Jamie
5 years ago
committed by
Scott Lahteine
Scott Lahteine
118 changed files with 1986 additions and 446 deletions
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/**
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* Marlin 3D Printer Firmware |
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* |
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* Based on Sprinter and grbl. |
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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* |
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*/ |
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/**
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* joystick.cpp - joystick input / jogging |
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*/ |
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#include "../inc/MarlinConfigPre.h" |
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#if ENABLED(JOYSTICK) |
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#include "joystick.h" |
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#include "../inc/MarlinConfig.h" // for pins |
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#include "../module/planner.h" |
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#include "../module/temperature.h" |
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Joystick joystick; |
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#if HAS_JOY_ADC_X |
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temp_info_t Joystick::x; // = { 0 }
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#endif |
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#if HAS_JOY_ADC_Y |
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temp_info_t Joystick::y; // = { 0 }
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#endif |
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#if HAS_JOY_ADC_Z |
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temp_info_t Joystick::z; // = { 0 }
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#endif |
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#if ENABLED(JOYSTICK_DEBUG) |
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void Joystick::report() { |
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SERIAL_ECHOPGM("Joystick"); |
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#if HAS_JOY_ADC_X |
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SERIAL_ECHOPAIR(" X", x.raw); |
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#endif |
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#if HAS_JOY_ADC_Y |
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SERIAL_ECHOPAIR(" Y", y.raw); |
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#endif |
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#if HAS_JOY_ADC_Z |
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SERIAL_ECHOPAIR(" Z", z.raw); |
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#endif |
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#if HAS_JOY_ADC_EN |
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SERIAL_ECHO_TERNARY(READ(JOY_EN_PIN), " EN=", "HIGH (dis", "LOW (en", "abled)"); |
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#endif |
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SERIAL_EOL(); |
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} |
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#endif |
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void Joystick::calculate(float norm_jog[XYZ]) { |
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// Do nothing if enable pin (active-low) is not LOW
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#if HAS_JOY_ADC_EN |
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if (READ(JOY_EN_PIN)) return; |
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#endif |
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auto _normalize_joy = [](float &adc, const int16_t raw, const int16_t (&joy_limits)[4]) { |
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if (WITHIN(raw, joy_limits[0], joy_limits[3])) { |
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// within limits, check deadzone
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if (raw > joy_limits[2]) |
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adc = (raw - joy_limits[2]) / float(joy_limits[3] - joy_limits[2]); |
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else if (raw < joy_limits[1]) |
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adc = (raw - joy_limits[1]) / float(joy_limits[1] - joy_limits[0]); // negative value
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} |
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}; |
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#if HAS_JOY_ADC_X |
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static constexpr int16_t joy_x_limits[4] = JOY_X_LIMITS; |
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_normalize_joy(norm_jog[X_AXIS], x.raw, joy_x_limits); |
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#endif |
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#if HAS_JOY_ADC_Y |
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static constexpr int16_t joy_y_limits[4] = JOY_Y_LIMITS; |
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_normalize_joy(norm_jog[Y_AXIS], y.raw, joy_y_limits); |
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#endif |
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#if HAS_JOY_ADC_Z |
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static constexpr int16_t joy_z_limits[4] = JOY_Z_LIMITS; |
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_normalize_joy(norm_jog[Z_AXIS], z.raw, joy_z_limits); |
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#endif |
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} |
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#if ENABLED(POLL_JOG) |
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void Joystick::inject_jog_moves() { |
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// Recursion barrier
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static bool injecting_now; // = false;
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if (injecting_now) return; |
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static constexpr int QUEUE_DEPTH = 5; // Insert up to this many movements
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static constexpr float target_lag = 0.25f, // Aim for 1/4 second lag
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seg_time = target_lag / QUEUE_DEPTH; // 0.05 seconds, short segments inserted every 1/20th of a second
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static constexpr millis_t timer_limit_ms = millis_t(seg_time * 500); // 25 ms minimum delay between insertions
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// The planner can merge/collapse small moves, so the movement queue is unreliable to control the lag
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static millis_t next_run = 0; |
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if (PENDING(millis(), next_run)) return; |
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next_run = millis() + timer_limit_ms; |
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// Only inject a command if the planner has fewer than 5 moves and there are no unparsed commands
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if (planner.movesplanned() >= QUEUE_DEPTH || queue.has_commands_queued()) |
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return; |
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// Normalized jog values are 0 for no movement and -1 or +1 for as max feedrate (nonlinear relationship)
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// Jog are initialized to zero and handling input can update values but doesn't have to
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// You could use a two-axis joystick and a one-axis keypad and they might work together
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float norm_jog[XYZ] = { 0 }; |
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// Use ADC values and defined limits. The active zone is normalized: -1..0 (dead) 0..1
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joystick.calculate(norm_jog); |
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// Other non-joystick poll-based jogging could be implemented here
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// with "jogging" encapsulated as a more general class.
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// Jogging value maps continuously (quadratic relationship) to feedrate
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float move_dist[XYZ] = { 0 }, hypot2 = 0; |
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LOOP_XYZ(i) if (norm_jog[i]) { |
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move_dist[i] = seg_time * sq(norm_jog[i]) * planner.settings.max_feedrate_mm_s[i]; |
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// Very small movements disappear when printed as decimal with 4 digits of precision
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NOLESS(move_dist[i], 0.0002f); |
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if (norm_jog[i] < 0) move_dist[i] *= -1; // preserve sign
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hypot2 += sq(move_dist[i]); |
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} |
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if (!UNEAR_ZERO(hypot2)) { |
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LOOP_XYZ(i) current_position[i] += move_dist[i]; |
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const float length = sqrt(hypot2); |
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injecting_now = true; |
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planner.buffer_line(current_position, length / seg_time, active_extruder, length); |
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injecting_now = false; |
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} |
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} |
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#endif // POLL_JOG
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#endif // JOYSTICK
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@ -0,0 +1,53 @@ |
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/**
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* Marlin 3D Printer Firmware |
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* |
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* Based on Sprinter and grbl. |
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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* |
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*/ |
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#pragma once |
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/**
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* joystick.h - joystick input / jogging |
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*/ |
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#include "../core/macros.h" |
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#include "../module/temperature.h" |
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//#define JOYSTICK_DEBUG
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class Joystick { |
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friend class Temperature; |
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private: |
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#if HAS_JOY_ADC_X |
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static temp_info_t x; |
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#endif |
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#if HAS_JOY_ADC_Y |
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static temp_info_t y; |
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#endif |
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#if HAS_JOY_ADC_Z |
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static temp_info_t z; |
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#endif |
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public: |
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#if ENABLED(JOYSTICK_DEBUG) |
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static void report(); |
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#endif |
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static void calculate(float norm_jog[XYZ]); |
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static void inject_jog_moves(); |
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}; |
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extern Joystick joystick; |
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