNeckZeroPosition + value
+                        GoalPosition = goalPosition
                     } 
                 }
             };
@@ -112,18 +116,24 @@ public override void HeadUp(bool value)
 
         #region HeadDown
 
-        public override void HeadDown(int value)
+        public override void HeadDown(float value)
         {
             WriteDebubLog();
 
+            if (value == float.NegativeInfinity)
+                value = value * -1;
+
+            int zeroPositions = mNeckZeroPosition;
+            int goalPosition = value.ToServoRange(zeroPositions);
+
             ServoCommands command = new()
             {
                 Motors = new List<ServoCommandsItem>
                 {
                     new ServoCommandsItem
                     {
                         Name = ServoNames.Neck,
-                        GoalPosition = mNeckZeroPosition - value
+                        GoalPosition = goalPosition
                     }
                 }
             };

diff --git a/XpadControl.Common.Services/AdamActionsMethods/AdamActionsMethodsBase.cs b/XpadControl.Common.Services/AdamActionsMethods/AdamActionsMethodsBase.cs
@@ -46,7 +46,7 @@ public virtual void HeadUpDown(ActionEventArgs eventArgs)
         {
             if (eventArgs.IsButton == IsButton.IsButtonPressed)
             {
-                throw new NotImplementedException("Button can`t binding to axis value");
+                throw new NotImplementedException("Button can`t binding to axis action");
             }
 
             if (eventArgs.IsAxis != IsAxis.None)
@@ -56,6 +56,7 @@ public virtual void HeadUpDown(ActionEventArgs eventArgs)
 
             if (eventArgs.IsTrigger != IsTrigger.None)
             {
+                throw new NotImplementedException("Trigger can`t binding to axis action");
             }
         }
 
@@ -74,22 +75,16 @@ public virtual void HeadDown(ActionEventArgs eventArgs)
 
             if (eventArgs.IsAxis != IsAxis.None)
             {
-                float floatValue = eventArgs.FloatValue / 2;
-                int intValue = (int) Math.Round(floatValue);
-
-                HeadDown(intValue);
+                HeadDown(eventArgs.FloatValue);
             }
 
             if (eventArgs.IsTrigger != IsTrigger.None)
             {
-                float floatValue = eventArgs.FloatValue / 2;
-                int intValue = (int)Math.Round(floatValue);
-
-                HeadDown(intValue);
+                HeadDown(eventArgs.FloatValue);
             }
         }
 
-        public abstract void HeadDown(int value);
+        public abstract void HeadDown(float value);
         public abstract void HeadDown(bool value);
 
         #endregion
@@ -105,22 +100,16 @@ public virtual void HeadUp(ActionEventArgs eventArgs)
 
             if (eventArgs.IsAxis != IsAxis.None)
             {
-                float floatValue = eventArgs.FloatValue / 2;
-                int intValue = (int) Math.Round(floatValue);
-
-                HeadUp(intValue);
+                HeadUp(eventArgs.FloatValue);
             }
 
             if (eventArgs.IsTrigger != IsTrigger.None)
             {
-                float floatValue = eventArgs.FloatValue / 2;
-                int intValue = (int)Math.Round(floatValue);
-
-                HeadUp(intValue);
+                HeadUp(eventArgs.FloatValue);
             }
         }
 
-        public abstract void HeadUp(int value);
+        public abstract void HeadUp(float value);
         public abstract void HeadUp(bool value);
 
         #endregion

diff --git a/XpadControl.Interfaces/BindingButtonsService.Dependencies/AdamActions.cs b/XpadControl.Interfaces/BindingButtonsService.Dependencies/AdamActions.cs
@@ -33,7 +33,7 @@ public enum AdamActions
         [EnumMember(Value = "head_left_right")]
         HeadLeftRight = 6,
 
-        #region head up/down
+        #region head head_up_down/head_up/head_down
 
         [EnumMember(Value = "head_up_down")]
         HeadUpDown = 7,