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Dependencies:   mbed

Gamepad/Gamepad.cpp@21:7a7a115d910d, 2019-04-03 (annotated)

Committer:
el17arm
Date:
Wed Apr 03 01:17:38 2019 +0000
Revision:
21:7a7a115d910d
Parent:
N5110/Gamepad/Gamepad.cpp@2:725c213b2396 
added rudimentary highscore message to terminal (coolterm).; added sound when character jumps

Who changed what in which revision?

UserRevisionLine numberNew contents of line
el17arm 2:725c213b2396 1 #include "Gamepad.h"
el17arm 2:725c213b2396 2
el17arm 2:725c213b2396 3 #include "mbed.h"
el17arm 2:725c213b2396 4
el17arm 2:725c213b2396 5 //////////// constructor/destructor ////////////
el17arm 2:725c213b2396 6 Gamepad::Gamepad()
el17arm 2:725c213b2396 7 :
el17arm 2:725c213b2396 8 _led1(new PwmOut(PTA1)),
el17arm 2:725c213b2396 9 _led2(new PwmOut(PTA2)),
el17arm 2:725c213b2396 10 _led3(new PwmOut(PTC2)),
el17arm 2:725c213b2396 11 _led4(new PwmOut(PTC3)),
el17arm 2:725c213b2396 12 _led5(new PwmOut(PTC4)),
el17arm 2:725c213b2396 13 _led6(new PwmOut(PTD3)),
el17arm 2:725c213b2396 14
el17arm 2:725c213b2396 15 _button_A(new InterruptIn(PTB9)),
el17arm 2:725c213b2396 16 _button_B(new InterruptIn(PTD0)),
el17arm 2:725c213b2396 17 _button_X(new InterruptIn(PTC17)),
el17arm 2:725c213b2396 18 _button_Y(new InterruptIn(PTC12)),
el17arm 2:725c213b2396 19 _button_L(new InterruptIn(PTB18)),
el17arm 2:725c213b2396 20 _button_R(new InterruptIn(PTB3)),
el17arm 2:725c213b2396 21 _button_back(new InterruptIn(PTB19)),
el17arm 2:725c213b2396 22 _button_start(new InterruptIn(PTC5)),
el17arm 2:725c213b2396 23 _button_joystick(new InterruptIn(PTC16)),
el17arm 2:725c213b2396 24
el17arm 2:725c213b2396 25 _vert(new AnalogIn(PTB10)),
el17arm 2:725c213b2396 26 _horiz(new AnalogIn(PTB11)),
el17arm 2:725c213b2396 27
el17arm 2:725c213b2396 28 _buzzer(new PwmOut(PTC10)),
el17arm 2:725c213b2396 29 _pot(new AnalogIn(PTB2)),
el17arm 2:725c213b2396 30
el17arm 2:725c213b2396 31 _timeout(new Timeout()),
el17arm 2:725c213b2396 32
el17arm 2:725c213b2396 33 _event_state(0),
el17arm 2:725c213b2396 34
el17arm 2:725c213b2396 35 _x0(0),
el17arm 2:725c213b2396 36 _y0(0)
el17arm 2:725c213b2396 37 {}
el17arm 2:725c213b2396 38
el17arm 2:725c213b2396 39 Gamepad::~Gamepad()
el17arm 2:725c213b2396 40 {
el17arm 2:725c213b2396 41 delete _led1,_led2,_led3,_led4,_led5,_led6;
el17arm 2:725c213b2396 42 delete _button_A,_button_B,_button_joystick,_vert,_horiz;
el17arm 2:725c213b2396 43 delete _button_X,_button_Y,_button_back,_button_start;
el17arm 2:725c213b2396 44 delete _button_L,_button_R, _buzzer, _pot, _timeout;
el17arm 2:725c213b2396 45 }
el17arm 2:725c213b2396 46
el17arm 2:725c213b2396 47 ///////////////// public methods /////////////////
el17arm 2:725c213b2396 48
el17arm 2:725c213b2396 49 void Gamepad::init()
el17arm 2:725c213b2396 50 {
el17arm 2:725c213b2396 51 leds_off();
el17arm 2:725c213b2396 52 init_buttons();
el17arm 2:725c213b2396 53
el17arm 2:725c213b2396 54 // read centred values of joystick
el17arm 2:725c213b2396 55 _x0 = _horiz->read();
el17arm 2:725c213b2396 56 _y0 = _vert->read();
el17arm 2:725c213b2396 57
el17arm 2:725c213b2396 58 // clear all flags
el17arm 2:725c213b2396 59 _event_state = 0;
el17arm 2:725c213b2396 60 }
el17arm 2:725c213b2396 61
el17arm 2:725c213b2396 62 void Gamepad::leds_off()
el17arm 2:725c213b2396 63 {
el17arm 2:725c213b2396 64 leds(0.0);
el17arm 2:725c213b2396 65 }
el17arm 2:725c213b2396 66
el17arm 2:725c213b2396 67 void Gamepad::leds_on()
el17arm 2:725c213b2396 68 {
el17arm 2:725c213b2396 69 leds(1.0);
el17arm 2:725c213b2396 70 }
el17arm 2:725c213b2396 71
