ELEC2645 (2019/20) / Mbed 2 deprecated ELEC2645_Project_el17sdl_v2

Dependencies:   mbed

Gamepad2/Gamepad.cpp@1:5aba5e5a748b, 2020-03-04 (annotated)

Committer:
sdlashmar
Date:
Wed Mar 04 12:04:43 2020 +0000
Revision:
1:5aba5e5a748b
inital commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sdlashmar 1:5aba5e5a748b 1 #include "Gamepad.h"
sdlashmar 1:5aba5e5a748b 2
sdlashmar 1:5aba5e5a748b 3 #include "mbed.h"
sdlashmar 1:5aba5e5a748b 4
sdlashmar 1:5aba5e5a748b 5 //////////// constructor/destructor ////////////
sdlashmar 1:5aba5e5a748b 6 Gamepad::Gamepad()
sdlashmar 1:5aba5e5a748b 7 :
sdlashmar 1:5aba5e5a748b 8 _led1(new PwmOut(PTA2)),
sdlashmar 1:5aba5e5a748b 9 _led2(new PwmOut(PTC2)),
sdlashmar 1:5aba5e5a748b 10 _led3(new PwmOut(PTC3)),
sdlashmar 1:5aba5e5a748b 11 _led4(new PwmOut(PTA1)),
sdlashmar 1:5aba5e5a748b 12 _led5(new PwmOut(PTC10)),
sdlashmar 1:5aba5e5a748b 13 _led6(new PwmOut(PTC11)),
sdlashmar 1:5aba5e5a748b 14
sdlashmar 1:5aba5e5a748b 15 _button_A(new InterruptIn(PTC7)),
sdlashmar 1:5aba5e5a748b 16 _button_B(new InterruptIn(PTC9)),
sdlashmar 1:5aba5e5a748b 17 _button_X(new InterruptIn(PTC5)),
sdlashmar 1:5aba5e5a748b 18 _button_Y(new InterruptIn(PTC0)),
sdlashmar 1:5aba5e5a748b 19 _button_start(new InterruptIn(PTC8)),
sdlashmar 1:5aba5e5a748b 20
sdlashmar 1:5aba5e5a748b 21 _vert(new AnalogIn(PTB11)),
sdlashmar 1:5aba5e5a748b 22 _horiz(new AnalogIn(PTB10)),
sdlashmar 1:5aba5e5a748b 23
sdlashmar 1:5aba5e5a748b 24 _pot1(new AnalogIn(PTB2)),
sdlashmar 1:5aba5e5a748b 25 _pot2(new AnalogIn(PTB3)),
sdlashmar 1:5aba5e5a748b 26
sdlashmar 1:5aba5e5a748b 27 dac(new AnalogOut(DAC0_OUT)),
sdlashmar 1:5aba5e5a748b 28 ticker(new Ticker),
sdlashmar 1:5aba5e5a748b 29 timeout(new Timeout),
sdlashmar 1:5aba5e5a748b 30 note_timeout(new Timeout),
sdlashmar 1:5aba5e5a748b 31
sdlashmar 1:5aba5e5a748b 32 _x0(0),
sdlashmar 1:5aba5e5a748b 33 _y0(0)
sdlashmar 1:5aba5e5a748b 34 {}
sdlashmar 1:5aba5e5a748b 35
sdlashmar 1:5aba5e5a748b 36
sdlashmar 1:5aba5e5a748b 37 ///////////////// public methods /////////////////
sdlashmar 1:5aba5e5a748b 38
sdlashmar 1:5aba5e5a748b 39 void Gamepad::init()
sdlashmar 1:5aba5e5a748b 40 {
sdlashmar 1:5aba5e5a748b 41 leds_off();
sdlashmar 1:5aba5e5a748b 42
sdlashmar 1:5aba5e5a748b 43 // read centred values of joystick
sdlashmar 1:5aba5e5a748b 44 _x0 = _horiz->read();
sdlashmar 1:5aba5e5a748b 45 _y0 = _vert->read();
sdlashmar 1:5aba5e5a748b 46
sdlashmar 1:5aba5e5a748b 47 // Set all buttons to PullUp
sdlashmar 1:5aba5e5a748b 48 _button_A->mode(PullUp);
sdlashmar 1:5aba5e5a748b 49 _button_B->mode(PullUp);
sdlashmar 1:5aba5e5a748b 50 _button_X->mode(PullUp);
sdlashmar 1:5aba5e5a748b 51 _button_Y->mode(PullUp);
sdlashmar 1:5aba5e5a748b 52 _button_start->mode(PullUp);
sdlashmar 1:5aba5e5a748b 53
sdlashmar 1:5aba5e5a748b 54 // Set up interrupts for the fall of buttons
