ELEC2645 (2018/19) / Mbed 2 deprecated el18sf

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@0:19e5a063d7ea, 2019-05-09 (annotated)

Committer:
fusihui
Date:
Thu May 09 04:28:26 2019 +0000
Revision:
0:19e5a063d7ea
pin game

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fusihui 0:19e5a063d7ea 1 #include "Gamepad.h"
fusihui 0:19e5a063d7ea 2
fusihui 0:19e5a063d7ea 3 #include "mbed.h"
fusihui 0:19e5a063d7ea 4
fusihui 0:19e5a063d7ea 5 //////////// constructor/destructor ////////////
fusihui 0:19e5a063d7ea 6 Gamepad::Gamepad()
fusihui 0:19e5a063d7ea 7 :
fusihui 0:19e5a063d7ea 8 _led1(new PwmOut(PTA1)),
fusihui 0:19e5a063d7ea 9 _led2(new PwmOut(PTA2)),
fusihui 0:19e5a063d7ea 10 _led3(new PwmOut(PTC2)),
fusihui 0:19e5a063d7ea 11 _led4(new PwmOut(PTC3)),
fusihui 0:19e5a063d7ea 12 _led5(new PwmOut(PTC4)),
fusihui 0:19e5a063d7ea 13 _led6(new PwmOut(PTD3)),
fusihui 0:19e5a063d7ea 14
fusihui 0:19e5a063d7ea 15 _button_A(new InterruptIn(PTB9)),
fusihui 0:19e5a063d7ea 16 _button_B(new InterruptIn(PTD0)),
fusihui 0:19e5a063d7ea 17 _button_X(new InterruptIn(PTC17)),
fusihui 0:19e5a063d7ea 18 _button_Y(new InterruptIn(PTC12)),
fusihui 0:19e5a063d7ea 19 _button_L(new InterruptIn(PTB18)),
fusihui 0:19e5a063d7ea 20 _button_R(new InterruptIn(PTB3)),
fusihui 0:19e5a063d7ea 21 _button_back(new InterruptIn(PTB19)),
fusihui 0:19e5a063d7ea 22 _button_start(new InterruptIn(PTC5)),
fusihui 0:19e5a063d7ea 23 _button_joystick(new InterruptIn(PTC16)),
fusihui 0:19e5a063d7ea 24
fusihui 0:19e5a063d7ea 25 _vert(new AnalogIn(PTB10)),
fusihui 0:19e5a063d7ea 26 _horiz(new AnalogIn(PTB11)),
fusihui 0:19e5a063d7ea 27
fusihui 0:19e5a063d7ea 28 _buzzer(new PwmOut(PTC10)),
fusihui 0:19e5a063d7ea 29 _pot(new AnalogIn(PTB2)),
fusihui 0:19e5a063d7ea 30
fusihui 0:19e5a063d7ea 31 _timeout(new Timeout()),
fusihui 0:19e5a063d7ea 32
fusihui 0:19e5a063d7ea 33 _event_state(0),
fusihui 0:19e5a063d7ea 34
fusihui 0:19e5a063d7ea 35 _x0(0),
fusihui 0:19e5a063d7ea 36 _y0(0)
fusihui 0:19e5a063d7ea 37 {}
fusihui 0:19e5a063d7ea 38
fusihui 0:19e5a063d7ea 39 Gamepad::~Gamepad()
fusihui 0:19e5a063d7ea 40 {
fusihui 0:19e5a063d7ea 41 delete _led1,_led2,_led3,_led4,_led5,_led6;
fusihui 0:19e5a063d7ea 42 delete _button_A,_button_B,_button_joystick,_vert,_horiz;
fusihui 0:19e5a063d7ea 43 delete _button_X,_button_Y,_button_back,_button_start;
fusihui 0:19e5a063d7ea 44 delete _button_L,_button_R, _buzzer, _pot, _timeout;
fusihui 0:19e5a063d7ea 45 }
fusihui 0:19e5a063d7ea 46
fusihui 0:19e5a063d7ea 47 ///////////////// public methods /////////////////
fusihui 0:19e5a063d7ea 48
fusihui 0:19e5a063d7ea 49 void Gamepad::init()
fusihui 0:19e5a063d7ea 50 {
fusihui 0:19e5a063d7ea 51 leds_off();
fusihui 0:19e5a063d7ea 52 init_buttons();
fusihui 0:19e5a063d7ea 53
fusihui 0:19e5a063d7ea 54 // read centred values of joystick