el17arm 2:725c213b2396 72 void Gamepad::leds(float val) const
el17arm 2:725c213b2396 73 {
el17arm 2:725c213b2396 74 if (val < 0.0f) {
el17arm 2:725c213b2396 75 val = 0.0f;
el17arm 2:725c213b2396 76 }
el17arm 2:725c213b2396 77 if (val > 1.0f) {
el17arm 2:725c213b2396 78 val = 1.0f;
el17arm 2:725c213b2396 79 }
el17arm 2:725c213b2396 80
el17arm 2:725c213b2396 81 // leds are active-low, so subtract from 1.0
el17arm 2:725c213b2396 82 // 0.0 corresponds to fully-off, 1.0 to fully-on
el17arm 2:725c213b2396 83 val = 1.0f - val;
el17arm 2:725c213b2396 84
el17arm 2:725c213b2396 85 _led1->write(val);
el17arm 2:725c213b2396 86 _led2->write(val);
el17arm 2:725c213b2396 87 _led3->write(val);
el17arm 2:725c213b2396 88 _led4->write(val);
el17arm 2:725c213b2396 89 _led5->write(val);
el17arm 2:725c213b2396 90 _led6->write(val);
el17arm 2:725c213b2396 91 }
el17arm 2:725c213b2396 92
el17arm 2:725c213b2396 93 void Gamepad::led(int n,float val) const
el17arm 2:725c213b2396 94 {
el17arm 2:725c213b2396 95 // ensure they are within vlaid range
el17arm 2:725c213b2396 96 if (val < 0.0f) {
el17arm 2:725c213b2396 97 val = 0.0f;
el17arm 2:725c213b2396 98 }
el17arm 2:725c213b2396 99 if (val > 1.0f) {
el17arm 2:725c213b2396 100 val = 1.0f;
el17arm 2:725c213b2396 101 }
el17arm 2:725c213b2396 102
el17arm 2:725c213b2396 103 switch (n) {
el17arm 2:725c213b2396 104
el17arm 2:725c213b2396 105 // check for valid LED number and set value
el17arm 2:725c213b2396 106
el17arm 2:725c213b2396 107 case 1:
el17arm 2:725c213b2396 108 _led1->write(1.0f-val); // active-low so subtract from 1
el17arm 2:725c213b2396 109 break;
el17arm 2:725c213b2396 110 case 2:
el17arm 2:725c213b2396 111 _led2->write(1.0f-val); // active-low so subtract from 1
el17arm 2:725c213b2396 112 break;
el17arm 2:725c213b2396 113 case 3:
el17arm 2:725c213b2396 114 _led3->write(1.0f-val); // active-low so subtract from 1
el17arm 2:725c213b2396 115 break;
el17arm 2:725c213b2396 116 case 4:
el17arm 2:725c213b2396 117 _led4->write(1.0f-val); // active-low so subtract from 1
el17arm 2:725c213b2396 118 break;
el17arm 2:725c213b2396 119 case 5:
el17arm 2:725c213b2396 120 _led5->write(1.0f-val); // active-low so subtract from 1
el17arm 2:725c213b2396 121 break;
el17arm 2:725c213b2396 122 case 6:
el17arm 2:725c213b2396 123 _led6->write(1.0f-val); // active-low so subtract from 1
el17arm 2:725c213b2396 124 break;
el17arm 2:725c213b2396 125
el17arm 2:725c213b2396 126 }
el17arm 2:725c213b2396 127 }
el17arm 2:725c213b2396 128
el17arm 2:725c213b2396 129 float Gamepad::read_pot() const
el17arm 2:725c213b2396 130 {
el17arm 2:725c213b2396 131 return _pot->read();
el17arm 2:725c213b2396 132 }
el17arm 2:725c213b2396 133
el17arm 2:725c213b2396 134 void Gamepad::tone(float frequency, float duration)
el17arm 2:725c213b2396 135 {
el17arm 2:725c213b2396 136 _buzzer->period(1.0f/frequency);
el17arm 2:725c213b2396 137 _buzzer->write(0.5); // 50% duty cycle - square wave
el17arm 2:725c213b2396 138 _timeout->attach(callback(this, &Gamepad::tone_off), duration );
el17arm 2:725c213b2396 139 }
el17arm 2:725c213b2396 140
el17arm 2:725c213b2396 141 bool Gamepad::check_event(GamepadEvent const id)
el17arm 2:725c213b2396 142 {
el17arm 2:725c213b2396 143 // Check whether event flag is set
el17arm 2:725c213b2396 144 if (_event_state[id]) {
el17arm 2:725c213b2396 145 _event_state.reset(id); // clear flag
el17arm 2:725c213b2396 146 return true;
el17arm 2:725c213b2396 147 } else {
el17arm 2:725c213b2396 148 return false;
el17arm 2:725c213b2396 149 }
el17arm 2:725c213b2396 150 }
el17arm 2:725c213b2396 151
