Project Submission (late)
Dependencies: mbed
Gamepad/Gamepad.h@3:83e79d31930c, 2019-05-10 (annotated)
- Committer:
- el17tc
- Date:
- Fri May 10 14:52:28 2019 +0000
- Revision:
- 3:83e79d31930c
- Parent:
- 0:72f372170a73
final commit, API is added.; I'm not sure if there is a specific statement of academic integrity wanted but- I declare that this work is 100% my own, I have not plagiarised any work or attempted to fabricate any part of it for extra marks.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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el17tc | 0:72f372170a73 | 1 | #ifndef GAMEPAD_H |
el17tc | 0:72f372170a73 | 2 | #define GAMEPAD_H |
el17tc | 0:72f372170a73 | 3 | |
el17tc | 0:72f372170a73 | 4 | #include <bitset> |
el17tc | 0:72f372170a73 | 5 | |
el17tc | 0:72f372170a73 | 6 | // Forward declaration of the classes that we use from the mbed library |
el17tc | 0:72f372170a73 | 7 | // This avoids the need for us to include the huge mbed.h header inside our |
el17tc | 0:72f372170a73 | 8 | // own library API |
el17tc | 0:72f372170a73 | 9 | |
el17tc | 0:72f372170a73 | 10 | namespace mbed |
el17tc | 0:72f372170a73 | 11 | { |
el17tc | 0:72f372170a73 | 12 | class AnalogIn; |
el17tc | 0:72f372170a73 | 13 | class InterruptIn; |
el17tc | 0:72f372170a73 | 14 | class PwmOut; |
el17tc | 0:72f372170a73 | 15 | class Timeout; |
el17tc | 0:72f372170a73 | 16 | } |
el17tc | 0:72f372170a73 | 17 | |
el17tc | 0:72f372170a73 | 18 | #define TOL 0.1f |
el17tc | 0:72f372170a73 | 19 | #define RAD2DEG 57.2957795131f |
el17tc | 0:72f372170a73 | 20 | |
el17tc | 0:72f372170a73 | 21 | /** Enum for direction */ |
el17tc | 0:72f372170a73 | 22 | enum Direction { |
el17tc | 0:72f372170a73 | 23 | CENTRE, /**< joystick centred */ |
el17tc | 0:72f372170a73 | 24 | N, /**< pushed North (0)*/ |
el17tc | 0:72f372170a73 | 25 | NE, /**< pushed North-East (45) */ |
el17tc | 0:72f372170a73 | 26 | E, /**< pushed East (90) */ |
el17tc | 0:72f372170a73 | 27 | SE, /**< pushed South-East (135) */ |
el17tc | 0:72f372170a73 | 28 | S, /**< pushed South (180) */ |
el17tc | 0:72f372170a73 | 29 | SW, /**< pushed South-West (225) */ |
el17tc | 0:72f372170a73 | 30 | W, /**< pushed West (270) */ |
el17tc | 0:72f372170a73 | 31 | NW /**< pushed North-West (315) */ |
el17tc | 0:72f372170a73 | 32 | }; |
el17tc | 0:72f372170a73 | 33 | |
el17tc | 0:72f372170a73 | 34 | /** Vector 2D struct */ |
el17tc | 0:72f372170a73 | 35 | struct Vector2D { |
el17tc | 0:72f372170a73 | 36 | float x; /**< float for x value */ |
el17tc | 0:72f372170a73 | 37 | float y; /**< float for y value */ |
el17tc | 0:72f372170a73 | 38 | }; |
el17tc | 0:72f372170a73 | 39 | |
el17tc | 0:72f372170a73 | 40 | /** Polar coordinate struct */ |
el17tc | 0:72f372170a73 | 41 | struct Polar { |
el17tc | 0:72f372170a73 | 42 | float mag; /**< float for magnitude */ |
el17tc | 0:72f372170a73 | 43 | float angle; /**< float for angle (in degrees) */ |
el17tc | 0:72f372170a73 | 44 | }; |
el17tc | 0:72f372170a73 | 45 | |
el17tc | 0:72f372170a73 | 46 | /** Gamepad Class |
el17tc | 0:72f372170a73 | 47 | * @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds |
el17tc | 0:72f372170a73 | 48 | * @author Dr Craig A. Evans |
el17tc | 0:72f372170a73 | 49 | * @author Dr Alex Valavanis |
el17tc | 0:72f372170a73 | 50 | */ |
el17tc | 0:72f372170a73 | 51 | class Gamepad |
el17tc | 0:72f372170a73 | 52 | { |
el17tc | 0:72f372170a73 | 53 | public: |
el17tc | 0:72f372170a73 | 54 | /** Gamepad events |
el17tc | 0:72f372170a73 | 55 | * @brief List of events that can be registered on the gamepad |
el17tc | 0:72f372170a73 | 56 | */ |
el17tc | 0:72f372170a73 | 57 | enum GamepadEvent { |
el17tc | 0:72f372170a73 | 58 | A_PRESSED, ///< Button A has been pressed |
el17tc | 0:72f372170a73 | 59 | B_PRESSED, ///< Button B has been pressed |
el17tc | 0:72f372170a73 | 60 | X_PRESSED, ///< Button X has been pressed |
el17tc | 0:72f372170a73 | 61 | Y_PRESSED, ///< Button Y has been pressed |
el17tc | 0:72f372170a73 | 62 | L_PRESSED, ///< Button L has been pressed |
el17tc | 0:72f372170a73 | 63 | R_PRESSED, ///< Button R has been pressed |
el17tc | 0:72f372170a73 | 64 | BACK_PRESSED, ///< Button "Back" has been pressed |
el17tc | 0:72f372170a73 | 65 | START_PRESSED, ///< Button "Start" has been pressed |
el17tc | 0:72f372170a73 | 66 | JOY_PRESSED, ///< Joystick button has been pressed |
el17tc | 0:72f372170a73 | 67 | N_EVENTS ///< A dummy flag that marks the end of the list |
el17tc | 0:72f372170a73 | 68 | }; |
el17tc | 0:72f372170a73 | 69 | |
el17tc | 0:72f372170a73 | 70 | private: |
el17tc | 0:72f372170a73 | 71 | mbed::PwmOut *_led1; |
el17tc | 0:72f372170a73 | 72 | mbed::PwmOut *_led2; |
el17tc | 0:72f372170a73 | 73 | mbed::PwmOut *_led3; |
el17tc | 0:72f372170a73 | 74 | mbed::PwmOut *_led4; |
el17tc | 0:72f372170a73 | 75 | mbed::PwmOut *_led5; |
el17tc | 0:72f372170a73 | 76 | mbed::PwmOut *_led6; |
el17tc | 0:72f372170a73 | 77 | |
el17tc | 0:72f372170a73 | 78 | mbed::InterruptIn *_button_A; |
el17tc | 0:72f372170a73 | 79 | mbed::InterruptIn *_button_B; |
el17tc | 0:72f372170a73 | 80 | mbed::InterruptIn *_button_X; |
el17tc | 0:72f372170a73 | 81 | mbed::InterruptIn *_button_Y; |
el17tc | 0:72f372170a73 | 82 | mbed::InterruptIn *_button_L; |
el17tc | 0:72f372170a73 | 83 | mbed::InterruptIn *_button_R; |
el17tc | 0:72f372170a73 | 84 | mbed::InterruptIn *_button_back; |
el17tc | 0:72f372170a73 | 85 | mbed::InterruptIn *_button_start; |
el17tc | 0:72f372170a73 | 86 | mbed::InterruptIn *_button_joystick; |
el17tc | 0:72f372170a73 | 87 | |
el17tc | 0:72f372170a73 | 88 | mbed::AnalogIn *_vert; |
el17tc | 0:72f372170a73 | 89 | mbed::AnalogIn *_horiz; |
el17tc | 0:72f372170a73 | 90 | |
el17tc | 0:72f372170a73 | 91 | mbed::PwmOut *_buzzer; |
el17tc | 0:72f372170a73 | 92 | mbed::AnalogIn *_pot; |
el17tc | 0:72f372170a73 | 93 | |
el17tc | 0:72f372170a73 | 94 | mbed::Timeout *_timeout; |
el17tc | 0:72f372170a73 | 95 | |
el17tc | 0:72f372170a73 | 96 | std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed |
el17tc | 0:72f372170a73 | 97 | |
el17tc | 0:72f372170a73 | 98 | // centred x,y values |
el17tc | 0:72f372170a73 | 99 | float _x0; |
el17tc | 0:72f372170a73 | 100 | float _y0; |
el17tc | 0:72f372170a73 | 101 | |
el17tc | 0:72f372170a73 | 102 | public: |
el17tc | 0:72f372170a73 | 103 | /** Constructor */ |
el17tc | 0:72f372170a73 | 104 | Gamepad(); |
el17tc | 0:72f372170a73 | 105 | |
el17tc | 0:72f372170a73 | 106 | /** Destructor */ |
el17tc | 0:72f372170a73 | 107 | ~Gamepad(); |
el17tc | 0:72f372170a73 | 108 | |
el17tc | 0:72f372170a73 | 109 | /** Initialise all peripherals and configure interrupts */ |
el17tc | 0:72f372170a73 | 110 | void init(); |
el17tc | 0:72f372170a73 | 111 | |
el17tc | 0:72f372170a73 | 112 | /** Turn all LEDs on */ |
el17tc | 0:72f372170a73 | 113 | void leds_on(); |
el17tc | 0:72f372170a73 | 114 | |
el17tc | 0:72f372170a73 | 115 | /** Turn all LEDs off */ |
el17tc | 0:72f372170a73 | 116 | void leds_off(); |
el17tc | 0:72f372170a73 | 117 | |
el17tc | 0:72f372170a73 | 118 | /** Set all LEDs to duty-cycle |
el17tc | 0:72f372170a73 | 119 | *@param value in range 0.0 to 1.0 |
el17tc | 0:72f372170a73 | 120 | */ |
el17tc | 0:72f372170a73 | 121 | void leds(float val) const; |
el17tc | 0:72f372170a73 | 122 | |
el17tc | 0:72f372170a73 | 123 | /** Set LED to duty-cycle |
el17tc | 0:72f372170a73 | 124 | *@param led number (0 to 5) |
el17tc | 0:72f372170a73 | 125 | *@param value in range 0.0 to 1.0 |
el17tc | 0:72f372170a73 | 126 | */ |
el17tc | 0:72f372170a73 | 127 | void led(int n,float val) const; |
el17tc | 0:72f372170a73 | 128 | |
el17tc | 0:72f372170a73 | 129 | /** Read potentiometer |
el17tc | 0:72f372170a73 | 130 | *@returns potentiometer value in range 0.0 to 1.0 |
el17tc | 0:72f372170a73 | 131 | */ |
el17tc | 0:72f372170a73 | 132 | float read_pot() const; |
el17tc | 0:72f372170a73 | 133 | |
el17tc | 0:72f372170a73 | 134 | /** Play tone on piezo |
el17tc | 0:72f372170a73 | 135 | * @param frequency in Hz |
el17tc | 0:72f372170a73 | 136 | * @param duration of tone in seconds |
el17tc | 0:72f372170a73 | 137 | */ |
el17tc | 0:72f372170a73 | 138 | void tone(float frequency, float duration); |
el17tc | 0:72f372170a73 | 139 | |
el17tc | 0:72f372170a73 | 140 | /** |
el17tc | 0:72f372170a73 | 141 | * @brief Check whether an event flag has been set and clear it |
el17tc | 0:72f372170a73 | 142 | * @param id[in] The ID of the event to test |
el17tc | 0:72f372170a73 | 143 | * @return true if the event occurred |
el17tc | 0:72f372170a73 | 144 | */ |
el17tc | 0:72f372170a73 | 145 | bool check_event(GamepadEvent const id); |
el17tc | 0:72f372170a73 | 146 | |
el17tc | 0:72f372170a73 | 147 | /** |
el17tc | 0:72f372170a73 | 148 | * @brief Get the raw binary event state |
el17tc | 0:72f372170a73 | 149 | * @return The event state as a binary code |
el17tc | 0:72f372170a73 | 150 | * @details The check_event() function is likely to be more useful than |
el17tc | 0:72f372170a73 | 151 | * this, for testing whether a given event has occurred. It can be |
el17tc | 0:72f372170a73 | 152 | * useful for debugging via the terminal, however, for example: |
