ELEC2645 (2017/18) / Mbed 2 deprecated el15ww

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Gamepad/Gamepad.cpp@0:d557f30e3a95, 2018-04-30 (annotated)

Committer:
weiway
Date:
Mon Apr 30 14:10:48 2018 +0000
Revision:
0:d557f30e3a95
I deleted my previous program , and make a new program as a final submitted project

Who changed what in which revision?

UserRevisionLine numberNew contents of line
weiway 0:d557f30e3a95 1 #include "Gamepad.h"
weiway 0:d557f30e3a95 2
weiway 0:d557f30e3a95 3 #include "mbed.h"
weiway 0:d557f30e3a95 4
weiway 0:d557f30e3a95 5 //////////// constructor/destructor ////////////
weiway 0:d557f30e3a95 6 Gamepad::Gamepad()
weiway 0:d557f30e3a95 7 :
weiway 0:d557f30e3a95 8 _led1(new PwmOut(PTA1)),
weiway 0:d557f30e3a95 9 _led2(new PwmOut(PTA2)),
weiway 0:d557f30e3a95 10 _led3(new PwmOut(PTC2)),
weiway 0:d557f30e3a95 11 _led4(new PwmOut(PTC3)),
weiway 0:d557f30e3a95 12 _led5(new PwmOut(PTC4)),
weiway 0:d557f30e3a95 13 _led6(new PwmOut(PTD3)),
weiway 0:d557f30e3a95 14
weiway 0:d557f30e3a95 15 _button_A(new InterruptIn(PTB9)),
weiway 0:d557f30e3a95 16 _button_B(new InterruptIn(PTD0)),
weiway 0:d557f30e3a95 17 _button_X(new InterruptIn(PTC17)),
weiway 0:d557f30e3a95 18 _button_Y(new InterruptIn(PTC12)),
weiway 0:d557f30e3a95 19 _button_L(new InterruptIn(PTB18)),
weiway 0:d557f30e3a95 20 _button_R(new InterruptIn(PTB3)),
weiway 0:d557f30e3a95 21 _button_back(new InterruptIn(PTB19)),
weiway 0:d557f30e3a95 22 _button_start(new InterruptIn(PTC5)),
weiway 0:d557f30e3a95 23 _button_joystick(new InterruptIn(PTC16)),
weiway 0:d557f30e3a95 24
weiway 0:d557f30e3a95 25 _vert(new AnalogIn(PTB10)),
weiway 0:d557f30e3a95 26 _horiz(new AnalogIn(PTB11)),
weiway 0:d557f30e3a95 27
weiway 0:d557f30e3a95 28 _buzzer(new PwmOut(PTC10)),
weiway 0:d557f30e3a95 29 _pot(new AnalogIn(PTB2)),
weiway 0:d557f30e3a95 30
weiway 0:d557f30e3a95 31 _timeout(new Timeout()),
weiway 0:d557f30e3a95 32
weiway 0:d557f30e3a95 33 _event_state(0),
weiway 0:d557f30e3a95 34
weiway 0:d557f30e3a95 35 _x0(0),
weiway 0:d557f30e3a95 36 _y0(0)
weiway 0:d557f30e3a95 37 {}
weiway 0:d557f30e3a95 38
weiway 0:d557f30e3a95 39 Gamepad::~Gamepad()
weiway 0:d557f30e3a95 40 {
weiway 0:d557f30e3a95 41 delete _led1,_led2,_led3,_led4,_led5,_led6;
weiway 0:d557f30e3a95 42 delete _button_A,_button_B,_button_joystick,_vert,_horiz;
weiway 0:d557f30e3a95 43 delete _button_X,_button_Y,_button_back,_button_start;
weiway 0:d557f30e3a95 44 delete _button_L,_button_R, _buzzer, _pot, _timeout;
weiway 0:d557f30e3a95 45 }
weiway 0:d557f30e3a95 46
weiway 0:d557f30e3a95 47 ///////////////// public methods /////////////////
weiway 0:d557f30e3a95 48
weiway 0:d557f30e3a95 49 void Gamepad::init()
weiway 0:d557f30e3a95 50 {
weiway 0:d557f30e3a95 51 leds_off();
weiway 0:d557f30e3a95 52 init_buttons();
