ELEC2645 (2017/18) / Mbed 2 deprecated ll13jrm

Final Commit

Dependencies:   mbed

Gamepad/Gamepad.cpp@27:bd0f69a75d8b, 2018-05-08 (annotated)

Committer:
JRM1986
Date:
Tue May 08 12:32:46 2018 +0000
Revision:
27:bd0f69a75d8b
Parent:
0:53ee0f689634 
Final Commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JRM1986 0:53ee0f689634 1 #include "Gamepad.h"
JRM1986 0:53ee0f689634 2
JRM1986 0:53ee0f689634 3 #include "mbed.h"
JRM1986 0:53ee0f689634 4
JRM1986 0:53ee0f689634 5 //////////// constructor/destructor ////////////
JRM1986 0:53ee0f689634 6 Gamepad::Gamepad()
JRM1986 0:53ee0f689634 7 :
JRM1986 0:53ee0f689634 8 _led1(new PwmOut(PTA1)),
JRM1986 0:53ee0f689634 9 _led2(new PwmOut(PTA2)),
JRM1986 0:53ee0f689634 10 _led3(new PwmOut(PTC2)),
JRM1986 0:53ee0f689634 11 _led4(new PwmOut(PTC3)),
JRM1986 0:53ee0f689634 12 _led5(new PwmOut(PTC4)),
JRM1986 0:53ee0f689634 13 _led6(new PwmOut(PTD3)),
JRM1986 0:53ee0f689634 14
JRM1986 0:53ee0f689634 15 _button_A(new InterruptIn(PTB9)),
JRM1986 0:53ee0f689634 16 _button_B(new InterruptIn(PTD0)),
JRM1986 0:53ee0f689634 17 _button_X(new InterruptIn(PTC17)),
JRM1986 0:53ee0f689634 18 _button_Y(new InterruptIn(PTC12)),
JRM1986 0:53ee0f689634 19 _button_L(new InterruptIn(PTB18)),
JRM1986 0:53ee0f689634 20 _button_R(new InterruptIn(PTB3)),
JRM1986 0:53ee0f689634 21 _button_back(new InterruptIn(PTB19)),
JRM1986 0:53ee0f689634 22 _button_start(new InterruptIn(PTC5)),
JRM1986 0:53ee0f689634 23 _button_joystick(new InterruptIn(PTC16)),
JRM1986 0:53ee0f689634 24
JRM1986 0:53ee0f689634 25 _vert(new AnalogIn(PTB10)),
JRM1986 0:53ee0f689634 26 _horiz(new AnalogIn(PTB11)),
JRM1986 0:53ee0f689634 27
JRM1986 0:53ee0f689634 28 _buzzer(new PwmOut(PTC10)),
JRM1986 0:53ee0f689634 29 _pot(new AnalogIn(PTB2)),
JRM1986 0:53ee0f689634 30
JRM1986 0:53ee0f689634 31 _timeout(new Timeout()),
JRM1986 0:53ee0f689634 32
JRM1986 0:53ee0f689634 33 _event_state(0),
JRM1986 0:53ee0f689634 34
JRM1986 0:53ee0f689634 35 _x0(0),
JRM1986 0:53ee0f689634 36 _y0(0)
JRM1986 0:53ee0f689634 37 {}
JRM1986 0:53ee0f689634 38
JRM1986 0:53ee0f689634 39 Gamepad::~Gamepad()
JRM1986 0:53ee0f689634 40 {
JRM1986 0:53ee0f689634 41 delete _led1,_led2,_led3,_led4,_led5,_led6;
JRM1986 0:53ee0f689634 42 delete _button_A,_button_B,_button_joystick,_vert,_horiz;
JRM1986 0:53ee0f689634 43 delete _button_X,_button_Y,_button_back,_button_start;
JRM1986 0:53ee0f689634 44 delete _button_L,_button_R, _buzzer, _pot, _timeout;
JRM1986 0:53ee0f689634 45 }
JRM1986 0:53ee0f689634 46
JRM1986 0:53ee0f689634 47 ///////////////// public methods /////////////////
JRM1986 0:53ee0f689634 48
JRM1986 0:53ee0f689634 49 void Gamepad::init()
JRM1986 0:53ee0f689634 50 {
JRM1986 0:53ee0f689634 51 leds_off();
JRM1986 0:53ee0f689634 52 init_buttons();
JRM1986 0:53ee0f689634 53
JRM1986 0:53ee0f689634 54 // read centred values of joystick
