gamepad deadzones

raspberry/roberto/views/websocket/routes.py

@@ -30,9 +30,9 @@ def gamepad_axes(axes_data):
     print('GAMEPAD axes')
     print(axes_data)
     from roberto import serial
-    x = axes_data['0']
-    y = axes_data['1']
-    r = axes_data['3']
+    x = applyDeadZone( axes_data['0'], 0.15 )
+    y = x = applyDeadZone( axes_data['1'], 0.15 )
+    r = x = applyDeadZone( axes_data['3'], 0.15 )
     m0 = +y - x - r
     m1 = +y + x - r
     m2 = -y + x - r
@@ -43,3 +43,11 @@ def gamepad_axes(axes_data):
     m3 *= 4000
     command = 'S '+str(int(m0))+','+str(int(m1))+','+str(int(m2))+','+str(int(m3))+'\n'
     serial.write(bytes(command, "utf8"))
+
+def applyDeadZone(value, threshold):
+    new_value = ( abs(value) - threshold ) / ( 1 - threshold )
+    if new_value < 0:
+        return 0
+    if value < 0:
+         new_value = new_value * -1
+    return new_value