el17arm 2:725c213b2396 152 // this method gets the magnitude of the joystick movement
el17arm 2:725c213b2396 153 float Gamepad::get_mag()
el17arm 2:725c213b2396 154 {
el17arm 2:725c213b2396 155 Polar p = get_polar();
el17arm 2:725c213b2396 156 return p.mag;
el17arm 2:725c213b2396 157 }
el17arm 2:725c213b2396 158
el17arm 2:725c213b2396 159 // this method gets the angle of joystick movement (0 to 360, 0 North)
el17arm 2:725c213b2396 160 float Gamepad::get_angle()
el17arm 2:725c213b2396 161 {
el17arm 2:725c213b2396 162 Polar p = get_polar();
el17arm 2:725c213b2396 163 return p.angle;
el17arm 2:725c213b2396 164 }
el17arm 2:725c213b2396 165
el17arm 2:725c213b2396 166 Direction Gamepad::get_direction()
el17arm 2:725c213b2396 167 {
el17arm 2:725c213b2396 168 float angle = get_angle(); // 0 to 360, -1 for centred
el17arm 2:725c213b2396 169
el17arm 2:725c213b2396 170 Direction d;
el17arm 2:725c213b2396 171 // partition 360 into segments and check which segment the angle is in
el17arm 2:725c213b2396 172 if (angle < 0.0f) {
el17arm 2:725c213b2396 173 d = CENTRE; // check for -1.0 angle
el17arm 2:725c213b2396 174 } else if (angle < 22.5f) { // then keep going in 45 degree increments
el17arm 2:725c213b2396 175 d = N;
el17arm 2:725c213b2396 176 } else if (angle < 67.5f) {
el17arm 2:725c213b2396 177 d = NE;
el17arm 2:725c213b2396 178 } else if (angle < 112.5f) {
el17arm 2:725c213b2396 179 d = E;
el17arm 2:725c213b2396 180 } else if (angle < 157.5f) {
el17arm 2:725c213b2396 181 d = SE;
el17arm 2:725c213b2396 182 } else if (angle < 202.5f) {
el17arm 2:725c213b2396 183 d = S;
el17arm 2:725c213b2396 184 } else if (angle < 247.5f) {
el17arm 2:725c213b2396 185 d = SW;
el17arm 2:725c213b2396 186 } else if (angle < 292.5f) {
el17arm 2:725c213b2396 187 d = W;
el17arm 2:725c213b2396 188 } else if (angle < 337.5f) {
el17arm 2:725c213b2396 189 d = NW;
el17arm 2:725c213b2396 190 } else {
el17arm 2:725c213b2396 191 d = N;
el17arm 2:725c213b2396 192 }
el17arm 2:725c213b2396 193
el17arm 2:725c213b2396 194 return d;
el17arm 2:725c213b2396 195 }
el17arm 2:725c213b2396 196
el17arm 2:725c213b2396 197 ///////////////////// private methods ////////////////////////
el17arm 2:725c213b2396 198
el17arm 2:725c213b2396 199 void Gamepad::tone_off()
el17arm 2:725c213b2396 200 {
el17arm 2:725c213b2396 201 // called after timeout
el17arm 2:725c213b2396 202 _buzzer->write(0.0);
el17arm 2:725c213b2396 203 }
el17arm 2:725c213b2396 204
el17arm 2:725c213b2396 205 void Gamepad::init_buttons()
el17arm 2:725c213b2396 206 {
el17arm 2:725c213b2396 207 // turn on pull-downs as other side of button is connected to 3V3
el17arm 2:725c213b2396 208 // button is 0 when not pressed and 1 when pressed
el17arm 2:725c213b2396 209 _button_A->mode(PullDown);
el17arm 2:725c213b2396 210 _button_B->mode(PullDown);
el17arm 2:725c213b2396 211 _button_X->mode(PullDown);
el17arm 2:725c213b2396 212 _button_Y->mode(PullDown);
el17arm 2:725c213b2396 213 _button_back->mode(PullDown);
el17arm 2:725c213b2396 214 _button_start->mode(PullDown);
el17arm 2:725c213b2396 215 _button_L->mode(PullDown);
el17arm 2:725c213b2396 216 _button_R->mode(PullDown);
el17arm 2:725c213b2396 217 _button_joystick->mode(PullDown);
el17arm 2:725c213b2396 218 // therefore setup rising edge interrupts
el17arm 2:725c213b2396 219 _button_A->rise(callback(this,&Gamepad::a_isr));
el17arm 2:725c213b2396 220 _button_B->rise(callback(this,&Gamepad::b_isr));
el17arm 2:725c213b2396 221 _button_X->rise(callback(this,&Gamepad::x_isr));
el17arm 2:725c213b2396 222 _button_Y->rise(callback(this,&Gamepad::y_isr));
el17arm 2:725c213b2396 223 _button_L->rise(callback(this,&Gamepad::l_isr));