JRM1986 0:53ee0f689634 55 _x0 = _horiz->read();
JRM1986 0:53ee0f689634 56 _y0 = _vert->read();
JRM1986 0:53ee0f689634 57
JRM1986 0:53ee0f689634 58 // clear all flags
JRM1986 0:53ee0f689634 59 _event_state = 0;
JRM1986 0:53ee0f689634 60 }
JRM1986 0:53ee0f689634 61
JRM1986 0:53ee0f689634 62 void Gamepad::leds_off()
JRM1986 0:53ee0f689634 63 {
JRM1986 0:53ee0f689634 64 leds(0.0);
JRM1986 0:53ee0f689634 65 }
JRM1986 0:53ee0f689634 66
JRM1986 0:53ee0f689634 67 void Gamepad::leds_on()
JRM1986 0:53ee0f689634 68 {
JRM1986 0:53ee0f689634 69 leds(1.0);
JRM1986 0:53ee0f689634 70 }
JRM1986 0:53ee0f689634 71
JRM1986 0:53ee0f689634 72 void Gamepad::leds(float val) const
JRM1986 0:53ee0f689634 73 {
JRM1986 0:53ee0f689634 74 if (val < 0.0f) {
JRM1986 0:53ee0f689634 75 val = 0.0f;
JRM1986 0:53ee0f689634 76 }
JRM1986 0:53ee0f689634 77 if (val > 1.0f) {
JRM1986 0:53ee0f689634 78 val = 1.0f;
JRM1986 0:53ee0f689634 79 }
JRM1986 0:53ee0f689634 80
JRM1986 0:53ee0f689634 81 // leds are active-low, so subtract from 1.0
JRM1986 0:53ee0f689634 82 // 0.0 corresponds to fully-off, 1.0 to fully-on
JRM1986 0:53ee0f689634 83 val = 1.0f - val;
JRM1986 0:53ee0f689634 84
JRM1986 0:53ee0f689634 85 _led1->write(val);
JRM1986 0:53ee0f689634 86 _led2->write(val);
JRM1986 0:53ee0f689634 87 _led3->write(val);
JRM1986 0:53ee0f689634 88 _led4->write(val);
JRM1986 0:53ee0f689634 89 _led5->write(val);
JRM1986 0:53ee0f689634 90 _led6->write(val);
JRM1986 0:53ee0f689634 91 }
JRM1986 0:53ee0f689634 92
JRM1986 0:53ee0f689634 93 void Gamepad::led(int n,float val) const
JRM1986 0:53ee0f689634 94 {
JRM1986 0:53ee0f689634 95 // ensure they are within vlaid range
JRM1986 0:53ee0f689634 96 if (val < 0.0f) {
JRM1986 0:53ee0f689634 97 val = 0.0f;
JRM1986 0:53ee0f689634 98 }
JRM1986 0:53ee0f689634 99 if (val > 1.0f) {
JRM1986 0:53ee0f689634 100 val = 1.0f;
JRM1986 0:53ee0f689634 101 }
JRM1986 0:53ee0f689634 102
JRM1986 0:53ee0f689634 103 switch (n) {
JRM1986 0:53ee0f689634 104
JRM1986 0:53ee0f689634 105 // check for valid LED number and set value
JRM1986 0:53ee0f689634 106
JRM1986 0:53ee0f689634 107 case 1:
JRM1986 0:53ee0f689634 108 _led1->write(1.0f-val); // active-low so subtract from 1
JRM1986 0:53ee0f689634 109 break;
JRM1986 0:53ee0f689634 110 case 2:
JRM1986 0:53ee0f689634 111 _led2->write(1.0f-val); // active-low so subtract from 1
JRM1986 0:53ee0f689634 112 break;
JRM1986 0:53ee0f689634 113 case 3:
JRM1986 0:53ee0f689634 114 _led3->write(1.0f-val); // active-low so subtract from 1
JRM1986 0:53ee0f689634 115 break;
JRM1986 0:53ee0f689634 116 case 4:
JRM1986 0:53ee0f689634 117 _led4->write(1.0f-val); // active-low so subtract from 1
JRM1986 0:53ee0f689634 118 break;
JRM1986 0:53ee0f689634 119 case 5:
JRM1986 0:53ee0f689634 120 _led5->write(1.0f-val); // active-low so subtract from 1
JRM1986 0:53ee0f689634 121 break;
