ELEC2645 (2016/17) / Mbed 2 deprecated 2645_Project_el15as

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Dependencies:   mbed

Gamepad/Gamepad.h@15:e3fc18eb519e, 2017-05-05 (annotated)

Committer:
el15as
Date:
Fri May 05 12:14:48 2017 +0000
Revision:
15:e3fc18eb519e
Final version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
el15as 15:e3fc18eb519e 1 #ifndef GAMEPAD_H
el15as 15:e3fc18eb519e 2 #define GAMEPAD_H
el15as 15:e3fc18eb519e 3
el15as 15:e3fc18eb519e 4 #include <bitset>
el15as 15:e3fc18eb519e 5
el15as 15:e3fc18eb519e 6 // Forward declaration of the classes that we use from the mbed library
el15as 15:e3fc18eb519e 7 // This avoids the need for us to include the huge mbed.h header inside our
el15as 15:e3fc18eb519e 8 // own library API
el15as 15:e3fc18eb519e 9 namespace mbed
el15as 15:e3fc18eb519e 10 {
el15as 15:e3fc18eb519e 11 class AnalogIn;
el15as 15:e3fc18eb519e 12 class InterruptIn;
el15as 15:e3fc18eb519e 13 class PwmOut;
el15as 15:e3fc18eb519e 14 class Timeout;
el15as 15:e3fc18eb519e 15 }
el15as 15:e3fc18eb519e 16
el15as 15:e3fc18eb519e 17 #define TOL 0.1f
el15as 15:e3fc18eb519e 18 #define RAD2DEG 57.2957795131f
el15as 15:e3fc18eb519e 19
el15as 15:e3fc18eb519e 20 /** Enum for direction */
el15as 15:e3fc18eb519e 21 enum Direction {
el15as 15:e3fc18eb519e 22 CENTRE, /**< joystick centred */
el15as 15:e3fc18eb519e 23 N, /**< pushed North (0)*/
el15as 15:e3fc18eb519e 24 NE, /**< pushed North-East (45) */
el15as 15:e3fc18eb519e 25 E, /**< pushed East (90) */
el15as 15:e3fc18eb519e 26 SE, /**< pushed South-East (135) */
el15as 15:e3fc18eb519e 27 S, /**< pushed South (180) */
el15as 15:e3fc18eb519e 28 SW, /**< pushed South-West (225) */
el15as 15:e3fc18eb519e 29 W, /**< pushed West (270) */
el15as 15:e3fc18eb519e 30 NW /**< pushed North-West (315) */
el15as 15:e3fc18eb519e 31 };
el15as 15:e3fc18eb519e 32
el15as 15:e3fc18eb519e 33 /** Vector 2D struct */
el15as 15:e3fc18eb519e 34 struct Vector2D {
el15as 15:e3fc18eb519e 35 float x; /**< float for x value */
el15as 15:e3fc18eb519e 36 float y; /**< float for y value */
el15as 15:e3fc18eb519e 37 };
el15as 15:e3fc18eb519e 38
el15as 15:e3fc18eb519e 39 /** Vector 2D struct with integers*/
el15as 15:e3fc18eb519e 40 struct intVector2D {
el15as 15:e3fc18eb519e 41 int x; /**< int for x value */
el15as 15:e3fc18eb519e 42 int y; /**< int for y value */
el15as 15:e3fc18eb519e 43 };
el15as 15:e3fc18eb519e 44
el15as 15:e3fc18eb519e 45 /** Polar coordinate struct */
el15as 15:e3fc18eb519e 46 struct Polar {
el15as 15:e3fc18eb519e 47 float mag; /**< float for magnitude */
el15as 15:e3fc18eb519e 48 float angle; /**< float for angle (in degrees) */
el15as 15:e3fc18eb519e 49 };
el15as 15:e3fc18eb519e 50
el15as 15:e3fc18eb519e 51 /** Gamepad Class
el15as 15:e3fc18eb519e 52 @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
el15as 15:e3fc18eb519e 53 @author Dr Craig A. Evans
el15as 15:e3fc18eb519e 54 @author Dr Alex Valanvanis
el15as 15:e3fc18eb519e 55 @date Febraury 2017
el15as 15:e3fc18eb519e 56 */
el15as 15:e3fc18eb519e 57 class Gamepad
el15as 15:e3fc18eb519e 58 {
el15as 15:e3fc18eb519e 59 public:
el15as 15:e3fc18eb519e 60 /** Gamepad events
el15as 15:e3fc18eb519e 61 * @brief List of events that can be registered on the gamepad
el15as 15:e3fc18eb519e 62 */
el15as 15:e3fc18eb519e 63 enum GamepadEvent {
el15as 15:e3fc18eb519e 64 A_PRESSED, ///< Button A has been pressed
