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Merged
Mysticial merged 1 commit into from
Dec 31, 2025
Merged

PBF: more conversions for left joystick uint8 to float #967

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28 changes: 14 additions & 14 deletions SerialPrograms/Source/PokemonLA/Programs/General/PokemonLA_MMORoutines.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,8 +62,8 @@ std::set<std::string> enter_region_and_read_MMO(
// on map. But when you land in a region, the initial location is a camp, the map cursor
// will show a text box "xxx Camp - Take a rest or do some crafting". This may occlude some
// MMO question marks. So we have to move the map cursor away after we land in the region.
uint8_t map_cursor_move_x = 0;
uint8_t map_cursor_move_y = 0;
double map_cursor_move_x = 0;
double map_cursor_move_y = 0;
const Milliseconds map_cursor_move_duration = 400ms;

for(size_t i = 0; i < 5; i++){
Expand All @@ -73,36 +73,36 @@ std::set<std::string> enter_region_and_read_MMO(
region = MapRegion::FIELDLANDS;
location = TravelLocations::instance().Fieldlands_Fieldlands;
camp = Camp::FIELDLANDS_FIELDLANDS;
map_cursor_move_x = 128;
map_cursor_move_y = 0;
map_cursor_move_x = 0;
map_cursor_move_y = +1;
break;
case 1:
region = MapRegion::MIRELANDS;
location = TravelLocations::instance().Mirelands_Mirelands;
camp = Camp::MIRELANDS_MIRELANDS;
map_cursor_move_x = 0;
map_cursor_move_y = 128;
map_cursor_move_x = -1;
map_cursor_move_y = 0;
break;
case 2:
region = MapRegion::COASTLANDS;
location = TravelLocations::instance().Coastlands_Beachside;
camp = Camp::COASTLANDS_BEACHSIDE;
map_cursor_move_x = 0;
map_cursor_move_y = 128;
map_cursor_move_x = -1;
map_cursor_move_y = 0;
break;
case 3:
region = MapRegion::HIGHLANDS;
location = TravelLocations::instance().Highlands_Highlands;
camp = Camp::HIGHLANDS_HIGHLANDS;
map_cursor_move_x = 128;
map_cursor_move_y = 255;
map_cursor_move_x = 0;
map_cursor_move_y = -1;
break;
case 4:
region = MapRegion::ICELANDS;
location = TravelLocations::instance().Icelands_Snowfields;
camp = Camp::ICELANDS_SNOWFIELDS;
map_cursor_move_x = 128;
map_cursor_move_y = 255;
map_cursor_move_x = 0;
map_cursor_move_y = -1;
break;
}
}
Expand Down Expand Up @@ -141,7 +141,7 @@ std::set<std::string> enter_region_and_read_MMO(
}

// Move cursor away so that it does not show a text box that occludes MMO sprites.
pbf_move_left_joystick_old(context, map_cursor_move_x, map_cursor_move_y, map_cursor_move_duration, 240ms);
pbf_move_left_joystick(context, {map_cursor_move_x, map_cursor_move_y}, map_cursor_move_duration, 240ms);
context.wait_for_all_requests();

// Fix Missions & Requests tab:
Expand Down Expand Up @@ -242,7 +242,7 @@ std::set<std::string> enter_region_and_read_MMO(
}

// Move cursor away so that it does not show a text box that occludes MMO sprites.
pbf_move_left_joystick_old(context, map_cursor_move_x, map_cursor_move_y, map_cursor_move_duration, 240ms);
pbf_move_left_joystick(context, {map_cursor_move_x, map_cursor_move_y}, map_cursor_move_duration, 240ms);
context.wait_for_all_requests();

std::set<std::string> found;
Expand Down
6 changes: 3 additions & 3 deletions SerialPrograms/Source/PokemonSV/Inference/Overworld/PokemonSV_OliveDetector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -195,8 +195,8 @@ ImageFloatBox OliveDetector::align_to_olive(