JRM1986 0:53ee0f689634 122 case 6:
JRM1986 0:53ee0f689634 123 _led6->write(1.0f-val); // active-low so subtract from 1
JRM1986 0:53ee0f689634 124 break;
JRM1986 0:53ee0f689634 125
JRM1986 0:53ee0f689634 126 }
JRM1986 0:53ee0f689634 127 }
JRM1986 0:53ee0f689634 128
JRM1986 0:53ee0f689634 129 float Gamepad::read_pot() const
JRM1986 0:53ee0f689634 130 {
JRM1986 0:53ee0f689634 131 return _pot->read();
JRM1986 0:53ee0f689634 132 }
JRM1986 0:53ee0f689634 133
JRM1986 0:53ee0f689634 134 void Gamepad::tone(float frequency, float duration)
JRM1986 0:53ee0f689634 135 {
JRM1986 0:53ee0f689634 136 _buzzer->period(1.0f/frequency);
JRM1986 0:53ee0f689634 137 _buzzer->write(0.5); // 50% duty cycle - square wave
JRM1986 0:53ee0f689634 138 _timeout->attach(callback(this, &Gamepad::tone_off), duration );
JRM1986 0:53ee0f689634 139 }
JRM1986 0:53ee0f689634 140
JRM1986 0:53ee0f689634 141 bool Gamepad::check_event(GamepadEvent const id)
JRM1986 0:53ee0f689634 142 {
JRM1986 0:53ee0f689634 143 // Check whether event flag is set
JRM1986 0:53ee0f689634 144 if (_event_state[id]) {
JRM1986 0:53ee0f689634 145 _event_state.reset(id); // clear flag
JRM1986 0:53ee0f689634 146 return true;
JRM1986 0:53ee0f689634 147 } else {
JRM1986 0:53ee0f689634 148 return false;
JRM1986 0:53ee0f689634 149 }
JRM1986 0:53ee0f689634 150 }
JRM1986 0:53ee0f689634 151
JRM1986 0:53ee0f689634 152 // this method gets the magnitude of the joystick movement
JRM1986 0:53ee0f689634 153 float Gamepad::get_mag()
JRM1986 0:53ee0f689634 154 {
JRM1986 0:53ee0f689634 155 Polar p = get_polar();
JRM1986 0:53ee0f689634 156 return p.mag;
JRM1986 0:53ee0f689634 157 }
JRM1986 0:53ee0f689634 158
JRM1986 0:53ee0f689634 159 // this method gets the angle of joystick movement (0 to 360, 0 North)
JRM1986 0:53ee0f689634 160 float Gamepad::get_angle()
JRM1986 0:53ee0f689634 161 {
JRM1986 0:53ee0f689634 162 Polar p = get_polar();
JRM1986 0:53ee0f689634 163 return p.angle;
JRM1986 0:53ee0f689634 164 }
JRM1986 0:53ee0f689634 165
JRM1986 0:53ee0f689634 166 Direction Gamepad::get_direction()
JRM1986 0:53ee0f689634 167 {
JRM1986 0:53ee0f689634 168 float angle = get_angle(); // 0 to 360, -1 for centred
JRM1986 0:53ee0f689634 169
JRM1986 0:53ee0f689634 170 Direction d;
JRM1986 0:53ee0f689634 171 // partition 360 into segments and check which segment the angle is in
JRM1986 0:53ee0f689634 172 if (angle < 0.0f) {
JRM1986 0:53ee0f689634 173 d = CENTRE; // check for -1.0 angle
JRM1986 0:53ee0f689634 174 } else if (angle < 22.5f) { // then keep going in 45 degree increments
JRM1986 0:53ee0f689634 175 d = N;
JRM1986 0:53ee0f689634 176 } else if (angle < 67.5f) {
JRM1986 0:53ee0f689634 177 d = NE;
JRM1986 0:53ee0f689634 178 } else if (angle < 112.5f) {
JRM1986 0:53ee0f689634 179 d = E;
JRM1986 0:53ee0f689634 180 } else if (angle < 157.5f) {
JRM1986 0:53ee0f689634 181 d = SE;