el15as 15:e3fc18eb519e 65 B_PRESSED, ///< Button B has been pressed
el15as 15:e3fc18eb519e 66 X_PRESSED, ///< Button X has been pressed
el15as 15:e3fc18eb519e 67 Y_PRESSED, ///< Button Y has been pressed
el15as 15:e3fc18eb519e 68 L_PRESSED, ///< Button L has been pressed
el15as 15:e3fc18eb519e 69 R_PRESSED, ///< Button R has been pressed
el15as 15:e3fc18eb519e 70 BACK_PRESSED, ///< Button "Back" has been pressed
el15as 15:e3fc18eb519e 71 START_PRESSED, ///< Button "Start" has been pressed
el15as 15:e3fc18eb519e 72 JOY_PRESSED, ///< Joystick button has been pressed
el15as 15:e3fc18eb519e 73 N_EVENTS ///< A dummy flag that marks the end of the list
el15as 15:e3fc18eb519e 74 };
el15as 15:e3fc18eb519e 75 private:
el15as 15:e3fc18eb519e 76 mbed::PwmOut *_led1;
el15as 15:e3fc18eb519e 77 mbed::PwmOut *_led2;
el15as 15:e3fc18eb519e 78 mbed::PwmOut *_led3;
el15as 15:e3fc18eb519e 79 mbed::PwmOut *_led4;
el15as 15:e3fc18eb519e 80 mbed::PwmOut *_led5;
el15as 15:e3fc18eb519e 81 mbed::PwmOut *_led6;
el15as 15:e3fc18eb519e 82
el15as 15:e3fc18eb519e 83 mbed::InterruptIn *_button_A;
el15as 15:e3fc18eb519e 84 mbed::InterruptIn *_button_B;
el15as 15:e3fc18eb519e 85 mbed::InterruptIn *_button_X;
el15as 15:e3fc18eb519e 86 mbed::InterruptIn *_button_Y;
el15as 15:e3fc18eb519e 87 mbed::InterruptIn *_button_L;
el15as 15:e3fc18eb519e 88 mbed::InterruptIn *_button_R;
el15as 15:e3fc18eb519e 89 mbed::InterruptIn *_button_back;
el15as 15:e3fc18eb519e 90 mbed::InterruptIn *_button_start;
el15as 15:e3fc18eb519e 91 mbed::InterruptIn *_button_joystick;
el15as 15:e3fc18eb519e 92
el15as 15:e3fc18eb519e 93 mbed::AnalogIn *_vert;
el15as 15:e3fc18eb519e 94 mbed::AnalogIn *_horiz;
el15as 15:e3fc18eb519e 95
el15as 15:e3fc18eb519e 96 mbed::PwmOut *_buzzer;
el15as 15:e3fc18eb519e 97 mbed::AnalogIn *_pot;
el15as 15:e3fc18eb519e 98
el15as 15:e3fc18eb519e 99 mbed::Timeout *_timeout;
el15as 15:e3fc18eb519e 100
el15as 15:e3fc18eb519e 101 std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
el15as 15:e3fc18eb519e 102
el15as 15:e3fc18eb519e 103 // centred x,y values
el15as 15:e3fc18eb519e 104 float _x0;
el15as 15:e3fc18eb519e 105 float _y0;
el15as 15:e3fc18eb519e 106
el15as 15:e3fc18eb519e 107 public:
el15as 15:e3fc18eb519e 108
el15as 15:e3fc18eb519e 109 /** Constructor */
el15as 15:e3fc18eb519e 110 Gamepad();
el15as 15:e3fc18eb519e 111
el15as 15:e3fc18eb519e 112 /** Destructor */
el15as 15:e3fc18eb519e 113 ~Gamepad();
el15as 15:e3fc18eb519e 114
el15as 15:e3fc18eb519e 115 /** Initialise all peripherals and configure interrupts */
el15as 15:e3fc18eb519e 116 void init();
el15as 15:e3fc18eb519e 117
el15as 15:e3fc18eb519e 118 /** Turn all LEDs on */
el15as 15:e3fc18eb519e 119 void leds_on();
el15as 15:e3fc18eb519e 120
el15as 15:e3fc18eb519e 121 /** Turn all LEDs off */
el15as 15:e3fc18eb519e 122 void leds_off();
el15as 15:e3fc18eb519e 123
el15as 15:e3fc18eb519e 124 /** Set all LEDs to duty-cycle
el15as 15:e3fc18eb519e 125 *@param value in range 0.0 to 1.0
el15as 15:e3fc18eb519e 126 */
el15as 15:e3fc18eb519e 127 void leds(float val) const;
el15as 15:e3fc18eb519e 128
el15as 15:e3fc18eb519e 129 /** Set LED to duty-cycle
el15as 15:e3fc18eb519e 130 *@param led number (0 to 5)
el15as 15:e3fc18eb519e 131 *@param value in range 0.0 to 1.0
el15as 15:e3fc18eb519e 132 */
el15as 15:e3fc18eb519e 133 void led(int n,float val) const;
el15as 15:e3fc18eb519e 134