weiway 0:d557f30e3a95 53
weiway 0:d557f30e3a95 54 // read centred values of joystick
weiway 0:d557f30e3a95 55 _x0 = _horiz->read();
weiway 0:d557f30e3a95 56 _y0 = _vert->read();
weiway 0:d557f30e3a95 57
weiway 0:d557f30e3a95 58 // clear all flags
weiway 0:d557f30e3a95 59 _event_state = 0;
weiway 0:d557f30e3a95 60 }
weiway 0:d557f30e3a95 61
weiway 0:d557f30e3a95 62 void Gamepad::leds_off()
weiway 0:d557f30e3a95 63 {
weiway 0:d557f30e3a95 64 leds(0.0);
weiway 0:d557f30e3a95 65 }
weiway 0:d557f30e3a95 66
weiway 0:d557f30e3a95 67 void Gamepad::leds_on()
weiway 0:d557f30e3a95 68 {
weiway 0:d557f30e3a95 69 leds(1.0);
weiway 0:d557f30e3a95 70 }
weiway 0:d557f30e3a95 71
weiway 0:d557f30e3a95 72 void Gamepad::leds(float val) const
weiway 0:d557f30e3a95 73 {
weiway 0:d557f30e3a95 74 if (val < 0.0f) {
weiway 0:d557f30e3a95 75 val = 0.0f;
weiway 0:d557f30e3a95 76 }
weiway 0:d557f30e3a95 77 if (val > 1.0f) {
weiway 0:d557f30e3a95 78 val = 1.0f;
weiway 0:d557f30e3a95 79 }
weiway 0:d557f30e3a95 80
weiway 0:d557f30e3a95 81 // leds are active-low, so subtract from 1.0
weiway 0:d557f30e3a95 82 // 0.0 corresponds to fully-off, 1.0 to fully-on
weiway 0:d557f30e3a95 83 val = 1.0f - val;
weiway 0:d557f30e3a95 84
weiway 0:d557f30e3a95 85 _led1->write(val);
weiway 0:d557f30e3a95 86 _led2->write(val);
weiway 0:d557f30e3a95 87 _led3->write(val);
weiway 0:d557f30e3a95 88 _led4->write(val);
weiway 0:d557f30e3a95 89 _led5->write(val);
weiway 0:d557f30e3a95 90 _led6->write(val);
weiway 0:d557f30e3a95 91 }
weiway 0:d557f30e3a95 92
weiway 0:d557f30e3a95 93 void Gamepad::led(int n,float val) const
weiway 0:d557f30e3a95 94 {
weiway 0:d557f30e3a95 95 // ensure they are within vlaid range
weiway 0:d557f30e3a95 96 if (val < 0.0f) {
weiway 0:d557f30e3a95 97 val = 0.0f;
weiway 0:d557f30e3a95 98 }
weiway 0:d557f30e3a95 99 if (val > 1.0f) {
weiway 0:d557f30e3a95 100 val = 1.0f;
weiway 0:d557f30e3a95 101 }
weiway 0:d557f30e3a95 102
weiway 0:d557f30e3a95 103 switch (n) {
weiway 0:d557f30e3a95 104
weiway 0:d557f30e3a95 105 // check for valid LED number and set value
weiway 0:d557f30e3a95 106
weiway 0:d557f30e3a95 107 case 1:
weiway 0:d557f30e3a95 108 _led1->write(1.0f-val); // active-low so subtract from 1
weiway 0:d557f30e3a95 109 break;
weiway 0:d557f30e3a95 110 case 2:
weiway 0:d557f30e3a95 111 _led2->write(1.0f-val); // active-low so subtract from 1
weiway 0:d557f30e3a95 112 break;
weiway 0:d557f30e3a95 113 case 3:
weiway 0:d557f30e3a95 114 _led3->write(1.0f-val); // active-low so subtract from 1
weiway 0:d557f30e3a95 115 break;
weiway 0:d557f30e3a95 116 case 4:
weiway 0:d557f30e3a95 117 _led4->write(1.0f-val); // active-low so subtract from 1
weiway 0:d557f30e3a95 118 break;
weiway 0:d557f30e3a95 119 case 5:
weiway 0:d557f30e3a95 120 _led5->write(1.0f-val); // active-low so subtract from 1