el17arm 2:725c213b2396 224 _button_R->rise(callback(this,&Gamepad::r_isr));
el17arm 2:725c213b2396 225 _button_start->rise(callback(this,&Gamepad::start_isr));
el17arm 2:725c213b2396 226 _button_back->rise(callback(this,&Gamepad::back_isr));
el17arm 2:725c213b2396 227 _button_joystick->rise(callback(this,&Gamepad::joy_isr));
el17arm 2:725c213b2396 228 }
el17arm 2:725c213b2396 229
el17arm 2:725c213b2396 230 // button interrupts ISRs
el17arm 2:725c213b2396 231 // Each of these simply sets the appropriate event bit in the _event_state
el17arm 2:725c213b2396 232 // variable
el17arm 2:725c213b2396 233 void Gamepad::a_isr()
el17arm 2:725c213b2396 234 {
el17arm 2:725c213b2396 235 _event_state.set(A_PRESSED);
el17arm 2:725c213b2396 236 }
el17arm 2:725c213b2396 237 void Gamepad::b_isr()
el17arm 2:725c213b2396 238 {
el17arm 2:725c213b2396 239 _event_state.set(B_PRESSED);
el17arm 2:725c213b2396 240 }
el17arm 2:725c213b2396 241 void Gamepad::x_isr()
el17arm 2:725c213b2396 242 {
el17arm 2:725c213b2396 243 _event_state.set(X_PRESSED);
el17arm 2:725c213b2396 244 }
el17arm 2:725c213b2396 245 void Gamepad::y_isr()
el17arm 2:725c213b2396 246 {
el17arm 2:725c213b2396 247 _event_state.set(Y_PRESSED);
el17arm 2:725c213b2396 248 }
el17arm 2:725c213b2396 249 void Gamepad::l_isr()
el17arm 2:725c213b2396 250 {
el17arm 2:725c213b2396 251 _event_state.set(L_PRESSED);
el17arm 2:725c213b2396 252 }
el17arm 2:725c213b2396 253 void Gamepad::r_isr()
el17arm 2:725c213b2396 254 {
el17arm 2:725c213b2396 255 _event_state.set(R_PRESSED);
el17arm 2:725c213b2396 256 }
el17arm 2:725c213b2396 257 void Gamepad::back_isr()
el17arm 2:725c213b2396 258 {
el17arm 2:725c213b2396 259 _event_state.set(BACK_PRESSED);
el17arm 2:725c213b2396 260 }
el17arm 2:725c213b2396 261 void Gamepad::start_isr()
el17arm 2:725c213b2396 262 {
el17arm 2:725c213b2396 263 _event_state.set(START_PRESSED);
el17arm 2:725c213b2396 264 }
el17arm 2:725c213b2396 265 void Gamepad::joy_isr()
el17arm 2:725c213b2396 266 {
el17arm 2:725c213b2396 267 _event_state.set(JOY_PRESSED);
el17arm 2:725c213b2396 268 }
el17arm 2:725c213b2396 269
el17arm 2:725c213b2396 270 // get raw joystick coordinate in range -1 to 1
el17arm 2:725c213b2396 271 // Direction (x,y)
el17arm 2:725c213b2396 272 // North (0,1)
el17arm 2:725c213b2396 273 // East (1,0)
el17arm 2:725c213b2396 274 // South (0,-1)
el17arm 2:725c213b2396 275 // West (-1,0)
el17arm 2:725c213b2396 276 Vector2D Gamepad::get_coord()
el17arm 2:725c213b2396 277 {
el17arm 2:725c213b2396 278 // read() returns value in range 0.0 to 1.0 so is scaled and centre value
el17arm 2:725c213b2396 279 // substracted to get values in the range -1.0 to 1.0
el17arm 2:725c213b2396 280 float x = 2.0f*( _horiz->read() - _x0 );
el17arm 2:725c213b2396 281 float y = 2.0f*( _vert->read() - _y0 );
el17arm 2:725c213b2396 282
el17arm 2:725c213b2396 283 // Note: the x value here is inverted to ensure the positive x is to the
el17arm 2:725c213b2396 284 // right. This is simply due to how the potentiometer on the joystick
el17arm 2:725c213b2396 285 // I was using was connected up. It could have been corrected in hardware
el17arm 2:725c213b2396 286 // by swapping the power supply pins. Instead it is done in software so may
el17arm 2:725c213b2396 287 // need to be changed depending on your wiring setup
el17arm 2:725c213b2396 288
el17arm 2:725c213b2396 289 Vector2D coord = {-x,y};
el17arm 2:725c213b2396 290 return coord;
el17arm 2:725c213b2396 291 }
el17arm 2:725c213b2396 292
el17arm 2:725c213b2396 293 // This maps the raw x,y coord onto a circular grid.