el15as 15:e3fc18eb519e 135 /** Read potentiometer
el15as 15:e3fc18eb519e 136 *@returns potentiometer value in range 0.0 to 1.0
el15as 15:e3fc18eb519e 137 */
el15as 15:e3fc18eb519e 138 float read_pot() const;
el15as 15:e3fc18eb519e 139
el15as 15:e3fc18eb519e 140 /** Play tone on piezo
el15as 15:e3fc18eb519e 141 * @param frequency in Hz
el15as 15:e3fc18eb519e 142 * @param duration of tone in seconds
el15as 15:e3fc18eb519e 143 */
el15as 15:e3fc18eb519e 144 void tone(float frequency, float duration);
el15as 15:e3fc18eb519e 145
el15as 15:e3fc18eb519e 146 /**
el15as 15:e3fc18eb519e 147 * @brief Check whether an event flag has been set and clear it
el15as 15:e3fc18eb519e 148 * @param id[in] The ID of the event to test
el15as 15:e3fc18eb519e 149 * @return true if the event occurred
el15as 15:e3fc18eb519e 150 */
el15as 15:e3fc18eb519e 151 bool check_event(GamepadEvent const id);
el15as 15:e3fc18eb519e 152
el15as 15:e3fc18eb519e 153 /** Manually clear event flag
el15as 15:e3fc18eb519e 154 */
el15as 15:e3fc18eb519e 155
el15as 15:e3fc18eb519e 156 void reset_event(GamepadEvent const id);
el15as 15:e3fc18eb519e 157
el15as 15:e3fc18eb519e 158 /** Get magnitude of joystick movement
el15as 15:e3fc18eb519e 159 * @returns value in range 0.0 to 1.0
el15as 15:e3fc18eb519e 160 */
el15as 15:e3fc18eb519e 161
el15as 15:e3fc18eb519e 162 float get_mag();
el15as 15:e3fc18eb519e 163
el15as 15:e3fc18eb519e 164 /** Get angle of joystick movement
el15as 15:e3fc18eb519e 165 * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
el15as 15:e3fc18eb519e 166 */
el15as 15:e3fc18eb519e 167 float get_angle();
el15as 15:e3fc18eb519e 168
el15as 15:e3fc18eb519e 169 /** Gets joystick direction
el15as 15:e3fc18eb519e 170 * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
el15as 15:e3fc18eb519e 171 */
el15as 15:e3fc18eb519e 172 Direction get_direction(); // N,NE,E,SE etc.
el15as 15:e3fc18eb519e 173
el15as 15:e3fc18eb519e 174 /** Gets raw cartesian co-ordinates of joystick
el15as 15:e3fc18eb519e 175 * @returns a struct with x,y members, each in the range 0.0 to 1.0
el15as 15:e3fc18eb519e 176 */
el15as 15:e3fc18eb519e 177 Vector2D get_coord(); // cartesian co-ordinates x,y
el15as 15:e3fc18eb519e 178
el15as 15:e3fc18eb519e 179 /** Gets cartesian coordinates mapped to circular grid
el15as 15:e3fc18eb519e 180 * @returns a struct with x,y members, each in the range 0.0 to 1.0
el15as 15:e3fc18eb519e 181 */
el15as 15:e3fc18eb519e 182 Vector2D get_mapped_coord(); // x,y mapped to circle
el15as 15:e3fc18eb519e 183
el15as 15:e3fc18eb519e 184 /** Gets polar coordinates of the joystick
el15as 15:e3fc18eb519e 185 * @returns a struct contains mag and angle
el15as 15:e3fc18eb519e 186 */
el15as 15:e3fc18eb519e 187 Polar get_polar(); // mag and angle in struct form
el15as 15:e3fc18eb519e 188
el15as 15:e3fc18eb519e 189 private:
el15as 15:e3fc18eb519e 190 void init_buttons();
el15as 15:e3fc18eb519e 191 void tone_off();
el15as 15:e3fc18eb519e 192
el15as 15:e3fc18eb519e 193 void a_isr();
el15as 15:e3fc18eb519e 194 void b_isr();
el15as 15:e3fc18eb519e 195 void x_isr();
el15as 15:e3fc18eb519e 196 void y_isr();
el15as 15:e3fc18eb519e 197 void l_isr();
el15as 15:e3fc18eb519e 198 void r_isr();
el15as 15:e3fc18eb519e 199 void back_isr();
el15as 15:e3fc18eb519e 200 void start_isr();
el15as 15:e3fc18eb519e 201 void joy_isr();
el15as 15:e3fc18eb519e 202 };
el15as 15:e3fc18eb519e 203
el15as 15:e3fc18eb519e 204 #endif