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Implemented direct joystick logs #1

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alexanderlindquis merged 1 commit into from
Oct 27, 2025
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Implemented direct joystick logs #1

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15 changes: 15 additions & 0 deletions MicrocontrollerCode/include/JoystickFunctions.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,13 +15,28 @@ struct RefSpeed {
int8_t rightSpeed; ///< Speed of the right wheel.
};

/**
* Struct representing the reference displace
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*/
struct RefDisplacement {
int8_t longDisp; ///< Forward/Backward displacement with + indicating forward
int8_t latDisp; ///< Side to side displacement with + indicating right
Comment on lines +21 to +23

@coderabbitai coderabbitai Bot Oct 15, 2025

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⚠️ Potential issue | 🔴 Critical

Critical: int8_t will overflow with raw ADC displacement values.

Based on the implementation in MicrocontrollerCode/src/JoystickFunctions.cpp (lines 29-30), the displacement calculation produces values in the range of approximately -4400 to +4400 (from ADC readings 0-17390 minus offset 12900). Storing these in int8_t fields (range: -128 to 127) will cause severe integer overflow, resulting in incorrect displacement data being transmitted.

Apply this diff to use an appropriate integer type:

 struct RefDisplacement {
-    int8_t longDisp;      ///< Forward/Backward displacement with + indicating forward
-    int8_t latDisp;     ///< Side to side displacement with + indicating right
+    int16_t longDisp;      ///< Forward/Backward displacement with + indicating forward
+    int16_t latDisp;     ///< Side to side displacement with + indicating right
 };

Note: You'll also need to update the corresponding message field types in the ROS message definition to match.

};

/**
* Reads a value from the joystick connected to the ADC and returns the reference speeds
* @param adc An instance of the adc the joystick is connected to
* @return A RefSpeed for the wheelchair containing the wheel speeds and the direction
*/
RefSpeed joystickToSpeed(Adafruit_ADS1115 &adc);

/**
* Reads a value from the joystick connected to the ADC and returns the reference displacement
* @param adc An instance of the adc the joystick is connected to
* @return A RefDisplacement for the joystick
*/
RefDisplacement joystickToDisplacement(Adafruit_ADS1115 &adc);

template <typename T>
/**
* Custom clamp function to keep a value between to values
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22 changes: 22 additions & 0 deletions MicrocontrollerCode/src/JoystickFunctions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,28 @@
int diffParam = 30;
int deadzoneParam = 30;

RefDisplacement joystickToDisplacement(Adafruit_ADS1115 &adc){
int forwardJoystick = adc.readADC_SingleEnded(0); //a0 is forward/backward
int sidewaysJoystick = adc.readADC_SingleEnded(1); //a1 is left/right

RefDisplacement displacements;
/*
* Joystick middle values: ~8500
* a0 middle value: ~8500
* a1 middle value: ~8300
* a0 deadzone 10000 - 6500
* a1 deadzone 11000 - 6000
* Joystick Min: 0
* Joystick Max: 17390
* Output is a value -100 to 100 for the speed of the motor
*/

//Converting the speeds so they start around 0 and then go positive and negative
displacements.longDisp = forwardJoystick - (8500+4400); //The second value is used to zero it out when the ADC gain is set to 0 instead of the default (2/3)
displacements.latDisp = sidewaysJoystick - (8400+4400);
return displacements;
}
Comment on lines +12 to +32

@coderabbitai coderabbitai Bot Oct 15, 2025

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⚠️ Potential issue | 🔴 Critical

Critical: Integer overflow and misleading comment.

This function has multiple critical issues:

  1. Integer overflow: The calculation forwardJoystick - (8500+4400) produces values in the range of approximately -4400 to +4400 (from ADC readings 0-17390 minus offset 12900), but these are assigned to int8_t fields (range: -128 to 127) in the RefDisplacement struct. This will cause severe overflow, corrupting the displacement data.

  2. Misleading comment: Line 25 states "Output is a value -100 to 100 for the speed of the motor" but the function neither scales to this range nor relates to motor speed—it's displacement data. The comment appears to be copy-pasted from joystickToSpeed without updating.

  3. No normalization: Unlike joystickToSpeed which normalizes and scales to ±100, this function returns raw centered ADC values without any processing.

Apply this diff to normalize displacement to a ±100 range and fix the comment:

 RefDisplacement joystickToDisplacement(Adafruit_ADS1115 &adc){
     int forwardJoystick = adc.readADC_SingleEnded(0); //a0 is forward/backward
     int sidewaysJoystick = adc.readADC_SingleEnded(1); //a1 is left/right
 
     RefDisplacement displacements;
     /*
      * Joystick middle values: ~8500
      * a0 middle value: ~8500
      * a1 middle value: ~8300
      * a0 deadzone 10000 - 6500
      * a1 deadzone 11000 - 6000
      * Joystick Min: 0
      * Joystick Max: 17390
-     * Output is a value -100 to 100 for the speed of the motor
+     * Output is a value -100 to 100 for joystick displacement
      */
 
-    //Converting the speeds so they start around 0 and then go positive and negative
-    displacements.longDisp = forwardJoystick - (8500+4400); //The second value is used to zero it out when the ADC gain is set to 0 instead of the default (2/3)
-    displacements.latDisp = sidewaysJoystick - (8400+4400);
+    // Center the joystick values around 0
+    forwardJoystick = forwardJoystick - (8500+4400);
+    sidewaysJoystick = sidewaysJoystick - (8400+4400);
+    
+    // Normalize to -100 to 100 range
+    const float MAX_INPUT = 13000.0f;
+    float longNorm = constrain(forwardJoystick / MAX_INPUT, -1.0f, 1.0f);
+    float latNorm = constrain(sidewaysJoystick / MAX_INPUT, -1.0f, 1.0f);
+    
+    displacements.longDisp = (int8_t)roundf(longNorm * 100.0f);
+    displacements.latDisp = (int8_t)roundf(latNorm * 100.0f);
     return displacements;
 }

Alternative: If you need the full raw ADC range, change the struct fields to int16_t as suggested in the header file review and keep the raw values. Choose based on whether downstream consumers need raw ADC values or normalized joystick position.

