Calibrate joysticks to real controller SPI.

Author: Mysticial

SerialPrograms/Source/Controllers/SerialPABotBase/SerialPABotBase.cpp

@@ -86,28 +86,6 @@ const std::map<
     >
 > SUPPORTED_VERSIONS{
     {2025040500, {
-        {PABB_PID_PABOTBASE_ESP32, {
-            {ControllerType::NintendoSwitch_WirelessProController, {
-                ControllerFeature::TickPrecise,
-                ControllerFeature::TimingFlexibleMilliseconds,
-                ControllerFeature::QueryCommandQueueSize,
-                ControllerFeature::NintendoSwitch_ProController,
-            }},
-            {ControllerType::NintendoSwitch_LeftJoycon, {
-                ControllerFeature::TickPrecise,
-                ControllerFeature::TimingFlexibleMilliseconds,
-                ControllerFeature::QueryCommandQueueSize,
-                ControllerFeature::NintendoSwitch_LeftJoycon,
-            }},
-            {ControllerType::NintendoSwitch_RightJoycon, {
-                ControllerFeature::TickPrecise,
-                ControllerFeature::TimingFlexibleMilliseconds,
-                ControllerFeature::QueryCommandQueueSize,
-                ControllerFeature::NintendoSwitch_RightJoycon,
-            }},
-        }},
-//    }},
-//    {2025040500, {
         {PABB_PID_PABOTBASE_ArduinoUnoR3, {
             {ControllerType::NintendoSwitch_WiredProController, {
                 ControllerFeature::TickPrecise,
@@ -160,6 +138,7 @@ const std::map<
             }},
         }},
     }},
+#if 0
     {2025042000, {
         {PABB_PID_PABOTBASE_CH552, {
             {ControllerType::NintendoSwitch_WiredProController, {
@@ -170,6 +149,29 @@ const std::map<
             }},
         }},
     }},
+#endif
+    {2025042600, {
+        {PABB_PID_PABOTBASE_ESP32, {
+            {ControllerType::NintendoSwitch_WirelessProController, {
+                ControllerFeature::TickPrecise,
+                ControllerFeature::TimingFlexibleMilliseconds,
+                ControllerFeature::QueryCommandQueueSize,
+                ControllerFeature::NintendoSwitch_ProController,
+            }},
+            {ControllerType::NintendoSwitch_LeftJoycon, {
+                ControllerFeature::TickPrecise,
+                ControllerFeature::TimingFlexibleMilliseconds,
+                ControllerFeature::QueryCommandQueueSize,
+                ControllerFeature::NintendoSwitch_LeftJoycon,
+            }},
+            {ControllerType::NintendoSwitch_RightJoycon, {
+                ControllerFeature::TickPrecise,
+                ControllerFeature::TimingFlexibleMilliseconds,
+                ControllerFeature::QueryCommandQueueSize,
+                ControllerFeature::NintendoSwitch_RightJoycon,
+            }},
+        }},
+    }},
 };
 
 

SerialPrograms/Source/NintendoSwitch/Controllers/SerialPABotBase/NintendoSwitch_SerialPABotBase_WirelessController.h

@@ -90,7 +90,8 @@ class SerialPABotBase_WirelessController : public SerialPABotBase_Controller{
 
 //        cout << "wx = " << wx << ", wy = " << wy << endl;
 //        wy = 2048;
-//        wx = 260;
+//        wx = 1874;
+//        wx = 320;
 
         data[0] = (uint8_t)wx;
         data[1] = (uint8_t)(wx >> 8 | wy << 4);

SerialPrograms/Source/NintendoSwitch/Controllers/SerialPABotBase/NintendoSwitch_SerialPABotBase_WirelessJoycon.h

@@ -19,7 +19,7 @@ class SerialPABotBase_WirelessJoycon final :
     public JoyconController,
     public SerialPABotBase_WirelessController
 {
-    static constexpr uint16_t JOYSTICK_MIN_THRESHOLD = 1873;
+    static constexpr uint16_t JOYSTICK_MIN_THRESHOLD = 1874;
     static constexpr uint16_t JOYSTICK_MAX_THRESHOLD = 260;
 
 public:

SerialPrograms/Source/NintendoSwitch/Controllers/SerialPABotBase/NintendoSwitch_SerialPABotBase_WirelessProController.cpp

@@ -72,7 +72,14 @@ void SerialPABotBase_WirelessProController::push_state(const Cancellable* cancel
         );
     }
 
-    PABB_NintendoSwitch_GyroState gyro{};
+    PABB_NintendoSwitch_GyroState gyro{
+        0x0000,
+        0x0000,
+        0x0000,
+        0x0000,
+        0x0000,
+        0x0000,
+    };
     bool gyro_active = populate_report_gyro(gyro);
 
 //    gyro_active = true;

SerialPrograms/Source/NintendoSwitch/Controllers/SerialPABotBase/NintendoSwitch_SerialPABotBase_WirelessProController.h

@@ -19,7 +19,7 @@ class SerialPABotBase_WirelessProController final :
     public ProController,
     public SerialPABotBase_WirelessController
 {
-    static constexpr uint16_t JOYSTICK_MIN_THRESHOLD = 1897;
+    static constexpr uint16_t JOYSTICK_MIN_THRESHOLD = 1874;
     static constexpr uint16_t JOYSTICK_MAX_THRESHOLD = 320;
 
 public:

SerialPrograms/Source/NintendoSwitch/DevPrograms/JoyconProgram.cpp

@@ -45,9 +45,9 @@ void JoyconProgram::program(SingleSwitchProgramEnvironment& env, CancellableScop
     //  No support for gyro yet. That's coming later.
     //
 
-//    pbf_move_joystick(context, 64, 64, 10000ms, 0ms);
+    pbf_move_joystick(context, 64, 64, 10000ms, 0ms);
 
-#if 1
+#if 0
     pbf_press_button(context, BUTTON_A, 200ms, 2000ms);
     pbf_press_button(context, BUTTON_HOME, 200ms, 2000ms);
     pbf_move_joystick(context, 128, 0, 100ms, 100ms);

SerialPrograms/Source/NintendoSwitch/DevPrograms/TestProgramSwitch.cpp

@@ -319,15 +319,30 @@ void TestProgram::program(MultiSwitchProgramEnvironment& env, CancellableScope&
 //    std::terminate();
 
 
-    ssf_press_button(context, Button::BUTTON_ZR, 1s, 60s, 0ms);
+#if 1
+    ssf_press_button(context, Button::BUTTON_ZR, 1s, 60h, 0ms);
+//    context->issue_gyro_rotate_x(&scope, 0s, 60h, 0ms, 0x1000);
+//    context->issue_gyro_rotate_y(&scope, 0s, 60h, 0ms, 0x0000);
+//    context->issue_gyro_rotate_z(&scope, 0s, 60h, 0ms, 0x1000);
 
-    while (true){
-        context->issue_gyro_rotate_z(&scope, 1s, 1s, 0s, +1);
-        context->issue_gyro_rotate_z(&scope, 1s, 1s, 0s, 0x0000);
-        context->issue_gyro_rotate_z(&scope, 1s, 1s, 0s, -1);
-        context->issue_gyro_rotate_z(&scope, 1s, 1s, 0s, 0x0000);
-    }
+//    auto duration = 10s;
+
+//    context->issue_gyro_rotate_x(&scope, duration, duration, 0s, 0x1000);
+//    context->issue_nop(&scope, 60h);
 
+#if 1
+    auto duration = 15ms;
+    for (size_t c = 0; c < 65536; c += 1){
+        context->issue_gyro_accel_x(&scope, 0s, duration, 0s, 688 + 0*c % 2);
+        context->issue_gyro_accel_y(&scope, 0s, duration, 0s, 1*c % 2);
+        context->issue_gyro_accel_z(&scope, 0s, duration, 0s, -4038 + 0*c % 2);
+        context->issue_gyro_rotate_x(&scope, 0s, duration, 0s, (uint16_t)(0x0000 + 1*c));
+        context->issue_gyro_rotate_y(&scope, 0s, duration, 0s, (uint16_t)(0x0000 + 1*c));
+        context->issue_gyro_rotate_z(&scope, 0s, duration, 0s, (uint16_t)(0x0000 + 0*c));
+        context->issue_nop(&scope, duration);
+    }
+#endif
+#endif
 
 
 #if 0