diff --git a/python_payload/st3m/input.py b/python_payload/st3m/input.py
index 8d199b6395adddb3a64d5673988872a2fae43cf1..00aebf7966ca7e035964e6b4acd1464361200c51 100644
--- a/python_payload/st3m/input.py
+++ b/python_payload/st3m/input.py
@@ -279,7 +279,6 @@ class Pressable:
class TouchableState(Enum):
UP = "up"
BEGIN = "begin"
- RESTING = "resting"
MOVED = "moved"
ENDED = "ended"
@@ -345,16 +344,17 @@ class Touchable:
def __init__(self, ix) -> None:
self._state = self.UP
- self._dis = None
- self._vel = 0j
self._ts_prev = 0
conf = captouch.Config.empty()
self._scroller = widgets.Scroller(
conf, ix, constraint=widgets.constraints.Ellipse()
)
+ # somewhat illegal, just for the backwards hack...
self._scroller.constraint = None
+
self._active_prev = False
+ self._cached_gesture = None
def _update(self, ts: int, petal: captouch.CaptouchPetalState) -> None:
"""
@@ -363,23 +363,20 @@ class Touchable:
self._scroller.think(None, ts - self._ts_prev, petal)
self._ts_prev = ts
+ self._cached_gesture = None
if self._scroller.active:
if self._active_prev == self._scroller.active:
self._state = self.MOVED
- self._dis = self._scroller.pos
else:
self._state = self.BEGIN
- self._vel = 0j
- self._dis = 0j
else:
- if self._active_prev == self._scroller.active:
- self._state = self.UP
- self._dis = None
- else:
- self._state = self.ENDED
- self._vel = self._scroller._vel
+ self._state = self.ENDED
+ if self._scroller.pos or self._scroller._vel:
+ self._cached_gesture = self.current_gesture()
self._scroller.pos = 0j
self._scroller._vel = 0j
+ elif self._active_prev == self._scroller.active:
+ self._state = self.UP
self._active_prev = self._scroller.active
def phase(self) -> TouchableState:
@@ -389,10 +386,12 @@ class Touchable:
return self._state
def current_gesture(self) -> Optional[Gesture]:
- if self._dis is None:
+ if self._cached_gesture:
+ return self._cached_gesture
+ if self._state == self.UP:
return None
- dis = self._dis * 35000
- vel = self._vel * 35000 * 1000
+ dis = self._scroller.pos * 35000
+ vel = self._scroller._vel * 35000 * 1000
return self.Gesture(*[(p.real, p.imag) for p in [dis, vel]])
diff --git a/python_payload/st3m/ui/elements/menus.py b/python_payload/st3m/ui/elements/menus.py
index 8e2e4506e0880e3956849ec8a07bfa9e5e2f01bc..f5bbae1c39d798cd883e881b23d4c753fd488ecc 100644
--- a/python_payload/st3m/ui/elements/menus.py
+++ b/python_payload/st3m/ui/elements/menus.py
@@ -97,8 +97,14 @@ class OSMenu(SimpleMenu):
def __init__(self, items: List[MenuItem]) -> None:
super().__init__(items)
- self.captouch_config = captouch.Config.default()
- self._scroller = widgets.MultiItemScroller(self.captouch_config, petals=[2, 8])
+ self.captouch_config = captouch.Config.empty()
+ for x in range(10):
+ self.captouch_config.petals[x].set_min_mode(1)
+ self.captouch_config.petals[5].mode = 0
+
+ self._scroller = widgets.MultiItemScroller(
+ self.captouch_config, petals=[2, 8], friction=1
+ )
self._scroller.max_item = len(items) - 1
self._scroll_controller = self._FakeScrollController(self._scroller)
self.sensitivity = 1.5
diff --git a/python_payload/st3m/ui/interactions.py b/python_payload/st3m/ui/interactions.py
index 6dc1ec230b84582bdb3942357b415a1c981ab847..c0fb5fd66e912f5ab1ca55adf4f928f8498ba0d7 100644
--- a/python_payload/st3m/ui/interactions.py
+++ b/python_payload/st3m/ui/interactions.py
@@ -207,14 +207,21 @@ class CapScrollController:
"""
Call this in your think() method.
