ELEC2645 (2018/19) / Mbed 2 deprecated fy14lkaa

Laila Al Badwawi 200906179 SpaceInvaders I declare this my own independent work and understand the university rules on plagiarism.

Dependencies:   mbed

Gamepad/Gamepad.h@0:e2af4c8e462e, 2019-03-22 (annotated)

Committer:
fy14lkaa
Date:
Fri Mar 22 20:36:54 2019 +0000
Revision:
0:e2af4c8e462e
Child:
128:a3f581b8461c
initial commit

Who changed what in which revision?

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fy14lkaa 0:e2af4c8e462e 1 #ifndef GAMEPAD_H
fy14lkaa 0:e2af4c8e462e 2 #define GAMEPAD_H
fy14lkaa 0:e2af4c8e462e 3
fy14lkaa 0:e2af4c8e462e 4 #include <bitset>
fy14lkaa 0:e2af4c8e462e 5
fy14lkaa 0:e2af4c8e462e 6 // Forward declaration of the classes that we use from the mbed library
fy14lkaa 0:e2af4c8e462e 7 // This avoids the need for us to include the huge mbed.h header inside our
fy14lkaa 0:e2af4c8e462e 8 // own library API
fy14lkaa 0:e2af4c8e462e 9 namespace mbed
fy14lkaa 0:e2af4c8e462e 10 {
fy14lkaa 0:e2af4c8e462e 11 class AnalogIn;
fy14lkaa 0:e2af4c8e462e 12 class InterruptIn;
fy14lkaa 0:e2af4c8e462e 13 class PwmOut;
fy14lkaa 0:e2af4c8e462e 14 class Timeout;
fy14lkaa 0:e2af4c8e462e 15 }
fy14lkaa 0:e2af4c8e462e 16
fy14lkaa 0:e2af4c8e462e 17 #define TOL 0.1f
fy14lkaa 0:e2af4c8e462e 18 #define RAD2DEG 57.2957795131f
fy14lkaa 0:e2af4c8e462e 19
fy14lkaa 0:e2af4c8e462e 20 /** Enum for direction */
fy14lkaa 0:e2af4c8e462e 21 enum Direction {
fy14lkaa 0:e2af4c8e462e 22 CENTRE, /**< joystick centred */
fy14lkaa 0:e2af4c8e462e 23 N, /**< pushed North (0)*/
fy14lkaa 0:e2af4c8e462e 24 NE, /**< pushed North-East (45) */
fy14lkaa 0:e2af4c8e462e 25 E, /**< pushed East (90) */
fy14lkaa 0:e2af4c8e462e 26 SE, /**< pushed South-East (135) */
fy14lkaa 0:e2af4c8e462e 27 S, /**< pushed South (180) */
fy14lkaa 0:e2af4c8e462e 28 SW, /**< pushed South-West (225) */
fy14lkaa 0:e2af4c8e462e 29 W, /**< pushed West (270) */
fy14lkaa 0:e2af4c8e462e 30 NW /**< pushed North-West (315) */
fy14lkaa 0:e2af4c8e462e 31 };
fy14lkaa 0:e2af4c8e462e 32
fy14lkaa 0:e2af4c8e462e 33 /** Vector 2D struct */
fy14lkaa 0:e2af4c8e462e 34 struct Vector2D {
fy14lkaa 0:e2af4c8e462e 35 float x; /**< float for x value */
fy14lkaa 0:e2af4c8e462e 36 float y; /**< float for y value */
fy14lkaa 0:e2af4c8e462e 37 };
fy14lkaa 0:e2af4c8e462e 38
fy14lkaa 0:e2af4c8e462e 39 /** Polar coordinate struct */
fy14lkaa 0:e2af4c8e462e 40 struct Polar {
fy14lkaa 0:e2af4c8e462e 41 float mag; /**< float for magnitude */
fy14lkaa 0:e2af4c8e462e 42 float angle; /**< float for angle (in degrees) */
fy14lkaa 0:e2af4c8e462e 43 };
fy14lkaa 0:e2af4c8e462e 44
fy14lkaa 0:e2af4c8e462e 45 /** Gamepad Class
fy14lkaa 0:e2af4c8e462e 46 * @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
