ELEC2645 (2018/19) / Mbed 2 deprecated el17lw

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:d74302f8f847, 2019-03-10 (annotated)

Committer:
lewisgw
Date:
Sun Mar 10 14:20:56 2019 +0000
Revision:
0:d74302f8f847
initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lewisgw 0:d74302f8f847 1 #include "Gamepad.h"
lewisgw 0:d74302f8f847 2
lewisgw 0:d74302f8f847 3 #include "mbed.h"
lewisgw 0:d74302f8f847 4
lewisgw 0:d74302f8f847 5 //////////// constructor/destructor ////////////
lewisgw 0:d74302f8f847 6 Gamepad::Gamepad()
lewisgw 0:d74302f8f847 7 :
lewisgw 0:d74302f8f847 8 _led1(new PwmOut(PTA1)),
lewisgw 0:d74302f8f847 9 _led2(new PwmOut(PTA2)),
lewisgw 0:d74302f8f847 10 _led3(new PwmOut(PTC2)),
lewisgw 0:d74302f8f847 11 _led4(new PwmOut(PTC3)),
lewisgw 0:d74302f8f847 12 _led5(new PwmOut(PTC4)),
lewisgw 0:d74302f8f847 13 _led6(new PwmOut(PTD3)),
lewisgw 0:d74302f8f847 14
lewisgw 0:d74302f8f847 15 _button_A(new InterruptIn(PTB9)),
lewisgw 0:d74302f8f847 16 _button_B(new InterruptIn(PTD0)),
lewisgw 0:d74302f8f847 17 _button_X(new InterruptIn(PTC17)),
lewisgw 0:d74302f8f847 18 _button_Y(new InterruptIn(PTC12)),
lewisgw 0:d74302f8f847 19 _button_L(new InterruptIn(PTB18)),
lewisgw 0:d74302f8f847 20 _button_R(new InterruptIn(PTB3)),
lewisgw 0:d74302f8f847 21 _button_back(new InterruptIn(PTB19)),
lewisgw 0:d74302f8f847 22 _button_start(new InterruptIn(PTC5)),
lewisgw 0:d74302f8f847 23 _button_joystick(new InterruptIn(PTC16)),
lewisgw 0:d74302f8f847 24
lewisgw 0:d74302f8f847 25 _vert(new AnalogIn(PTB10)),
lewisgw 0:d74302f8f847 26 _horiz(new AnalogIn(PTB11)),
lewisgw 0:d74302f8f847 27
lewisgw 0:d74302f8f847 28 _buzzer(new PwmOut(PTC10)),
lewisgw 0:d74302f8f847 29 _pot(new AnalogIn(PTB2)),
lewisgw 0:d74302f8f847 30
lewisgw 0:d74302f8f847 31 _timeout(new Timeout()),
lewisgw 0:d74302f8f847 32
lewisgw 0:d74302f8f847 33 _event_state(0),
lewisgw 0:d74302f8f847 34
lewisgw 0:d74302f8f847 35 _x0(0),
lewisgw 0:d74302f8f847 36 _y0(0)
lewisgw 0:d74302f8f847 37 {}
lewisgw 0:d74302f8f847 38
lewisgw 0:d74302f8f847 39 Gamepad::~Gamepad()
lewisgw 0:d74302f8f847 40 {
lewisgw 0:d74302f8f847 41 delete _led1,_led2,_led3,_led4,_led5,_led6;
lewisgw 0:d74302f8f847 42 delete _button_A,_button_B,_button_joystick,_vert,_horiz;
lewisgw 0:d74302f8f847 43 delete _button_X,_button_Y,_button_back,_button_start;
lewisgw 0:d74302f8f847 44 delete _button_L,_button_R, _buzzer, _pot, _timeout;
lewisgw 0:d74302f8f847 45 }
lewisgw 0:d74302f8f847 46
lewisgw 0:d74302f8f847 47 ///////////////// public methods /////////////////
lewisgw 0:d74302f8f847 48
lewisgw 0:d74302f8f847 49 void Gamepad::init()
lewisgw 0:d74302f8f847 50 {
lewisgw 0:d74302f8f847 51 leds_off();
lewisgw 0:d74302f8f847 52 init_buttons();
lewisgw 0:d74302f8f847 53
lewisgw 0:d74302f8f847 54 // read centred values of joystick
lewisgw 0:d74302f8f847 55 _x0 = _horiz->read();