weiway 0:d557f30e3a95 121 break;
weiway 0:d557f30e3a95 122 case 6:
weiway 0:d557f30e3a95 123 _led6->write(1.0f-val); // active-low so subtract from 1
weiway 0:d557f30e3a95 124 break;
weiway 0:d557f30e3a95 125
weiway 0:d557f30e3a95 126 }
weiway 0:d557f30e3a95 127 }
weiway 0:d557f30e3a95 128
weiway 0:d557f30e3a95 129 float Gamepad::read_pot() const
weiway 0:d557f30e3a95 130 {
weiway 0:d557f30e3a95 131 return _pot->read();
weiway 0:d557f30e3a95 132 }
weiway 0:d557f30e3a95 133
weiway 0:d557f30e3a95 134 void Gamepad::tone(float frequency, float duration)
weiway 0:d557f30e3a95 135 {
weiway 0:d557f30e3a95 136 _buzzer->period(1.0f/frequency);
weiway 0:d557f30e3a95 137 _buzzer->write(0.5); // 50% duty cycle - square wave
weiway 0:d557f30e3a95 138 _timeout->attach(callback(this, &Gamepad::tone_off), duration );
weiway 0:d557f30e3a95 139 }
weiway 0:d557f30e3a95 140
weiway 0:d557f30e3a95 141 bool Gamepad::check_event(GamepadEvent const id)
weiway 0:d557f30e3a95 142 {
weiway 0:d557f30e3a95 143 // Check whether event flag is set
weiway 0:d557f30e3a95 144 if (_event_state[id]) {
weiway 0:d557f30e3a95 145 _event_state.reset(id); // clear flag
weiway 0:d557f30e3a95 146 return true;
weiway 0:d557f30e3a95 147 } else {
weiway 0:d557f30e3a95 148 return false;
weiway 0:d557f30e3a95 149 }
weiway 0:d557f30e3a95 150 }
weiway 0:d557f30e3a95 151
weiway 0:d557f30e3a95 152 // this method gets the magnitude of the joystick movement
weiway 0:d557f30e3a95 153 float Gamepad::get_mag()
weiway 0:d557f30e3a95 154 {
weiway 0:d557f30e3a95 155 Polar p = get_polar();
weiway 0:d557f30e3a95 156 return p.mag;
weiway 0:d557f30e3a95 157 }
weiway 0:d557f30e3a95 158
weiway 0:d557f30e3a95 159 // this method gets the angle of joystick movement (0 to 360, 0 North)
weiway 0:d557f30e3a95 160 float Gamepad::get_angle()
weiway 0:d557f30e3a95 161 {
weiway 0:d557f30e3a95 162 Polar p = get_polar();
weiway 0:d557f30e3a95 163 return p.angle;
weiway 0:d557f30e3a95 164 }
weiway 0:d557f30e3a95 165
weiway 0:d557f30e3a95 166 Direction Gamepad::get_direction()
weiway 0:d557f30e3a95 167 {
weiway 0:d557f30e3a95 168 float angle = get_angle(); // 0 to 360, -1 for centred
weiway 0:d557f30e3a95 169
weiway 0:d557f30e3a95 170 Direction d;
weiway 0:d557f30e3a95 171 // partition 360 into segments and check which segment the angle is in
weiway 0:d557f30e3a95 172 if (angle < 0.0f) {
weiway 0:d557f30e3a95 173 d = CENTRE; // check for -1.0 angle
weiway 0:d557f30e3a95 174 } else if (angle < 22.5f) { // then keep going in 45 degree increments
weiway 0:d557f30e3a95 175 d = N;
weiway 0:d557f30e3a95 176 } else if (angle < 67.5f) {
weiway 0:d557f30e3a95 177 d = NE;
weiway 0:d557f30e3a95 178 } else if (angle < 112.5f) {
weiway 0:d557f30e3a95 179 d = E;
weiway 0:d557f30e3a95 180 } else if (angle < 157.5f) {
weiway 0:d557f30e3a95 181 d = SE;
