![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Owen Cavender 201159294
Dependencies: mbed
Diff: Gamepad2/Gamepad.cpp
- Revision:
- 1:897160a1a3ae
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Gamepad2/Gamepad.cpp Tue May 26 12:17:59 2020 +0000 @@ -0,0 +1,464 @@ +#include "Gamepad.h" + +#include "mbed.h" + +//////////// constructor/destructor //////////// +Gamepad::Gamepad() + : + _led1(new PwmOut(PTA2)), + _led2(new PwmOut(PTC2)), + _led3(new PwmOut(PTC3)), + _led4(new PwmOut(PTA1)), + _led5(new PwmOut(PTC10)), + _led6(new PwmOut(PTC11)), + + _button_A(new InterruptIn(PTC7)), + _button_B(new InterruptIn(PTC9)), + _button_X(new InterruptIn(PTC5)), + _button_Y(new InterruptIn(PTC0)), + _button_start(new InterruptIn(PTC8)), + + _vert(new AnalogIn(PTB11)), + _horiz(new AnalogIn(PTB10)), + + _pot1(new AnalogIn(PTB2)), + _pot2(new AnalogIn(PTB3)), + + dac(new AnalogOut(DAC0_OUT)), + ticker(new Ticker), + timeout(new Timeout), + note_timeout(new Timeout), + + _x0(0), + _y0(0) +{} + + +///////////////// public methods ///////////////// + +void Gamepad::init() +{ + leds_off(); + + // read centred values of joystick + _x0 = _horiz->read(); + _y0 = _vert->read(); + + // Set all buttons to PullUp + _button_A->mode(PullUp); + _button_B->mode(PullUp); + _button_X->mode(PullUp); + _button_Y->mode(PullUp); + _button_start->mode(PullUp); + + // Set up interrupts for the fall of buttons + _button_A->fall(callback(this,&Gamepad::A_fall_interrupt)); + _button_B->fall(callback(this,&Gamepad::B_fall_interrupt)); + _button_X->fall(callback(this,&Gamepad::X_fall_interrupt)); + _button_Y->fall(callback(this,&Gamepad::Y_fall_interrupt)); + _button_start->fall(callback(this,&Gamepad::start_fall_interrupt)); + + // initalise button flags + reset_buttons(); + + // number of samples + _n = 16; + _sample_array = new float[_n]; + + // create sample array for one period between 0.0 and 1.0 + for (int i = 0; i < _n ; i++) { + _sample_array[i] = 0.5f + 0.5f*sin(i*2*PI/_n); + //printf("y[%i] = %f\n",i,_sample_array[i]); + } + +} + +void Gamepad::leds_off() +{ + leds(0.0); +} + +void Gamepad::leds_on() +{ + leds(1.0); +} + +void Gamepad::leds(float val) const +{ + if (val < 0.0f) { + val = 0.0f; + } + if (val > 1.0f) { + val = 1.0f; + } + + // leds are active-low, so subtract from 1.0 + // 0.0 corresponds to fully-off, 1.0 to fully-on + val = 1.0f - val; + + _led1->write(val); + _led2->write(val); + _led3->write(val); + _led4->write(val); + _led5->write(val); + _led6->write(val); +} + +void Gamepad::led(int n,float val) const +{ + // ensure they are within valid range + if (val < 0.0f) { + val = 0.0f; + } + if (val > 1.0f) { + val = 1.0f; + } + + switch (n) { + + // check for valid LED number and set value + + case 1: + _led1->write(1.0f-val); // active-low so subtract from 1 + break; + case 2: + _led2->write(1.0f-val); // active-low so subtract from 1 + break; + case 3: + _led3->write(1.0f-val); // active-low so subtract from 1 + break; + case 4: + _led4->write(1.0f-val); // active-low so subtract from 1 + break; + case 5: + _led5->write(1.0f-val); // active-low so subtract from 1 + break; + case 6: + _led6->write(1.0f-val); // active-low so subtract from 1 + break; + + } +} + +float Gamepad::read_pot1() const +{ + return _pot1->read(); +} + +float Gamepad::read_pot2() const +{ + return _pot2->read(); +} + + +// this method gets the magnitude of the joystick movement +float Gamepad::get_mag() +{ + Polar p = get_polar(); + return p.mag; +} + +// this method gets the angle of joystick movement (0 to 360, 0 North) +float Gamepad::get_angle() +{ + Polar p = get_polar(); + return p.angle; +} + +Direction Gamepad::get_direction() +{ + float angle = get_angle(); // 0 to 360, -1 for centred + + Direction d; + // partition 360 into segments and check which segment the angle is in + if (angle < 0.0f) { + d = CENTRE; // check for -1.0 angle + } else if (angle < 22.5f) { // then keep going in 45 degree increments + d = N; + } else if (angle < 67.5f) { + d = NE; + } else if (angle < 112.5f) { + d = E; + } else if (angle < 157.5f) { + d = SE; + } else if (angle < 202.5f) { + d = S; + } else if (angle < 247.5f) { + d = SW; + } else if (angle < 292.5f) { + d = W; + } else if (angle < 337.5f) { + d = NW; + } else { + d = N; + } + + return d; +} + +void Gamepad::reset_buttons() +{ + A_fall = B_fall = X_fall = Y_fall = start_fall = false; +} + +bool Gamepad::A_pressed() +{ + if (A_fall) { + A_fall = false; + return true; + } else { + return false; + } +} + +bool Gamepad::B_pressed() +{ + if (B_fall) { + B_fall = false; + return true; + } else { + return false; + } +} + +bool Gamepad::X_pressed() +{ + if (X_fall) { + X_fall = false; + return true; + } else { + return false; + } +} + +bool Gamepad::Y_pressed() +{ + if (Y_fall) { + Y_fall = false; + return true; + } else { + return false; + } +} + +bool Gamepad::start_pressed() +{ + if (start_fall) { + start_fall = false; + return true; + } else { + return false; + } +} + +bool Gamepad::A_held() +{ + // Buttons are configured as PullUp hence the not + return !