sdlashmar 1:5aba5e5a748b 55 _button_A->fall(callback(this,&Gamepad::A_fall_interrupt));
sdlashmar 1:5aba5e5a748b 56 _button_B->fall(callback(this,&Gamepad::B_fall_interrupt));
sdlashmar 1:5aba5e5a748b 57 _button_X->fall(callback(this,&Gamepad::X_fall_interrupt));
sdlashmar 1:5aba5e5a748b 58 _button_Y->fall(callback(this,&Gamepad::Y_fall_interrupt));
sdlashmar 1:5aba5e5a748b 59 _button_start->fall(callback(this,&Gamepad::start_fall_interrupt));
sdlashmar 1:5aba5e5a748b 60
sdlashmar 1:5aba5e5a748b 61 // initalise button flags
sdlashmar 1:5aba5e5a748b 62 reset_buttons();
sdlashmar 1:5aba5e5a748b 63
sdlashmar 1:5aba5e5a748b 64 // number of samples
sdlashmar 1:5aba5e5a748b 65 _n = 16;
sdlashmar 1:5aba5e5a748b 66 _sample_array = new float[_n];
sdlashmar 1:5aba5e5a748b 67
sdlashmar 1:5aba5e5a748b 68 // create sample array for one period between 0.0 and 1.0
sdlashmar 1:5aba5e5a748b 69 for (int i = 0; i < _n ; i++) {
sdlashmar 1:5aba5e5a748b 70 _sample_array[i] = 0.5f + 0.5f*sin(i*2*PI/_n);
sdlashmar 1:5aba5e5a748b 71 //printf("y[%i] = %f\n",i,_sample_array[i]);
sdlashmar 1:5aba5e5a748b 72 }
sdlashmar 1:5aba5e5a748b 73
sdlashmar 1:5aba5e5a748b 74 }
sdlashmar 1:5aba5e5a748b 75
sdlashmar 1:5aba5e5a748b 76 void Gamepad::leds_off()
sdlashmar 1:5aba5e5a748b 77 {
sdlashmar 1:5aba5e5a748b 78 leds(0.0);
sdlashmar 1:5aba5e5a748b 79 }
sdlashmar 1:5aba5e5a748b 80
sdlashmar 1:5aba5e5a748b 81 void Gamepad::leds_on()
sdlashmar 1:5aba5e5a748b 82 {
sdlashmar 1:5aba5e5a748b 83 leds(1.0);
sdlashmar 1:5aba5e5a748b 84 }
sdlashmar 1:5aba5e5a748b 85
sdlashmar 1:5aba5e5a748b 86 void Gamepad::leds(float val) const
sdlashmar 1:5aba5e5a748b 87 {
sdlashmar 1:5aba5e5a748b 88 if (val < 0.0f) {
sdlashmar 1:5aba5e5a748b 89 val = 0.0f;
sdlashmar 1:5aba5e5a748b 90 }
sdlashmar 1:5aba5e5a748b 91 if (val > 1.0f) {
sdlashmar 1:5aba5e5a748b 92 val = 1.0f;
sdlashmar 1:5aba5e5a748b 93 }
sdlashmar 1:5aba5e5a748b 94
sdlashmar 1:5aba5e5a748b 95 // leds are active-low, so subtract from 1.0
sdlashmar 1:5aba5e5a748b 96 // 0.0 corresponds to fully-off, 1.0 to fully-on
sdlashmar 1:5aba5e5a748b 97 val = 1.0f - val;
sdlashmar 1:5aba5e5a748b 98
sdlashmar 1:5aba5e5a748b 99 _led1->write(val);
sdlashmar 1:5aba5e5a748b 100 _led2->write(val);
sdlashmar 1:5aba5e5a748b 101 _led3->write(val);
sdlashmar 1:5aba5e5a748b 102 _led4->write(val);
sdlashmar 1:5aba5e5a748b 103 _led5->write(val);
sdlashmar 1:5aba5e5a748b 104 _led6->write(val);
sdlashmar 1:5aba5e5a748b 105 }
sdlashmar 1:5aba5e5a748b 106
sdlashmar 1:5aba5e5a748b 107 void Gamepad::led(int n,float val) const
sdlashmar 1:5aba5e5a748b 108 {
sdlashmar 1:5aba5e5a748b 109 // ensure they are within valid range
sdlashmar 1:5aba5e5a748b 110 if (val < 0.0f) {
sdlashmar 1:5aba5e5a748b 111 val = 0.0f;
sdlashmar 1:5aba5e5a748b 112 }
sdlashmar 1:5aba5e5a748b 113 if (val > 1.0f) {
