ELEC2645 (2018/19) / Mbed 2 deprecated ml17z4c_attempt2

ZIYI CHEN ml17z4c 201214999

Dependencies:   mbed

Gamepad/Gamepad.h@14:60c31d25d895, 2019-05-09 (annotated)

Committer:
ziyi11
Date:
Thu May 09 14:48:43 2019 +0000
Revision:
14:60c31d25d895
Parent:
5:f1a193bb84a2 
can not add doc;

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ziyi11 5:f1a193bb84a2 1 #ifndef GAMEPAD_H
ziyi11 5:f1a193bb84a2 2 #define GAMEPAD_H
ziyi11 5:f1a193bb84a2 3
ziyi11 5:f1a193bb84a2 4 #include <bitset>
ziyi11 5:f1a193bb84a2 5
ziyi11 5:f1a193bb84a2 6 // Forward declaration of the classes that we use from the mbed library
ziyi11 5:f1a193bb84a2 7 // This avoids the need for us to include the huge mbed.h header inside our
ziyi11 5:f1a193bb84a2 8 // own library API
ziyi11 5:f1a193bb84a2 9 namespace mbed
ziyi11 5:f1a193bb84a2 10 {
ziyi11 5:f1a193bb84a2 11 class AnalogIn;
ziyi11 5:f1a193bb84a2 12 class InterruptIn;
ziyi11 5:f1a193bb84a2 13 class PwmOut;
ziyi11 5:f1a193bb84a2 14 class Timeout;
ziyi11 5:f1a193bb84a2 15 }
ziyi11 5:f1a193bb84a2 16
ziyi11 5:f1a193bb84a2 17 #define TOL 0.1f
ziyi11 5:f1a193bb84a2 18 #define RAD2DEG 57.2957795131f
ziyi11 5:f1a193bb84a2 19
ziyi11 5:f1a193bb84a2 20 /** Enum for direction */
ziyi11 5:f1a193bb84a2 21 enum Direction {
ziyi11 5:f1a193bb84a2 22 CENTRE, /**< joystick centred */
ziyi11 5:f1a193bb84a2 23 N, /**< pushed North (0)*/
ziyi11 5:f1a193bb84a2 24 NE, /**< pushed North-East (45) */
ziyi11 5:f1a193bb84a2 25 E, /**< pushed East (90) */
ziyi11 5:f1a193bb84a2 26 SE, /**< pushed South-East (135) */
ziyi11 5:f1a193bb84a2 27 S, /**< pushed South (180) */
ziyi11 5:f1a193bb84a2 28 SW, /**< pushed South-West (225) */
ziyi11 5:f1a193bb84a2 29 W, /**< pushed West (270) */
ziyi11 5:f1a193bb84a2 30 NW /**< pushed North-West (315) */
ziyi11 5:f1a193bb84a2 31 };
ziyi11 5:f1a193bb84a2 32
ziyi11 5:f1a193bb84a2 33 /** Vector 2D struct */
ziyi11 5:f1a193bb84a2 34 struct Vector2D {
ziyi11 5:f1a193bb84a2 35 float x; /**< float for x value */
ziyi11 5:f1a193bb84a2 36 float y; /**< float for y value */
ziyi11 5:f1a193bb84a2 37 };
ziyi11 5:f1a193bb84a2 38
ziyi11 5:f1a193bb84a2 39 /** Polar coordinate struct */
ziyi11 5:f1a193bb84a2 40 struct Polar {
ziyi11 5:f1a193bb84a2 41 float mag; /**< float for magnitude */
ziyi11 5:f1a193bb84a2 42 float angle; /**< float for angle (in degrees) */
ziyi11 5:f1a193bb84a2 43 };
ziyi11 5:f1a193bb84a2 44
ziyi11 5:f1a193bb84a2 45 /** Gamepad Class
ziyi11 5:f1a193bb84a2 46 @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
ziyi11 5:f1a193bb84a2 47 @author Dr Craig A. Evans
ziyi11 5:f1a193bb84a2 48 @author Dr Alex Valanvanis
ziyi11 5:f1a193bb84a2 49 @date Febraury 2017
ziyi11 5:f1a193bb84a2 50 */
ziyi11 5:f1a193bb84a2 51 class Gamepad
ziyi11 5:f1a193bb84a2 52 {
ziyi11 5:f1a193bb84a2 53 public:
ziyi11 5:f1a193bb84a2 54 /** Gamepad events
ziyi11 5:f1a193bb84a2 55 * @brief List of events that can be registered on the gamepad
ziyi11 5:f1a193bb84a2 56 */
ziyi11 5:f1a193bb84a2 57 enum GamepadEvent {
ziyi11 5:f1a193bb84a2 58 A_PRESSED, ///< Button A has been pressed
ziyi11 5:f1a193bb84a2 59 B_PRESSED, ///< Button B has been pressed
ziyi11 5:f1a193bb84a2 60 X_PRESSED, ///< Button X has been pressed