el17tc | 0:72f372170a73 | 153 | * @code |
el17tc | 0:72f372170a73 | 154 | * std::cout << gamepad.get_raw_event_state() << std::endl; |
el17tc | 0:72f372170a73 | 155 | * @endcode |
el17tc | 0:72f372170a73 | 156 | */ |
el17tc | 0:72f372170a73 | 157 | inline std::bitset<N_EVENTS> get_raw_event_state() const { |
el17tc | 0:72f372170a73 | 158 | return _event_state; |
el17tc | 0:72f372170a73 | 159 | } |
el17tc | 0:72f372170a73 | 160 | |
el17tc | 0:72f372170a73 | 161 | /** Get magnitude of joystick movement |
el17tc | 0:72f372170a73 | 162 | * @returns value in range 0.0 to 1.0 |
el17tc | 0:72f372170a73 | 163 | */ |
el17tc | 0:72f372170a73 | 164 | float get_mag(); |
el17tc | 0:72f372170a73 | 165 | |
el17tc | 0:72f372170a73 | 166 | /** Get angle of joystick movement |
el17tc | 0:72f372170a73 | 167 | * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central |
el17tc | 0:72f372170a73 | 168 | */ |
el17tc | 0:72f372170a73 | 169 | float get_angle(); |
el17tc | 0:72f372170a73 | 170 | |
el17tc | 0:72f372170a73 | 171 | /** Gets joystick direction |
el17tc | 0:72f372170a73 | 172 | * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW, |
el17tc | 0:72f372170a73 | 173 | */ |
el17tc | 0:72f372170a73 | 174 | Direction get_direction(); // N,NE,E,SE etc. |
el17tc | 0:72f372170a73 | 175 | |
el17tc | 0:72f372170a73 | 176 | /** Gets raw cartesian co-ordinates of joystick |
el17tc | 0:72f372170a73 | 177 | * @returns a struct with x,y members, each in the range 0.0 to 1.0 |
el17tc | 0:72f372170a73 | 178 | */ |
el17tc | 0:72f372170a73 | 179 | Vector2D get_coord(); // cartesian co-ordinates x,y |
el17tc | 0:72f372170a73 | 180 | |
el17tc | 0:72f372170a73 | 181 | /** Gets cartesian coordinates mapped to circular grid |
el17tc | 0:72f372170a73 | 182 | * @returns a struct with x,y members, each in the range 0.0 to 1.0 |
el17tc | 0:72f372170a73 | 183 | */ |
el17tc | 0:72f372170a73 | 184 | Vector2D get_mapped_coord(); // x,y mapped to circle |
el17tc | 0:72f372170a73 | 185 | |
el17tc | 0:72f372170a73 | 186 | /** Gets polar coordinates of the joystick |
el17tc | 0:72f372170a73 | 187 | * @returns a struct contains mag and angle |
el17tc | 0:72f372170a73 | 188 | */ |
el17tc | 0:72f372170a73 | 189 | Polar get_polar(); // mag and angle in struct form |
el17tc | 0:72f372170a73 | 190 | |
el17tc | 0:72f372170a73 | 191 | private: |
el17tc | 0:72f372170a73 | 192 | void init_buttons(); |
el17tc | 0:72f372170a73 | 193 | void tone_off(); |
el17tc | 0:72f372170a73 | 194 | |
el17tc | 0:72f372170a73 | 195 | void a_isr(); |
el17tc | 0:72f372170a73 | 196 | void b_isr(); |
el17tc | 0:72f372170a73 | 197 | void x_isr(); |
el17tc | 0:72f372170a73 | 198 | void y_isr(); |
el17tc | 0:72f372170a73 | 199 | void l_isr(); |
el17tc | 0:72f372170a73 | 200 | void r_isr(); |
el17tc | 0:72f372170a73 | 201 | void back_isr(); |
el17tc | 0:72f372170a73 | 202 | void start_isr(); |
el17tc | 0:72f372170a73 | 203 | void joy_isr(); |
el17tc | 0:72f372170a73 | 204 | }; |
el17tc | 0:72f372170a73 | 205 | |
el17tc | 0:72f372170a73 | 206 | #endif |