ELEC2645 (2019/20) / Mbed 2 deprecated ELEC2645_Project_el19my

Dependencies:   mbed ELEC2645_Project_el17my

Gamepad2/Gamepad.cpp@1:df66be0b5b8b, 2020-05-09 (annotated)

Committer:
yumaowei
Date:
Sat May 09 06:53:41 2020 +0000
Revision:
1:df66be0b5b8b
initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yumaowei 1:df66be0b5b8b 1 #include "Gamepad.h"
yumaowei 1:df66be0b5b8b 2
yumaowei 1:df66be0b5b8b 3 #include "mbed.h"
yumaowei 1:df66be0b5b8b 4
yumaowei 1:df66be0b5b8b 5 //////////// constructor/destructor ////////////
yumaowei 1:df66be0b5b8b 6 Gamepad::Gamepad()
yumaowei 1:df66be0b5b8b 7 :
yumaowei 1:df66be0b5b8b 8 _led1(new PwmOut(PTA2)),
yumaowei 1:df66be0b5b8b 9 _led2(new PwmOut(PTC2)),
yumaowei 1:df66be0b5b8b 10 _led3(new PwmOut(PTC3)),
yumaowei 1:df66be0b5b8b 11 _led4(new PwmOut(PTA1)),
yumaowei 1:df66be0b5b8b 12 _led5(new PwmOut(PTC10)),
yumaowei 1:df66be0b5b8b 13 _led6(new PwmOut(PTC11)),
yumaowei 1:df66be0b5b8b 14
yumaowei 1:df66be0b5b8b 15 _button_A(new InterruptIn(PTC7)),
yumaowei 1:df66be0b5b8b 16 _button_B(new InterruptIn(PTC9)),
yumaowei 1:df66be0b5b8b 17 _button_X(new InterruptIn(PTC5)),
yumaowei 1:df66be0b5b8b 18 _button_Y(new InterruptIn(PTC0)),
yumaowei 1:df66be0b5b8b 19 _button_start(new InterruptIn(PTC8)),
yumaowei 1:df66be0b5b8b 20
yumaowei 1:df66be0b5b8b 21 _vert(new AnalogIn(PTB11)),
yumaowei 1:df66be0b5b8b 22 _horiz(new AnalogIn(PTB10)),
yumaowei 1:df66be0b5b8b 23
yumaowei 1:df66be0b5b8b 24 _pot1(new AnalogIn(PTB2)),
yumaowei 1:df66be0b5b8b 25 _pot2(new AnalogIn(PTB3)),
yumaowei 1:df66be0b5b8b 26
yumaowei 1:df66be0b5b8b 27 dac(new AnalogOut(DAC0_OUT)),
yumaowei 1:df66be0b5b8b 28 ticker(new Ticker),
yumaowei 1:df66be0b5b8b 29 timeout(new Timeout),
yumaowei 1:df66be0b5b8b 30 note_timeout(new Timeout),
yumaowei 1:df66be0b5b8b 31
yumaowei 1:df66be0b5b8b 32 _x0(0),
yumaowei 1:df66be0b5b8b 33 _y0(0)
yumaowei 1:df66be0b5b8b 34 {}
yumaowei 1:df66be0b5b8b 35
yumaowei 1:df66be0b5b8b 36
yumaowei 1:df66be0b5b8b 37 ///////////////// public methods /////////////////
yumaowei 1:df66be0b5b8b 38
yumaowei 1:df66be0b5b8b 39 void Gamepad::init()
yumaowei 1:df66be0b5b8b 40 {
yumaowei 1:df66be0b5b8b 41 leds_off();
yumaowei 1:df66be0b5b8b 42
yumaowei 1:df66be0b5b8b 43 // read centred values of joystick
yumaowei 1:df66be0b5b8b 44 _x0 = _horiz->read();
yumaowei 1:df66be0b5b8b 45 _y0 = _vert->read();
yumaowei 1:df66be0b5b8b 46
yumaowei 1:df66be0b5b8b 47 // Set all buttons to PullUp
yumaowei 1:df66be0b5b8b 48 _button_A->mode(PullUp);
yumaowei 1:df66be0b5b8b 49 _button_B->mode(PullUp);
yumaowei 1:df66be0b5b8b 50 _button_X->mode(PullUp);
yumaowei 1:df66be0b5b8b 51 _button_Y->mode(PullUp);
yumaowei 1:df66be0b5b8b 52 _button_start->mode(PullUp);
yumaowei 1:df66be0b5b8b 53
yumaowei 1:df66be0b5b8b 54 // Set up interrupts for the fall of buttons
