조종 튜닝 오리지널 버전

a.java

ublic void onValueChanged(int angle, int power, int direction) {
                // TODO Auto-generated method stub
                JSONObject json1 = new JSONObject();
                float left = 10000, right = 10000;

                try {
                    if(power == 0) {
                        json1.put("left", 0);
                        json1.put("right", 0);
                    }
                    else {
                        float normalPower = power;
                        Button tglTurbo = (Button)findViewById(R.id.tglTurbo);
                        if(tglTurbo.getText().equals("LOW")) {
                            normalPower *= 2.0/4.0 / 100.0f;

                        }
                        if(tglTurbo.getText().equals("MID")) {
                            normalPower *= 3.0/4.0 / 100.0f;

                        }
                        if(tglTurbo.getText().equals("HIGH")) {
                            normalPower *= 4.0/4.0 / 100.0f;

                        }
//                        normalPower *= 4.0/4.0 / 100.0f;
                        angle = (int)constrainAngle360((int)angle);
                        Log.i("stick", "angle : " +angle + ".." + power);
                        // 낮을수록 선회속도가 낮음
                        float turningAdjust = 100.0f;
                        int straightRange = 15;
                        int turningRange = 85;
                        int rotateRange = 50;
                        int backRange = 60;
                        assert(straightRange*2 + turningRange*2 + rotateRange*2 + backRange == 360);
                        // 직진
                        if(360 - straightRange <= angle || angle < straightRange) {
                            left = 1.0f * normalPower * 1.f;
                            right = 1.0f * normalPower * 1.f;
                            json1.put("left", (int)(left * 960));
                            json1.put("right", (int)(right * 960));
                        }
                        // 선회
                        else if(straightRange <= angle && angle < straightRange + turningRange) {
//                            normalPower -= angle / turningAdjust;
                            left = 1.0f * normalPower;
//                            right = 1.0f * normalPower;
                            // angle = [15, 100)
                            right = (1.f - angle / turningAdjust) * normalPower;
                            json1.put("left", (int)(left * 960));
                            json1.put("right", (int)(right * 960));
                        }
                        // 제자리 돌기
                        else if(straightRange + turningRange <= angle && angle < straightRange + turningRange + rotateRange) {
                            left = 1.0f * normalPower * 960.f * 0.32f;
                            right = -normalPower * 960.f * 0.32f;
                            json1.put("left", left);
                            json1.put("right", right);
                        }
                        // 빠꾸
                        else if(straightRange + turningRange + rotateRange <= angle && angle < straightRange + turningRange + rotateRange + backRange) {
                            json1.put("left",-normalPower * 960.f * 0.5f);
                            json1.put("right", -normalPower * 960.f * 0.5f);
                        }
                        // 제자리 돌기
                        else if(straightRange + turningRange + rotateRange + backRange <= angle && angle < straightRange + turningRange + rotateRange + backRange + rotateRange) {
                            left = -normalPower * 960.f * 0.32f;
                            right = normalPower * 960.f * 0.32f;
                            json1.put("left", left);
                            json1.put("right", right);
                        }
                        // 선회
                        else if(straightRange + turningRange + rotateRange + backRange + rotateRange <= angle) {
                            // left = (1 + angle / 90)
                            // right = 1.0
//                            left = 1.f * normalPower;
                            float minusAngle = 360 - angle;
                            left = (1.f - minusAngle / turningAdjust) * normalPower;
                            right = 1.f * normalPower;
                            json1.put("left", (int)(left * 960));
                            json1.put("right", (int)(right * 960));
                        }
                        else {
                            json1.put("left", 0);
                            json1.put("right", 0);
                        }
                    }
                }
                catch (JSONException e) {
                    e.printStackTrace();
                }
                sendControlToRobot((short) 98, json1);
            }
        }, JoystickView.DEFAULT_LOOP_INTERVAL / 10);