uint16_t push_duration_ticks = std::max(uint16_t((std::abs(diff_from_center) + 0.02) * scale_factor / (olive_y)), uint16_t(15));
Milliseconds push_duration = push_duration_ticks * 8ms;
double push_magnitude = 128; // std::max(double(128 / (i + 1)), double(20)); // push less with each iteration/attempt
uint8_t push_x = uint8_t(std::max(std::min(int(128 + (push_direction * push_magnitude)), 255), 0));
double push_magnitude = 1; // std::max(double(128 / (i + 1)), double(20)); // push less with each iteration/attempt
double push_x = std::max(std::min(push_direction * push_magnitude, 1.0), -1.0);
stream.log("scale_factor: " + std::to_string(scale_factor));
stream.log("push x: " + std::to_string(push_x) + ", push duration: " + std::to_string(push_duration.count()) + "ms");
// pbf_wait(context, 800ms);
Expand All @@ -205,7 +205,7 @@ ImageFloatBox OliveDetector::align_to_olive(
wait_ticks = 100;
}
Milliseconds wait_duration = wait_ticks * 8ms;
pbf_move_left_joystick_old(context, push_x, 128, push_duration, wait_duration);
pbf_move_left_joystick(context, {push_x, 0}, push_duration, wait_duration);
prev_push_direction = push_direction;


Expand Down
10 changes: 5 additions & 5 deletions SerialPrograms/Source/PokemonSV/Programs/AutoStory/PokemonSV_AutoStoryTools.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1924,23 +1924,23 @@ bool move_player_to_realign_via_yolo(
// if (std::abs(diff) < 0.05){
// duration_scale_factor /= 2;
// }
double push_magnitude_scale_factor = 60 / std::sqrt(std::abs(diff));
double push_magnitude_scale_factor = 0.46875 / std::sqrt(std::abs(diff));

uint16_t push_duration_ticks = std::max(uint16_t(std::abs(diff * duration_scale_factor)), uint16_t(8));
Milliseconds push_duration = push_duration_ticks * 8ms;
int16_t push_direction = (diff > 0) ? -1 : 1;
double push_magnitude = std::max(double(std::abs(diff * push_magnitude_scale_factor)), double(15));
uint8_t x_push = uint8_t(std::max(std::min(int(128 + (push_direction * push_magnitude)), 255), 0));
double push_magnitude = std::max(double(std::abs(diff * push_magnitude_scale_factor)), 0.117);
double x_push = std::max(std::min(push_direction * push_magnitude, +1.0), -1.0);

// env.console.log("object_x: {" + std::to_string(target_box.x) + ", " + std::to_string(target_box.y) + ", " + std::to_string(target_box.width) + ", " + std::to_string(target_box.height) + "}");
// env.console.log("object_x_pos: " + std::to_string(object_x_pos));
env.console.log("x push: " + std::to_string(x_push) + ", push duration: " + std::to_string(push_duration.count()) + "ms");
if (i == 0){
pbf_move_left_joystick_old(context, x_push, 128, 80ms, 400ms);
pbf_move_left_joystick(context, {x_push, 0}, 80ms, 400ms);
pbf_press_button(context, BUTTON_R, 160ms, 840ms);
}

pbf_move_left_joystick_old(context, x_push, 128, push_duration, 0ms);
pbf_move_left_joystick(context, {x_push, 0}, push_duration, 0ms);

});

Expand Down
12 changes: 6 additions & 6 deletions SerialPrograms/Source/PokemonSV/Programs/Glitches/PokemonSV_WildItemFarmer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -257,10 +257,10 @@ void WildItemFarmer::run_program(SingleSwitchProgramEnvironment& env, ProControl
assert_16_9_720p_min(env.logger(), env.console);
WildItemFarmer_Descriptor::Stats& stats = env.current_stats<WildItemFarmer_Descriptor::Stats>();

const std::vector<std::pair<int, int>> MANUVERS{
{128, 0},
{96, 0},
{160, 0},
const std::vector<std::pair<double, double>> MANUVERS{
{0, +1},
{-0.25, +1},
{+0.25, +1},
};

uint16_t items_cloned = 0;
Expand Down Expand Up @@ -325,8 +325,8 @@ void WildItemFarmer::run_program(SingleSwitchProgramEnvironment& env, ProControl

