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Dependencies:   mbed

Gamepad/Gamepad.cpp@0:1e61ade20a23, 2019-05-07 (annotated)

Committer:
kamtas
Date:
Tue May 07 19:09:03 2019 +0000
Revision:
0:1e61ade20a23
initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kamtas 0:1e61ade20a23 1 #include "Gamepad.h"
kamtas 0:1e61ade20a23 2
kamtas 0:1e61ade20a23 3 #include "mbed.h"
kamtas 0:1e61ade20a23 4
kamtas 0:1e61ade20a23 5 //////////// constructor/destructor ////////////
kamtas 0:1e61ade20a23 6 Gamepad::Gamepad()
kamtas 0:1e61ade20a23 7 :
kamtas 0:1e61ade20a23 8 _led1(new PwmOut(PTA1)),
kamtas 0:1e61ade20a23 9 _led2(new PwmOut(PTA2)),
kamtas 0:1e61ade20a23 10 _led3(new PwmOut(PTC2)),
kamtas 0:1e61ade20a23 11 _led4(new PwmOut(PTC3)),
kamtas 0:1e61ade20a23 12 _led5(new PwmOut(PTC4)),
kamtas 0:1e61ade20a23 13 _led6(new PwmOut(PTD3)),
kamtas 0:1e61ade20a23 14
kamtas 0:1e61ade20a23 15 _button_A(new InterruptIn(PTB9)),
kamtas 0:1e61ade20a23 16 _button_B(new InterruptIn(PTD0)),
kamtas 0:1e61ade20a23 17 _button_X(new InterruptIn(PTC17)),
kamtas 0:1e61ade20a23 18 _button_Y(new InterruptIn(PTC12)),
kamtas 0:1e61ade20a23 19 _button_L(new InterruptIn(PTB18)),
kamtas 0:1e61ade20a23 20 _button_R(new InterruptIn(PTB3)),
kamtas 0:1e61ade20a23 21 _button_back(new InterruptIn(PTB19)),
kamtas 0:1e61ade20a23 22 _button_start(new InterruptIn(PTC5)),
kamtas 0:1e61ade20a23 23 _button_joystick(new InterruptIn(PTC16)),
kamtas 0:1e61ade20a23 24
kamtas 0:1e61ade20a23 25 _vert(new AnalogIn(PTB10)),
kamtas 0:1e61ade20a23 26 _horiz(new AnalogIn(PTB11)),
kamtas 0:1e61ade20a23 27
kamtas 0:1e61ade20a23 28 _buzzer(new PwmOut(PTC10)),
kamtas 0:1e61ade20a23 29 _pot(new AnalogIn(PTB2)),
kamtas 0:1e61ade20a23 30
kamtas 0:1e61ade20a23 31 _timeout(new Timeout()),
kamtas 0:1e61ade20a23 32
kamtas 0:1e61ade20a23 33 _event_state(0),
kamtas 0:1e61ade20a23 34
kamtas 0:1e61ade20a23 35 _x0(0),
kamtas 0:1e61ade20a23 36 _y0(0)
kamtas 0:1e61ade20a23 37 {}
kamtas 0:1e61ade20a23 38
kamtas 0:1e61ade20a23 39 Gamepad::~Gamepad()
kamtas 0:1e61ade20a23 40 {
kamtas 0:1e61ade20a23 41 delete _led1,_led2,_led3,_led4,_led5,_led6;
kamtas 0:1e61ade20a23 42 delete _button_A,_button_B,_button_joystick,_vert,_horiz;
kamtas 0:1e61ade20a23 43 delete _button_X,_button_Y,_button_back,_button_start;
kamtas 0:1e61ade20a23 44 delete _button_L,_button_R, _buzzer, _pot, _timeout;
kamtas 0:1e61ade20a23 45 }
kamtas 0:1e61ade20a23 46
kamtas 0:1e61ade20a23 47 ///////////////// public methods /////////////////
kamtas 0:1e61ade20a23 48
kamtas 0:1e61ade20a23 49 void Gamepad::init()
kamtas 0:1e61ade20a23 50 {
kamtas 0:1e61ade20a23 51 leds_off();
kamtas 0:1e61ade20a23 52 init_buttons();
kamtas 0:1e61ade20a23 53
kamtas 0:1e61ade20a23 54 // read centred values of joystick
kamtas 0:1e61ade20a23 55 _x0 = _horiz->read();
