(DA) Internet of Things and Smart Electronics- ELE3006M2122 / Mbed 2 deprecated Project-Target-Localization

Resit Target Localisation Ciaran Kane 18689005

Dependencies:   mbed

Joystick/Joystick.h@7:acf82069b794, 23 months ago (annotated)

Committer:
ciarankane123
Date:
Thu Aug 25 13:50:39 2022 +0000
Revision:
7:acf82069b794
Final Code;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ciarankane123 7:acf82069b794 1 #ifndef JOYSTICK_H
ciarankane123 7:acf82069b794 2 #define JOYSTICK_H
ciarankane123 7:acf82069b794 3
ciarankane123 7:acf82069b794 4 #include "mbed.h"
ciarankane123 7:acf82069b794 5
ciarankane123 7:acf82069b794 6 // this value can be tuned to alter tolerance of joystick movement
ciarankane123 7:acf82069b794 7 #define TOL 0.1f
ciarankane123 7:acf82069b794 8 #define RAD2DEG 57.2957795131f
ciarankane123 7:acf82069b794 9
ciarankane123 7:acf82069b794 10 enum Direction {
ciarankane123 7:acf82069b794 11 CENTRE, // 0
ciarankane123 7:acf82069b794 12 N, // 1
ciarankane123 7:acf82069b794 13 NE, // 2
ciarankane123 7:acf82069b794 14 E, // 3
ciarankane123 7:acf82069b794 15 SE, // 4
ciarankane123 7:acf82069b794 16 S, // 5
ciarankane123 7:acf82069b794 17 SW, // 6
ciarankane123 7:acf82069b794 18 W, // 7
ciarankane123 7:acf82069b794 19 NW // 8
ciarankane123 7:acf82069b794 20 };
ciarankane123 7:acf82069b794 21
ciarankane123 7:acf82069b794 22 struct Vector2D {
ciarankane123 7:acf82069b794 23 float x;
ciarankane123 7:acf82069b794 24 float y;
ciarankane123 7:acf82069b794 25 };
ciarankane123 7:acf82069b794 26
ciarankane123 7:acf82069b794 27 struct Polar {
ciarankane123 7:acf82069b794 28 float mag;
ciarankane123 7:acf82069b794 29 float angle;
ciarankane123 7:acf82069b794 30 };
ciarankane123 7:acf82069b794 31
ciarankane123 7:acf82069b794 32 /** Joystick Class
ciarankane123 7:acf82069b794 33 @brief Acknowledgements to Dr Craig A. Evans, University of Leeds
ciarankane123 7:acf82069b794 34 @brief Library for interfacing with analogue joystick
ciarankane123 7:acf82069b794 35 @upgraded Dr Edmond Nurellari, University of Lincoln
ciarankane123 7:acf82069b794 36
ciarankane123 7:acf82069b794 37 Example:
ciarankane123 7:acf82069b794 38
ciarankane123 7:acf82069b794 39 @code
ciarankane123 7:acf82069b794 40
ciarankane123 7:acf82069b794 41 #include "mbed.h"
ciarankane123 7:acf82069b794 42 #include "Joystick.h"
ciarankane123 7:acf82069b794 43
ciarankane123 7:acf82069b794 44 // y x button
ciarankane123 7:acf82069b794 45 Joystick joystick(PTB10,PTB11,PTC16);
ciarankane123 7:acf82069b794 46
ciarankane123 7:acf82069b794 47 int main() {
ciarankane123 7:acf82069b794 48
ciarankane123 7:acf82069b794 49 joystick.init();
ciarankane123 7:acf82069b794 50
ciarankane123 7:acf82069b794 51 while(1) {
ciarankane123 7:acf82069b794 52
ciarankane123 7:acf82069b794 53 Vector2D coord = joystick.get_coord();
ciarankane123 7:acf82069b794 54 printf("Coord = %f,%f\n",coord.x,coord.y);
ciarankane123 7:acf82069b794 55
ciarankane123 7:acf82069b794 56 Vector2D mapped_coord = joystick.get_mapped_coord();
ciarankane123 7:acf82069b794 57 printf("Mapped coord = %f,%f\n",mapped_coord.x,mapped_coord.y);
ciarankane123 7:acf82069b794 58
ciarankane123 7:acf82069b794 59 float mag = joystick.get_mag();
ciarankane123 7:acf82069b794 60 float angle = joystick.get_angle();
ciarankane123 7:acf82069b794 61 printf("Mag = %f Angle = %f\n",mag,angle);
ciarankane123 7:acf82069b794 62
ciarankane123 7:acf82069b794 63 Direction d = joystick.get_direction();
ciarankane123 7:acf82069b794 64 printf("Direction = %i\n",d);
ciarankane123 7:acf82069b794 65
ciarankane123 7:acf82069b794 66 if (joystick.button_pressed() ) {
ciarankane123 7:acf82069b794 67 printf("Button Pressed\n");
ciarankane123 7:acf82069b794 68 }
ciarankane123 7:acf82069b794 69
ciarankane123 7:acf82069b794 70 wait(0.5);
ciarankane123 7:acf82069b794 71 }
ciarankane123 7:acf82069b794 72
ciarankane123 7:acf82069b794 73
ciarankane123 7:acf82069b794 74 }
ciarankane123 7:acf82069b794 75
ciarankane123 7:acf82069b794 76 * @endcode
ciarankane123 7:acf82069b794 77 */
ciarankane123 7:acf82069b794 78 class Joystick
ciarankane123 7:acf82069b794 79 {
ciarankane123 7:acf82069b794 80 public:
ciarankane123 7:acf82069b794 81
ciarankane123 7:acf82069b794 82 // y-pot x-pot button
ciarankane123 7:acf82069b794 83 Joystick(PinName vertPin,PinName horizPin,PinName clickPin);
ciarankane123 7:acf82069b794 84
ciarankane123 7:acf82069b794 85 void init(); // needs to be called at start with joystick centred
ciarankane123 7:acf82069b794 86 float get_mag(); // polar
ciarankane123 7:acf82069b794 87 float get_angle(); // polar
ciarankane123 7:acf82069b794 88 Vector2D get_coord(); // cartesian co-ordinates x,y
ciarankane123 7:acf82069b794 89 Vector2D get_mapped_coord(); // x,y mapped to circle
ciarankane123 7:acf82069b794 90 Direction get_direction(); // N,NE,E,SE etc.
ciarankane123 7:acf82069b794 91 Polar get_polar(); // mag and angle in struct form
ciarankane123 7:acf82069b794 92 bool button_pressed(); // read button flag set in ISR when button pressed
ciarankane123 7:acf82069b794 93
ciarankane123 7:acf82069b794 94 private:
ciarankane123 7:acf82069b794 95
ciarankane123 7:acf82069b794 96 AnalogIn *vert;
ciarankane123 7:acf82069b794 97 AnalogIn *horiz;
ciarankane123 7:acf82069b794 98 InterruptIn *click;
ciarankane123 7:acf82069b794 99
ciarankane123 7:acf82069b794 100 int _click_flag; // flag set in ISR
ciarankane123 7:acf82069b794 101 void click_isr(); // ISR on button press
ciarankane123 7:acf82069b794 102
ciarankane123 7:acf82069b794 103 // centred x,y values
ciarankane123 7:acf82069b794 104 float _x0;
ciarankane123 7:acf82069b794 105 float _y0;
ciarankane123 7:acf82069b794 106
ciarankane123 7:acf82069b794 107 };
ciarankane123 7:acf82069b794 108
ciarankane123 7:acf82069b794 109 #endif