fy14lkaa 0:e2af4c8e462e 47 * @author Dr Craig A. Evans
fy14lkaa 0:e2af4c8e462e 48 * @author Dr Alex Valavanis
fy14lkaa 0:e2af4c8e462e 49 */
fy14lkaa 0:e2af4c8e462e 50 class Gamepad
fy14lkaa 0:e2af4c8e462e 51 {
fy14lkaa 0:e2af4c8e462e 52 public:
fy14lkaa 0:e2af4c8e462e 53 /** Gamepad events
fy14lkaa 0:e2af4c8e462e 54 * @brief List of events that can be registered on the gamepad
fy14lkaa 0:e2af4c8e462e 55 */
fy14lkaa 0:e2af4c8e462e 56 enum GamepadEvent {
fy14lkaa 0:e2af4c8e462e 57 A_PRESSED, ///< Button A has been pressed
fy14lkaa 0:e2af4c8e462e 58 B_PRESSED, ///< Button B has been pressed
fy14lkaa 0:e2af4c8e462e 59 X_PRESSED, ///< Button X has been pressed
fy14lkaa 0:e2af4c8e462e 60 Y_PRESSED, ///< Button Y has been pressed
fy14lkaa 0:e2af4c8e462e 61 L_PRESSED, ///< Button L has been pressed
fy14lkaa 0:e2af4c8e462e 62 R_PRESSED, ///< Button R has been pressed
fy14lkaa 0:e2af4c8e462e 63 BACK_PRESSED, ///< Button "Back" has been pressed
fy14lkaa 0:e2af4c8e462e 64 START_PRESSED, ///< Button "Start" has been pressed
fy14lkaa 0:e2af4c8e462e 65 JOY_PRESSED, ///< Joystick button has been pressed
fy14lkaa 0:e2af4c8e462e 66 N_EVENTS ///< A dummy flag that marks the end of the list
fy14lkaa 0:e2af4c8e462e 67 };
fy14lkaa 0:e2af4c8e462e 68
fy14lkaa 0:e2af4c8e462e 69 private:
fy14lkaa 0:e2af4c8e462e 70 mbed::PwmOut *_led1;
fy14lkaa 0:e2af4c8e462e 71 mbed::PwmOut *_led2;
fy14lkaa 0:e2af4c8e462e 72 mbed::PwmOut *_led3;
fy14lkaa 0:e2af4c8e462e 73 mbed::PwmOut *_led4;
fy14lkaa 0:e2af4c8e462e 74 mbed::PwmOut *_led5;
fy14lkaa 0:e2af4c8e462e 75 mbed::PwmOut *_led6;
fy14lkaa 0:e2af4c8e462e 76
fy14lkaa 0:e2af4c8e462e 77 mbed::InterruptIn *_button_A;
fy14lkaa 0:e2af4c8e462e 78 mbed::InterruptIn *_button_B;
fy14lkaa 0:e2af4c8e462e 79 mbed::InterruptIn *_button_X;
fy14lkaa 0:e2af4c8e462e 80 mbed::InterruptIn *_button_Y;
fy14lkaa 0:e2af4c8e462e 81 mbed::InterruptIn *_button_L;
fy14lkaa 0:e2af4c8e462e 82 mbed::InterruptIn *_button_R;
fy14lkaa 0:e2af4c8e462e 83 mbed::InterruptIn *_button_back;
fy14lkaa 0:e2af4c8e462e 84 mbed::InterruptIn *_button_start;
fy14lkaa 0:e2af4c8e462e 85 mbed::InterruptIn *_button_joystick;
fy14lkaa 0:e2af4c8e462e 86
fy14lkaa 0:e2af4c8e462e 87 mbed::AnalogIn *_vert;
fy14lkaa 0:e2af4c8e462e 88 mbed::AnalogIn *_horiz;
fy14lkaa 0:e2af4c8e462e 89
fy14lkaa 0:e2af4c8e462e 90 mbed::PwmOut *_buzzer;
fy14lkaa 0:e2af4c8e462e 91 mbed::AnalogIn *_pot;
fy14lkaa 0:e2af4c8e462e 92
fy14lkaa 0:e2af4c8e462e 93 mbed::Timeout *_timeout;
fy14lkaa 0:e2af4c8e462e 94
fy14lkaa 0:e2af4c8e462e 95 std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
fy14lkaa 0:e2af4c8e462e 96
fy14lkaa 0:e2af4c8e462e 97 // centred x,y values