kamtas 0:1e61ade20a23 56 _y0 = _vert->read();
kamtas 0:1e61ade20a23 57
kamtas 0:1e61ade20a23 58 // clear all flags
kamtas 0:1e61ade20a23 59 _event_state = 0;
kamtas 0:1e61ade20a23 60 }
kamtas 0:1e61ade20a23 61
kamtas 0:1e61ade20a23 62 void Gamepad::leds_off()
kamtas 0:1e61ade20a23 63 {
kamtas 0:1e61ade20a23 64 leds(0.0);
kamtas 0:1e61ade20a23 65 }
kamtas 0:1e61ade20a23 66
kamtas 0:1e61ade20a23 67 void Gamepad::leds_on()
kamtas 0:1e61ade20a23 68 {
kamtas 0:1e61ade20a23 69 leds(1.0);
kamtas 0:1e61ade20a23 70 }
kamtas 0:1e61ade20a23 71
kamtas 0:1e61ade20a23 72 void Gamepad::leds(float val) const
kamtas 0:1e61ade20a23 73 {
kamtas 0:1e61ade20a23 74 if (val < 0.0f) {
kamtas 0:1e61ade20a23 75 val = 0.0f;
kamtas 0:1e61ade20a23 76 }
kamtas 0:1e61ade20a23 77 if (val > 1.0f) {
kamtas 0:1e61ade20a23 78 val = 1.0f;
kamtas 0:1e61ade20a23 79 }
kamtas 0:1e61ade20a23 80
kamtas 0:1e61ade20a23 81 // leds are active-low, so subtract from 1.0
kamtas 0:1e61ade20a23 82 // 0.0 corresponds to fully-off, 1.0 to fully-on
kamtas 0:1e61ade20a23 83 val = 1.0f - val;
kamtas 0:1e61ade20a23 84
kamtas 0:1e61ade20a23 85 _led1->write(val);
kamtas 0:1e61ade20a23 86 _led2->write(val);
kamtas 0:1e61ade20a23 87 _led3->write(val);
kamtas 0:1e61ade20a23 88 _led4->write(val);
kamtas 0:1e61ade20a23 89 _led5->write(val);
kamtas 0:1e61ade20a23 90 _led6->write(val);
kamtas 0:1e61ade20a23 91 }
kamtas 0:1e61ade20a23 92
kamtas 0:1e61ade20a23 93 void Gamepad::led(int n,float val) const
kamtas 0:1e61ade20a23 94 {
kamtas 0:1e61ade20a23 95 // ensure they are within vlaid range
kamtas 0:1e61ade20a23 96 if (val < 0.0f) {
kamtas 0:1e61ade20a23 97 val = 0.0f;
kamtas 0:1e61ade20a23 98 }
kamtas 0:1e61ade20a23 99 if (val > 1.0f) {
kamtas 0:1e61ade20a23 100 val = 1.0f;
kamtas 0:1e61ade20a23 101 }
kamtas 0:1e61ade20a23 102
kamtas 0:1e61ade20a23 103 switch (n) {
kamtas 0:1e61ade20a23 104
kamtas 0:1e61ade20a23 105 // check for valid LED number and set value
kamtas 0:1e61ade20a23 106
kamtas 0:1e61ade20a23 107 case 1:
kamtas 0:1e61ade20a23 108 _led1->write(1.0f-val); // active-low so subtract from 1
kamtas 0:1e61ade20a23 109 break;
kamtas 0:1e61ade20a23 110 case 2:
kamtas 0:1e61ade20a23 111 _led2->write(1.0f-val); // active-low so subtract from 1
kamtas 0:1e61ade20a23 112 break;
kamtas 0:1e61ade20a23 113 case 3:
kamtas 0:1e61ade20a23 114 _led3->write(1.0f-val); // active-low so subtract from 1
kamtas 0:1e61ade20a23 115 break;
kamtas 0:1e61ade20a23 116 case 4:
kamtas 0:1e61ade20a23 117 _led4->write(1.0f-val); // active-low so subtract from 1
kamtas 0:1e61ade20a23 118 break;
kamtas 0:1e61ade20a23 119 case 5:
kamtas 0:1e61ade20a23 120 _led5->write(1.0f-val); // active-low so subtract from 1
kamtas 0:1e61ade20a23 121 break;
kamtas 0:1e61ade20a23 122 case 6:
kamtas 0:1e61ade20a23 123 _led6->write(1.0f-val); // active-low so subtract from 1
kamtas 0:1e61ade20a23 124 break;
kamtas 0:1e61ade20a23 125
kamtas 0:1e61ade20a23 126 }
kamtas 0:1e61ade20a23 127 }
kamtas 0:1e61ade20a23 128
kamtas 0:1e61ade20a23 129 float Gamepad::read_pot() const
kamtas 0:1e61ade20a23 130 {
kamtas 0:1e61ade20a23 131 return _pot->read();
kamtas 0:1e61ade20a23 132 }
kamtas 0:1e61ade20a23 133
kamtas 0:1e61ade20a23 134 void Gamepad::tone(float frequency, float duration)
kamtas 0:1e61ade20a23 135 {
kamtas 0:1e61ade20a23 136 _buzzer->period(1.0f/frequency);
kamtas 0:1e61ade20a23 137 _buzzer->write(0.5); // 50% duty cycle - square wave
kamtas 0:1e61ade20a23 138 _timeout->attach(callback(this, &Gamepad::tone_off), duration );
kamtas 0:1e61ade20a23 139 }
kamtas 0:1e61ade20a23 140
kamtas 0:1e61ade20a23 141 bool Gamepad::check_event(GamepadEvent const id)
kamtas 0:1e61ade20a23 142 {
kamtas 0:1e61ade20a23 143 // Check whether event flag is set
kamtas 0:1e61ade20a23 144 if (_event_state[id]) {
kamtas 0:1e61ade20a23 145 _event_state.reset(id); // clear flag
kamtas 0:1e61ade20a23 146 return true;
kamtas 0:1e61ade20a23 147 } else {
kamtas 0:1e61ade20a23 148 return false;
kamtas 0:1e61ade20a23 149 }
kamtas 0:1e61ade20a23 150 }
kamtas 0:1e61ade20a23 151
kamtas 0:1e61ade20a23 152 // this method gets the magnitude of the joystick movement
kamtas 0:1e61ade20a23 153 float Gamepad::get_mag()
kamtas 0:1e61ade20a23 154 {
kamtas 0:1e61ade20a23 155 Polar p = get_polar();
kamtas 0:1e61ade20a23 156 return p.mag;
kamtas 0:1e61ade20a23 157 }
kamtas 0:1e61ade20a23 158
kamtas 0:1e61ade20a23 159 // this method gets the angle of joystick movement (0 to 360, 0 North)
kamtas 0:1e61ade20a23 160 float Gamepad::get_angle()
kamtas 0:1e61ade20a23 161 {
kamtas 0:1e61ade20a23 162 Polar p = get_polar();
kamtas 0:1e61ade20a23 163 return p.angle;
kamtas 0:1e61ade20a23 164 }
kamtas 0:1e61ade20a23 165
kamtas 0:1e61ade20a23 166 Direction Gamepad::get_direction()
kamtas 0:1e61ade20a23 167 {
kamtas 0:1e61ade20a23 168 float angle = get_angle(); // 0 to 360, -1 for centred
kamtas 0:1e61ade20a23 169
kamtas 0:1e61ade20a23 170 Direction d;
kamtas 0:1e61ade20a23 171 // partition 360 into segments and check which segment the angle is in
kamtas 0:1e61ade20a23 172 if (angle < 0.0f) {
kamtas 0:1e61ade20a23 173 d = CENTRE; // check for -1.0 angle
kamtas 0:1e61ade20a23 174 } else if (angle < 22.5f) { // then keep going in 45 degree increments
kamtas 0:1e61ade20a23 175 d = N;
kamtas 0:1e61ade20a23 176 } else if (angle < 67.5f) {
kamtas 0:1e61ade20a23 177 d = NE;
kamtas 0:1e61ade20a23 178 } else if (angle < 112.5f) {
kamtas 0:1e61ade20a23 179 d = E;
kamtas 0:1e61ade20a23 180 } else if (angle < 157.5f) {
kamtas 0:1e61ade20a23 181 d = SE;
kamtas 0:1e61ade20a23 182 } else if (angle < 202.5f) {