sdlashmar 1:5aba5e5a748b 114 val = 1.0f;
sdlashmar 1:5aba5e5a748b 115 }
sdlashmar 1:5aba5e5a748b 116
sdlashmar 1:5aba5e5a748b 117 switch (n) {
sdlashmar 1:5aba5e5a748b 118
sdlashmar 1:5aba5e5a748b 119 // check for valid LED number and set value
sdlashmar 1:5aba5e5a748b 120
sdlashmar 1:5aba5e5a748b 121 case 1:
sdlashmar 1:5aba5e5a748b 122 _led1->write(1.0f-val); // active-low so subtract from 1
sdlashmar 1:5aba5e5a748b 123 break;
sdlashmar 1:5aba5e5a748b 124 case 2:
sdlashmar 1:5aba5e5a748b 125 _led2->write(1.0f-val); // active-low so subtract from 1
sdlashmar 1:5aba5e5a748b 126 break;
sdlashmar 1:5aba5e5a748b 127 case 3:
sdlashmar 1:5aba5e5a748b 128 _led3->write(1.0f-val); // active-low so subtract from 1
sdlashmar 1:5aba5e5a748b 129 break;
sdlashmar 1:5aba5e5a748b 130 case 4:
sdlashmar 1:5aba5e5a748b 131 _led4->write(1.0f-val); // active-low so subtract from 1
sdlashmar 1:5aba5e5a748b 132 break;
sdlashmar 1:5aba5e5a748b 133 case 5:
sdlashmar 1:5aba5e5a748b 134 _led5->write(1.0f-val); // active-low so subtract from 1
sdlashmar 1:5aba5e5a748b 135 break;
sdlashmar 1:5aba5e5a748b 136 case 6:
sdlashmar 1:5aba5e5a748b 137 _led6->write(1.0f-val); // active-low so subtract from 1
sdlashmar 1:5aba5e5a748b 138 break;
sdlashmar 1:5aba5e5a748b 139
sdlashmar 1:5aba5e5a748b 140 }
sdlashmar 1:5aba5e5a748b 141 }
sdlashmar 1:5aba5e5a748b 142
sdlashmar 1:5aba5e5a748b 143 float Gamepad::read_pot1() const
sdlashmar 1:5aba5e5a748b 144 {
sdlashmar 1:5aba5e5a748b 145 return _pot1->read();
sdlashmar 1:5aba5e5a748b 146 }
sdlashmar 1:5aba5e5a748b 147
sdlashmar 1:5aba5e5a748b 148 float Gamepad::read_pot2() const
sdlashmar 1:5aba5e5a748b 149 {
sdlashmar 1:5aba5e5a748b 150 return _pot2->read();
sdlashmar 1:5aba5e5a748b 151 }
sdlashmar 1:5aba5e5a748b 152
sdlashmar 1:5aba5e5a748b 153
sdlashmar 1:5aba5e5a748b 154 // this method gets the magnitude of the joystick movement
sdlashmar 1:5aba5e5a748b 155 float Gamepad::get_mag()
sdlashmar 1:5aba5e5a748b 156 {
sdlashmar 1:5aba5e5a748b 157 Polar p = get_polar();
sdlashmar 1:5aba5e5a748b 158 return p.mag;
sdlashmar 1:5aba5e5a748b 159 }
sdlashmar 1:5aba5e5a748b 160
sdlashmar 1:5aba5e5a748b 161 // this method gets the angle of joystick movement (0 to 360, 0 North)
sdlashmar 1:5aba5e5a748b 162 float Gamepad::get_angle()
sdlashmar 1:5aba5e5a748b 163 {
sdlashmar 1:5aba5e5a748b 164 Polar p = get_polar();
sdlashmar 1:5aba5e5a748b 165 return p.angle;
sdlashmar 1:5aba5e5a748b 166 }
sdlashmar 1:5aba5e5a748b 167
sdlashmar 1:5aba5e5a748b 168 Direction Gamepad::get_direction()
sdlashmar 1:5aba5e5a748b 169 {
sdlashmar 1:5aba5e5a748b 170 float angle = get_angle(); // 0 to 360, -1 for centred
sdlashmar 1:5aba5e5a748b 171
sdlashmar 1:5aba5e5a748b 172 Direction d;
sdlashmar 1:5aba5e5a748b 173 // partition 360 into segments and check which segment the angle is in