fusihui 0:19e5a063d7ea 55 _x0 = _horiz->read();
fusihui 0:19e5a063d7ea 56 _y0 = _vert->read();
fusihui 0:19e5a063d7ea 57
fusihui 0:19e5a063d7ea 58 // clear all flags
fusihui 0:19e5a063d7ea 59 _event_state = 0;
fusihui 0:19e5a063d7ea 60 }
fusihui 0:19e5a063d7ea 61
fusihui 0:19e5a063d7ea 62 void Gamepad::leds_off()
fusihui 0:19e5a063d7ea 63 {
fusihui 0:19e5a063d7ea 64 leds(0.0);
fusihui 0:19e5a063d7ea 65 }
fusihui 0:19e5a063d7ea 66
fusihui 0:19e5a063d7ea 67 void Gamepad::leds_on()
fusihui 0:19e5a063d7ea 68 {
fusihui 0:19e5a063d7ea 69 leds(1.0);
fusihui 0:19e5a063d7ea 70 }
fusihui 0:19e5a063d7ea 71
fusihui 0:19e5a063d7ea 72 void Gamepad::leds(float val) const
fusihui 0:19e5a063d7ea 73 {
fusihui 0:19e5a063d7ea 74 if (val < 0.0f) {
fusihui 0:19e5a063d7ea 75 val = 0.0f;
fusihui 0:19e5a063d7ea 76 }
fusihui 0:19e5a063d7ea 77 if (val > 1.0f) {
fusihui 0:19e5a063d7ea 78 val = 1.0f;
fusihui 0:19e5a063d7ea 79 }
fusihui 0:19e5a063d7ea 80
fusihui 0:19e5a063d7ea 81 // leds are active-low, so subtract from 1.0
fusihui 0:19e5a063d7ea 82 // 0.0 corresponds to fully-off, 1.0 to fully-on
fusihui 0:19e5a063d7ea 83 val = 1.0f - val;
fusihui 0:19e5a063d7ea 84
fusihui 0:19e5a063d7ea 85 _led1->write(val);
fusihui 0:19e5a063d7ea 86 _led2->write(val);
fusihui 0:19e5a063d7ea 87 _led3->write(val);
fusihui 0:19e5a063d7ea 88 _led4->write(val);
fusihui 0:19e5a063d7ea 89 _led5->write(val);
fusihui 0:19e5a063d7ea 90 _led6->write(val);
fusihui 0:19e5a063d7ea 91 }
fusihui 0:19e5a063d7ea 92
fusihui 0:19e5a063d7ea 93 void Gamepad::led(int n,float val) const
fusihui 0:19e5a063d7ea 94 {
fusihui 0:19e5a063d7ea 95 // ensure they are within vlaid range
fusihui 0:19e5a063d7ea 96 if (val < 0.0f) {
fusihui 0:19e5a063d7ea 97 val = 0.0f;
fusihui 0:19e5a063d7ea 98 }
fusihui 0:19e5a063d7ea 99 if (val > 1.0f) {
fusihui 0:19e5a063d7ea 100 val = 1.0f;
fusihui 0:19e5a063d7ea 101 }
fusihui 0:19e5a063d7ea 102
fusihui 0:19e5a063d7ea 103 switch (n) {
fusihui 0:19e5a063d7ea 104
fusihui 0:19e5a063d7ea 105 // check for valid LED number and set value
fusihui 0:19e5a063d7ea 106
fusihui 0:19e5a063d7ea 107 case 1:
fusihui 0:19e5a063d7ea 108 _led1->write(1.0f-val); // active-low so subtract from 1
fusihui 0:19e5a063d7ea 109 break;
fusihui 0:19e5a063d7ea 110 case 2:
fusihui 0:19e5a063d7ea 111 _led2->write(1.0f-val); // active-low so subtract from 1
fusihui 0:19e5a063d7ea 112 break;
fusihui 0:19e5a063d7ea 113 case 3:
fusihui 0:19e5a063d7ea 114 _led3->write(1.0f-val); // active-low so subtract from 1
fusihui 0:19e5a063d7ea 115 break;
fusihui 0:19e5a063d7ea 116 case 4:
fusihui 0:19e5a063d7ea 117 _led4->write(1.0f-val); // active-low so subtract from 1
fusihui 0:19e5a063d7ea 118 break;
fusihui 0:19e5a063d7ea 119 case 5:
fusihui 0:19e5a063d7ea 120 _led5->write(1.0f-val); // active-low so subtract from 1
fusihui 0:19e5a063d7ea 121 break;
fusihui 0:19e5a063d7ea 122 case 6:
