A busy long-weekend rebuilding and improving the machine
A few weeks back I got the reins input working, with all the necessary transform and connection steps required. If you like, the plumbing connection has now been made. But the plumbing isn't perfect yet -- there are some knocking pipes, if you will. So I thought I would try to fix some of the more annoying issues, while it is still fresh in my mind. In particular, there can be lag of a second or more when turning. The lag comes because I have made a simple Pulse Width Modulation scheme to implement turns of various sharpness. So for a sharp turn, it will basically try to hold the appropriate key down the whole time, while for a gentle turn, it will just stab at the key every now and then. This is based on a 1 second cycle, where some fraction of that second will be with the key down, and the remainder of the time with it released. One of the problems of this arises when you increase or decrease the sharpness of the turn, because you have to wait for the current 1 second cycle