sdlashmar 1:5aba5e5a748b 174 if (angle < 0.0f) {
sdlashmar 1:5aba5e5a748b 175 d = CENTRE; // check for -1.0 angle
sdlashmar 1:5aba5e5a748b 176 } else if (angle < 22.5f) { // then keep going in 45 degree increments
sdlashmar 1:5aba5e5a748b 177 d = N;
sdlashmar 1:5aba5e5a748b 178 } else if (angle < 67.5f) {
sdlashmar 1:5aba5e5a748b 179 d = NE;
sdlashmar 1:5aba5e5a748b 180 } else if (angle < 112.5f) {
sdlashmar 1:5aba5e5a748b 181 d = E;
sdlashmar 1:5aba5e5a748b 182 } else if (angle < 157.5f) {
sdlashmar 1:5aba5e5a748b 183 d = SE;
sdlashmar 1:5aba5e5a748b 184 } else if (angle < 202.5f) {
sdlashmar 1:5aba5e5a748b 185 d = S;
sdlashmar 1:5aba5e5a748b 186 } else if (angle < 247.5f) {
sdlashmar 1:5aba5e5a748b 187 d = SW;
sdlashmar 1:5aba5e5a748b 188 } else if (angle < 292.5f) {
sdlashmar 1:5aba5e5a748b 189 d = W;
sdlashmar 1:5aba5e5a748b 190 } else if (angle < 337.5f) {
sdlashmar 1:5aba5e5a748b 191 d = NW;
sdlashmar 1:5aba5e5a748b 192 } else {
sdlashmar 1:5aba5e5a748b 193 d = N;
sdlashmar 1:5aba5e5a748b 194 }
sdlashmar 1:5aba5e5a748b 195
sdlashmar 1:5aba5e5a748b 196 return d;
sdlashmar 1:5aba5e5a748b 197 }
sdlashmar 1:5aba5e5a748b 198
sdlashmar 1:5aba5e5a748b 199 void Gamepad::reset_buttons()
sdlashmar 1:5aba5e5a748b 200 {
sdlashmar 1:5aba5e5a748b 201 A_fall = B_fall = X_fall = Y_fall = start_fall = false;
sdlashmar 1:5aba5e5a748b 202 }
sdlashmar 1:5aba5e5a748b 203
sdlashmar 1:5aba5e5a748b 204 bool Gamepad::A_pressed()
sdlashmar 1:5aba5e5a748b 205 {
sdlashmar 1:5aba5e5a748b 206 if (A_fall) {
sdlashmar 1:5aba5e5a748b 207 A_fall = false;
sdlashmar 1:5aba5e5a748b 208 return true;
sdlashmar 1:5aba5e5a748b 209 } else {
sdlashmar 1:5aba5e5a748b 210 return false;
sdlashmar 1:5aba5e5a748b 211 }
sdlashmar 1:5aba5e5a748b 212 }
sdlashmar 1:5aba5e5a748b 213
sdlashmar 1:5aba5e5a748b 214 bool Gamepad::B_pressed()
sdlashmar 1:5aba5e5a748b 215 {
sdlashmar 1:5aba5e5a748b 216 if (B_fall) {
sdlashmar 1:5aba5e5a748b 217 B_fall = false;
sdlashmar 1:5aba5e5a748b 218 return true;
sdlashmar 1:5aba5e5a748b 219 } else {
sdlashmar 1:5aba5e5a748b 220 return false;
sdlashmar 1:5aba5e5a748b 221 }
sdlashmar 1:5aba5e5a748b 222 }
sdlashmar 1:5aba5e5a748b 223
sdlashmar 1:5aba5e5a748b 224 bool Gamepad::X_pressed()
sdlashmar 1:5aba5e5a748b 225 {
sdlashmar 1:5aba5e5a748b 226 if (X_fall) {
sdlashmar 1:5aba5e5a748b 227 X_fall = false;
sdlashmar 1:5aba5e5a748b 228 return true;
sdlashmar 1:5aba5e5a748b 229 } else {
sdlashmar 1:5aba5e5a748b 230 return false;
sdlashmar 1:5aba5e5a748b 231 }
sdlashmar 1:5aba5e5a748b 232 }
sdlashmar 1:5aba5e5a748b 233
sdlashmar 1:5aba5e5a748b 234 bool Gamepad::Y_pressed()
sdlashmar 1:5aba5e5a748b 235 {
sdlashmar 1:5aba5e5a748b 236 if (Y_fall) {
sdlashmar 1:5aba5e5a748b 237 Y_fall = false;
sdlashmar 1:5aba5e5a748b 238 return true;
sdlashmar 1:5aba5e5a748b 239 } else {
sdlashmar 1:5aba5e5a748b 240 return false;