JRM1986 0:53ee0f689634 182 } else if (angle < 202.5f) {
JRM1986 0:53ee0f689634 183 d = S;
JRM1986 0:53ee0f689634 184 } else if (angle < 247.5f) {
JRM1986 0:53ee0f689634 185 d = SW;
JRM1986 0:53ee0f689634 186 } else if (angle < 292.5f) {
JRM1986 0:53ee0f689634 187 d = W;
JRM1986 0:53ee0f689634 188 } else if (angle < 337.5f) {
JRM1986 0:53ee0f689634 189 d = NW;
JRM1986 0:53ee0f689634 190 } else {
JRM1986 0:53ee0f689634 191 d = N;
JRM1986 0:53ee0f689634 192 }
JRM1986 0:53ee0f689634 193
JRM1986 0:53ee0f689634 194 return d;
JRM1986 0:53ee0f689634 195 }
JRM1986 0:53ee0f689634 196
JRM1986 0:53ee0f689634 197 ///////////////////// private methods ////////////////////////
JRM1986 0:53ee0f689634 198
JRM1986 0:53ee0f689634 199 void Gamepad::tone_off()
JRM1986 0:53ee0f689634 200 {
JRM1986 0:53ee0f689634 201 // called after timeout
JRM1986 0:53ee0f689634 202 _buzzer->write(0.0);
JRM1986 0:53ee0f689634 203 }
JRM1986 0:53ee0f689634 204
JRM1986 0:53ee0f689634 205 void Gamepad::init_buttons()
JRM1986 0:53ee0f689634 206 {
JRM1986 0:53ee0f689634 207 // turn on pull-downs as other side of button is connected to 3V3
JRM1986 0:53ee0f689634 208 // button is 0 when not pressed and 1 when pressed
JRM1986 0:53ee0f689634 209 _button_A->mode(PullDown);
JRM1986 0:53ee0f689634 210 _button_B->mode(PullDown);
JRM1986 0:53ee0f689634 211 _button_X->mode(PullDown);
JRM1986 0:53ee0f689634 212 _button_Y->mode(PullDown);
JRM1986 0:53ee0f689634 213 _button_back->mode(PullDown);
JRM1986 0:53ee0f689634 214 _button_start->mode(PullDown);
JRM1986 0:53ee0f689634 215 _button_L->mode(PullDown);
JRM1986 0:53ee0f689634 216 _button_R->mode(PullDown);
JRM1986 0:53ee0f689634 217 _button_joystick->mode(PullDown);
JRM1986 0:53ee0f689634 218 // therefore setup rising edge interrupts
JRM1986 0:53ee0f689634 219 _button_A->rise(callback(this,&Gamepad::a_isr));
JRM1986 0:53ee0f689634 220 _button_B->rise(callback(this,&Gamepad::b_isr));
JRM1986 0:53ee0f689634 221 _button_X->rise(callback(this,&Gamepad::x_isr));
JRM1986 0:53ee0f689634 222 _button_Y->rise(callback(this,&Gamepad::y_isr));
JRM1986 0:53ee0f689634 223 _button_L->rise(callback(this,&Gamepad::l_isr));
JRM1986 0:53ee0f689634 224 _button_R->rise(callback(this,&Gamepad::r_isr));
JRM1986 0:53ee0f689634 225 _button_start->rise(callback(this,&Gamepad::start_isr));
JRM1986 0:53ee0f689634 226 _button_back->rise(callback(this,&Gamepad::back_isr));
JRM1986 0:53ee0f689634 227 _button_joystick->rise(callback(this,&Gamepad::joy_isr));
JRM1986 0:53ee0f689634 228 }
JRM1986 0:53ee0f689634 229
JRM1986 0:53ee0f689634 230 // button interrupts ISRs
JRM1986 0:53ee0f689634 231 // Each of these simply sets the appropriate event bit in the _event_state
JRM1986 0:53ee0f689634 232 // variable
JRM1986 0:53ee0f689634 233 void Gamepad::a_isr()
JRM1986 0:53ee0f689634 234 {
JRM1986 0:53ee0f689634 235 _event_state.set(A_PRESSED);