fusihui 0:19e5a063d7ea 123 _led6->write(1.0f-val); // active-low so subtract from 1
fusihui 0:19e5a063d7ea 124 break;
fusihui 0:19e5a063d7ea 125
fusihui 0:19e5a063d7ea 126 }
fusihui 0:19e5a063d7ea 127 }
fusihui 0:19e5a063d7ea 128
fusihui 0:19e5a063d7ea 129 float Gamepad::read_pot() const
fusihui 0:19e5a063d7ea 130 {
fusihui 0:19e5a063d7ea 131 return _pot->read();
fusihui 0:19e5a063d7ea 132 }
fusihui 0:19e5a063d7ea 133
fusihui 0:19e5a063d7ea 134 void Gamepad::tone(float frequency, float duration)
fusihui 0:19e5a063d7ea 135 {
fusihui 0:19e5a063d7ea 136 _buzzer->period(1.0f/frequency);
fusihui 0:19e5a063d7ea 137 _buzzer->write(0.5); // 50% duty cycle - square wave
fusihui 0:19e5a063d7ea 138 _timeout->attach(callback(this, &Gamepad::tone_off), duration );
fusihui 0:19e5a063d7ea 139 }
fusihui 0:19e5a063d7ea 140
fusihui 0:19e5a063d7ea 141 bool Gamepad::check_event(GamepadEvent const id)
fusihui 0:19e5a063d7ea 142 {
fusihui 0:19e5a063d7ea 143 // Check whether event flag is set
fusihui 0:19e5a063d7ea 144 if (_event_state[id]) {
fusihui 0:19e5a063d7ea 145 _event_state.reset(id); // clear flag
fusihui 0:19e5a063d7ea 146 return true;
fusihui 0:19e5a063d7ea 147 } else {
fusihui 0:19e5a063d7ea 148 return false;
fusihui 0:19e5a063d7ea 149 }
fusihui 0:19e5a063d7ea 150 }
fusihui 0:19e5a063d7ea 151
fusihui 0:19e5a063d7ea 152 // this method gets the magnitude of the joystick movement
fusihui 0:19e5a063d7ea 153 float Gamepad::get_mag()
fusihui 0:19e5a063d7ea 154 {
fusihui 0:19e5a063d7ea 155 Polar p = get_polar();
fusihui 0:19e5a063d7ea 156 return p.mag;
fusihui 0:19e5a063d7ea 157 }
fusihui 0:19e5a063d7ea 158
fusihui 0:19e5a063d7ea 159 // this method gets the angle of joystick movement (0 to 360, 0 North)
fusihui 0:19e5a063d7ea 160 float Gamepad::get_angle()
fusihui 0:19e5a063d7ea 161 {
fusihui 0:19e5a063d7ea 162 Polar p = get_polar();
fusihui 0:19e5a063d7ea 163 return p.angle;
fusihui 0:19e5a063d7ea 164 }
fusihui 0:19e5a063d7ea 165
fusihui 0:19e5a063d7ea 166 Direction Gamepad::get_direction()
fusihui 0:19e5a063d7ea 167 {
fusihui 0:19e5a063d7ea 168 float angle = get_angle(); // 0 to 360, -1 for centred
fusihui 0:19e5a063d7ea 169
fusihui 0:19e5a063d7ea 170 Direction d;
fusihui 0:19e5a063d7ea 171 // partition 360 into segments and check which segment the angle is in
fusihui 0:19e5a063d7ea 172 if (angle < 0.0f) {
fusihui 0:19e5a063d7ea 173 d = CENTRE; // check for -1.0 angle
fusihui 0:19e5a063d7ea 174 } else if (angle < 22.5f) { // then keep going in 45 degree increments
fusihui 0:19e5a063d7ea 175 d = N;
fusihui 0:19e5a063d7ea 176 } else if (angle < 67.5f) {
fusihui 0:19e5a063d7ea 177 d = NE;
fusihui 0:19e5a063d7ea 178 } else if (angle < 112.5f) {
fusihui 0:19e5a063d7ea 179 d = E;
fusihui 0:19e5a063d7ea 180 } else if (angle < 157.5f) {
fusihui 0:19e5a063d7ea 181 d = SE;