sdlashmar 1:5aba5e5a748b 241 }
sdlashmar 1:5aba5e5a748b 242 }
sdlashmar 1:5aba5e5a748b 243
sdlashmar 1:5aba5e5a748b 244 bool Gamepad::start_pressed()
sdlashmar 1:5aba5e5a748b 245 {
sdlashmar 1:5aba5e5a748b 246 if (start_fall) {
sdlashmar 1:5aba5e5a748b 247 start_fall = false;
sdlashmar 1:5aba5e5a748b 248 return true;
sdlashmar 1:5aba5e5a748b 249 } else {
sdlashmar 1:5aba5e5a748b 250 return false;
sdlashmar 1:5aba5e5a748b 251 }
sdlashmar 1:5aba5e5a748b 252 }
sdlashmar 1:5aba5e5a748b 253
sdlashmar 1:5aba5e5a748b 254 bool Gamepad::A_held()
sdlashmar 1:5aba5e5a748b 255 {
sdlashmar 1:5aba5e5a748b 256 // Buttons are configured as PullUp hence the not
sdlashmar 1:5aba5e5a748b 257 return !_button_A->read();
sdlashmar 1:5aba5e5a748b 258 }
sdlashmar 1:5aba5e5a748b 259
sdlashmar 1:5aba5e5a748b 260 bool Gamepad::B_held()
sdlashmar 1:5aba5e5a748b 261 {
sdlashmar 1:5aba5e5a748b 262 return !_button_B->read();
sdlashmar 1:5aba5e5a748b 263 }
sdlashmar 1:5aba5e5a748b 264
sdlashmar 1:5aba5e5a748b 265 bool Gamepad::X_held()
sdlashmar 1:5aba5e5a748b 266 {
sdlashmar 1:5aba5e5a748b 267 return !_button_X->read();
sdlashmar 1:5aba5e5a748b 268 }
sdlashmar 1:5aba5e5a748b 269
sdlashmar 1:5aba5e5a748b 270 bool Gamepad::Y_held()
sdlashmar 1:5aba5e5a748b 271 {
sdlashmar 1:5aba5e5a748b 272 return !_button_Y->read();
sdlashmar 1:5aba5e5a748b 273 }
sdlashmar 1:5aba5e5a748b 274
sdlashmar 1:5aba5e5a748b 275 bool Gamepad::start_held()
sdlashmar 1:5aba5e5a748b 276 {
sdlashmar 1:5aba5e5a748b 277 return !_button_start->read();
sdlashmar 1:5aba5e5a748b 278 }
sdlashmar 1:5aba5e5a748b 279
sdlashmar 1:5aba5e5a748b 280 ///////////////////// private methods ////////////////////////
sdlashmar 1:5aba5e5a748b 281
sdlashmar 1:5aba5e5a748b 282 // get raw joystick coordinate in range -1 to 1
sdlashmar 1:5aba5e5a748b 283 // Direction (x,y)
sdlashmar 1:5aba5e5a748b 284 // North (0,1)
sdlashmar 1:5aba5e5a748b 285 // East (1,0)
sdlashmar 1:5aba5e5a748b 286 // South (0,-1)
sdlashmar 1:5aba5e5a748b 287 // West (-1,0)
sdlashmar 1:5aba5e5a748b 288 Vector2D Gamepad::get_coord()
sdlashmar 1:5aba5e5a748b 289 {
sdlashmar 1:5aba5e5a748b 290 // read() returns value in range 0.0 to 1.0 so is scaled and centre value
sdlashmar 1:5aba5e5a748b 291 // substracted to get values in the range -1.0 to 1.0
sdlashmar 1:5aba5e5a748b 292 float x = 2.0f*( _horiz->read() - _x0 );
sdlashmar 1:5aba5e5a748b 293 float y = 2.0f*( _vert->read() - _y0 );
sdlashmar 1:5aba5e5a748b 294
sdlashmar 1:5aba5e5a748b 295 // Note: the y value here is inverted to ensure the positive y is up
sdlashmar 1:5aba5e5a748b 296
sdlashmar 1:5aba5e5a748b 297 Vector2D coord = {x,-y};
sdlashmar 1:5aba5e5a748b 298 return coord;
sdlashmar 1:5aba5e5a748b 299 }
sdlashmar 1:5aba5e5a748b 300
sdlashmar 1:5aba5e5a748b 301 // This maps the raw x,y coord onto a circular grid.