fy14lkaa 0:e2af4c8e462e 98 float _x0;
fy14lkaa 0:e2af4c8e462e 99 float _y0;
fy14lkaa 0:e2af4c8e462e 100
fy14lkaa 0:e2af4c8e462e 101 public:
fy14lkaa 0:e2af4c8e462e 102 /** Constructor */
fy14lkaa 0:e2af4c8e462e 103 Gamepad();
fy14lkaa 0:e2af4c8e462e 104
fy14lkaa 0:e2af4c8e462e 105 /** Destructor */
fy14lkaa 0:e2af4c8e462e 106 ~Gamepad();
fy14lkaa 0:e2af4c8e462e 107
fy14lkaa 0:e2af4c8e462e 108 /** Initialise all peripherals and configure interrupts */
fy14lkaa 0:e2af4c8e462e 109 void init();
fy14lkaa 0:e2af4c8e462e 110
fy14lkaa 0:e2af4c8e462e 111 /** Turn all LEDs on */
fy14lkaa 0:e2af4c8e462e 112 void leds_on();
fy14lkaa 0:e2af4c8e462e 113
fy14lkaa 0:e2af4c8e462e 114 /** Turn all LEDs off */
fy14lkaa 0:e2af4c8e462e 115 void leds_off();
fy14lkaa 0:e2af4c8e462e 116
fy14lkaa 0:e2af4c8e462e 117 /** Set all LEDs to duty-cycle
fy14lkaa 0:e2af4c8e462e 118 *@param value in range 0.0 to 1.0
fy14lkaa 0:e2af4c8e462e 119 */
fy14lkaa 0:e2af4c8e462e 120 void leds(float val) const;
fy14lkaa 0:e2af4c8e462e 121
fy14lkaa 0:e2af4c8e462e 122 /** Set LED to duty-cycle
fy14lkaa 0:e2af4c8e462e 123 *@param led number (0 to 5)
fy14lkaa 0:e2af4c8e462e 124 *@param value in range 0.0 to 1.0
fy14lkaa 0:e2af4c8e462e 125 */
fy14lkaa 0:e2af4c8e462e 126 void led(int n,float val) const;
fy14lkaa 0:e2af4c8e462e 127
fy14lkaa 0:e2af4c8e462e 128 /** Read potentiometer
fy14lkaa 0:e2af4c8e462e 129 *@returns potentiometer value in range 0.0 to 1.0
fy14lkaa 0:e2af4c8e462e 130 */
fy14lkaa 0:e2af4c8e462e 131 float read_pot() const;
fy14lkaa 0:e2af4c8e462e 132
fy14lkaa 0:e2af4c8e462e 133 /** Play tone on piezo
fy14lkaa 0:e2af4c8e462e 134 * @param frequency in Hz
fy14lkaa 0:e2af4c8e462e 135 * @param duration of tone in seconds
fy14lkaa 0:e2af4c8e462e 136 */
fy14lkaa 0:e2af4c8e462e 137 void tone(float frequency, float duration);
fy14lkaa 0:e2af4c8e462e 138
fy14lkaa 0:e2af4c8e462e 139 /**
fy14lkaa 0:e2af4c8e462e 140 * @brief Check whether an event flag has been set and clear it
fy14lkaa 0:e2af4c8e462e 141 * @param id[in] The ID of the event to test
fy14lkaa 0:e2af4c8e462e 142 * @return true if the event occurred
fy14lkaa 0:e2af4c8e462e 143 */
fy14lkaa 0:e2af4c8e462e 144 bool check_event(GamepadEvent const id);
fy14lkaa 0:e2af4c8e462e 145
fy14lkaa 0:e2af4c8e462e 146 /**
fy14lkaa 0:e2af4c8e462e 147 * @brief Get the raw binary event state
fy14lkaa 0:e2af4c8e462e 148 * @return The event state as a binary code
fy14lkaa 0:e2af4c8e462e 149 * @details The check_event() function is likely to be more useful than
fy14lkaa 0:e2af4c8e462e 150 * this, for testing whether a given event has occurred. It can be
fy14lkaa 0:e2af4c8e462e 151 * useful for debugging via the terminal, however, for example:
fy14lkaa 0:e2af4c8e462e 152 * @code
fy14lkaa 0:e2af4c8e462e 153 * std::cout << gamepad.get_raw_event_state() << std::endl;
fy14lkaa 0:e2af4c8e462e 154 * @endcode
fy14lkaa 0:e2af4c8e462e 155 */
fy14lkaa 0:e2af4c8e462e 156 inline std::bitset<N_EVENTS> get_raw_event_state() const {
fy14lkaa 0:e2af4c8e462e 157 return _event_state;
fy14lkaa 0:e2af4c8e462e 158 }
fy14lkaa 0:e2af4c8e462e 159
fy14lkaa 0:e2af4c8e462e 160 /** Get magnitude of joystick movement
fy14lkaa 0:e2af4c8e462e 161 * @returns value in range 0.0 to 1.0
fy14lkaa 0:e2af4c8e462e 162 */
fy14lkaa 0:e2af4c8e462e 163 float get_mag();
fy14lkaa 0:e2af4c8e462e 164
fy14lkaa 0:e2af4c8e462e 165 /** Get angle of joystick movement
fy14lkaa 0:e2af4c8e462e 166 * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
fy14lkaa 0:e2af4c8e462e 167 */
fy14lkaa 0:e2af4c8e462e 168 float get_angle();
fy14lkaa 0:e2af4c8e462e 169
fy14lkaa 0:e2af4c8e462e 170 /** Gets joystick direction
fy14lkaa 0:e2af4c8e462e 171 * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
fy14lkaa 0:e2af4c8e462e 172 */
fy14lkaa 0:e2af4c8e462e 173 Direction get_direction(); // N,NE,E,SE etc.
fy14lkaa 0:e2af4c8e462e 174
fy14lkaa 0:e2af4c8e462e 175 /** Gets raw cartesian co-ordinates of joystick
fy14lkaa 0:e2af4c8e462e 176 * @returns a struct with x,y members, each in the range 0.0 to 1.0
fy14lkaa 0:e2af4c8e462e 177 */
fy14lkaa 0:e2af4c8e462e 178 Vector2D get_coord(); // cartesian co-ordinates x,y
fy14lkaa 0:e2af4c8e462e 179
fy14lkaa 0:e2af4c8e462e 180 /** Gets cartesian coordinates mapped to circular grid
fy14lkaa 0:e2af4c8e462e 181 * @returns a struct with x,y members, each in the range 0.0 to 1.0
fy14lkaa 0:e2af4c8e462e 182 */
fy14lkaa 0:e2af4c8e462e 183 Vector2D get_mapped_coord(); // x,y mapped to circle
fy14lkaa 0:e2af4c8e462e 184
fy14lkaa 0:e2af4c8e462e 185 /** Gets polar coordinates of the joystick
fy14lkaa 0:e2af4c8e462e 186 * @returns a struct contains mag and angle
fy14lkaa 0:e2af4c8e462e 187 */
fy14lkaa 0:e2af4c8e462e 188 Polar get_polar(); // mag and angle in struct form
fy14lkaa 0:e2af4c8e462e 189
fy14lkaa 0:e2af4c8e462e 190 private:
fy14lkaa 0:e2af4c8e462e 191 void init_buttons();
fy14lkaa 0:e2af4c8e462e 192 void tone_off();
fy14lkaa 0:e2af4c8e462e 193
fy14lkaa 0:e2af4c8e462e 194 void a_isr();
fy14lkaa 0:e2af4c8e462e 195 void b_isr();
fy14lkaa 0:e2af4c8e462e 196 void x_isr();
fy14lkaa 0:e2af4c8e462e 197 void y_isr();
fy14lkaa 0:e2af4c8e462e 198 void l_isr();
fy14lkaa 0:e2af4c8e462e 199 void r_isr();
fy14lkaa 0:e2af4c8e462e 200 void back_isr();
fy14lkaa 0:e2af4c8e462e 201 void start_isr();
fy14lkaa 0:e2af4c8e462e 202 void joy_isr();
fy14lkaa 0:e2af4c8e462e 203 };
fy14lkaa 0:e2af4c8e462e 204
fy14lkaa 0:e2af4c8e462e 205 #endif