ziyi11 5:f1a193bb84a2 61 Y_PRESSED, ///< Button Y has been pressed
ziyi11 5:f1a193bb84a2 62 L_PRESSED, ///< Button L has been pressed
ziyi11 5:f1a193bb84a2 63 R_PRESSED, ///< Button R has been pressed
ziyi11 5:f1a193bb84a2 64 BACK_PRESSED, ///< Button "Back" has been pressed
ziyi11 5:f1a193bb84a2 65 START_PRESSED, ///< Button "Start" has been pressed
ziyi11 5:f1a193bb84a2 66 JOY_PRESSED, ///< Joystick button has been pressed
ziyi11 5:f1a193bb84a2 67 N_EVENTS ///< A dummy flag that marks the end of the list
ziyi11 5:f1a193bb84a2 68 };
ziyi11 5:f1a193bb84a2 69 private:
ziyi11 5:f1a193bb84a2 70 mbed::PwmOut *_led1;
ziyi11 5:f1a193bb84a2 71 mbed::PwmOut *_led2;
ziyi11 5:f1a193bb84a2 72 mbed::PwmOut *_led3;
ziyi11 5:f1a193bb84a2 73 mbed::PwmOut *_led4;
ziyi11 5:f1a193bb84a2 74 mbed::PwmOut *_led5;
ziyi11 5:f1a193bb84a2 75 mbed::PwmOut *_led6;
ziyi11 5:f1a193bb84a2 76
ziyi11 5:f1a193bb84a2 77 mbed::InterruptIn *_button_A;
ziyi11 5:f1a193bb84a2 78 mbed::InterruptIn *_button_B;
ziyi11 5:f1a193bb84a2 79 mbed::InterruptIn *_button_X;
ziyi11 5:f1a193bb84a2 80 mbed::InterruptIn *_button_Y;
ziyi11 5:f1a193bb84a2 81 mbed::InterruptIn *_button_L;
ziyi11 5:f1a193bb84a2 82 mbed::InterruptIn *_button_R;
ziyi11 5:f1a193bb84a2 83 mbed::InterruptIn *_button_back;
ziyi11 5:f1a193bb84a2 84 mbed::InterruptIn *_button_start;
ziyi11 5:f1a193bb84a2 85 mbed::InterruptIn *_button_joystick;
ziyi11 5:f1a193bb84a2 86
ziyi11 5:f1a193bb84a2 87 mbed::AnalogIn *_vert;
ziyi11 5:f1a193bb84a2 88 mbed::AnalogIn *_horiz;
ziyi11 5:f1a193bb84a2 89
ziyi11 5:f1a193bb84a2 90 mbed::PwmOut *_buzzer;
ziyi11 5:f1a193bb84a2 91 mbed::AnalogIn *_pot;
ziyi11 5:f1a193bb84a2 92
ziyi11 5:f1a193bb84a2 93 mbed::Timeout *_timeout;
ziyi11 5:f1a193bb84a2 94
ziyi11 5:f1a193bb84a2 95 std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
ziyi11 5:f1a193bb84a2 96
ziyi11 5:f1a193bb84a2 97 // centred x,y values
ziyi11 5:f1a193bb84a2 98 float _x0;
ziyi11 5:f1a193bb84a2 99 float _y0;
ziyi11 5:f1a193bb84a2 100
ziyi11 5:f1a193bb84a2 101 public:
ziyi11 5:f1a193bb84a2 102
ziyi11 5:f1a193bb84a2 103 /** Constructor */
ziyi11 5:f1a193bb84a2 104 Gamepad();
ziyi11 5:f1a193bb84a2 105
ziyi11 5:f1a193bb84a2 106 /** Destructor */
ziyi11 5:f1a193bb84a2 107 ~Gamepad();
ziyi11 5:f1a193bb84a2 108
ziyi11 5:f1a193bb84a2 109 /** Initialise all peripherals and configure interrupts */
ziyi11 5:f1a193bb84a2 110 void init();
ziyi11 5:f1a193bb84a2 111
ziyi11 5:f1a193bb84a2 112 /** Turn all LEDs on */
ziyi11 5:f1a193bb84a2 113 void leds_on();
ziyi11 5:f1a193bb84a2 114
ziyi11 5:f1a193bb84a2 115 /** Turn all LEDs off */
ziyi11 5:f1a193bb84a2 116 void leds_off();
ziyi11 5:f1a193bb84a2 117
ziyi11 5:f1a193bb84a2 118 /** Set all LEDs to duty-cycle
ziyi11 5:f1a193bb84a2 119 *@param value in range 0.0 to 1.0
ziyi11 5:f1a193bb84a2 120 */
ziyi11 5:f1a193bb84a2 121 void leds(float val) const;
ziyi11 5:f1a193bb84a2 122
ziyi11 5:f1a193bb84a2 123 /** Set LED to duty-cycle
ziyi11 5:f1a193bb84a2 124 *@param led number (0 to 5)
ziyi11 5:f1a193bb84a2 125 *@param value in range 0.0 to 1.0
ziyi11 5:f1a193bb84a2 126 */
ziyi11 5:f1a193bb84a2 127 void led(int n,float val) const;
