gitea-mirror/swiftcontrol
1
0
Fork 0
mirror of https://github.com/jonasbark/swiftcontrol.git synced 2026-02-18 00:17:40 +01:00
Code Issues Packages Projects Releases Wiki Activity

Fix code review issues in gyroscope steering implementation

Browse Source 
Co-authored-by: jonasbark <1151304+jonasbark@users.noreply.github.com>
This commit is contained in:
copilot-swe-agent[bot]
2025-12-18 06:54:42 +00:00
parent e500f1ed0b
commit eea72405bb
1 changed files with 26 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

31
lib/bluetooth/devices/gyroscope/gyroscope_steering.dart
View File

@@ -27,6 +27,12 @@ class GyroscopeSteering extends BaseDevice {
double _currentRoll = 0.0;
double _currentPitch = 0.0;
// Accelerometer raw data
double _accelX = 0.0;
double _accelY = 0.0;
double _accelZ = 0.0;
bool _hasAccelData = false;
// Time tracking for integration
DateTime? _lastGyroUpdate;
@@ -76,8 +82,11 @@ class GyroscopeSteering extends BaseDevice {
// Reset calibration
_isCalibrated = false;
_hasAccelData = false;
_calibrationSamplesYaw.clear();
_calibrationSamplesRoll.clear();
_calibrationOffsetYaw = 0.0;
_calibrationOffsetRoll = 0.0;
_lastGyroUpdate = null;
} catch (e) {
actionStreamInternal.add(LogNotification('Failed to connect Gyroscope Steering: $e'));
@@ -90,7 +99,7 @@ class GyroscopeSteering extends BaseDevice {
final now = DateTime.now();
// Skip if we haven't received accelerometer data yet
if (_currentPitch == 0.0 && _currentRoll == 0.0) {
if (!_hasAccelData) {
_lastGyroUpdate = now;
return;
}
@@ -127,15 +136,21 @@ class GyroscopeSteering extends BaseDevice {
void _handleAccelerometerEvent(AccelerometerEvent event) {
// Store accelerometer readings for complementary filter
_accelX = event.x;
_accelY = event.y;
_accelZ = event.z;
_hasAccelData = true;
// Calculate roll and pitch from accelerometer
// Assuming phone is in landscape orientation on handlebar
_currentPitch = atan2(event.y, sqrt(event.x * event.x + event.z * event.z)) * (180.0 / pi);
}
double _getAccelRoll() {
// Calculate roll from stored pitch (already calculated from accelerometer)
// This is a simplified approach - in real implementation might need full orientation matrix
return _currentRoll;
// Calculate roll from accelerometer data
// Roll is rotation around the longitudinal axis (phone's length)
// For landscape orientation: roll = atan2(accelY, accelZ)
return atan2(_accelY, _accelZ) * (180.0 / pi);
}
void _collectCalibrationSamples() {
@@ -222,8 +237,13 @@ class GyroscopeSteering extends BaseDevice {
// Send keypresses in sequence with delays between them
for (int i = 0; i < levels; i++) {
await Future.delayed(Duration(milliseconds: KEY_REPEAT_INTERVAL_MS));
// Send keypress immediately on first iteration, then wait before subsequent ones
handleButtonsClicked([button]);
// Don't wait after the last keypress
if (i < levels - 1) {
await Future.delayed(Duration(milliseconds: KEY_REPEAT_INTERVAL_MS));
}
}
_isProcessingKeypresses = false;
@@ -238,6 +258,7 @@ class GyroscopeSteering extends BaseDevice {
_keypressTimer?.cancel();
isConnected = false;
_isCalibrated = false;
_hasAccelData = false;
_calibrationSamplesYaw.clear();
_calibrationSamplesRoll.clear();
actionStreamInternal.add(LogNotification('Gyroscope Steering: Disconnected'));