_button_A->read(); +} + +bool Gamepad::B_held() +{ + return !_button_B->read(); +} + +bool Gamepad::X_held() +{ + return !_button_X->read(); +} + +bool Gamepad::Y_held() +{ + return !_button_Y->read(); +} + +bool Gamepad::start_held() +{ + return !_button_start->read(); +} + +///////////////////// private methods //////////////////////// + +// get raw joystick coordinate in range -1 to 1 +// Direction (x,y) +// North (0,1) +// East (1,0) +// South (0,-1) +// West (-1,0) +Vector2D Gamepad::get_coord() +{ + // read() returns value in range 0.0 to 1.0 so is scaled and centre value + // substracted to get values in the range -1.0 to 1.0 + float x = 2.0f*( _horiz->read() - _x0 ); + float y = 2.0f*( _vert->read() - _y0 ); + + // Note: the y value here is inverted to ensure the positive y is up + + Vector2D coord = {x,-y}; + return coord; +} + +// This maps the raw x,y coord onto a circular grid. +// See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html +Vector2D Gamepad::get_mapped_coord() +{ + Vector2D coord = get_coord(); + + // do the transformation + float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f); + float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f); + + Vector2D mapped_coord = {x,y}; + return mapped_coord; +} + +// this function converts the mapped coordinates into polar form +Polar Gamepad::get_polar() +{ + // get the mapped coordinate + Vector2D coord = get_mapped_coord(); + + // at this point, 0 degrees (i.e. x-axis) will be defined to the East. + // We want 0 degrees to correspond to North and increase clockwise to 359 + // like a compass heading, so we need to swap the axis and invert y + float x = coord.y; + float y = coord.x; + + float mag = sqrt(x*x+y*y); // pythagoras + float angle = RAD2DEG*atan2(y,x); + // angle will be in range -180 to 180, so add 360 to negative angles to + // move to 0 to 360 range + if (angle < 0.0f) { + angle+=360.0f; + } + + // the noise on the ADC causes the values of x and y to fluctuate slightly + // around the centred values. This causes the random angle values to get + // calculated when the joystick is centred and untouched. This is also when + // the magnitude is very small, so we can check for a small magnitude and then + // set the angle to -1. This will inform us when the angle is invalid and the + // joystick is centred + + if (mag < TOL) { + mag = 0.0f; + angle = -1.0f; + } + + Polar p = {mag,angle}; + return p; +} + +// ISRs for buttons +void Gamepad::A_fall_interrupt() +{ + A_fall = true; +} +void Gamepad::B_fall_interrupt() +{ + B_fall = true; +} +void Gamepad::X_fall_interrupt() +{ + X_fall = true; +} +void Gamepad::Y_fall_interrupt() +{ + Y_fall = true; +} +void Gamepad::start_fall_interrupt() +{ + start_fall = true; +} + +void Gamepad::set_bpm(float bpm) +{ + _bpm = bpm; +} + +void Gamepad::tone(float frequency,float duration) +{ + // calculate time step between samples + float dt = 1.0f/(frequency*_n); + // start from beginning of LUT + _sample = 0; + + // setup ticker and timeout to stop ticker + + // the ticker repeats every dt to plat each sample in turn + ticker->attach(callback(this, &Gamepad::ticker_isr), dt); + // the timeout stops the ticker after the required duration + timeout->attach(callback(this, &Gamepad::timeout_isr), duration ); +} + +void Gamepad::play_melody(int length,const int *notes,const int *durations,float bpm,bool repeat) +{ + // copy arguments to member variables + _bpm = bpm; + _notes = notes; // pointer for array + _durations = durations; // pointer for array + _melody_length = length; + _repeat = repeat; + + _note = 0; // start from first note + + play_next_note(); // play the next note in the melody +} + +void Gamepad::write_dac(float val) +{ + if (val < 0.0f) { + val = 0.0f; + } else if (val > 1.0f) { + val = 1.0f; + } + dac->write(val); +} + + +void Gamepad::play_next_note() +{ + // _note is the note index to play + + // calculate the duration and frequency of the note + float duration = 60.0f/(_bpm*_durations[_note]); + float frequency = float(_notes[_note]); + //printf("[%i] f = %f d = %f\n",_note,frequency,duration); + + // check if the note is not a space and if not then play the note + if (frequency > 0) { + tone(frequency,duration); + } + + // the timeout goes to the next note in the melody + // double the duration to leave a bit of a gap in between notes to be better + // able to distinguish them + note_timeout->attach(callback(this, &Gamepad::note_timeout_isr), duration*2.0f ); +} + +// called when the next note needs playing +void Gamepad::note_timeout_isr() +{ + _note++; // go onto next note + + // if in repeat mode then reset the note counter when get to end of melody + if (_repeat && _note == _melody_length) { + _note=0; + } + + // check if note is within the melody + if (_note < _melody_length) { + play_next_note(); + } +} + +void Gamepad::ticker_isr() +{ + dac->write(_sample_array[_sample%_n]); // use modulo to get index to play + _sample++; // increment the sample ready for next time +} + +void Gamepad::timeout_isr() +{ + // stops the ticker to end the note + ticker->detach(); +}