From d5bbad6f1d983aa46368dcd334b2a31b80184d7a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=D0=98=D0=B2=D0=B0=D0=BD=20=D0=93=D1=80=D0=B0=D1=87=D1=91?=
 =?UTF-8?q?=D0=B2?= <igrachev@smart-ts.ru>
Date: Sun, 19 Sep 2021 19:51:10 +0500
Subject: [PATCH] Fixed target values bug

---
 koptilnya/grip_steering/main.txt    | 91 +++++++++++++++++++++++++++++
 koptilnya/grip_steering/slave.txt   | 25 ++++++++
 koptilnya/input_system/cl_input.txt | 28 ++++++---
 3 files changed, 136 insertions(+), 8 deletions(-)
 create mode 100644 koptilnya/grip_steering/main.txt
 create mode 100644 koptilnya/grip_steering/slave.txt

diff --git a/koptilnya/grip_steering/main.txt b/koptilnya/grip_steering/main.txt
new file mode 100644
index 0000000..df2b42e
--- /dev/null
+++ b/koptilnya/grip_steering/main.txt
@@ -0,0 +1,91 @@
+-- @name Grip Steering
+-- @author DarkSupah
+-- @server
+-- @include ./slave.txt
+Steering = class('Steering')
+
+require('./slave.txt')
+
+local options = {
+    Camber = 0,
+    Caster = 85,
+    Ackermann = 10,
+    Lock = 50
+}
+
+function Steering:_adjustPorts()
+    local inputs = {
+        Axles = 'table',
+        Base = 'entity',
+        LeftSlave = 'entity',
+        RightSlave = 'entity'
+    }
+
+    local outputs = {
+        SteerAngle = 'number',
+        TargetAngle = 'number'
+    }
+
+    wire.adjustPorts(inputs, outputs)
+end
+
+function Steering:_createSlaves()
+    local entities = {wire.ports.LeftSlave, wire.ports.RightSlave}
+    local slaves = {}
+
+    for k, v in pairs(entities) do
+        local slave = Slave:new({
+            Entity = v,
+            IsLeft = k % 2 == 1,
+            Base = wire.ports.Base,
+            Camber = self.slavesConfig.Camber,
+            Caster = self.slavesConfig.Caster,
+            Ackermann = self.slavesConfig.Ackermann
+        })
+
+        table.insert(self.slaves, slave)
+    end
+end
+
+function Steering:_updateOutputs()
+    wire.ports.TargetAngle = self.targetAngle
+end
+
+function Steering:initialize(options)
+    options = options or {}
+
+    self.slavesConfig = {
+        Camber = options.Camber,
+        Caster = options.Caster,
+        Ackermann = options.Ackermann
+    }
+
+    self.lock = 50
+
+    self.targetAngle = 0
+    self.angle = 0
+
+    self.slaves = {}
+
+    self:_adjustPorts()
+    self:_createSlaves()
+end
+
+function Steering:update()
+    local horizontal = wire.ports.Axles.Horizontal.Value
+
+    self.targetAngle = horizontal * self.lock
+    self.angle = -horizontal * self.lock
+
+    for k, v in pairs(self.slaves) do
+        v:rotate(self.angle)
+    end
+
+    self:_updateOutputs()
+end
+
+local steering = Steering:new(options)
+
+hook.add('think', 'SteeringUpdate', function()
+    steering:update()
+end)
diff --git a/koptilnya/grip_steering/slave.txt b/koptilnya/grip_steering/slave.txt
new file mode 100644
index 0000000..a5e125d
--- /dev/null
+++ b/koptilnya/grip_steering/slave.txt
@@ -0,0 +1,25 @@
+Slave = class('Slave')
+
+function Slave:initialize(options)
+    options = options or {}
+
+    self.entity = options.Entity
+    self.base = options.Base
+
+    self.camber = options.Camber
+    self.caster = options.Caster
+    self.ackermann = options.Ackermann
+    self.isLeft = options.IsLeft
+end
+
+function Slave:rotate(ang)
+    if self.entity:isFrozen() == false then
+        self.entity:setFrozen(1)
+    end
+
+    local angle = Angle(0, ang, 0)
+    local transformedAngle = self.base:localToWorldAngles(angle)
+
+    self.entity:setAngles(transformedAngle)
+    -- rotate slave here
+end
diff --git a/koptilnya/input_system/cl_input.txt b/koptilnya/input_system/cl_input.txt
index ef00bfa..3d48cd0 100644
--- a/koptilnya/input_system/cl_input.txt
+++ b/koptilnya/input_system/cl_input.txt
@@ -7,22 +7,35 @@ Input = class('Input')
 function Input:_setupHooks()
     hook.add('inputPressed', 'KeyPress', function(key)
         if self.driver == CURRENT_PLAYER then
-            self:_trySetTargetValue(key, 'press')
+            self:_trySetTargetValue(key)
         end
     end)
 
     hook.add('inputReleased', 'KeyRelease', function(key)
         if self.driver == CURRENT_PLAYER then
-            self:_trySetTargetValue(key, 'release')
+            self:_trySetTargetValue(key)
         end
     end)
 end
 
-function Input:_trySetTargetValue(key, evt)
+function Input:bothKeysHolding(axle)
+    return (input.isKeyDown(axle.Positive) == true) and (input.isKeyDown(axle.Negative) == true)
+end
+
+function Input:noKeysHolding(axle)
+    return (input.isKeyDown(axle.Positive) == false) and (input.isKeyDown(axle.Negative) == false)
+end
+
+function Input:getAxleValue(axle)
+    return (input.isKeyDown(axle.Positive) and 1 or 0) - (input.isKeyDown(axle.Negative) and 1 or 0)
+end
+
+function Input:_trySetTargetValue(key)
     local triggeredKey = self.keys[key]
 
     if triggeredKey ~= nil then
-        local targetValue = evt == 'press' and triggeredKey.Value or 0
+        local triggeredAxle = self.axles[triggeredKey.Axle]
+        local targetValue = self:getAxleValue(triggeredAxle)
 
         net.start('SetTargetAxle')
         net.writeString(triggeredKey.Axle)
@@ -40,13 +53,11 @@ end
 function Input:_mapKeys(axles)
     for k, v in pairs(axles) do
         self.keys[v.Negative] = {
-            Axle = k,
-            Value = -1
+            Axle = k
         }
 
         self.keys[v.Positive] = {
-            Axle = k,
-            Value = 1
+            Axle = k
         }
     end
 end
@@ -55,6 +66,7 @@ end
 
 function Input:initialize(options)
     options = options or {}
+    self.axles = options.Axles
     self.keys = {}
     self.driver = NULL_ENTITY