fusihui 0:19e5a063d7ea 182 } else if (angle < 202.5f) {
fusihui 0:19e5a063d7ea 183 d = S;
fusihui 0:19e5a063d7ea 184 } else if (angle < 247.5f) {
fusihui 0:19e5a063d7ea 185 d = SW;
fusihui 0:19e5a063d7ea 186 } else if (angle < 292.5f) {
fusihui 0:19e5a063d7ea 187 d = W;
fusihui 0:19e5a063d7ea 188 } else if (angle < 337.5f) {
fusihui 0:19e5a063d7ea 189 d = NW;
fusihui 0:19e5a063d7ea 190 } else {
fusihui 0:19e5a063d7ea 191 d = N;
fusihui 0:19e5a063d7ea 192 }
fusihui 0:19e5a063d7ea 193
fusihui 0:19e5a063d7ea 194 return d;
fusihui 0:19e5a063d7ea 195 }
fusihui 0:19e5a063d7ea 196
fusihui 0:19e5a063d7ea 197 ///////////////////// private methods ////////////////////////
fusihui 0:19e5a063d7ea 198
fusihui 0:19e5a063d7ea 199 void Gamepad::tone_off()
fusihui 0:19e5a063d7ea 200 {
fusihui 0:19e5a063d7ea 201 // called after timeout
fusihui 0:19e5a063d7ea 202 _buzzer->write(0.0);
fusihui 0:19e5a063d7ea 203 }
fusihui 0:19e5a063d7ea 204
fusihui 0:19e5a063d7ea 205 void Gamepad::init_buttons()
fusihui 0:19e5a063d7ea 206 {
fusihui 0:19e5a063d7ea 207 // turn on pull-downs as other side of button is connected to 3V3
fusihui 0:19e5a063d7ea 208 // button is 0 when not pressed and 1 when pressed
fusihui 0:19e5a063d7ea 209 _button_A->mode(PullDown);
fusihui 0:19e5a063d7ea 210 _button_B->mode(PullDown);
fusihui 0:19e5a063d7ea 211 _button_X->mode(PullDown);
fusihui 0:19e5a063d7ea 212 _button_Y->mode(PullDown);
fusihui 0:19e5a063d7ea 213 _button_back->mode(PullDown);
fusihui 0:19e5a063d7ea 214 _button_start->mode(PullDown);
fusihui 0:19e5a063d7ea 215 _button_L->mode(PullDown);
fusihui 0:19e5a063d7ea 216 _button_R->mode(PullDown);
fusihui 0:19e5a063d7ea 217 _button_joystick->mode(PullDown);
fusihui 0:19e5a063d7ea 218 // therefore setup rising edge interrupts
fusihui 0:19e5a063d7ea 219 _button_A->rise(callback(this,&Gamepad::a_isr));
fusihui 0:19e5a063d7ea 220 _button_B->rise(callback(this,&Gamepad::b_isr));
fusihui 0:19e5a063d7ea 221 _button_X->rise(callback(this,&Gamepad::x_isr));
fusihui 0:19e5a063d7ea 222 _button_Y->rise(callback(this,&Gamepad::y_isr));
fusihui 0:19e5a063d7ea 223 _button_L->rise(callback(this,&Gamepad::l_isr));
fusihui 0:19e5a063d7ea 224 _button_R->rise(callback(this,&Gamepad::r_isr));
fusihui 0:19e5a063d7ea 225 _button_start->rise(callback(this,&Gamepad::start_isr));
fusihui 0:19e5a063d7ea 226 _button_back->rise(callback(this,&Gamepad::back_isr));
fusihui 0:19e5a063d7ea 227 _button_joystick->rise(callback(this,&Gamepad::joy_isr));
fusihui 0:19e5a063d7ea 228 }
fusihui 0:19e5a063d7ea 229
fusihui 0:19e5a063d7ea 230 // button interrupts ISRs
fusihui 0:19e5a063d7ea 231 // Each of these simply sets the appropriate event bit in the _event_state
fusihui 0:19e5a063d7ea 232 // variable
fusihui 0:19e5a063d7ea 233 void Gamepad::a_isr()
fusihui 0:19e5a063d7ea 234 {
fusihui 0:19e5a063d7ea 235 _event_state.set(A_PRESSED);
