From eaecfead6390db790b5346e416ea5ee38c33cf98 Mon Sep 17 00:00:00 2001
From: Carlos Puchol <cpg+git@amahi.org>
Date: Wed, 17 Jun 2015 19:06:10 -0700
Subject: [PATCH] golden working code between [-77, 127, 177] range

---
 motor_charz/motor_charz.ino       | 94 +++++++++++++++++++++++++++++++
 robot-xbox-controller-arduino.ino |  8 +--
 2 files changed, 98 insertions(+), 4 deletions(-)
 create mode 100644 motor_charz/motor_charz.ino

diff --git a/motor_charz/motor_charz.ino b/motor_charz/motor_charz.ino
new file mode 100644
index 0000000..ec79791
--- /dev/null
+++ b/motor_charz/motor_charz.ino
@@ -0,0 +1,94 @@
+/*
+ * Robot controller with the Xbox Wireless Receiver library on Arduino
+ */
+
+#include <XBOXRECV.h>
+
+// Satisfy the IDE, which needs to see the include statment in the ino too.
+#ifdef dobogusinclude
+#include <spi4teensy3.h>
+#include <SPI.h>
+#endif
+
+USB Usb;
+XBOXRECV Xbox(&Usb);
+
+uint8_t controlling = 0;
+
+void setup() {
+  Serial.begin(115200);
+#if !defined(__MIPSEL__)
+  while (!Serial); // Wait for serial port to connect - used on Leonardo, Teensy and other boards with built-in USB CDC serial connection
+#endif
+  int done = 0;
+
+  Serial.print(F("\r\nWelcome to the robot controller software!"));
+
+  while (!done) {
+    if (Usb.Init() == -1) {
+      Serial.print(F("\r\nOSC did not start"));
+      delay(2000);
+    } else {
+      done = 1;
+    }
+  }
+  //Xbox.setLedBlink(ALL, 0);
+  Serial.print(F("\r\nPress the Start button to start controlling the robot"));
+}
+
+void loop() {
+  Usb.Task();
+  if (Xbox.XboxReceiverConnected) {
+    process_buttons();
+  }
+}
+
+uint8_t current_motor = 127;
+
+void process_buttons() {
+    for (uint8_t i = 0; i < 4; i++) {
+      if (Xbox.Xbox360Connected[i]) {
+        if (!controlling) {
+          if (Xbox.getButtonClick(START, i)) {
+            Xbox.setLedMode(ALTERNATING, i);
+            controlling = 1;
+          } else {
+            return;
+          }
+        }
+        
+        if (Xbox.getButtonClick(BACK, i) || Xbox.getButtonClick(XBOX, i) || Xbox.getButtonClick(SYNC, i)) {
+          controlling = 0;
+          // stop everything
+          set_motor(127, 127);
+          Xbox.setLedBlink(ALL, i);
+          Serial.print(F("Battery: "));
+          Serial.print(Xbox.getBatteryLevel(i)); // The battery level in the range 0-3
+          return;
+        }
+
+        if (Xbox.getButtonClick(Y, i) && current_motor < 250) {
+          current_motor += 5;
+          set_motor(current_motor, 0);
+        }
+        if (Xbox.getButtonClick(A, i) && current_motor > 0) {
+          current_motor -= 5;
+          set_motor(current_motor, 0);
+        }
+      }
+    }
+}
+
+
+void set_motor(uint8_t left, uint8_t right) {
+  // FIXME -- do motor control here
+  Serial.print(F("L: "));
+  Serial.print(left);
+  Serial.print(F("\t\tR: "));
+  Serial.print(right);
+  Serial.println();
+  analogWrite(2, left);
+  analogWrite(3, right);
+}
+
+
diff --git a/robot-xbox-controller-arduino.ino b/robot-xbox-controller-arduino.ino
index 9412950..b46fe0f 100644
--- a/robot-xbox-controller-arduino.ino
+++ b/robot-xbox-controller-arduino.ino
@@ -79,21 +79,21 @@ void process_buttons() {
 }
 
 // dead zone threshold for the xbox joystick
-#define DEAD_ZONE_THRESHOLD 5000
+#define DEAD_ZONE_THRESHOLD 6000
 
-int16_t c2m_scale(int16_t stick) {
+uint8_t c2m_scale(int16_t stick) {
   // establish a deadzone
   if (abs(stick) < DEAD_ZONE_THRESHOLD) {
     stick = 0;
   }
 
   // make it range from 0 to 250 or so
-  int8_t ret = stick/260 + 126;
+  uint8_t ret = stick/656 + 127;
 
   return ret;
 }
 
-void set_motor(int8_t left, int8_t right) {
+void set_motor(uint8_t left, uint8_t right) {
   // FIXME -- do motor control here
   Serial.print(F("L: "));
   Serial.print(left);