pbf_press_button(context, BUTTON_L, 160ms, 184ms);
if (ENABLE_FORWARD_RUN){
const std::pair<int, int>& direction = MANUVERS[consecutive_throw_attempts];
pbf_move_left_joystick_old(context, (uint8_t)direction.first, (uint8_t)direction.second, 400ms, 0ms);
const std::pair<double, double>& direction = MANUVERS[consecutive_throw_attempts];
pbf_move_left_joystick(context, {direction.first, direction.second}, 400ms, 0ms);
}
pbf_mash_button(context, BUTTON_ZR, 2000ms);
pbf_wait(context, 2800ms);
Expand Down
18 changes: 9 additions & 9 deletions SerialPrograms/Source/PokemonSV/Programs/PokemonSV_WorldNavigation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -389,8 +389,8 @@ void move_cursor_to_position_offset_from_flypoint(const ProgramInfo& info, Video
const double dif_x = (closest_icon_x - expected_x) * 1920;
const double dif_y = (closest_icon_y - expected_y) * 1080;
const double magnitude = std::max(std::sqrt(closest_dist2), 1.0);
double push_x = dif_x * 64 / magnitude;
double push_y = dif_y * 64 / magnitude;
double push_x = dif_x * 0.5 / magnitude;
double push_y = dif_y * 0.5 / magnitude;

double scale = 0.29;
if (closest_dist2 < 1000){ // if we're already very close to the target, reduce push velocity and push duration
Expand All @@ -414,12 +414,12 @@ void move_cursor_to_position_offset_from_flypoint(const ProgramInfo& info, Video
break;
}

const uint8_t move_x = uint8_t(std::max(std::min(int(round(push_x + 128) + 0.5), 255), 0));
const uint8_t move_y = uint8_t(std::max(std::min(int(round(push_y + 128) + 0.5), 255), 0));
const double move_x = std::max(std::min(push_x, 1.0), -1.0);
const double move_y = -std::max(std::min(push_y, 1.0), -1.0);

const uint16_t push_time_ticks = std::max(uint16_t(magnitude * scale + 0.5), uint16_t(3));
Milliseconds push_time = push_time_ticks * 8ms;
pbf_move_left_joystick_old(context, move_x, move_y, push_time, 240ms);
pbf_move_left_joystick(context, {move_x, move_y}, push_time, 240ms);
context.wait_for_all_requests();
}

Expand Down Expand Up @@ -475,18 +475,18 @@ bool detect_closest_flypoint_and_move_map_cursor_there(
const double dif_x = (closest_icon_x - center_x) * 1920/ screen_width;
const double dif_y = (closest_icon_y - center_y) * 1080/ screen_height;
const double magnitude = std::max(std::sqrt(max_dist), 1.0);
const double push_x = dif_x * 64 / magnitude, push_y = dif_y * 64 / magnitude;
const double push_x = dif_x * 0.5 / magnitude, push_y = dif_y * 0.5 / magnitude;

// 0.5 is too large, 0.25 a little too small, 0.30 is a bit too much for a far-away pokecenter
const double scale = push_scale;

const uint8_t move_x = uint8_t(std::max(std::min(int(round(push_x + 128) + 0.5), 255), 0));
const uint8_t move_y = uint8_t(std::max(std::min(int(round(push_y + 128) + 0.5), 255), 0));
const double move_x = std::max(std::min(push_x, +1.0), -1.0);
const double move_y = -std::max(std::min(push_y, +1.0), -1.0);

stream.overlay().add_log("Move Cursor to PokeCenter", COLOR_WHITE);
const uint16_t push_time_ticks = std::max(uint16_t(magnitude * scale + 0.5), uint16_t(3));
Milliseconds push_time = push_time_ticks * 8ms;
pbf_move_left_joystick_old(context, move_x, move_y, push_time, 240ms);
pbf_move_left_joystick(context, {move_x, move_y}, push_time, 240ms);
context.wait_for_all_requests();
return true;
}
Expand Down
12 changes: 6 additions & 6 deletions SerialPrograms/Source/PokemonSV/Programs/Sandwiches/PokemonSV_SandwichRoutines.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -404,8 +404,8 @@ HandMoveData move_sandwich_hand_and_check_if_plates_empty(
stream.log("Start moving sandwich hand: " + SANDWICH_HAND_TYPE_NAMES(hand_type)
+ " start box " + box_to_string(start_box) + " end box " + box_to_string(end_box));

uint8_t joystick_x = 128;
uint8_t joystick_y = 128;
double joystick_x = 0;
double joystick_y = 0;