JRM1986 0:53ee0f689634 236 }
JRM1986 0:53ee0f689634 237 void Gamepad::b_isr()
JRM1986 0:53ee0f689634 238 {
JRM1986 0:53ee0f689634 239 _event_state.set(B_PRESSED);
JRM1986 0:53ee0f689634 240 }
JRM1986 0:53ee0f689634 241 void Gamepad::x_isr()
JRM1986 0:53ee0f689634 242 {
JRM1986 0:53ee0f689634 243 _event_state.set(X_PRESSED);
JRM1986 0:53ee0f689634 244 }
JRM1986 0:53ee0f689634 245 void Gamepad::y_isr()
JRM1986 0:53ee0f689634 246 {
JRM1986 0:53ee0f689634 247 _event_state.set(Y_PRESSED);
JRM1986 0:53ee0f689634 248 }
JRM1986 0:53ee0f689634 249 void Gamepad::l_isr()
JRM1986 0:53ee0f689634 250 {
JRM1986 0:53ee0f689634 251 _event_state.set(L_PRESSED);
JRM1986 0:53ee0f689634 252 }
JRM1986 0:53ee0f689634 253 void Gamepad::r_isr()
JRM1986 0:53ee0f689634 254 {
JRM1986 0:53ee0f689634 255 _event_state.set(R_PRESSED);
JRM1986 0:53ee0f689634 256 }
JRM1986 0:53ee0f689634 257 void Gamepad::back_isr()
JRM1986 0:53ee0f689634 258 {
JRM1986 0:53ee0f689634 259 _event_state.set(BACK_PRESSED);
JRM1986 0:53ee0f689634 260 }
JRM1986 0:53ee0f689634 261 void Gamepad::start_isr()
JRM1986 0:53ee0f689634 262 {
JRM1986 0:53ee0f689634 263 _event_state.set(START_PRESSED);
JRM1986 0:53ee0f689634 264 }
JRM1986 0:53ee0f689634 265 void Gamepad::joy_isr()
JRM1986 0:53ee0f689634 266 {
JRM1986 0:53ee0f689634 267 _event_state.set(JOY_PRESSED);
JRM1986 0:53ee0f689634 268 }
JRM1986 0:53ee0f689634 269
JRM1986 0:53ee0f689634 270 // get raw joystick coordinate in range -1 to 1
JRM1986 0:53ee0f689634 271 // Direction (x,y)
JRM1986 0:53ee0f689634 272 // North (0,1)
JRM1986 0:53ee0f689634 273 // East (1,0)
JRM1986 0:53ee0f689634 274 // South (0,-1)
JRM1986 0:53ee0f689634 275 // West (-1,0)
JRM1986 0:53ee0f689634 276 Vector2D Gamepad::get_coord()
JRM1986 0:53ee0f689634 277 {
JRM1986 0:53ee0f689634 278 // read() returns value in range 0.0 to 1.0 so is scaled and centre value
JRM1986 0:53ee0f689634 279 // substracted to get values in the range -1.0 to 1.0
JRM1986 0:53ee0f689634 280 float x = 2.0f*( _horiz->read() - _x0 );
JRM1986 0:53ee0f689634 281 float y = 2.0f*( _vert->read() - _y0 );
JRM1986 0:53ee0f689634 282
JRM1986 0:53ee0f689634 283 // Note: the x value here is inverted to ensure the positive x is to the
JRM1986 0:53ee0f689634 284 // right. This is simply due to how the potentiometer on the joystick
JRM1986 0:53ee0f689634 285 // I was using was connected up. It could have been corrected in hardware
JRM1986 0:53ee0f689634 286 // by swapping the power supply pins. Instead it is done in software so may
JRM1986 0:53ee0f689634 287 // need to be changed depending on your wiring setup
JRM1986 0:53ee0f689634 288
JRM1986 0:53ee0f689634 289 Vector2D coord = {-x,y};
JRM1986 0:53ee0f689634 290 return coord;
JRM1986 0:53ee0f689634 291 }
JRM1986 0:53ee0f689634 292
JRM1986 0:53ee0f689634 293 // This maps the raw x,y coord onto a circular grid.