weiway 0:d557f30e3a95 182 } else if (angle < 202.5f) {
weiway 0:d557f30e3a95 183 d = S;
weiway 0:d557f30e3a95 184 } else if (angle < 247.5f) {
weiway 0:d557f30e3a95 185 d = SW;
weiway 0:d557f30e3a95 186 } else if (angle < 292.5f) {
weiway 0:d557f30e3a95 187 d = W;
weiway 0:d557f30e3a95 188 } else if (angle < 337.5f) {
weiway 0:d557f30e3a95 189 d = NW;
weiway 0:d557f30e3a95 190 } else {
weiway 0:d557f30e3a95 191 d = N;
weiway 0:d557f30e3a95 192 }
weiway 0:d557f30e3a95 193
weiway 0:d557f30e3a95 194 return d;
weiway 0:d557f30e3a95 195 }
weiway 0:d557f30e3a95 196
weiway 0:d557f30e3a95 197 ///////////////////// private methods ////////////////////////
weiway 0:d557f30e3a95 198
weiway 0:d557f30e3a95 199 void Gamepad::tone_off()
weiway 0:d557f30e3a95 200 {
weiway 0:d557f30e3a95 201 // called after timeout
weiway 0:d557f30e3a95 202 _buzzer->write(0.0);
weiway 0:d557f30e3a95 203 }
weiway 0:d557f30e3a95 204
weiway 0:d557f30e3a95 205 void Gamepad::init_buttons()
weiway 0:d557f30e3a95 206 {
weiway 0:d557f30e3a95 207 // turn on pull-downs as other side of button is connected to 3V3
weiway 0:d557f30e3a95 208 // button is 0 when not pressed and 1 when pressed
weiway 0:d557f30e3a95 209 _button_A->mode(PullDown);
weiway 0:d557f30e3a95 210 _button_B->mode(PullDown);
weiway 0:d557f30e3a95 211 _button_X->mode(PullDown);
weiway 0:d557f30e3a95 212 _button_Y->mode(PullDown);
weiway 0:d557f30e3a95 213 _button_back->mode(PullDown);
weiway 0:d557f30e3a95 214 _button_start->mode(PullDown);
weiway 0:d557f30e3a95 215 _button_L->mode(PullDown);
weiway 0:d557f30e3a95 216 _button_R->mode(PullDown);
weiway 0:d557f30e3a95 217 _button_joystick->mode(PullDown);
weiway 0:d557f30e3a95 218 // therefore setup rising edge interrupts
weiway 0:d557f30e3a95 219 _button_A->rise(callback(this,&Gamepad::a_isr));
weiway 0:d557f30e3a95 220 _button_B->rise(callback(this,&Gamepad::b_isr));
weiway 0:d557f30e3a95 221 _button_X->rise(callback(this,&Gamepad::x_isr));
weiway 0:d557f30e3a95 222 _button_Y->rise(callback(this,&Gamepad::y_isr));
weiway 0:d557f30e3a95 223 _button_L->rise(callback(this,&Gamepad::l_isr));
weiway 0:d557f30e3a95 224 _button_R->rise(callback(this,&Gamepad::r_isr));
weiway 0:d557f30e3a95 225 _button_start->rise(callback(this,&Gamepad::start_isr));
weiway 0:d557f30e3a95 226 _button_back->rise(callback(this,&Gamepad::back_isr));
weiway 0:d557f30e3a95 227 _button_joystick->rise(callback(this,&Gamepad::joy_isr));
weiway 0:d557f30e3a95 228 }
weiway 0:d557f30e3a95 229
weiway 0:d557f30e3a95 230 // button interrupts ISRs
weiway 0:d557f30e3a95 231 // Each of these simply sets the appropriate event bit in the _event_state
weiway 0:d557f30e3a95 232 // variable
weiway 0:d557f30e3a95 233 void Gamepad::a_isr()
weiway 0:d557f30e3a95 234 {
weiway 0:d557f30e3a95 235 _event_state.set(A_PRESSED);