el17arm 2:725c213b2396 294 // See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html
el17arm 2:725c213b2396 295 Vector2D Gamepad::get_mapped_coord()
el17arm 2:725c213b2396 296 {
el17arm 2:725c213b2396 297 Vector2D coord = get_coord();
el17arm 2:725c213b2396 298
el17arm 2:725c213b2396 299 // do the transformation
el17arm 2:725c213b2396 300 float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f);
el17arm 2:725c213b2396 301 float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f);
el17arm 2:725c213b2396 302
el17arm 2:725c213b2396 303 Vector2D mapped_coord = {x,y};
el17arm 2:725c213b2396 304 return mapped_coord;
el17arm 2:725c213b2396 305 }
el17arm 2:725c213b2396 306
el17arm 2:725c213b2396 307 // this function converts the mapped coordinates into polar form
el17arm 2:725c213b2396 308 Polar Gamepad::get_polar()
el17arm 2:725c213b2396 309 {
el17arm 2:725c213b2396 310 // get the mapped coordinate
el17arm 2:725c213b2396 311 Vector2D coord = get_mapped_coord();
el17arm 2:725c213b2396 312
el17arm 2:725c213b2396 313 // at this point, 0 degrees (i.e. x-axis) will be defined to the East.
el17arm 2:725c213b2396 314 // We want 0 degrees to correspond to North and increase clockwise to 359
el17arm 2:725c213b2396 315 // like a compass heading, so we need to swap the axis and invert y
el17arm 2:725c213b2396 316 float x = coord.y;
el17arm 2:725c213b2396 317 float y = coord.x;
el17arm 2:725c213b2396 318
el17arm 2:725c213b2396 319 float mag = sqrt(x*x+y*y); // pythagoras
el17arm 2:725c213b2396 320 float angle = RAD2DEG*atan2(y,x);
el17arm 2:725c213b2396 321 // angle will be in range -180 to 180, so add 360 to negative angles to
el17arm 2:725c213b2396 322 // move to 0 to 360 range
el17arm 2:725c213b2396 323 if (angle < 0.0f) {
el17arm 2:725c213b2396 324 angle+=360.0f;
el17arm 2:725c213b2396 325 }
el17arm 2:725c213b2396 326
el17arm 2:725c213b2396 327 // the noise on the ADC causes the values of x and y to fluctuate slightly
el17arm 2:725c213b2396 328 // around the centred values. This causes the random angle values to get
el17arm 2:725c213b2396 329 // calculated when the joystick is centred and untouched. This is also when
el17arm 2:725c213b2396 330 // the magnitude is very small, so we can check for a small magnitude and then
el17arm 2:725c213b2396 331 // set the angle to -1. This will inform us when the angle is invalid and the
el17arm 2:725c213b2396 332 // joystick is centred
el17arm 2:725c213b2396 333
el17arm 2:725c213b2396 334 if (mag < TOL) {
el17arm 2:725c213b2396 335 mag = 0.0f;
el17arm 2:725c213b2396 336 angle = -1.0f;
el17arm 2:725c213b2396 337 }
el17arm 2:725c213b2396 338
el17arm 2:725c213b2396 339 Polar p = {mag,angle};
el17arm 2:725c213b2396 340 return p;
el17arm 2:725c213b2396 341 }