sdlashmar 1:5aba5e5a748b 302 // See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html
sdlashmar 1:5aba5e5a748b 303 Vector2D Gamepad::get_mapped_coord()
sdlashmar 1:5aba5e5a748b 304 {
sdlashmar 1:5aba5e5a748b 305 Vector2D coord = get_coord();
sdlashmar 1:5aba5e5a748b 306
sdlashmar 1:5aba5e5a748b 307 // do the transformation
sdlashmar 1:5aba5e5a748b 308 float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f);
sdlashmar 1:5aba5e5a748b 309 float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f);
sdlashmar 1:5aba5e5a748b 310
sdlashmar 1:5aba5e5a748b 311 Vector2D mapped_coord = {x,y};
sdlashmar 1:5aba5e5a748b 312 return mapped_coord;
sdlashmar 1:5aba5e5a748b 313 }
sdlashmar 1:5aba5e5a748b 314
sdlashmar 1:5aba5e5a748b 315 // this function converts the mapped coordinates into polar form
sdlashmar 1:5aba5e5a748b 316 Polar Gamepad::get_polar()
sdlashmar 1:5aba5e5a748b 317 {
sdlashmar 1:5aba5e5a748b 318 // get the mapped coordinate
sdlashmar 1:5aba5e5a748b 319 Vector2D coord = get_mapped_coord();
sdlashmar 1:5aba5e5a748b 320
sdlashmar 1:5aba5e5a748b 321 // at this point, 0 degrees (i.e. x-axis) will be defined to the East.
sdlashmar 1:5aba5e5a748b 322 // We want 0 degrees to correspond to North and increase clockwise to 359
sdlashmar 1:5aba5e5a748b 323 // like a compass heading, so we need to swap the axis and invert y
sdlashmar 1:5aba5e5a748b 324 float x = coord.y;
sdlashmar 1:5aba5e5a748b 325 float y = coord.x;
sdlashmar 1:5aba5e5a748b 326
sdlashmar 1:5aba5e5a748b 327 float mag = sqrt(x*x+y*y); // pythagoras
sdlashmar 1:5aba5e5a748b 328 float angle = RAD2DEG*atan2(y,x);
sdlashmar 1:5aba5e5a748b 329 // angle will be in range -180 to 180, so add 360 to negative angles to
sdlashmar 1:5aba5e5a748b 330 // move to 0 to 360 range
sdlashmar 1:5aba5e5a748b 331 if (angle < 0.0f) {
sdlashmar 1:5aba5e5a748b 332 angle+=360.0f;
sdlashmar 1:5aba5e5a748b 333 }
sdlashmar 1:5aba5e5a748b 334
sdlashmar 1:5aba5e5a748b 335 // the noise on the ADC causes the values of x and y to fluctuate slightly
sdlashmar 1:5aba5e5a748b 336 // around the centred values. This causes the random angle values to get
sdlashmar 1:5aba5e5a748b 337 // calculated when the joystick is centred and untouched. This is also when
sdlashmar 1:5aba5e5a748b 338 // the magnitude is very small, so we can check for a small magnitude and then
sdlashmar 1:5aba5e5a748b 339 // set the angle to -1. This will inform us when the angle is invalid and the
sdlashmar 1:5aba5e5a748b 340 // joystick is centred
sdlashmar 1:5aba5e5a748b 341
sdlashmar 1:5aba5e5a748b 342 if (mag < TOL) {
sdlashmar 1:5aba5e5a748b 343 mag = 0.0f;
sdlashmar 1:5aba5e5a748b 344 angle = -1.0f;
sdlashmar 1:5aba5e5a748b 345 }
sdlashmar 1:5aba5e5a748b 346
sdlashmar 1:5aba5e5a748b 347 Polar p = {mag,angle};
sdlashmar 1:5aba5e5a748b 348 return p;
sdlashmar 1:5aba5e5a748b 349 }
sdlashmar 1:5aba5e5a748b 350
