SmoothAxis.cpp

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#include <SmoothAxis.h>
#include <cmath>        // std::abs
#include <algorithm>    // std::min, std::max

SmoothAxis::SmoothAxis() {
    SmoothAxis::setEnabled(false); // Delegate initialization of private members
}

SmoothAxis::~SmoothAxis() {
    // Auto-generated destructor stub
}

void SmoothAxis::SetTarget( float newTarget ) {
    // Ensure input is within range - peg at max.
    newTarget = std::min(newTarget,(float) -1);
    newTarget = std::max(newTarget,(float) +1);

    m_prevTarget = m_target;  // Remember our previous target
    m_target = newTarget;     // Store new target
}

float SmoothAxis::GetValue( ) {
    // Check that smoothing is enabled, and that the target
    // increment is outside our tolerance, before smoothing.
    if (isEnabled() && std::abs(m_target - m_prevTarget) > kAccelVal) {
        //bring the motor value closer to the joystick by 1%
        m_target += (m_target > m_prevTarget) ? kAccelVal : -1*kAccelVal;
    }
    return m_target;
}

bool SmoothAxis::isEnabled() {
    return m_enabled;
}

void SmoothAxis::setEnabled(bool enabled) {
    m_enabled = enabled;
    // Anytime we change state, zero our targets to
    // reset the smoothing algorithm.
    // (Thanks for the tip, Jacob!)
    m_prevTarget = m_target = 0.0;
}