Improve controller code

App/JS/client.js

@@ -1,54 +1,67 @@
-
-var net = require('net')
-var client = new net.Socket()
+var net = require('net');
+var client = new net.Socket();
 
 function terminateConnection(connection) {
-	connection.write("01-0000")
-	connection.write("02-0000")
-	connection.write("03-0000")
-	connection.write("04-0000")
-
+	connection.write("010000");
+	connection.write("020000");
+	connection.write("030000");
+	connection.write("040000");
+}
 
 function axisValue(dynamixel, axis) {
-	var gamepad = navigator.getGamepads()[0]
-	var val = Math.round((gamepad.axes[axis]+1) * 512)
-	//if (dynamixel == 1 || dynamixel == 3) {
-	//	val -= 1024
-	//}
-	var out = ""
+	var gamepad = navigator.getGamepads()[0];
+	var val = Math.round((gamepad.axes[axis]+1) * 512);
+
+	if (val < 0 || val > 1024) {
+		console.error("Controller value is out of bounds! (" + val + ")");
+	}
+
+	//Logic to make controller value proper
+	if (val <= 512) {
+		val = (val - 512) * -2;
+	} else if (val < 512) {
+		val <<= 1;
+	}
+
+	var out = "";
 	if (val < 10) {
-		out += "000"
-		out += val
+		out += "000";
+		out += val;
 	} else if (val < 100) {
-		out += "00"
-		out += val
+		out += "00";
+		out += val;
 	} else if (val < 1000) {
-		out += "0"
-		out += val
+		out += "0";
+		out += val;
 	} else {
-		out += val
+		out += val;
 	}
-	return out
+
+	return out;
 }
 
 function sleep(ms) {
-  return new Promise(resolve => setTimeout(resolve, ms));
+	return new Promise(resolve => setTimeout(resolve, ms));
 }
+
 async function pollGamepad(interval) {
-  while (true) {
-    client.write('01-' + axisValue(1, 3))
-    await sleep(interval)
-    client.write('02-' + axisValue(2, 1))
-    await sleep(interval)
-    client.write('03-' + axisValue(3, 3))
-    await sleep(interval)
-    client.write('04-' + axisValue(4, 1))
+	while (true) {
+		console.log(axisValue(2, 1));
+		client.write('01-' + axisValue(1, 3));
+		await sleep(interval);
+		client.write('02' + axisValue(2, 1));
+		await sleep(interval);
+		client.write('03-' + axisValue(3, 3));
+		await sleep(interval);
+		client.write('04' + axisValue(4, 1));
+	}
 }
+
 client.connect(9999, '192.168.100.1', function() {
-  window.addEventListener("gamepadconnected", function(event) {
-    pollGamepad(100)
-  })
-})
+	window.addEventListener("gamepadconnected", function(event) {
+		pollGamepad(100);
+	});
+});
 
 // client.on('close', function(){
 // 	console.warn("Client terminated connection!")