kamtas 0:1e61ade20a23 183 d = S;
kamtas 0:1e61ade20a23 184 } else if (angle < 247.5f) {
kamtas 0:1e61ade20a23 185 d = SW;
kamtas 0:1e61ade20a23 186 } else if (angle < 292.5f) {
kamtas 0:1e61ade20a23 187 d = W;
kamtas 0:1e61ade20a23 188 } else if (angle < 337.5f) {
kamtas 0:1e61ade20a23 189 d = NW;
kamtas 0:1e61ade20a23 190 } else {
kamtas 0:1e61ade20a23 191 d = N;
kamtas 0:1e61ade20a23 192 }
kamtas 0:1e61ade20a23 193
kamtas 0:1e61ade20a23 194 return d;
kamtas 0:1e61ade20a23 195 }
kamtas 0:1e61ade20a23 196
kamtas 0:1e61ade20a23 197 ///////////////////// private methods ////////////////////////
kamtas 0:1e61ade20a23 198
kamtas 0:1e61ade20a23 199 void Gamepad::tone_off()
kamtas 0:1e61ade20a23 200 {
kamtas 0:1e61ade20a23 201 // called after timeout
kamtas 0:1e61ade20a23 202 _buzzer->write(0.0);
kamtas 0:1e61ade20a23 203 }
kamtas 0:1e61ade20a23 204
kamtas 0:1e61ade20a23 205 void Gamepad::init_buttons()
kamtas 0:1e61ade20a23 206 {
kamtas 0:1e61ade20a23 207 // turn on pull-downs as other side of button is connected to 3V3
kamtas 0:1e61ade20a23 208 // button is 0 when not pressed and 1 when pressed
kamtas 0:1e61ade20a23 209 _button_A->mode(PullDown);
kamtas 0:1e61ade20a23 210 _button_B->mode(PullDown);
kamtas 0:1e61ade20a23 211 _button_X->mode(PullDown);
kamtas 0:1e61ade20a23 212 _button_Y->mode(PullDown);
kamtas 0:1e61ade20a23 213 _button_back->mode(PullDown);
kamtas 0:1e61ade20a23 214 _button_start->mode(PullDown);
kamtas 0:1e61ade20a23 215 _button_L->mode(PullDown);
kamtas 0:1e61ade20a23 216 _button_R->mode(PullDown);
kamtas 0:1e61ade20a23 217 _button_joystick->mode(PullDown);
kamtas 0:1e61ade20a23 218 // therefore setup rising edge interrupts
kamtas 0:1e61ade20a23 219 _button_A->rise(callback(this,&Gamepad::a_isr));
kamtas 0:1e61ade20a23 220 _button_B->rise(callback(this,&Gamepad::b_isr));
kamtas 0:1e61ade20a23 221 _button_X->rise(callback(this,&Gamepad::x_isr));
kamtas 0:1e61ade20a23 222 _button_Y->rise(callback(this,&Gamepad::y_isr));
kamtas 0:1e61ade20a23 223 _button_L->rise(callback(this,&Gamepad::l_isr));
kamtas 0:1e61ade20a23 224 _button_R->rise(callback(this,&Gamepad::r_isr));
kamtas 0:1e61ade20a23 225 _button_start->rise(callback(this,&Gamepad::start_isr));
kamtas 0:1e61ade20a23 226 _button_back->rise(callback(this,&Gamepad::back_isr));
kamtas 0:1e61ade20a23 227 _button_joystick->rise(callback(this,&Gamepad::joy_isr));
kamtas 0:1e61ade20a23 228 }
kamtas 0:1e61ade20a23 229
kamtas 0:1e61ade20a23 230 // button interrupts ISRs
kamtas 0:1e61ade20a23 231 // Each of these simply sets the appropriate event bit in the _event_state
kamtas 0:1e61ade20a23 232 // variable
kamtas 0:1e61ade20a23 233 void Gamepad::a_isr()
kamtas 0:1e61ade20a23 234 {
kamtas 0:1e61ade20a23 235 _event_state.set(A_PRESSED);