lewisgw 0:d74302f8f847 56 _y0 = _vert->read();
lewisgw 0:d74302f8f847 57
lewisgw 0:d74302f8f847 58 // clear all flags
lewisgw 0:d74302f8f847 59 _event_state = 0;
lewisgw 0:d74302f8f847 60 }
lewisgw 0:d74302f8f847 61
lewisgw 0:d74302f8f847 62 void Gamepad::leds_off()
lewisgw 0:d74302f8f847 63 {
lewisgw 0:d74302f8f847 64 leds(0.0);
lewisgw 0:d74302f8f847 65 }
lewisgw 0:d74302f8f847 66
lewisgw 0:d74302f8f847 67 void Gamepad::leds_on()
lewisgw 0:d74302f8f847 68 {
lewisgw 0:d74302f8f847 69 leds(1.0);
lewisgw 0:d74302f8f847 70 }
lewisgw 0:d74302f8f847 71
lewisgw 0:d74302f8f847 72 void Gamepad::leds(float val) const
lewisgw 0:d74302f8f847 73 {
lewisgw 0:d74302f8f847 74 if (val < 0.0f) {
lewisgw 0:d74302f8f847 75 val = 0.0f;
lewisgw 0:d74302f8f847 76 }
lewisgw 0:d74302f8f847 77 if (val > 1.0f) {
lewisgw 0:d74302f8f847 78 val = 1.0f;
lewisgw 0:d74302f8f847 79 }
lewisgw 0:d74302f8f847 80
lewisgw 0:d74302f8f847 81 // leds are active-low, so subtract from 1.0
lewisgw 0:d74302f8f847 82 // 0.0 corresponds to fully-off, 1.0 to fully-on
lewisgw 0:d74302f8f847 83 val = 1.0f - val;
lewisgw 0:d74302f8f847 84
lewisgw 0:d74302f8f847 85 _led1->write(val);
lewisgw 0:d74302f8f847 86 _led2->write(val);
lewisgw 0:d74302f8f847 87 _led3->write(val);
lewisgw 0:d74302f8f847 88 _led4->write(val);
lewisgw 0:d74302f8f847 89 _led5->write(val);
lewisgw 0:d74302f8f847 90 _led6->write(val);
lewisgw 0:d74302f8f847 91 }
lewisgw 0:d74302f8f847 92
lewisgw 0:d74302f8f847 93 void Gamepad::led(int n,float val) const
lewisgw 0:d74302f8f847 94 {
lewisgw 0:d74302f8f847 95 // ensure they are within vlaid range
lewisgw 0:d74302f8f847 96 if (val < 0.0f) {
lewisgw 0:d74302f8f847 97 val = 0.0f;
lewisgw 0:d74302f8f847 98 }
lewisgw 0:d74302f8f847 99 if (val > 1.0f) {
lewisgw 0:d74302f8f847 100 val = 1.0f;
lewisgw 0:d74302f8f847 101 }
lewisgw 0:d74302f8f847 102
lewisgw 0:d74302f8f847 103 switch (n) {
lewisgw 0:d74302f8f847 104
lewisgw 0:d74302f8f847 105 // check for valid LED number and set value
lewisgw 0:d74302f8f847 106
lewisgw 0:d74302f8f847 107 case 1:
lewisgw 0:d74302f8f847 108 _led1->write(1.0f-val); // active-low so subtract from 1
lewisgw 0:d74302f8f847 109 break;
lewisgw 0:d74302f8f847 110 case 2:
lewisgw 0:d74302f8f847 111 _led2->write(1.0f-val); // active-low so subtract from 1
lewisgw 0:d74302f8f847 112 break;
lewisgw 0:d74302f8f847 113 case 3:
lewisgw 0:d74302f8f847 114 _led3->write(1.0f-val); // active-low so subtract from 1
lewisgw 0:d74302f8f847 115 break;
lewisgw 0:d74302f8f847 116 case 4:
lewisgw 0:d74302f8f847 117 _led4->write(1.0f-val); // active-low so subtract from 1
lewisgw 0:d74302f8f847 118 break;
lewisgw 0:d74302f8f847 119 case 5:
lewisgw 0:d74302f8f847 120 _led5->write(1.0f-val); // active-low so subtract from 1
lewisgw 0:d74302f8f847 121 break;
lewisgw 0:d74302f8f847 122 case 6:
lewisgw 0:d74302f8f847 123 _led6->write(1.0f-val); // active-low so subtract from 1
lewisgw 0:d74302f8f847 124 break;
lewisgw 0:d74302f8f847 125
lewisgw 0:d74302f8f847 126 }
lewisgw 0:d74302f8f847 127 }
lewisgw 0:d74302f8f847 128
lewisgw 0:d74302f8f847 129 float Gamepad::read_pot() const
lewisgw 0:d74302f8f847 130 {
lewisgw 0:d74302f8f847 131 return _pot->read();
lewisgw 0:d74302f8f847 132 }
lewisgw 0:d74302f8f847 133
lewisgw 0:d74302f8f847 134 void Gamepad::tone(float frequency, float duration)
lewisgw 0:d74302f8f847 135 {
lewisgw 0:d74302f8f847 136 _buzzer->period(1.0f/frequency);
lewisgw 0:d74302f8f847 137 _buzzer->write(0.5); // 50% duty cycle - square wave
lewisgw 0:d74302f8f847 138 _timeout->attach(callback(this, &Gamepad::tone_off), duration );
lewisgw 0:d74302f8f847 139 }
lewisgw 0:d74302f8f847 140
lewisgw 0:d74302f8f847 141 bool Gamepad::check_event(GamepadEvent const id)
lewisgw 0:d74302f8f847 142 {
lewisgw 0:d74302f8f847 143 // Check whether event flag is set
lewisgw 0:d74302f8f847 144 if (_event_state[id]) {
lewisgw 0:d74302f8f847 145 _event_state.reset(id); // clear flag
lewisgw 0:d74302f8f847 146 return true;
lewisgw 0:d74302f8f847 147 } else {
lewisgw 0:d74302f8f847 148 return false;
lewisgw 0:d74302f8f847 149 }
lewisgw 0:d74302f8f847 150 }
lewisgw 0:d74302f8f847 151
lewisgw 0:d74302f8f847 152 // this method gets the magnitude of the joystick movement
lewisgw 0:d74302f8f847 153 float Gamepad::get_mag()
lewisgw 0:d74302f8f847 154 {
lewisgw 0:d74302f8f847 155 Polar p = get_polar();
lewisgw 0:d74302f8f847 156 return p.mag;
lewisgw 0:d74302f8f847 157 }
lewisgw 0:d74302f8f847 158
lewisgw 0:d74302f8f847 159 // this method gets the angle of joystick movement (0 to 360, 0 North)
lewisgw 0:d74302f8f847 160 float Gamepad::get_angle()
lewisgw 0:d74302f8f847 161 {
lewisgw 0:d74302f8f847 162 Polar p = get_polar();
lewisgw 0:d74302f8f847 163 return p.angle;
lewisgw 0:d74302f8f847 164 }
lewisgw 0:d74302f8f847 165
lewisgw 0:d74302f8f847 166 Direction Gamepad::get_direction()
lewisgw 0:d74302f8f847 167 {
lewisgw 0:d74302f8f847 168 float angle = get_angle(); // 0 to 360, -1 for centred
lewisgw 0:d74302f8f847 169
lewisgw 0:d74302f8f847 170 Direction d;
lewisgw 0:d74302f8f847 171 // partition 360 into segments and check which segment the angle is in
lewisgw 0:d74302f8f847 172 if (angle < 0.0f) {
lewisgw 0:d74302f8f847 173 d = CENTRE; // check for -1.0 angle
lewisgw 0:d74302f8f847 174 } else if (angle < 22.5f) { // then keep going in 45 degree increments
lewisgw 0:d74302f8f847 175 d = N;
lewisgw 0:d74302f8f847 176 } else if (angle < 67.5f) {
lewisgw 0:d74302f8f847 177 d = NE;
lewisgw 0:d74302f8f847 178 } else if (angle < 112.5f) {
lewisgw 0:d74302f8f847 179 d = E;
lewisgw 0:d74302f8f847 180 } else if (angle < 157.5f) {
lewisgw 0:d74302f8f847 181 d = SE;
lewisgw 0:d74302f8f847 182 } else if (angle < 202.5f) {