SandwichHandWatcher hand_watcher(hand_type, start_box);

Expand Down Expand Up @@ -520,7 +520,7 @@ HandMoveData move_sandwich_hand_and_check_if_plates_empty(

// We assume for a screen distance of 4 (1/4 of the width), we can use max joystick push, 128.
// So for distance of value 1.0, we multiply by 32 to get joystick push
double target_joystick_push = std::min(distance * 32, 128.0);
double target_joystick_push = std::min(distance * 0.25, 1.0);

std::pair<double, double> push(real_dif.first * target_joystick_push / distance, real_dif.second * target_joystick_push / distance);
// console.log("push force " + std::to_string(push.first) + ", " + std::to_string(push.second));
Expand All @@ -541,8 +541,8 @@ HandMoveData move_sandwich_hand_and_check_if_plates_empty(
push.second += damped_push_offset.second;
}

joystick_x = (uint8_t) std::max(std::min(int(push.first + 0.5) + 128, 255), 0);
joystick_y = (uint8_t) std::max(std::min(int(push.second + 0.5) + 128, 255), 0);
joystick_x = std::max(std::min(push.first, +1.0), -1.0);
joystick_y = -std::max(std::min(push.second, +1.0), -1.0);
// console.log("joystick push " + std::to_string(joystick_x) + ", " + std::to_string(joystick_y));

// Dispatch a new series of commands that overwrites the last ones
Expand All @@ -552,7 +552,7 @@ HandMoveData move_sandwich_hand_and_check_if_plates_empty(
// pbf_controller_state(context, BUTTON_A, DPAD_NONE, joystick_x, joystick_y, 128, 128, 20);
ssf_press_button(context, BUTTON_A, 0ms, 8000ms, 0ms);
}
pbf_move_left_joystick_old(context, joystick_x, joystick_y, 160ms, 0ms);
pbf_move_left_joystick(context, {joystick_x, joystick_y}, 160ms, 0ms);
});

stream.log("Moved joystick");
Expand Down
29 changes: 15 additions & 14 deletions SerialPrograms/Source/PokemonSV/Programs/ShinyHunting/PokemonSV_AreaZeroPlatform.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@

#include <algorithm>
#include <cmath>
#include "Controllers/JoystickTools.h"
#include "Common/Cpp/PrettyPrint.h"
#include "Kernels/Waterfill/Kernels_Waterfill_Session.h"
#include "CommonFramework/VideoPipeline/VideoFeed.h"
Expand Down Expand Up @@ -317,25 +318,25 @@ void area_zero_platform_run_path0(
find_and_center_on_sky(env, stream, context);
pbf_move_right_joystick(context, {0, -1}, 560ms, 0ms);

uint8_t x = 128;
double x = 0;
switch (iteration_count % 4){
case 0:
x = 96;
x = -0.25;
duration = 2000ms;
break;
case 1:
x = 112;
x = -0.125;
break;
case 2:
x = 128;
x = 0;
break;
case 3:
x = 112;
x = -0.125;
break;
}

ssf_press_button(context, BUTTON_L, 0ms, 160ms);
pbf_move_left_joystick_old(context, x, 0, duration, 0ms);
pbf_move_left_joystick(context, {x, +1}, duration, 0ms);
});
use_lets_go_to_clear_in_front(stream, context, tracker, true, [&](ProControllerContext& context){
pbf_move_left_joystick(context, {0, -1}, duration, 4000ms);
Expand Down Expand Up @@ -381,24 +382,24 @@ void area_zero_platform_run_path1(

// Move forward.