ziyi11 5:f1a193bb84a2 128
ziyi11 5:f1a193bb84a2 129 /** Read potentiometer
ziyi11 5:f1a193bb84a2 130 *@returns potentiometer value in range 0.0 to 1.0
ziyi11 5:f1a193bb84a2 131 */
ziyi11 5:f1a193bb84a2 132 float read_pot() const;
ziyi11 5:f1a193bb84a2 133
ziyi11 5:f1a193bb84a2 134 /** Play tone on piezo
ziyi11 5:f1a193bb84a2 135 * @param frequency in Hz
ziyi11 5:f1a193bb84a2 136 * @param duration of tone in seconds
ziyi11 5:f1a193bb84a2 137 */
ziyi11 5:f1a193bb84a2 138 void tone(float frequency, float duration);
ziyi11 5:f1a193bb84a2 139
ziyi11 5:f1a193bb84a2 140 /**
ziyi11 5:f1a193bb84a2 141 * @brief Check whether an event flag has been set and clear it
ziyi11 5:f1a193bb84a2 142 * @param id[in] The ID of the event to test
ziyi11 5:f1a193bb84a2 143 * @return true if the event occurred
ziyi11 5:f1a193bb84a2 144 */
ziyi11 5:f1a193bb84a2 145 bool check_event(GamepadEvent const id);
ziyi11 5:f1a193bb84a2 146
ziyi11 5:f1a193bb84a2 147 /** Get magnitude of joystick movement
ziyi11 5:f1a193bb84a2 148 * @returns value in range 0.0 to 1.0
ziyi11 5:f1a193bb84a2 149 */
ziyi11 5:f1a193bb84a2 150
ziyi11 5:f1a193bb84a2 151 float get_mag();
ziyi11 5:f1a193bb84a2 152
ziyi11 5:f1a193bb84a2 153 /** Get angle of joystick movement
ziyi11 5:f1a193bb84a2 154 * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
ziyi11 5:f1a193bb84a2 155 */
ziyi11 5:f1a193bb84a2 156 float get_angle();
ziyi11 5:f1a193bb84a2 157
ziyi11 5:f1a193bb84a2 158 /** Gets joystick direction
ziyi11 5:f1a193bb84a2 159 * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
ziyi11 5:f1a193bb84a2 160 */
ziyi11 5:f1a193bb84a2 161 Direction get_direction(); // N,NE,E,SE etc.
ziyi11 5:f1a193bb84a2 162
ziyi11 5:f1a193bb84a2 163 /** Gets raw cartesian co-ordinates of joystick
ziyi11 5:f1a193bb84a2 164 * @returns a struct with x,y members, each in the range 0.0 to 1.0
ziyi11 5:f1a193bb84a2 165 */
ziyi11 5:f1a193bb84a2 166 Vector2D get_coord(); // cartesian co-ordinates x,y
ziyi11 5:f1a193bb84a2 167
ziyi11 5:f1a193bb84a2 168 /** Gets cartesian coordinates mapped to circular grid
ziyi11 5:f1a193bb84a2 169 * @returns a struct with x,y members, each in the range 0.0 to 1.0
ziyi11 5:f1a193bb84a2 170 */
ziyi11 5:f1a193bb84a2 171 Vector2D get_mapped_coord(); // x,y mapped to circle
ziyi11 5:f1a193bb84a2 172
ziyi11 5:f1a193bb84a2 173 /** Gets polar coordinates of the joystick
ziyi11 5:f1a193bb84a2 174 * @returns a struct contains mag and angle
ziyi11 5:f1a193bb84a2 175 */
ziyi11 5:f1a193bb84a2 176 Polar get_polar(); // mag and angle in struct form
ziyi11 5:f1a193bb84a2 177
ziyi11 5:f1a193bb84a2 178 private:
ziyi11 5:f1a193bb84a2 179 void init_buttons();
ziyi11 5:f1a193bb84a2 180 void tone_off();
ziyi11 5:f1a193bb84a2 181
ziyi11 5:f1a193bb84a2 182 void a_isr();
ziyi11 5:f1a193bb84a2 183 void b_isr();
ziyi11 5:f1a193bb84a2 184 void x_isr();
ziyi11 5:f1a193bb84a2 185 void y_isr();
ziyi11 5:f1a193bb84a2 186 void l_isr();
ziyi11 5:f1a193bb84a2 187 void r_isr();
ziyi11 5:f1a193bb84a2 188 void back_isr();
ziyi11 5:f1a193bb84a2 189 void start_isr();
ziyi11 5:f1a193bb84a2 190 void joy_isr();
ziyi11 5:f1a193bb84a2 191 };
ziyi11 5:f1a193bb84a2 192
ziyi11 5:f1a193bb84a2 193 #endif