lewisgw 0:d74302f8f847 183 d = S;
lewisgw 0:d74302f8f847 184 } else if (angle < 247.5f) {
lewisgw 0:d74302f8f847 185 d = SW;
lewisgw 0:d74302f8f847 186 } else if (angle < 292.5f) {
lewisgw 0:d74302f8f847 187 d = W;
lewisgw 0:d74302f8f847 188 } else if (angle < 337.5f) {
lewisgw 0:d74302f8f847 189 d = NW;
lewisgw 0:d74302f8f847 190 } else {
lewisgw 0:d74302f8f847 191 d = N;
lewisgw 0:d74302f8f847 192 }
lewisgw 0:d74302f8f847 193
lewisgw 0:d74302f8f847 194 return d;
lewisgw 0:d74302f8f847 195 }
lewisgw 0:d74302f8f847 196
lewisgw 0:d74302f8f847 197 ///////////////////// private methods ////////////////////////
lewisgw 0:d74302f8f847 198
lewisgw 0:d74302f8f847 199 void Gamepad::tone_off()
lewisgw 0:d74302f8f847 200 {
lewisgw 0:d74302f8f847 201 // called after timeout
lewisgw 0:d74302f8f847 202 _buzzer->write(0.0);
lewisgw 0:d74302f8f847 203 }
lewisgw 0:d74302f8f847 204
lewisgw 0:d74302f8f847 205 void Gamepad::init_buttons()
lewisgw 0:d74302f8f847 206 {
lewisgw 0:d74302f8f847 207 // turn on pull-downs as other side of button is connected to 3V3
lewisgw 0:d74302f8f847 208 // button is 0 when not pressed and 1 when pressed
lewisgw 0:d74302f8f847 209 _button_A->mode(PullDown);
lewisgw 0:d74302f8f847 210 _button_B->mode(PullDown);
lewisgw 0:d74302f8f847 211 _button_X->mode(PullDown);
lewisgw 0:d74302f8f847 212 _button_Y->mode(PullDown);
lewisgw 0:d74302f8f847 213 _button_back->mode(PullDown);
lewisgw 0:d74302f8f847 214 _button_start->mode(PullDown);
lewisgw 0:d74302f8f847 215 _button_L->mode(PullDown);
lewisgw 0:d74302f8f847 216 _button_R->mode(PullDown);
lewisgw 0:d74302f8f847 217 _button_joystick->mode(PullDown);
lewisgw 0:d74302f8f847 218 // therefore setup rising edge interrupts
lewisgw 0:d74302f8f847 219 _button_A->rise(callback(this,&Gamepad::a_isr));
lewisgw 0:d74302f8f847 220 _button_B->rise(callback(this,&Gamepad::b_isr));
lewisgw 0:d74302f8f847 221 _button_X->rise(callback(this,&Gamepad::x_isr));
lewisgw 0:d74302f8f847 222 _button_Y->rise(callback(this,&Gamepad::y_isr));
lewisgw 0:d74302f8f847 223 _button_L->rise(callback(this,&Gamepad::l_isr));
lewisgw 0:d74302f8f847 224 _button_R->rise(callback(this,&Gamepad::r_isr));
lewisgw 0:d74302f8f847 225 _button_start->rise(callback(this,&Gamepad::start_isr));
lewisgw 0:d74302f8f847 226 _button_back->rise(callback(this,&Gamepad::back_isr));
lewisgw 0:d74302f8f847 227 _button_joystick->rise(callback(this,&Gamepad::joy_isr));
lewisgw 0:d74302f8f847 228 }
lewisgw 0:d74302f8f847 229
lewisgw 0:d74302f8f847 230 // button interrupts ISRs
lewisgw 0:d74302f8f847 231 // Each of these simply sets the appropriate event bit in the _event_state
lewisgw 0:d74302f8f847 232 // variable
lewisgw 0:d74302f8f847 233 void Gamepad::a_isr()
lewisgw 0:d74302f8f847 234 {
lewisgw 0:d74302f8f847 235 _event_state.set(A_PRESSED);