weiway 0:d557f30e3a95 236 }
weiway 0:d557f30e3a95 237 void Gamepad::b_isr()
weiway 0:d557f30e3a95 238 {
weiway 0:d557f30e3a95 239 _event_state.set(B_PRESSED);
weiway 0:d557f30e3a95 240 }
weiway 0:d557f30e3a95 241 void Gamepad::x_isr()
weiway 0:d557f30e3a95 242 {
weiway 0:d557f30e3a95 243 _event_state.set(X_PRESSED);
weiway 0:d557f30e3a95 244 }
weiway 0:d557f30e3a95 245 void Gamepad::y_isr()
weiway 0:d557f30e3a95 246 {
weiway 0:d557f30e3a95 247 _event_state.set(Y_PRESSED);
weiway 0:d557f30e3a95 248 }
weiway 0:d557f30e3a95 249 void Gamepad::l_isr()
weiway 0:d557f30e3a95 250 {
weiway 0:d557f30e3a95 251 _event_state.set(L_PRESSED);
weiway 0:d557f30e3a95 252 }
weiway 0:d557f30e3a95 253 void Gamepad::r_isr()
weiway 0:d557f30e3a95 254 {
weiway 0:d557f30e3a95 255 _event_state.set(R_PRESSED);
weiway 0:d557f30e3a95 256 }
weiway 0:d557f30e3a95 257 void Gamepad::back_isr()
weiway 0:d557f30e3a95 258 {
weiway 0:d557f30e3a95 259 _event_state.set(BACK_PRESSED);
weiway 0:d557f30e3a95 260 }
weiway 0:d557f30e3a95 261 void Gamepad::start_isr()
weiway 0:d557f30e3a95 262 {
weiway 0:d557f30e3a95 263 _event_state.set(START_PRESSED);
weiway 0:d557f30e3a95 264 }
weiway 0:d557f30e3a95 265 void Gamepad::joy_isr()
weiway 0:d557f30e3a95 266 {
weiway 0:d557f30e3a95 267 _event_state.set(JOY_PRESSED);
weiway 0:d557f30e3a95 268 }
weiway 0:d557f30e3a95 269
weiway 0:d557f30e3a95 270 // get raw joystick coordinate in range -1 to 1
weiway 0:d557f30e3a95 271 // Direction (x,y)
weiway 0:d557f30e3a95 272 // North (0,1)
weiway 0:d557f30e3a95 273 // East (1,0)
weiway 0:d557f30e3a95 274 // South (0,-1)
weiway 0:d557f30e3a95 275 // West (-1,0)
weiway 0:d557f30e3a95 276 Vector2D Gamepad::get_coord()
weiway 0:d557f30e3a95 277 {
weiway 0:d557f30e3a95 278 // read() returns value in range 0.0 to 1.0 so is scaled and centre value
weiway 0:d557f30e3a95 279 // substracted to get values in the range -1.0 to 1.0
weiway 0:d557f30e3a95 280 float x = 2.0f*( _horiz->read() - _x0 );
weiway 0:d557f30e3a95 281 float y = 2.0f*( _vert->read() - _y0 );
weiway 0:d557f30e3a95 282
weiway 0:d557f30e3a95 283 // Note: the x value here is inverted to ensure the positive x is to the
weiway 0:d557f30e3a95 284 // right. This is simply due to how the potentiometer on the joystick
weiway 0:d557f30e3a95 285 // I was using was connected up. It could have been corrected in hardware
weiway 0:d557f30e3a95 286 // by swapping the power supply pins. Instead it is done in software so may
weiway 0:d557f30e3a95 287 // need to be changed depending on your wiring setup
weiway 0:d557f30e3a95 288
weiway 0:d557f30e3a95 289 Vector2D coord = {-x,y};
weiway 0:d557f30e3a95 290 return coord;
weiway 0:d557f30e3a95 291 }
weiway 0:d557f30e3a95 292
weiway 0:d557f30e3a95 293 // This maps the raw x,y coord onto a circular grid.