yumaowei 1:df66be0b5b8b 55 _button_A->fall(callback(this,&Gamepad::A_fall_interrupt));
yumaowei 1:df66be0b5b8b 56 _button_B->fall(callback(this,&Gamepad::B_fall_interrupt));
yumaowei 1:df66be0b5b8b 57 _button_X->fall(callback(this,&Gamepad::X_fall_interrupt));
yumaowei 1:df66be0b5b8b 58 _button_Y->fall(callback(this,&Gamepad::Y_fall_interrupt));
yumaowei 1:df66be0b5b8b 59 _button_start->fall(callback(this,&Gamepad::start_fall_interrupt));
yumaowei 1:df66be0b5b8b 60
yumaowei 1:df66be0b5b8b 61 // initalise button flags
yumaowei 1:df66be0b5b8b 62 reset_buttons();
yumaowei 1:df66be0b5b8b 63
yumaowei 1:df66be0b5b8b 64 // number of samples
yumaowei 1:df66be0b5b8b 65 _n = 16;
yumaowei 1:df66be0b5b8b 66 _sample_array = new float[_n];
yumaowei 1:df66be0b5b8b 67
yumaowei 1:df66be0b5b8b 68 // create sample array for one period between 0.0 and 1.0
yumaowei 1:df66be0b5b8b 69 for (int i = 0; i < _n ; i++) {
yumaowei 1:df66be0b5b8b 70 _sample_array[i] = 0.5f + 0.5f*sin(i*2*PI/_n);
yumaowei 1:df66be0b5b8b 71 //printf("y[%i] = %f\n",i,_sample_array[i]);
yumaowei 1:df66be0b5b8b 72 }
yumaowei 1:df66be0b5b8b 73
yumaowei 1:df66be0b5b8b 74 }
yumaowei 1:df66be0b5b8b 75
yumaowei 1:df66be0b5b8b 76 void Gamepad::leds_off()
yumaowei 1:df66be0b5b8b 77 {
yumaowei 1:df66be0b5b8b 78 leds(0.0);
yumaowei 1:df66be0b5b8b 79 }
yumaowei 1:df66be0b5b8b 80
yumaowei 1:df66be0b5b8b 81 void Gamepad::leds_on()
yumaowei 1:df66be0b5b8b 82 {
yumaowei 1:df66be0b5b8b 83 leds(1.0);
yumaowei 1:df66be0b5b8b 84 }
yumaowei 1:df66be0b5b8b 85
yumaowei 1:df66be0b5b8b 86 void Gamepad::leds(float val) const
yumaowei 1:df66be0b5b8b 87 {
yumaowei 1:df66be0b5b8b 88 if (val < 0.0f) {
yumaowei 1:df66be0b5b8b 89 val = 0.0f;
yumaowei 1:df66be0b5b8b 90 }
yumaowei 1:df66be0b5b8b 91 if (val > 1.0f) {
yumaowei 1:df66be0b5b8b 92 val = 1.0f;
yumaowei 1:df66be0b5b8b 93 }
yumaowei 1:df66be0b5b8b 94
yumaowei 1:df66be0b5b8b 95 // leds are active-low, so subtract from 1.0
yumaowei 1:df66be0b5b8b 96 // 0.0 corresponds to fully-off, 1.0 to fully-on
yumaowei 1:df66be0b5b8b 97 val = 1.0f - val;
yumaowei 1:df66be0b5b8b 98
yumaowei 1:df66be0b5b8b 99 _led1->write(val);
yumaowei 1:df66be0b5b8b 100 _led2->write(val);
yumaowei 1:df66be0b5b8b 101 _led3->write(val);
yumaowei 1:df66be0b5b8b 102 _led4->write(val);
yumaowei 1:df66be0b5b8b 103 _led5->write(val);
yumaowei 1:df66be0b5b8b 104 _led6->write(val);
yumaowei 1:df66be0b5b8b 105 }
yumaowei 1:df66be0b5b8b 106
yumaowei 1:df66be0b5b8b 107 void Gamepad::led(int n,float val) const
yumaowei 1:df66be0b5b8b 108 {
yumaowei 1:df66be0b5b8b 109 // ensure they are within valid range
yumaowei 1:df66be0b5b8b 110 if (val < 0.0f) {
yumaowei 1:df66be0b5b8b 111 val = 0.0f;
yumaowei 1:df66be0b5b8b 112 }
yumaowei 1:df66be0b5b8b 113 if (val > 1.0f) {
yumaowei 1:df66be0b5b8b 114 val = 1.0f;
yumaowei 1:df66be0b5b8b 115 }