lewisgw 0:d74302f8f847 236 }
lewisgw 0:d74302f8f847 237 void Gamepad::b_isr()
lewisgw 0:d74302f8f847 238 {
lewisgw 0:d74302f8f847 239 _event_state.set(B_PRESSED);
lewisgw 0:d74302f8f847 240 }
lewisgw 0:d74302f8f847 241 void Gamepad::x_isr()
lewisgw 0:d74302f8f847 242 {
lewisgw 0:d74302f8f847 243 _event_state.set(X_PRESSED);
lewisgw 0:d74302f8f847 244 }
lewisgw 0:d74302f8f847 245 void Gamepad::y_isr()
lewisgw 0:d74302f8f847 246 {
lewisgw 0:d74302f8f847 247 _event_state.set(Y_PRESSED);
lewisgw 0:d74302f8f847 248 }
lewisgw 0:d74302f8f847 249 void Gamepad::l_isr()
lewisgw 0:d74302f8f847 250 {
lewisgw 0:d74302f8f847 251 _event_state.set(L_PRESSED);
lewisgw 0:d74302f8f847 252 }
lewisgw 0:d74302f8f847 253 void Gamepad::r_isr()
lewisgw 0:d74302f8f847 254 {
lewisgw 0:d74302f8f847 255 _event_state.set(R_PRESSED);
lewisgw 0:d74302f8f847 256 }
lewisgw 0:d74302f8f847 257 void Gamepad::back_isr()
lewisgw 0:d74302f8f847 258 {
lewisgw 0:d74302f8f847 259 _event_state.set(BACK_PRESSED);
lewisgw 0:d74302f8f847 260 }
lewisgw 0:d74302f8f847 261 void Gamepad::start_isr()
lewisgw 0:d74302f8f847 262 {
lewisgw 0:d74302f8f847 263 _event_state.set(START_PRESSED);
lewisgw 0:d74302f8f847 264 }
lewisgw 0:d74302f8f847 265 void Gamepad::joy_isr()
lewisgw 0:d74302f8f847 266 {
lewisgw 0:d74302f8f847 267 _event_state.set(JOY_PRESSED);
lewisgw 0:d74302f8f847 268 }
lewisgw 0:d74302f8f847 269
lewisgw 0:d74302f8f847 270 // get raw joystick coordinate in range -1 to 1
lewisgw 0:d74302f8f847 271 // Direction (x,y)
lewisgw 0:d74302f8f847 272 // North (0,1)
lewisgw 0:d74302f8f847 273 // East (1,0)
lewisgw 0:d74302f8f847 274 // South (0,-1)
lewisgw 0:d74302f8f847 275 // West (-1,0)
lewisgw 0:d74302f8f847 276 Vector2D Gamepad::get_coord()
lewisgw 0:d74302f8f847 277 {
lewisgw 0:d74302f8f847 278 // read() returns value in range 0.0 to 1.0 so is scaled and centre value
lewisgw 0:d74302f8f847 279 // substracted to get values in the range -1.0 to 1.0
lewisgw 0:d74302f8f847 280 float x = 2.0f*( _horiz->read() - _x0 );
lewisgw 0:d74302f8f847 281 float y = 2.0f*( _vert->read() - _y0 );
lewisgw 0:d74302f8f847 282
lewisgw 0:d74302f8f847 283 // Note: the x value here is inverted to ensure the positive x is to the
lewisgw 0:d74302f8f847 284 // right. This is simply due to how the potentiometer on the joystick
lewisgw 0:d74302f8f847 285 // I was using was connected up. It could have been corrected in hardware
lewisgw 0:d74302f8f847 286 // by swapping the power supply pins. Instead it is done in software so may
lewisgw 0:d74302f8f847 287 // need to be changed depending on your wiring setup
lewisgw 0:d74302f8f847 288
lewisgw 0:d74302f8f847 289 Vector2D coord = {-x,y};
lewisgw 0:d74302f8f847 290 return coord;
lewisgw 0:d74302f8f847 291 }
lewisgw 0:d74302f8f847 292
lewisgw 0:d74302f8f847 293 // This maps the raw x,y coord onto a circular grid.