sdlashmar 1:5aba5e5a748b 351 // ISRs for buttons
sdlashmar 1:5aba5e5a748b 352 void Gamepad::A_fall_interrupt()
sdlashmar 1:5aba5e5a748b 353 {
sdlashmar 1:5aba5e5a748b 354 A_fall = true;
sdlashmar 1:5aba5e5a748b 355 }
sdlashmar 1:5aba5e5a748b 356 void Gamepad::B_fall_interrupt()
sdlashmar 1:5aba5e5a748b 357 {
sdlashmar 1:5aba5e5a748b 358 B_fall = true;
sdlashmar 1:5aba5e5a748b 359 }
sdlashmar 1:5aba5e5a748b 360 void Gamepad::X_fall_interrupt()
sdlashmar 1:5aba5e5a748b 361 {
sdlashmar 1:5aba5e5a748b 362 X_fall = true;
sdlashmar 1:5aba5e5a748b 363 }
sdlashmar 1:5aba5e5a748b 364 void Gamepad::Y_fall_interrupt()
sdlashmar 1:5aba5e5a748b 365 {
sdlashmar 1:5aba5e5a748b 366 Y_fall = true;
sdlashmar 1:5aba5e5a748b 367 }
sdlashmar 1:5aba5e5a748b 368 void Gamepad::start_fall_interrupt()
sdlashmar 1:5aba5e5a748b 369 {
sdlashmar 1:5aba5e5a748b 370 start_fall = true;
sdlashmar 1:5aba5e5a748b 371 }
sdlashmar 1:5aba5e5a748b 372
sdlashmar 1:5aba5e5a748b 373 void Gamepad::set_bpm(float bpm)
sdlashmar 1:5aba5e5a748b 374 {
sdlashmar 1:5aba5e5a748b 375 _bpm = bpm;
sdlashmar 1:5aba5e5a748b 376 }
sdlashmar 1:5aba5e5a748b 377
sdlashmar 1:5aba5e5a748b 378 void Gamepad::tone(float frequency,float duration)
sdlashmar 1:5aba5e5a748b 379 {
sdlashmar 1:5aba5e5a748b 380 // calculate time step between samples
sdlashmar 1:5aba5e5a748b 381 float dt = 1.0f/(frequency*_n);
sdlashmar 1:5aba5e5a748b 382 // start from beginning of LUT
sdlashmar 1:5aba5e5a748b 383 _sample = 0;
sdlashmar 1:5aba5e5a748b 384
sdlashmar 1:5aba5e5a748b 385 // setup ticker and timeout to stop ticker
sdlashmar 1:5aba5e5a748b 386
sdlashmar 1:5aba5e5a748b 387 // the ticker repeats every dt to plat each sample in turn
sdlashmar 1:5aba5e5a748b 388 ticker->attach(callback(this, &Gamepad::ticker_isr), dt);
sdlashmar 1:5aba5e5a748b 389 // the timeout stops the ticker after the required duration
sdlashmar 1:5aba5e5a748b 390 timeout->attach(callback(this, &Gamepad::timeout_isr), duration );
sdlashmar 1:5aba5e5a748b 391 }
sdlashmar 1:5aba5e5a748b 392
sdlashmar 1:5aba5e5a748b 393 void Gamepad::play_melody(int length,const int *notes,const int *durations,float bpm,bool repeat)
sdlashmar 1:5aba5e5a748b 394 {
sdlashmar 1:5aba5e5a748b 395 // copy arguments to member variables
sdlashmar 1:5aba5e5a748b 396 _bpm = bpm;
sdlashmar 1:5aba5e5a748b 397 _notes = notes; // pointer for array
sdlashmar 1:5aba5e5a748b 398 _durations = durations; // pointer for array
sdlashmar 1:5aba5e5a748b 399 _melody_length = length;
sdlashmar 1:5aba5e5a748b 400 _repeat = repeat;
sdlashmar 1:5aba5e5a748b 401
sdlashmar 1:5aba5e5a748b 402 _note = 0; // start from first note
sdlashmar 1:5aba5e5a748b 403
sdlashmar 1:5aba5e5a748b 404 play_next_note(); // play the next note in the melody
sdlashmar 1:5aba5e5a748b 405 }
sdlashmar 1:5aba5e5a748b 406
sdlashmar 1:5aba5e5a748b 407 void Gamepad::write_dac(float val)
sdlashmar 1:5aba5e5a748b 408 {
