Removed copyFromSettings(); Added deadband

main/modes/wheelchairmode.cpp

@@ -10,23 +10,11 @@ WheelchairMode wheelchairMode;
 void WheelchairMode::start()
 {
     Base::start();
-
-    copyFromSettings();
 }
 
 // left_right gas
 // front_back brems
 
-void WheelchairMode::copyFromSettings()
-{
-    m_gasMitte = configs.gasMitte.value;
-    m_gasMin = configs.gasMin.value;
-    m_gasMax = configs.gasMax.value;
-    m_bremsMitte = configs.bremsMitte.value;
-    m_bremsMin = configs.bremsMin.value;
-    m_bremsMax = configs.bremsMax.value;
-}
-
 void WheelchairMode::update()
 {
     auto pair = split(profileSettings.defaultMode.modelMode);
@@ -45,8 +33,8 @@ void WheelchairMode::update()
     }
     else
     {
-        const auto left_right = m_gasMin == m_gasMax ? 0 : map_analog_stick(m_gasMitte, m_gasMin, m_gasMax, *raw_gas);
+        const auto left_right = configs.gasMin.value == configs.gasMax.value ? 0 : map_analog_stick(configs.gasMitte.value, configs.gasMin.value, configs.gasMax.value, *raw_gas);
-        const auto front_back = m_bremsMin == m_bremsMax ? 0 : map_analog_stick(m_bremsMitte, m_bremsMin, m_bremsMax, *raw_brems);
+        const auto front_back = configs.bremsMin.value == configs.bremsMax.value ? 0 : map_analog_stick(configs.bremsMitte.value, configs.bremsMin.value, configs.bremsMax.value, *raw_brems);
 
         float local_gas = 0;
         float local_brems = 0;

main/modes/wheelchairmode.h

@@ -26,14 +26,10 @@ public:
     bool waitForGasLoslass{false};
     bool waitForBremsLoslass{false};
 
-    void copyFromSettings();
-
 private:
     espchrono::millis_clock::time_point m_lastTime{espchrono::millis_clock::now()};
     float m_x{0};
     float m_lastPwm{0};
-
-    int16_t m_gasMin, m_gasMax, m_bremsMin, m_bremsMax, m_gasMitte, m_bremsMitte;
 };
 
 namespace modes {

main/newsettings.h

@@ -134,6 +134,7 @@ public:
     ConfigWrapper<int16_t>     bremsMin           {0,                                      DoReset,  MinMaxValue<int16_t, 0, 4095>, "bremsMin"            };
     ConfigWrapper<int16_t>     bremsMax           {4096,                                   DoReset,  MinMaxValue<int16_t, 0, 4095>, "bremsMax"            };
     ConfigWrapper<int16_t>     bremsMitte         {2048,                                   DoReset,  MinMaxValue<int16_t, 0, 4095>, "bremsMiddle"         };
+    ConfigWrapper<uint16_t>    deadband           {20,                                     DoReset,  MinMaxValue<uint16_t, 0, 4095>,"deadband"            };
 
     ConfigWrapper<uint8_t>     dpadDebounce       {25,                                     DoReset,   {},                           "dpadDebounce"        };
 
@@ -427,6 +428,7 @@ public:
     x(bremsMin) \
     x(bremsMax) \
     x(bremsMitte) \
+    x(deadband) \
     \
     x(dpadDebounce) \
     \

main/utils.cpp

@@ -285,8 +285,15 @@ std::string local_clock_string()
 
 int16_t map_analog_stick(uint16_t middle, uint16_t start, uint16_t end, uint16_t raw)
 {
+    if (abs(raw - middle) < configs.deadband.value)
+    {
+        return 0;
+    }
+
     if (raw < middle)
     {
+        raw += configs.deadband.value;
+        end += configs.deadband.value;
         const auto return_val = map(raw, start, middle, -1000, 0);
         if (return_val > 0)
             return 0;
@@ -296,6 +303,8 @@ int16_t map_analog_stick(uint16_t middle, uint16_t start, uint16_t end, uint16_t
     }
     else
     {
+        raw -= configs.deadband.value;
+        end -= configs.deadband.value;
         const auto return_val = map(raw, middle, end, 0, 1000);
         if (return_val < 0)
             return 0;