sporq/kmk_firmware
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Use rotation matrix instead of trig for angle correction

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xs5871 2023-02-12 13:32:40 +00:00
parent 0cc308c055
commit 0e804ffd54
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GPG Key ID: 2A617DBC375C8352
1 changed files with 9 additions and 16 deletions
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25
kmk/modules/pimoroni_trackball.py
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@ -6,6 +6,7 @@ from micropython import const
import math import math
import struct import struct
from adafruit_pixelbuf import PixelBuf
from kmk.keys import AX, KC, make_argumented_key, make_key from kmk.keys import AX, KC, make_argumented_key, make_key
from kmk.kmktime import PeriodicTimer from kmk.kmktime import PeriodicTimer
@ -45,8 +46,6 @@ _MSK_CTRL_RESET = const(0b00000010)
_MSK_CTRL_FREAD = const(0b00000100) _MSK_CTRL_FREAD = const(0b00000100)
_MSK_CTRL_FWRITE = const(0b00001000) _MSK_CTRL_FWRITE = const(0b00001000)
ANGLE_OFFSET = 0
debug = Debug(__name__) debug = Debug(__name__)
@ -150,7 +149,7 @@ class Trackball(Module):
i2c, i2c,
mode=TrackballMode.MOUSE_MODE, mode=TrackballMode.MOUSE_MODE,
address=_I2C_ADDRESS, address=_I2C_ADDRESS,
angle_offset=ANGLE_OFFSET, angle_offset=0,
handlers=None, handlers=None,
): ):
self.angle_offset = angle_offset self.angle_offset = angle_offset
@ -186,6 +185,9 @@ class Trackball(Module):
def during_bootup(self, keyboard): def during_bootup(self, keyboard):
self._timer = PeriodicTimer(self.polling_interval) self._timer = PeriodicTimer(self.polling_interval)
a = math.pi * self.angle_offset / 180
self.rot = [[math.cos(a), math.sin(a)], [-math.sin(a), math.cos(a)]]
def before_matrix_scan(self, keyboard): def before_matrix_scan(self, keyboard):
''' '''
Return value will be injected as an extra matrix update Return value will be injected as an extra matrix update
@ -293,17 +295,8 @@ class Trackball(Module):
if raw_x == 0 and raw_y == 0: if raw_x == 0 and raw_y == 0:
return 0, 0 return 0, 0
var_accel = 1 scale = math.sqrt(raw_x**2 + raw_y**2)
power = 2.5 x = (self.rot[0][0] * raw_x + self.rot[0][1] * raw_y) * scale
y = (self.rot[1][0] * raw_x + self.rot[1][1] * raw_y) * scale
angle_rad = math.atan2(raw_y, raw_x) + self.angle_offset return int(x), int(y)
vector_length = math.sqrt(pow(raw_x, 2) + pow(raw_y, 2))
vector_length = pow(vector_length * var_accel, power)
x = math.floor(vector_length * math.cos(angle_rad))
y = math.floor(vector_length * math.sin(angle_rad))
limit = 127 # hid size limit
x_clamped = max(min(limit, x), -limit)
y_clamped = max(min(limit, y), -limit)
return x_clamped, y_clamped