lewisgw 0:d74302f8f847 294 // See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html
lewisgw 0:d74302f8f847 295 Vector2D Gamepad::get_mapped_coord()
lewisgw 0:d74302f8f847 296 {
lewisgw 0:d74302f8f847 297 Vector2D coord = get_coord();
lewisgw 0:d74302f8f847 298
lewisgw 0:d74302f8f847 299 // do the transformation
lewisgw 0:d74302f8f847 300 float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f);
lewisgw 0:d74302f8f847 301 float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f);
lewisgw 0:d74302f8f847 302
lewisgw 0:d74302f8f847 303 Vector2D mapped_coord = {x,y};
lewisgw 0:d74302f8f847 304 return mapped_coord;
lewisgw 0:d74302f8f847 305 }
lewisgw 0:d74302f8f847 306
lewisgw 0:d74302f8f847 307 // this function converts the mapped coordinates into polar form
lewisgw 0:d74302f8f847 308 Polar Gamepad::get_polar()
lewisgw 0:d74302f8f847 309 {
lewisgw 0:d74302f8f847 310 // get the mapped coordinate
lewisgw 0:d74302f8f847 311 Vector2D coord = get_mapped_coord();
lewisgw 0:d74302f8f847 312
lewisgw 0:d74302f8f847 313 // at this point, 0 degrees (i.e. x-axis) will be defined to the East.
lewisgw 0:d74302f8f847 314 // We want 0 degrees to correspond to North and increase clockwise to 359
lewisgw 0:d74302f8f847 315 // like a compass heading, so we need to swap the axis and invert y
lewisgw 0:d74302f8f847 316 float x = coord.y;
lewisgw 0:d74302f8f847 317 float y = coord.x;
lewisgw 0:d74302f8f847 318
lewisgw 0:d74302f8f847 319 float mag = sqrt(x*x+y*y); // pythagoras
lewisgw 0:d74302f8f847 320 float angle = RAD2DEG*atan2(y,x);
lewisgw 0:d74302f8f847 321 // angle will be in range -180 to 180, so add 360 to negative angles to
lewisgw 0:d74302f8f847 322 // move to 0 to 360 range
lewisgw 0:d74302f8f847 323 if (angle < 0.0f) {
lewisgw 0:d74302f8f847 324 angle+=360.0f;
lewisgw 0:d74302f8f847 325 }
lewisgw 0:d74302f8f847 326
lewisgw 0:d74302f8f847 327 // the noise on the ADC causes the values of x and y to fluctuate slightly
lewisgw 0:d74302f8f847 328 // around the centred values. This causes the random angle values to get
lewisgw 0:d74302f8f847 329 // calculated when the joystick is centred and untouched. This is also when
lewisgw 0:d74302f8f847 330 // the magnitude is very small, so we can check for a small magnitude and then
lewisgw 0:d74302f8f847 331 // set the angle to -1. This will inform us when the angle is invalid and the
lewisgw 0:d74302f8f847 332 // joystick is centred
lewisgw 0:d74302f8f847 333
lewisgw 0:d74302f8f847 334 if (mag < TOL) {
lewisgw 0:d74302f8f847 335 mag = 0.0f;
lewisgw 0:d74302f8f847 336 angle = -1.0f;
lewisgw 0:d74302f8f847 337 }
lewisgw 0:d74302f8f847 338
lewisgw 0:d74302f8f847 339 Polar p = {mag,angle};
lewisgw 0:d74302f8f847 340 return p;
lewisgw 0:d74302f8f847 341 }