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 namespace mbed
00010 {
00011 class AnalogIn;
00012 class InterruptIn;
00013 class PwmOut;
00014 class Timeout;
00015 }
00016 
00017 #define TOL 0.1f
00018 #define RAD2DEG 57.2957795131f
00019 
00020 /** Enum for direction */
00021 enum Direction {
00022     CENTRE,  /**< joystick centred */
00023     N,       /**< pushed North (0)*/
00024     NE,      /**< pushed North-East (45) */
00025     E,       /**< pushed East (90) */
00026     SE,      /**< pushed South-East (135) */
00027     S,       /**< pushed South (180) */
00028     SW,      /**< pushed South-West (225) */
00029     W,       /**< pushed West (270) */
00030     NW       /**< pushed North-West (315) */
00031 };
00032 
00033 /** Vector 2D struct */
00034 struct Vector2D {
00035     float x; /**< float for x value */
00036     float y; /**< float for y value */
00037 };
00038 
00039 /** Polar coordinate struct */
00040 struct Polar {
00041     float mag;  /**< float for magnitude */
00042     float angle; /**< float for angle (in degrees) */
00043 };
00044 
00045 /** Gamepad Class
00046 @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
00047 @author Dr Craig A. Evans
00048 @author Dr Alex Valanvanis
00049 @date Febraury 2017
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 private:
00070     mbed::PwmOut *_led1;
00071     mbed::PwmOut *_led2;
00072     mbed::PwmOut *_led3;
00073     mbed::PwmOut *_led4;
00074     mbed::PwmOut *_led5;
00075     mbed::PwmOut *_led6;
00076 
00077     mbed::InterruptIn *_button_A;
00078     mbed::InterruptIn *_button_B;
00079     mbed::InterruptIn *_button_X;
00080     mbed::InterruptIn *_button_Y;
00081     mbed::InterruptIn *_button_L;
00082     mbed::InterruptIn *_button_R;
00083     mbed::InterruptIn *_button_back;
00084     mbed::InterruptIn *_button_start;
00085     mbed::InterruptIn *_button_joystick;
00086 
00087     mbed::AnalogIn *_vert;
00088     mbed::AnalogIn *_horiz;
00089 
00090     mbed::PwmOut   *_buzzer;
00091     mbed::AnalogIn *_pot;
00092 
00093     mbed::Timeout *_timeout;
00094 
00095     std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
00096 
00097     // centred x,y values
00098     float _x0;
00099     float _y0;
00100 
00101 public:
00102 
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     /** Get magnitude of joystick movement
00148     * @returns value in range 0.0 to 1.0
00149     */
00150 
00151     float get_mag();
00152 
00153     /** Get angle of joystick movement
00154     * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
00155     */
00156     float get_angle();
00157 
00158     /** Gets joystick direction
00159     * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
00160     */
00161     Direction get_direction();    // N,NE,E,SE etc.
00162 
00163     /** Gets raw cartesian co-ordinates of joystick
00164     * @returns a struct with x,y members, each in the range 0.0 to 1.0
00165     */
00166     Vector2D get_coord();         // cartesian co-ordinates x,y
00167 
00168     /** Gets cartesian coordinates mapped to circular grid
00169     * @returns a struct with x,y members, each in the range 0.0 to 1.0
00170     */
00171     Vector2D get_mapped_coord();  // x,y mapped to circle
00172 
00173     /** Gets polar coordinates of the joystick
00174     * @returns a struct contains mag and angle
00175     */
00176     Polar get_polar();            // mag and angle in struct form
00177 
00178 private:
00179     void init_buttons();
00180     void tone_off();
00181 
00182     void a_isr();
00183     void b_isr();
00184     void x_isr();
00185     void y_isr();
00186     void l_isr();
00187     void r_isr();
00188     void back_isr();
00189     void start_isr();
00190     void joy_isr();
00191 };
00192 
00193 #endif