Remove unused parameter and extract branching behaviour
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4ff5ff2772
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@ -133,24 +133,18 @@ bool IMUGyroscope::CanCalibrate() const
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return ControlReference::GetInputGate();
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}
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std::optional<IMUGyroscope::StateData> IMUGyroscope::GetState(bool update)
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std::optional<IMUGyroscope::StateData> IMUGyroscope::GetState()
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{
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if (!AreInputsBound())
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{
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if (update)
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{
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// Set calibration to zero.
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m_calibration = {};
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RestartCalibration();
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}
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return std::nullopt;
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return AreInputsBound() ? GetStateInternal() : Reset();
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}
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std::optional<IMUGyroscope::StateData> IMUGyroscope::GetStateInternal()
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{
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auto state = GetRawState();
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// Alternatively we could open the control gate around GetRawState() while calibrating,
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// but that would imply background input would temporarily be treated differently for our controls
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if (update && CanCalibrate())
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if (CanCalibrate())
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UpdateCalibration(state);
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state -= m_calibration;
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@ -162,6 +156,14 @@ std::optional<IMUGyroscope::StateData> IMUGyroscope::GetState(bool update)
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return state;
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}
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std::nullopt_t IMUGyroscope::Reset()
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{
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// Set calibration to zero.
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m_calibration = {};
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RestartCalibration();
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return std::nullopt;
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}
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ControlState IMUGyroscope::GetDeadzone() const
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{
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return m_deadzone_setting.GetValue() / 360 * MathUtil::TAU;
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@ -23,7 +23,7 @@ public:
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StateData GetRawState() const;
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// Also updates the state by default
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std::optional<StateData> GetState(bool update = true);
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std::optional<StateData> GetState();
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// Value is in rad/s.
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ControlState GetDeadzone() const;
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@ -35,6 +35,8 @@ private:
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bool AreInputsBound() const;
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bool CanCalibrate() const;
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std::nullopt_t Reset();
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std::optional<StateData> GetStateInternal();
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void RestartCalibration();
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void UpdateCalibration(const StateData&);
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