📝 Committable suggestion

‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.

Suggested change
RefDisplacement joystickToDisplacement(Adafruit_ADS1115 &adc){
int forwardJoystick = adc.readADC_SingleEnded(0); //a0 is forward/backward
int sidewaysJoystick = adc.readADC_SingleEnded(1); //a1 is left/right
RefDisplacement displacements;
/*
* Joystick middle values: ~8500
* a0 middle value: ~8500
* a1 middle value: ~8300
* a0 deadzone 10000 - 6500
* a1 deadzone 11000 - 6000
* Joystick Min: 0
* Joystick Max: 17390
* Output is a value -100 to 100 for the speed of the motor
*/
//Converting the speeds so they start around 0 and then go positive and negative
displacements.longDisp = forwardJoystick - (8500+4400); //The second value is used to zero it out when the ADC gain is set to 0 instead of the default (2/3)
displacements.latDisp = sidewaysJoystick - (8400+4400);
return displacements;
}
RefDisplacement joystickToDisplacement(Adafruit_ADS1115 &adc){
int forwardJoystick = adc.readADC_SingleEnded(0); //a0 is forward/backward
int sidewaysJoystick = adc.readADC_SingleEnded(1); //a1 is left/right
RefDisplacement displacements;
/*
* Joystick middle values: ~8500
* a0 middle value: ~8500
* a1 middle value: ~8300
* a0 deadzone 10000 - 6500
* a1 deadzone 11000 - 6000
* Joystick Min: 0
* Joystick Max: 17390
* Output is a value -100 to 100 for joystick displacement
*/
// Center the joystick values around 0
forwardJoystick = forwardJoystick - (8500 + 4400);
sidewaysJoystick = sidewaysJoystick - (8400 + 4400);
// Normalize to -100 to 100 range
const float MAX_INPUT = 13000.0f;
float longNorm = constrain(forwardJoystick / MAX_INPUT, -1.0f, 1.0f);
float latNorm = constrain(sidewaysJoystick / MAX_INPUT, -1.0f, 1.0f);
displacements.longDisp = (int8_t)roundf(longNorm * 100.0f);
displacements.latDisp = (int8_t)roundf(latNorm * 100.0f);
return displacements;
}


RefSpeed joystickToSpeed(Adafruit_ADS1115 &adc){
int forwardJoystick = adc.readADC_SingleEnded(0); //a0 is forward/backward
int sidewaysJoystick = adc.readADC_SingleEnded(1); //a1 is left/right
Expand Down
8 changes: 6 additions & 2 deletions MicrocontrollerCode/src/main.cpp
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Expand Up @@ -104,10 +104,14 @@ void loop() {
//TODO might want to figure out how to put these on core1 so that they can run in parallel
//uint32_t start = millis();
RefSpeed omegaRef{};
RefDisplacement thetaRef{};
if (!joystick_adc_error) {
omegaRef = joystickToSpeed(joystickAdc);
thetaRef = joystickToDisplacement(joystickAdc);
}




//uint32_t joystickTime = millis() - start;
USData usDistances{};
Expand Down Expand Up @@ -147,7 +151,7 @@ void loop() {

microRosTick();

transmitMsg(omegaRef, usDistances, pirSensors, fanSpeeds, imuData);
transmitMsg(thetaRef,omegaRef, usDistances, pirSensors, fanSpeeds, imuData);

if (currentMillis - lastErrorTime >= error_timer) {
lastErrorTime = currentMillis;
Expand All @@ -160,7 +164,7 @@ void loop() {
#elif ROS_DEBUG


transmitMsg(omegaRef);
transmitMsg(thetaRef,omegaRef);


#elif DEBUG
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8 changes: 6 additions & 2 deletions MicrocontrollerCode/src/microRosFunctions.cpp
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Expand Up @@ -373,7 +373,9 @@ static void lidar_subscription_callback(const void *msgin){
}

#ifdef ROS
void transmitMsg(RefSpeed omegaRef, USData ultrasonicData, PIRSensors pirSensors, FanSpeeds fanSpeeds, IMUData imuData) {
void transmitMsg(RefDisplacement thetaRef, RefSpeed omegaRef, USData ultrasonicData, PIRSensors pirSensors, FanSpeeds fanSpeeds, IMUData imuData) {
sensorMsg.long_disp = thetaRef.longDisp;
sensorMsg.lat_disp = thetaRef.latDisp;
sensorMsg.left_speed = omegaRef.leftSpeed;
sensorMsg.right_speed = omegaRef.rightSpeed;
sensorMsg.ultrasonic_front_0 = ultrasonicData.us_front_0;
Expand Down Expand Up @@ -406,9 +408,11 @@ void transmitMsg(RefSpeed omegaRef, USData ultrasonicData, PIRSensors pirSensors

#elif ROS_DEBUG

void transmitMsg(RefSpeed omegaRef){
void transmitMsg(RefDisplacement thetaRef, RefSpeed omegaRef){
msg.left_speed = omegaRef.leftSpeed;
msg.right_speed = omegaRef.rightSpeed;
msg.long_disp = thetaRef.longDisp;
msg.lat_disp = thetaRef.latDisp;

RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(10)));
}
Expand Down