fusihui 0:19e5a063d7ea 236 }
fusihui 0:19e5a063d7ea 237 void Gamepad::b_isr()
fusihui 0:19e5a063d7ea 238 {
fusihui 0:19e5a063d7ea 239 _event_state.set(B_PRESSED);
fusihui 0:19e5a063d7ea 240 }
fusihui 0:19e5a063d7ea 241 void Gamepad::x_isr()
fusihui 0:19e5a063d7ea 242 {
fusihui 0:19e5a063d7ea 243 _event_state.set(X_PRESSED);
fusihui 0:19e5a063d7ea 244 }
fusihui 0:19e5a063d7ea 245 void Gamepad::y_isr()
fusihui 0:19e5a063d7ea 246 {
fusihui 0:19e5a063d7ea 247 _event_state.set(Y_PRESSED);
fusihui 0:19e5a063d7ea 248 }
fusihui 0:19e5a063d7ea 249 void Gamepad::l_isr()
fusihui 0:19e5a063d7ea 250 {
fusihui 0:19e5a063d7ea 251 _event_state.set(L_PRESSED);
fusihui 0:19e5a063d7ea 252 }
fusihui 0:19e5a063d7ea 253 void Gamepad::r_isr()
fusihui 0:19e5a063d7ea 254 {
fusihui 0:19e5a063d7ea 255 _event_state.set(R_PRESSED);
fusihui 0:19e5a063d7ea 256 }
fusihui 0:19e5a063d7ea 257 void Gamepad::back_isr()
fusihui 0:19e5a063d7ea 258 {
fusihui 0:19e5a063d7ea 259 _event_state.set(BACK_PRESSED);
fusihui 0:19e5a063d7ea 260 }
fusihui 0:19e5a063d7ea 261 void Gamepad::start_isr()
fusihui 0:19e5a063d7ea 262 {
fusihui 0:19e5a063d7ea 263 _event_state.set(START_PRESSED);
fusihui 0:19e5a063d7ea 264 }
fusihui 0:19e5a063d7ea 265 void Gamepad::joy_isr()
fusihui 0:19e5a063d7ea 266 {
fusihui 0:19e5a063d7ea 267 _event_state.set(JOY_PRESSED);
fusihui 0:19e5a063d7ea 268 }
fusihui 0:19e5a063d7ea 269
fusihui 0:19e5a063d7ea 270 // get raw joystick coordinate in range -1 to 1
fusihui 0:19e5a063d7ea 271 // Direction (x,y)
fusihui 0:19e5a063d7ea 272 // North (0,1)
fusihui 0:19e5a063d7ea 273 // East (1,0)
fusihui 0:19e5a063d7ea 274 // South (0,-1)
fusihui 0:19e5a063d7ea 275 // West (-1,0)
fusihui 0:19e5a063d7ea 276 Vector2D Gamepad::get_coord()
fusihui 0:19e5a063d7ea 277 {
fusihui 0:19e5a063d7ea 278 // read() returns value in range 0.0 to 1.0 so is scaled and centre value
fusihui 0:19e5a063d7ea 279 // substracted to get values in the range -1.0 to 1.0
fusihui 0:19e5a063d7ea 280 float x = 2.0f*( _horiz->read() - _x0 );
fusihui 0:19e5a063d7ea 281 float y = 2.0f*( _vert->read() - _y0 );
fusihui 0:19e5a063d7ea 282
fusihui 0:19e5a063d7ea 283 // Note: the x value here is inverted to ensure the positive x is to the
fusihui 0:19e5a063d7ea 284 // right. This is simply due to how the potentiometer on the joystick
fusihui 0:19e5a063d7ea 285 // I was using was connected up. It could have been corrected in hardware
fusihui 0:19e5a063d7ea 286 // by swapping the power supply pins. Instead it is done in software so may
fusihui 0:19e5a063d7ea 287 // need to be changed depending on your wiring setup
fusihui 0:19e5a063d7ea 288
fusihui 0:19e5a063d7ea 289 Vector2D coord = {-x,y};
fusihui 0:19e5a063d7ea 290 return coord;
fusihui 0:19e5a063d7ea 291 }
fusihui 0:19e5a063d7ea 292
fusihui 0:19e5a063d7ea 293 // This maps the raw x,y coord onto a circular grid.