JRM1986 0:53ee0f689634 294 // See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html
JRM1986 0:53ee0f689634 295 Vector2D Gamepad::get_mapped_coord()
JRM1986 0:53ee0f689634 296 {
JRM1986 0:53ee0f689634 297 Vector2D coord = get_coord();
JRM1986 0:53ee0f689634 298
JRM1986 0:53ee0f689634 299 // do the transformation
JRM1986 0:53ee0f689634 300 float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f);
JRM1986 0:53ee0f689634 301 float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f);
JRM1986 0:53ee0f689634 302
JRM1986 0:53ee0f689634 303 Vector2D mapped_coord = {x,y};
JRM1986 0:53ee0f689634 304 return mapped_coord;
JRM1986 0:53ee0f689634 305 }
JRM1986 0:53ee0f689634 306
JRM1986 0:53ee0f689634 307 // this function converts the mapped coordinates into polar form
JRM1986 0:53ee0f689634 308 Polar Gamepad::get_polar()
JRM1986 0:53ee0f689634 309 {
JRM1986 0:53ee0f689634 310 // get the mapped coordinate
JRM1986 0:53ee0f689634 311 Vector2D coord = get_mapped_coord();
JRM1986 0:53ee0f689634 312
JRM1986 0:53ee0f689634 313 // at this point, 0 degrees (i.e. x-axis) will be defined to the East.
JRM1986 0:53ee0f689634 314 // We want 0 degrees to correspond to North and increase clockwise to 359
JRM1986 0:53ee0f689634 315 // like a compass heading, so we need to swap the axis and invert y
JRM1986 0:53ee0f689634 316 float x = coord.y;
JRM1986 0:53ee0f689634 317 float y = coord.x;
JRM1986 0:53ee0f689634 318
JRM1986 0:53ee0f689634 319 float mag = sqrt(x*x+y*y); // pythagoras
JRM1986 0:53ee0f689634 320 float angle = RAD2DEG*atan2(y,x);
JRM1986 0:53ee0f689634 321 // angle will be in range -180 to 180, so add 360 to negative angles to
JRM1986 0:53ee0f689634 322 // move to 0 to 360 range
JRM1986 0:53ee0f689634 323 if (angle < 0.0f) {
JRM1986 0:53ee0f689634 324 angle+=360.0f;
JRM1986 0:53ee0f689634 325 }
JRM1986 0:53ee0f689634 326
JRM1986 0:53ee0f689634 327 // the noise on the ADC causes the values of x and y to fluctuate slightly
JRM1986 0:53ee0f689634 328 // around the centred values. This causes the random angle values to get
JRM1986 0:53ee0f689634 329 // calculated when the joystick is centred and untouched. This is also when
JRM1986 0:53ee0f689634 330 // the magnitude is very small, so we can check for a small magnitude and then
JRM1986 0:53ee0f689634 331 // set the angle to -1. This will inform us when the angle is invalid and the
JRM1986 0:53ee0f689634 332 // joystick is centred
JRM1986 0:53ee0f689634 333
JRM1986 0:53ee0f689634 334 if (mag < TOL) {
JRM1986 0:53ee0f689634 335 mag = 0.0f;
JRM1986 0:53ee0f689634 336 angle = -1.0f;
JRM1986 0:53ee0f689634 337 }
JRM1986 0:53ee0f689634 338
JRM1986 0:53ee0f689634 339 Polar p = {mag,angle};
JRM1986 0:53ee0f689634 340 return p;
JRM1986 0:53ee0f689634 341 }