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/*
* Copyright 2023 jacqueline <me@jacqueline.id.au>
*
* SPDX-License-Identifier: GPL-3.0-only
*/
#include "relative_wheel.hpp"
#include <stdint.h>
#include <cstdint>
#include "esp_log.h"
namespace drivers {
RelativeWheel::RelativeWheel(TouchWheel* touch)
: touch_(touch),
is_pressed_(false),
is_first_read_(true),
ticks_(0),
last_angle_(0) {}
auto RelativeWheel::Update() -> void {
touch_->Update();
TouchWheelData d = touch_->GetTouchWheelData();
is_pressed_ = d.is_touched;
uint8_t new_angle = d.wheel_position;
if (is_first_read_) {
is_first_read_ = false;
last_angle_ = new_angle;
return;
}
// Work out the magnitude of travel.
uint8_t change_cw = last_angle_ - new_angle;
uint8_t change_ccw = new_angle - last_angle_;
int change = std::min(change_cw, change_ccw);
last_angle_ = new_angle;
// Round to eliminate noise.
if (change <= 2) {
ticks_ = 0;
return;
}
// Quantize into ticks.
change /= 4;
// Clamp to reliminate more noise.
if (change > 10) {
change = 0;
}
// Work out the direction of travel.
if (change_cw > change_ccw) {
change *= -1;
}
ticks_ = change;
}
auto RelativeWheel::is_pressed() -> bool {
return is_pressed_;
}
auto RelativeWheel::ticks() -> std::int_fast16_t {
int_fast16_t t = ticks_;
if (t != 0) {
ESP_LOGI("teeks", "ticks %d", t);
}
ticks_ = 0;
return t;
}
} // namespace drivers
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