kamtas 0:1e61ade20a23 236 }
kamtas 0:1e61ade20a23 237 void Gamepad::b_isr()
kamtas 0:1e61ade20a23 238 {
kamtas 0:1e61ade20a23 239 _event_state.set(B_PRESSED);
kamtas 0:1e61ade20a23 240 }
kamtas 0:1e61ade20a23 241 void Gamepad::x_isr()
kamtas 0:1e61ade20a23 242 {
kamtas 0:1e61ade20a23 243 _event_state.set(X_PRESSED);
kamtas 0:1e61ade20a23 244 }
kamtas 0:1e61ade20a23 245 void Gamepad::y_isr()
kamtas 0:1e61ade20a23 246 {
kamtas 0:1e61ade20a23 247 _event_state.set(Y_PRESSED);
kamtas 0:1e61ade20a23 248 }
kamtas 0:1e61ade20a23 249 void Gamepad::l_isr()
kamtas 0:1e61ade20a23 250 {
kamtas 0:1e61ade20a23 251 _event_state.set(L_PRESSED);
kamtas 0:1e61ade20a23 252 }
kamtas 0:1e61ade20a23 253 void Gamepad::r_isr()
kamtas 0:1e61ade20a23 254 {
kamtas 0:1e61ade20a23 255 _event_state.set(R_PRESSED);
kamtas 0:1e61ade20a23 256 }
kamtas 0:1e61ade20a23 257 void Gamepad::back_isr()
kamtas 0:1e61ade20a23 258 {
kamtas 0:1e61ade20a23 259 _event_state.set(BACK_PRESSED);
kamtas 0:1e61ade20a23 260 }
kamtas 0:1e61ade20a23 261 void Gamepad::start_isr()
kamtas 0:1e61ade20a23 262 {
kamtas 0:1e61ade20a23 263 _event_state.set(START_PRESSED);
kamtas 0:1e61ade20a23 264 }
kamtas 0:1e61ade20a23 265 void Gamepad::joy_isr()
kamtas 0:1e61ade20a23 266 {
kamtas 0:1e61ade20a23 267 _event_state.set(JOY_PRESSED);
kamtas 0:1e61ade20a23 268 }
kamtas 0:1e61ade20a23 269
kamtas 0:1e61ade20a23 270 // get raw joystick coordinate in range -1 to 1
kamtas 0:1e61ade20a23 271 // Direction (x,y)
kamtas 0:1e61ade20a23 272 // North (0,1)
kamtas 0:1e61ade20a23 273 // East (1,0)
kamtas 0:1e61ade20a23 274 // South (0,-1)
kamtas 0:1e61ade20a23 275 // West (-1,0)
kamtas 0:1e61ade20a23 276 Vector2D Gamepad::get_coord()
kamtas 0:1e61ade20a23 277 {
kamtas 0:1e61ade20a23 278 // read() returns value in range 0.0 to 1.0 so is scaled and centre value
kamtas 0:1e61ade20a23 279 // substracted to get values in the range -1.0 to 1.0
kamtas 0:1e61ade20a23 280 float x = 2.0f*( _horiz->read() - _x0 );
kamtas 0:1e61ade20a23 281 float y = 2.0f*( _vert->read() - _y0 );
kamtas 0:1e61ade20a23 282
kamtas 0:1e61ade20a23 283 // Note: the x value here is inverted to ensure the positive x is to the
kamtas 0:1e61ade20a23 284 // right. This is simply due to how the potentiometer on the joystick
kamtas 0:1e61ade20a23 285 // I was using was connected up. It could have been corrected in hardware
kamtas 0:1e61ade20a23 286 // by swapping the power supply pins. Instead it is done in software so may
kamtas 0:1e61ade20a23 287 // need to be changed depending on your wiring setup
kamtas 0:1e61ade20a23 288
kamtas 0:1e61ade20a23 289 Vector2D coord = {-x,y};
kamtas 0:1e61ade20a23 290 return coord;
kamtas 0:1e61ade20a23 291 }
kamtas 0:1e61ade20a23 292
kamtas 0:1e61ade20a23 293 // This maps the raw x,y coord onto a circular grid.