weiway 0:d557f30e3a95 294 // See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html
weiway 0:d557f30e3a95 295 Vector2D Gamepad::get_mapped_coord()
weiway 0:d557f30e3a95 296 {
weiway 0:d557f30e3a95 297 Vector2D coord = get_coord();
weiway 0:d557f30e3a95 298
weiway 0:d557f30e3a95 299 // do the transformation
weiway 0:d557f30e3a95 300 float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f);
weiway 0:d557f30e3a95 301 float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f);
weiway 0:d557f30e3a95 302
weiway 0:d557f30e3a95 303 Vector2D mapped_coord = {x,y};
weiway 0:d557f30e3a95 304 return mapped_coord;
weiway 0:d557f30e3a95 305 }
weiway 0:d557f30e3a95 306
weiway 0:d557f30e3a95 307 // this function converts the mapped coordinates into polar form
weiway 0:d557f30e3a95 308 Polar Gamepad::get_polar()
weiway 0:d557f30e3a95 309 {
weiway 0:d557f30e3a95 310 // get the mapped coordinate
weiway 0:d557f30e3a95 311 Vector2D coord = get_mapped_coord();
weiway 0:d557f30e3a95 312
weiway 0:d557f30e3a95 313 // at this point, 0 degrees (i.e. x-axis) will be defined to the East.
weiway 0:d557f30e3a95 314 // We want 0 degrees to correspond to North and increase clockwise to 359
weiway 0:d557f30e3a95 315 // like a compass heading, so we need to swap the axis and invert y
weiway 0:d557f30e3a95 316 float x = coord.y;
weiway 0:d557f30e3a95 317 float y = coord.x;
weiway 0:d557f30e3a95 318
weiway 0:d557f30e3a95 319 float mag = sqrt(x*x+y*y); // pythagoras
weiway 0:d557f30e3a95 320 float angle = RAD2DEG*atan2(y,x);
weiway 0:d557f30e3a95 321 // angle will be in range -180 to 180, so add 360 to negative angles to
weiway 0:d557f30e3a95 322 // move to 0 to 360 range
weiway 0:d557f30e3a95 323 if (angle < 0.0f) {
weiway 0:d557f30e3a95 324 angle+=360.0f;
weiway 0:d557f30e3a95 325 }
weiway 0:d557f30e3a95 326
weiway 0:d557f30e3a95 327 // the noise on the ADC causes the values of x and y to fluctuate slightly
weiway 0:d557f30e3a95 328 // around the centred values. This causes the random angle values to get
weiway 0:d557f30e3a95 329 // calculated when the joystick is centred and untouched. This is also when
weiway 0:d557f30e3a95 330 // the magnitude is very small, so we can check for a small magnitude and then
weiway 0:d557f30e3a95 331 // set the angle to -1. This will inform us when the angle is invalid and the
weiway 0:d557f30e3a95 332 // joystick is centred
weiway 0:d557f30e3a95 333
weiway 0:d557f30e3a95 334 if (mag < TOL) {
weiway 0:d557f30e3a95 335 mag = 0.0f;
weiway 0:d557f30e3a95 336 angle = -1.0f;
weiway 0:d557f30e3a95 337 }
weiway 0:d557f30e3a95 338
weiway 0:d557f30e3a95 339 Polar p = {mag,angle};
weiway 0:d557f30e3a95 340 return p;
weiway 0:d557f30e3a95 341 }