uint8_t x = 128;
double x = 0;
switch (iteration_count % 4){
case 0:
x = 96;
x = -0.25;
duration = 2000ms;
break;
case 1:
x = 112;
x = -0.125;
break;
case 2:
x = 128;
x = 0;
break;
case 3:
x = 112;
x = -0.125;
break;
}

pbf_move_left_joystick_old(context, x, 0, duration, 0ms);
pbf_move_left_joystick(context, {x, +1}, duration, 0ms);
});

stream.log("Run backwards and wait...");
Expand Down Expand Up @@ -450,7 +451,7 @@ void choose_path(
void turn_angle(ProControllerContext& context, double angle_radians){
uint8_t turn_x, turn_y;
direction_to_stick(turn_x, turn_y, -std::sin(angle_radians), std::cos(angle_radians));
pbf_move_left_joystick_old(context, turn_x, turn_y, 320ms, 160ms);
pbf_move_left_joystick(context, {JoystickTools::linear_u8_to_float(turn_x), -JoystickTools::linear_u8_to_float(turn_y)}, 320ms, 160ms);
pbf_mash_button(context, BUTTON_L, 480ms);
}

Expand Down Expand Up @@ -487,7 +488,7 @@ void area_zero_platform_run_path2(

choose_path(stream.logger(), move_x, move_y, duration, platform_x, platform_y);

pbf_move_left_joystick_old(context, move_x, move_y, 320ms, 160ms);
pbf_move_left_joystick(context, {JoystickTools::linear_u8_to_float(move_x), JoystickTools::linear_u8_to_float(move_y)}, 320ms, 160ms);
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@Mysticial Mysticial Dec 31, 2025

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I'm testing platform bot right now and something isn't quite right. I think the Y-axis here needs to be negated. Testing that now.

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@jw098 jw098 Dec 31, 2025

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You're right. My bad. I negated the first one in that same file, but didn't do the second one.

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@Mysticial Mysticial Dec 31, 2025

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Yup that was it. I'll merge this, then immediately merge a (bigger) fix for this file.

pbf_mash_button(context, BUTTON_L, 480ms);
// pbf_wait(context, 1250);
});
Expand Down
2 changes: 1 addition & 1 deletion SerialPrograms/Source/PokemonSwSh/Programs/EggPrograms/PokemonSwSh_EggHatcher.cpp
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Expand Up @@ -148,7 +148,7 @@ void EggHatcher::program(SingleSwitchProgramEnvironment& env, ProControllerConte
fly_home(context, false);

// Travel to spin location.
pbf_move_left_joystick_old(context, STICK_MAX, STICK_CENTER, TRAVEL_RIGHT_DURATION, 0ms);
pbf_move_left_joystick(context, {+1, 0}, TRAVEL_RIGHT_DURATION, 0ms);

// Spin
#if 0
Expand Down
8 changes: 5 additions & 3 deletions ...ms/Source/PokemonSwSh/Programs/OverworldBot/PokemonSwSh_ShinyHuntAutonomous-Overworld.cpp
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Expand Up @@ -5,6 +5,7 @@
*/

#include <cmath>
#include "Controllers/JoystickTools.h"
#include "Common/Cpp/PrettyPrint.h"
#include "CommonFramework/Notifications/ProgramNotifications.h"
#include "CommonTools/Async/InferenceRoutines.h"
Expand Down Expand Up @@ -298,6 +299,8 @@ bool ShinyHuntAutonomousOverworld::charge_at_target(
);

const Trajectory& trajectory = target.second.trajectory;
double stick_x = JoystickTools::linear_u8_to_float(trajectory.joystick_x);
double stick_y = -JoystickTools::linear_u8_to_float(trajectory.joystick_y);
double angle = std::atan2(
(double)trajectory.joystick_y - 128,
(double)trajectory.joystick_x - 128
Expand Down Expand Up @@ -325,10 +328,9 @@ bool ShinyHuntAutonomousOverworld::charge_at_target(
stream, context,
[&](ProControllerContext& context){
// Move to target.
pbf_move_left_joystick_old(
pbf_move_left_joystick(
context,
trajectory.joystick_x,
trajectory.joystick_y,
{stick_x, stick_y},
duration, 0ms
);

Expand Down