"""
- if t.phase() == t.BEGIN:
- self._grab_start = self.position
- self.momentum = (0.0, 0.0)
-
- if t.phase() == t.MOVED and self._grab_start is not None:
+ if t.phase() == t.UP:
+ rad_p, phi_p = self.position
+ rad_m, phi_m = self.momentum
+ rad_p += rad_m / (1000 / delta_ms)
+ phi_p += phi_m / (1000 / delta_ms)
+ rad_m *= self._damp
+ phi_m *= self._damp
+ self.momentum = (rad_m, phi_m)
+ self.position = (rad_p, phi_p)
+ self._grab_start = None
+ else:
+ if self._grab_start is None:
+ self._grab_start = self.position
move = t.current_gesture()
assert move is not None
- assert self._grab_start is not None
drad, dphi = move.distance
drad /= 1000
dphi /= 1000
@@ -222,20 +229,7 @@ class CapScrollController:
sphi = self._grab_start[1]
self.position = (srad + drad, sphi + dphi)
- if t.phase() == t.ENDED:
- move = t.current_gesture()
- assert move is not None
vrad, vphi = move.velocity
vrad /= 1000
vphi /= 1000
self.momentum = (vrad, vphi)
-
- if t.phase() == t.UP:
- rad_p, phi_p = self.position
- rad_m, phi_m = self.momentum
- rad_p += rad_m / (1000 / delta_ms)
- phi_p += phi_m / (1000 / delta_ms)
- rad_m *= self._damp
- phi_m *= self._damp
- self.momentum = (rad_m, phi_m)
- self.position = (rad_p, phi_p)
diff --git a/python_payload/st3m/ui/widgets/__init__.py b/python_payload/st3m/ui/widgets/__init__.py
index 500cea8153c74268adf907dd48c4e34a6c3b0e95..e72e3bfdd43a9e280fc770c8852e098635f7c0d2 100644
--- a/python_payload/st3m/ui/widgets/__init__.py
+++ b/python_payload/st3m/ui/widgets/__init__.py
@@ -241,6 +241,7 @@ class CaptouchWidget(Widget):
)
def _apply_velocity(self, delta_ms):
+ vel_prev = self._vel
if (not self._vel) or abs(self._vel) < 0.0001:
self._vel = 0j
return False
@@ -437,7 +438,7 @@ class Scroller(PetalWidget):
def _autoclear(self):
self._update_pos()
self._ref = None
- if self._log.length_ms() > 40:
+ if self._log.length_ms() > 27:
start = 0
stop = self._log.length() - 1
if stop > 2:
@@ -446,7 +447,12 @@ class Scroller(PetalWidget):
start = self._log.index_offset_ms(-1, -70)
if self._log.index_offset_ms(start, 20) is not None:
vel = self._log.slope_per_ms(start, stop)
- self._vel = vel * self.gain
+ # gate val experimentally determined on petal 2
+ # optimum might be different for each petal but good enough for now
+ if abs(vel) < 0.01:
+ self._vel = 0
+ else:
+ self._vel = vel * self.gain
self._pos_range = None
# trigger callbacks
self.active = True
@@ -662,30 +668,36 @@ class MultiSlider(CaptouchWidget):
class MultiItemScroller(CaptouchWidget):
- def __init__(self, config, *, petals):
- self._widgets = []
- super().__init__(config)
+ def __init__(self, config, *, petals, gain=1, friction=0.7):
+ super().__init__(config, gain=gain, friction=friction)
self._item = 0
self._max_item = None
+ self._vel = 0
petals = set(petals)
for petal in petals:
if petal not in range(0, 10, 2):
raise ValueError("all petals must be top petals")
- constraint = constraints.Rectangle(100)
+ constraint = constraints.Rectangle()
self._widgets = [
Scroller(
config,
x,
gain=self.gain * captouch.PETAL_ANGLES[x],
- friction=1,
+ friction=self.friction,
constraint=constraint,
)
for x in petals
]
for widget in self._widgets:
widget.ref_precision = 3
+ widget.constraint = None
+
+ def add_to_config(self, config):
+ if hasattr(self, "_widgets"):
+ for widget in self._widgets:
+ widget.add_to_config(config)
@property
def gain(self):
@@ -694,8 +706,22 @@ class MultiItemScroller(CaptouchWidget):
@gain.setter
def gain(self, value):
self._gain = value
- for widget in self._widgets:
- widget.gain = value * captouch.PETAL_ANGLES[widget.petal]
+ if hasattr(self, "_widgets"):
+ for widget in self._widgets:
+ widget.gain = value * captouch.PETAL_ANGLES[widget.petal]
+
+ @property
+ def friction(self):
+ return self._friction
+
+ @friction.setter
+ def friction(self, value):
+ if value != 1:
+ raise ValueError("unfinished widget, friction must be 1 for now, sorry!")
+ self._friction = value
+ if hasattr(self, "_widgets"):
+ for widget in self._widgets:
+ widget.friction = value
@property
def item(self):
@@ -725,10 +751,6 @@ class MultiItemScroller(CaptouchWidget):
self._max_item = val
self.item = self._item
- def add_to_config(self, config):
- for widget in self._widgets:
- widget.add_to_config(config)
-
def on_enter(self):
for widget in self._widgets:
widget.on_enter()
@@ -749,12 +771,30 @@ class MultiItemScroller(CaptouchWidget):
else:
widget.pos = 0j
- offset = self._item + delta - self.pos
- if offset > 4:
- offset = 4
- elif offset < -4:
- offset = -4
- self.pos += offset * (1 - (0.002 ** (delta_ms / 1000)))
+ target = self._item + delta
+
+ delta_ms_phys = delta_ms
+ while delta_ms_phys:
+ if delta_ms_phys < 50:
+ delta_s = delta_ms_phys / 1000
+ delta_ms_phys = 0
+ else:
+ delta_s = 50 / 1000
+ delta_ms_phys -= 50
+ offset = target - self.pos
+ if offset > 4:
+ offset = 4
+ elif offset < -4:
+ offset = -4
+ acc = offset * 175
+ acc -= self._vel * 25
+ # unit: items per second
+ self._vel += acc * delta_s
+ # if self._vel > 8:
+ # self._vel = 8
+ # elif self._vel < -8:
+ # self._vel = -8
+ self.pos += self._vel * delta_s
delta_hyst = int(delta * 1.5)
if delta_hyst: