refactor: 🚧 Remove deadband from curve

LemLib · Jun 25, 2024 · 734183b · 734183b
1 parent 846ba1a
commit 734183b
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Showing 2 changed files with 4 additions and 13 deletions.
diff --git a/include/gamepad/drive_curve.hpp b/include/gamepad/drive_curve.hpp
@@ -35,7 +35,6 @@ class ExpoDriveCurve : public DriveCurve {
          * see https://www.desmos.com/calculator/umicbymbnl for an interactive graph
          * see https://www.vexforum.com/t/expo-drive-lemlibs-implementation for a detailed explanation
          *
-         * @param deadband range where input is considered to be input
          * @param minOutput the minimum output that can be returned
          * @param curve how "curved" the graph is
          *
@@ -48,7 +47,7 @@ class ExpoDriveCurve : public DriveCurve {
          * lemlib::ExpoDriveCurve driveCurve(5, 12, 1.132);
          * @endcode
          */
-        ExpoDriveCurve(float deadband, float minOutput, float curve);
+        ExpoDriveCurve(float minOutput, float curve);
         /**
          * @brief curve an input
          *
@@ -70,7 +69,6 @@ class ExpoDriveCurve : public DriveCurve {
          */
         float curve(float input);
     private:
-        const float deadband = 0;
         const float minOutput = 0;
         const float curveGain = 1;
 };

diff --git a/src/gamepad/drive_curve.cpp b/src/gamepad/drive_curve.cpp
@@ -2,22 +2,15 @@
 #include <cmath>
 
 namespace Gamepad {
-ExpoDriveCurve::ExpoDriveCurve(float deadband, float minOutput, float curve)
-    : deadband(deadband),
+ExpoDriveCurve::ExpoDriveCurve(float minOutput, float curve) :
       minOutput(minOutput),
       curveGain(curve) {}
 
 float ExpoDriveCurve::curve(float input) {
-    // return 0 if input is within deadzone
-    if (std::abs(input) <= deadband) return 0;
     // g is the output of g(x) as defined in the Desmos graph
-    const float g = std::abs(input) - deadband;
-    // g127 is the output of g(127) as defined in the Desmos graph
-    const float g127 = 127 - deadband;
+    const float g = std::abs(input);
     // i is the output of i(x) as defined in the Desmos graph
     const float i = std::copysign(std::pow(curveGain, g - 127) * g, input);
-    // i127 is the output of i(127) as defined in the Desmos graph
-    const float i127 = std::pow(curveGain, g127 - 127) * g127;
-    return (127.0 - minOutput) / (127) * i * 127 / i127 + std::copysign(minOutput, input);
+    return (127.0 - minOutput) / (127) * i + std::copysign(minOutput, input);
 }
 } // namespace Gamepad