kamtas 0:1e61ade20a23 294 // See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html
kamtas 0:1e61ade20a23 295 Vector2D Gamepad::get_mapped_coord()
kamtas 0:1e61ade20a23 296 {
kamtas 0:1e61ade20a23 297 Vector2D coord = get_coord();
kamtas 0:1e61ade20a23 298
kamtas 0:1e61ade20a23 299 // do the transformation
kamtas 0:1e61ade20a23 300 float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f);
kamtas 0:1e61ade20a23 301 float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f);
kamtas 0:1e61ade20a23 302
kamtas 0:1e61ade20a23 303 Vector2D mapped_coord = {x,y};
kamtas 0:1e61ade20a23 304 return mapped_coord;
kamtas 0:1e61ade20a23 305 }
kamtas 0:1e61ade20a23 306
kamtas 0:1e61ade20a23 307 // this function converts the mapped coordinates into polar form
kamtas 0:1e61ade20a23 308 Polar Gamepad::get_polar()
kamtas 0:1e61ade20a23 309 {
kamtas 0:1e61ade20a23 310 // get the mapped coordinate
kamtas 0:1e61ade20a23 311 Vector2D coord = get_mapped_coord();
kamtas 0:1e61ade20a23 312
kamtas 0:1e61ade20a23 313 // at this point, 0 degrees (i.e. x-axis) will be defined to the East.
kamtas 0:1e61ade20a23 314 // We want 0 degrees to correspond to North and increase clockwise to 359
kamtas 0:1e61ade20a23 315 // like a compass heading, so we need to swap the axis and invert y
kamtas 0:1e61ade20a23 316 float x = coord.y;
kamtas 0:1e61ade20a23 317 float y = coord.x;
kamtas 0:1e61ade20a23 318
kamtas 0:1e61ade20a23 319 float mag = sqrt(x*x+y*y); // pythagoras
kamtas 0:1e61ade20a23 320 float angle = RAD2DEG*atan2(y,x);
kamtas 0:1e61ade20a23 321 // angle will be in range -180 to 180, so add 360 to negative angles to
kamtas 0:1e61ade20a23 322 // move to 0 to 360 range
kamtas 0:1e61ade20a23 323 if (angle < 0.0f) {
kamtas 0:1e61ade20a23 324 angle+=360.0f;
kamtas 0:1e61ade20a23 325 }
kamtas 0:1e61ade20a23 326
kamtas 0:1e61ade20a23 327 // the noise on the ADC causes the values of x and y to fluctuate slightly
kamtas 0:1e61ade20a23 328 // around the centred values. This causes the random angle values to get
kamtas 0:1e61ade20a23 329 // calculated when the joystick is centred and untouched. This is also when
kamtas 0:1e61ade20a23 330 // the magnitude is very small, so we can check for a small magnitude and then
kamtas 0:1e61ade20a23 331 // set the angle to -1. This will inform us when the angle is invalid and the
kamtas 0:1e61ade20a23 332 // joystick is centred
kamtas 0:1e61ade20a23 333
kamtas 0:1e61ade20a23 334 if (mag < TOL) {
kamtas 0:1e61ade20a23 335 mag = 0.0f;
kamtas 0:1e61ade20a23 336 angle = -1.0f;
kamtas 0:1e61ade20a23 337 }
kamtas 0:1e61ade20a23 338
kamtas 0:1e61ade20a23 339 Polar p = {mag,angle};
kamtas 0:1e61ade20a23 340 return p;
kamtas 0:1e61ade20a23 341 }