sdlashmar 1:5aba5e5a748b 409 if (val < 0.0f) {
sdlashmar 1:5aba5e5a748b 410 val = 0.0f;
sdlashmar 1:5aba5e5a748b 411 } else if (val > 1.0f) {
sdlashmar 1:5aba5e5a748b 412 val = 1.0f;
sdlashmar 1:5aba5e5a748b 413 }
sdlashmar 1:5aba5e5a748b 414 dac->write(val);
sdlashmar 1:5aba5e5a748b 415 }
sdlashmar 1:5aba5e5a748b 416
sdlashmar 1:5aba5e5a748b 417
sdlashmar 1:5aba5e5a748b 418 void Gamepad::play_next_note()
sdlashmar 1:5aba5e5a748b 419 {
sdlashmar 1:5aba5e5a748b 420 // _note is the note index to play
sdlashmar 1:5aba5e5a748b 421
sdlashmar 1:5aba5e5a748b 422 // calculate the duration and frequency of the note
sdlashmar 1:5aba5e5a748b 423 float duration = 60.0f/(_bpm*_durations[_note]);
sdlashmar 1:5aba5e5a748b 424 float frequency = float(_notes[_note]);
sdlashmar 1:5aba5e5a748b 425 //printf("[%i] f = %f d = %f\n",_note,frequency,duration);
sdlashmar 1:5aba5e5a748b 426
sdlashmar 1:5aba5e5a748b 427 // check if the note is not a space and if not then play the note
sdlashmar 1:5aba5e5a748b 428 if (frequency > 0) {
sdlashmar 1:5aba5e5a748b 429 tone(frequency,duration);
sdlashmar 1:5aba5e5a748b 430 }
sdlashmar 1:5aba5e5a748b 431
sdlashmar 1:5aba5e5a748b 432 // the timeout goes to the next note in the melody
sdlashmar 1:5aba5e5a748b 433 // double the duration to leave a bit of a gap in between notes to be better
sdlashmar 1:5aba5e5a748b 434 // able to distinguish them
sdlashmar 1:5aba5e5a748b 435 note_timeout->attach(callback(this, &Gamepad::note_timeout_isr), duration*2.0f );
sdlashmar 1:5aba5e5a748b 436 }
sdlashmar 1:5aba5e5a748b 437
sdlashmar 1:5aba5e5a748b 438 // called when the next note needs playing
sdlashmar 1:5aba5e5a748b 439 void Gamepad::note_timeout_isr()
sdlashmar 1:5aba5e5a748b 440 {
sdlashmar 1:5aba5e5a748b 441 _note++; // go onto next note
sdlashmar 1:5aba5e5a748b 442
sdlashmar 1:5aba5e5a748b 443 // if in repeat mode then reset the note counter when get to end of melody
sdlashmar 1:5aba5e5a748b 444 if (_repeat && _note == _melody_length) {
sdlashmar 1:5aba5e5a748b 445 _note=0;
sdlashmar 1:5aba5e5a748b 446 }
sdlashmar 1:5aba5e5a748b 447
sdlashmar 1:5aba5e5a748b 448 // check if note is within the melody
sdlashmar 1:5aba5e5a748b 449 if (_note < _melody_length) {
sdlashmar 1:5aba5e5a748b 450 play_next_note();
sdlashmar 1:5aba5e5a748b 451 }
sdlashmar 1:5aba5e5a748b 452 }
sdlashmar 1:5aba5e5a748b 453
sdlashmar 1:5aba5e5a748b 454 void Gamepad::ticker_isr()
sdlashmar 1:5aba5e5a748b 455 {
sdlashmar 1:5aba5e5a748b 456 dac->write(_sample_array[_sample%_n]); // use modulo to get index to play
sdlashmar 1:5aba5e5a748b 457 _sample++; // increment the sample ready for next time
sdlashmar 1:5aba5e5a748b 458 }
sdlashmar 1:5aba5e5a748b 459
sdlashmar 1:5aba5e5a748b 460 void Gamepad::timeout_isr()
sdlashmar 1:5aba5e5a748b 461 {
sdlashmar 1:5aba5e5a748b 462 // stops the ticker to end the note
sdlashmar 1:5aba5e5a748b 463 ticker->detach();
sdlashmar 1:5aba5e5a748b 464 }