fusihui 0:19e5a063d7ea 294 // See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html
fusihui 0:19e5a063d7ea 295 Vector2D Gamepad::get_mapped_coord()
fusihui 0:19e5a063d7ea 296 {
fusihui 0:19e5a063d7ea 297 Vector2D coord = get_coord();
fusihui 0:19e5a063d7ea 298
fusihui 0:19e5a063d7ea 299 // do the transformation
fusihui 0:19e5a063d7ea 300 float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f);
fusihui 0:19e5a063d7ea 301 float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f);
fusihui 0:19e5a063d7ea 302
fusihui 0:19e5a063d7ea 303 Vector2D mapped_coord = {x,y};
fusihui 0:19e5a063d7ea 304 return mapped_coord;
fusihui 0:19e5a063d7ea 305 }
fusihui 0:19e5a063d7ea 306
fusihui 0:19e5a063d7ea 307 // this function converts the mapped coordinates into polar form
fusihui 0:19e5a063d7ea 308 Polar Gamepad::get_polar()
fusihui 0:19e5a063d7ea 309 {
fusihui 0:19e5a063d7ea 310 // get the mapped coordinate
fusihui 0:19e5a063d7ea 311 Vector2D coord = get_mapped_coord();
fusihui 0:19e5a063d7ea 312
fusihui 0:19e5a063d7ea 313 // at this point, 0 degrees (i.e. x-axis) will be defined to the East.
fusihui 0:19e5a063d7ea 314 // We want 0 degrees to correspond to North and increase clockwise to 359
fusihui 0:19e5a063d7ea 315 // like a compass heading, so we need to swap the axis and invert y
fusihui 0:19e5a063d7ea 316 float x = coord.y;
fusihui 0:19e5a063d7ea 317 float y = coord.x;
fusihui 0:19e5a063d7ea 318
fusihui 0:19e5a063d7ea 319 float mag = sqrt(x*x+y*y); // pythagoras
fusihui 0:19e5a063d7ea 320 float angle = RAD2DEG*atan2(y,x);
fusihui 0:19e5a063d7ea 321 // angle will be in range -180 to 180, so add 360 to negative angles to
fusihui 0:19e5a063d7ea 322 // move to 0 to 360 range
fusihui 0:19e5a063d7ea 323 if (angle < 0.0f) {
fusihui 0:19e5a063d7ea 324 angle+=360.0f;
fusihui 0:19e5a063d7ea 325 }
fusihui 0:19e5a063d7ea 326
fusihui 0:19e5a063d7ea 327 // the noise on the ADC causes the values of x and y to fluctuate slightly
fusihui 0:19e5a063d7ea 328 // around the centred values. This causes the random angle values to get
fusihui 0:19e5a063d7ea 329 // calculated when the joystick is centred and untouched. This is also when
fusihui 0:19e5a063d7ea 330 // the magnitude is very small, so we can check for a small magnitude and then
fusihui 0:19e5a063d7ea 331 // set the angle to -1. This will inform us when the angle is invalid and the
fusihui 0:19e5a063d7ea 332 // joystick is centred
fusihui 0:19e5a063d7ea 333
fusihui 0:19e5a063d7ea 334 if (mag < TOL) {
fusihui 0:19e5a063d7ea 335 mag = 0.0f;
fusihui 0:19e5a063d7ea 336 angle = -1.0f;
fusihui 0:19e5a063d7ea 337 }
fusihui 0:19e5a063d7ea 338
fusihui 0:19e5a063d7ea 339 Polar p = {mag,angle};
fusihui 0:19e5a063d7ea 340 return p;
fusihui 0:19e5a063d7ea 341 }