Gamepad.h

00001 #ifndef GAMEPAD_H
00002 #define GAMEPAD_H
00003 
00004 #include <bitset>
00005 
00006 // Forward declaration of the classes that we use from the mbed library
00007 // This avoids the need for us to include the huge mbed.h header inside our
00008 // own library API
00009 
00010 namespace mbed
00011 {
00012 class AnalogIn;
00013 class InterruptIn;
00014 class PwmOut;
00015 class Timeout;
00016 }
00017 
00018 #define TOL 0.1f
00019 #define RAD2DEG 57.2957795131f
00020 
00021 /** Enum for direction */
00022 enum Direction {
00023     CENTRE,  /**< joystick centred */
00024     N,       /**< pushed North (0)*/
00025     NE,      /**< pushed North-East (45) */
00026     E,       /**< pushed East (90) */
00027     SE,      /**< pushed South-East (135) */
00028     S,       /**< pushed South (180) */
00029     SW,      /**< pushed South-West (225) */
00030     W,       /**< pushed West (270) */
00031     NW       /**< pushed North-West (315) */
00032 };
00033 
00034 /** Vector 2D struct */
00035 struct Vector2D {
00036     float x; /**< float for x value */
00037     float y; /**< float for y value */
00038 };
00039 
00040 /** Polar coordinate struct */
00041 struct Polar {
00042     float mag;  /**< float for magnitude */
00043     float angle; /**< float for angle (in degrees) */
00044 };
00045 
00046 /** Gamepad Class
00047  * @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
00048  * @author Dr Craig A. Evans
00049  * @author Dr Alex Valavanis
00050  */
00051 class Gamepad
00052 {
00053 public:
00054 /** Gamepad events 
00055  * @brief List of events that can be registered on the gamepad
00056  */
00057 enum GamepadEvent {
00058     A_PRESSED,     ///< Button A has been pressed
00059     B_PRESSED,     ///< Button B has been pressed
00060     X_PRESSED,     ///< Button X has been pressed
00061     Y_PRESSED,     ///< Button Y has been pressed
00062     L_PRESSED,     ///< Button L has been pressed
00063     R_PRESSED,     ///< Button R has been pressed
00064     BACK_PRESSED,  ///< Button "Back" has been pressed
00065     START_PRESSED, ///< Button "Start" has been pressed
00066     JOY_PRESSED,   ///< Joystick button has been pressed
00067     N_EVENTS       ///< A dummy flag that marks the end of the list
00068 };
00069 
00070 private:
00071     mbed::PwmOut *_led1;
00072     mbed::PwmOut *_led2;
00073     mbed::PwmOut *_led3;
00074     mbed::PwmOut *_led4;
00075     mbed::PwmOut *_led5;
00076     mbed::PwmOut *_led6;
00077 
00078     mbed::InterruptIn *_button_A;
00079     mbed::InterruptIn *_button_B;
00080     mbed::InterruptIn *_button_X;
00081     mbed::InterruptIn *_button_Y;
00082     mbed::InterruptIn *_button_L;
00083     mbed::InterruptIn *_button_R;
00084     mbed::InterruptIn *_button_back;
00085     mbed::InterruptIn *_button_start;
00086     mbed::InterruptIn *_button_joystick;
00087 
00088     mbed::AnalogIn *_vert;
00089     mbed::AnalogIn *_horiz;
00090 
00091     mbed::PwmOut   *_buzzer;
00092     mbed::AnalogIn *_pot;
00093 
00094     mbed::Timeout *_timeout;
00095 
00096     std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
00097 
00098     // centred x,y values
00099     float _x0;
00100     float _y0;
00101 
00102 public:
00103     /** Constructor */
00104     Gamepad();
00105 
00106     /** Destructor */
00107     ~Gamepad();
00108 
00109     /** Initialise all peripherals and configure interrupts */
00110     void init();
00111 
00112     /** Turn all LEDs on */
00113     void leds_on();
00114 
00115     /** Turn all LEDs off */
00116     void leds_off();
00117 
00118     /** Set all LEDs to duty-cycle
00119     *@param value in range 0.0 to 1.0
00120     */
00121     void leds(float val) const;
00122 
00123     /** Set LED to duty-cycle
00124     *@param led number (0 to 5)
00125     *@param value in range 0.0 to 1.0
00126     */
00127     void led(int n,float val) const;
00128 
00129     /** Read potentiometer
00130     *@returns potentiometer value in range 0.0 to 1.0
00131     */
00132     float read_pot() const;
00133 
00134     /** Play tone on piezo
00135     * @param frequency in Hz
00136     * @param duration of tone in seconds
00137     */
00138     void tone(float frequency, float duration);
00139 
00140     /**
00141      * @brief Check whether an event flag has been set and clear it
00142      * @param id[in] The ID of the event to test
00143      * @return true if the event occurred
00144      */
00145     bool check_event(GamepadEvent const id);
00146 
00147     /**
00148      * @brief   Get the raw binary event state
00149      * @return  The event state as a binary code
00150      * @details The check_event() function is likely to be more useful than
00151      *          this, for testing whether a given event has occurred. It can be
00152      *          useful for debugging via the terminal, however, for example:
00153      *          @code
00154      *          std::cout << gamepad.get_raw_event_state() << std::endl;
00155      *          @endcode
00156      */
00157     inline std::bitset<N_EVENTS> get_raw_event_state() const {
00158         return _event_state;
00159     }
00160 
00161     /** Get magnitude of joystick movement
00162     * @returns value in range 0.0 to 1.0
00163     */
00164     float get_mag();
00165 
00166     /** Get angle of joystick movement
00167     * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
00168     */
00169     float get_angle();
00170 
00171     /** Gets joystick direction
00172     * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
00173     */
00174     Direction get_direction();    // N,NE,E,SE etc.
00175 
00176     /** Gets raw cartesian co-ordinates of joystick
00177     * @returns a struct with x,y members, each in the range 0.0 to 1.0
00178     */
00179     Vector2D get_coord();         // cartesian co-ordinates x,y
00180 
00181     /** Gets cartesian coordinates mapped to circular grid
00182     * @returns a struct with x,y members, each in the range 0.0 to 1.0
00183     */
00184     Vector2D get_mapped_coord();  // x,y mapped to circle
00185 
00186     /** Gets polar coordinates of the joystick
00187     * @returns a struct contains mag and angle
00188     */
00189     Polar get_polar();            // mag and angle in struct form
00190 
00191 private:
00192     void init_buttons();
00193     void tone_off();
00194 
00195     void a_isr();
00196     void b_isr();
00197     void x_isr();
00198     void y_isr();
00199     void l_isr();
00200     void r_isr();
00201     void back_isr();
00202     void start_isr();
00203     void joy_isr();
00204 };
00205 
00206 #endif