yumaowei 1:df66be0b5b8b 116
yumaowei 1:df66be0b5b8b 117 switch (n) {
yumaowei 1:df66be0b5b8b 118
yumaowei 1:df66be0b5b8b 119 // check for valid LED number and set value
yumaowei 1:df66be0b5b8b 120
yumaowei 1:df66be0b5b8b 121 case 1:
yumaowei 1:df66be0b5b8b 122 _led1->write(1.0f-val); // active-low so subtract from 1
yumaowei 1:df66be0b5b8b 123 break;
yumaowei 1:df66be0b5b8b 124 case 2:
yumaowei 1:df66be0b5b8b 125 _led2->write(1.0f-val); // active-low so subtract from 1
yumaowei 1:df66be0b5b8b 126 break;
yumaowei 1:df66be0b5b8b 127 case 3:
yumaowei 1:df66be0b5b8b 128 _led3->write(1.0f-val); // active-low so subtract from 1
yumaowei 1:df66be0b5b8b 129 break;
yumaowei 1:df66be0b5b8b 130 case 4:
yumaowei 1:df66be0b5b8b 131 _led4->write(1.0f-val); // active-low so subtract from 1
yumaowei 1:df66be0b5b8b 132 break;
yumaowei 1:df66be0b5b8b 133 case 5:
yumaowei 1:df66be0b5b8b 134 _led5->write(1.0f-val); // active-low so subtract from 1
yumaowei 1:df66be0b5b8b 135 break;
yumaowei 1:df66be0b5b8b 136 case 6:
yumaowei 1:df66be0b5b8b 137 _led6->write(1.0f-val); // active-low so subtract from 1
yumaowei 1:df66be0b5b8b 138 break;
yumaowei 1:df66be0b5b8b 139
yumaowei 1:df66be0b5b8b 140 }
yumaowei 1:df66be0b5b8b 141 }
yumaowei 1:df66be0b5b8b 142
yumaowei 1:df66be0b5b8b 143 float Gamepad::read_pot1() const
yumaowei 1:df66be0b5b8b 144 {
yumaowei 1:df66be0b5b8b 145 return _pot1->read();
yumaowei 1:df66be0b5b8b 146 }
yumaowei 1:df66be0b5b8b 147
yumaowei 1:df66be0b5b8b 148 float Gamepad::read_pot2() const
yumaowei 1:df66be0b5b8b 149 {
yumaowei 1:df66be0b5b8b 150 return _pot2->read();
yumaowei 1:df66be0b5b8b 151 }
yumaowei 1:df66be0b5b8b 152
yumaowei 1:df66be0b5b8b 153
yumaowei 1:df66be0b5b8b 154 // this method gets the magnitude of the joystick movement
yumaowei 1:df66be0b5b8b 155 float Gamepad::get_mag()
yumaowei 1:df66be0b5b8b 156 {
yumaowei 1:df66be0b5b8b 157 Polar p = get_polar();
yumaowei 1:df66be0b5b8b 158 return p.mag;
yumaowei 1:df66be0b5b8b 159 }
yumaowei 1:df66be0b5b8b 160
yumaowei 1:df66be0b5b8b 161 // this method gets the angle of joystick movement (0 to 360, 0 North)
yumaowei 1:df66be0b5b8b 162 float Gamepad::get_angle()
yumaowei 1:df66be0b5b8b 163 {
yumaowei 1:df66be0b5b8b 164 Polar p = get_polar();
yumaowei 1:df66be0b5b8b 165 return p.angle;
yumaowei 1:df66be0b5b8b 166 }
yumaowei 1:df66be0b5b8b 167
yumaowei 1:df66be0b5b8b 168 Direction Gamepad::get_direction()
yumaowei 1:df66be0b5b8b 169 {
yumaowei 1:df66be0b5b8b 170 float angle = get_angle(); // 0 to 360, -1 for centred
yumaowei 1:df66be0b5b8b 171
yumaowei 1:df66be0b5b8b 172 Direction d;
yumaowei 1:df66be0b5b8b 173 // partition 360 into segments and check which segment the angle is in
yumaowei 1:df66be0b5b8b 174 if (angle < 0.0f) {
yumaowei 1:df66be0b5b8b 175 d = CENTRE; // check for -1.0 angle
yumaowei 1:df66be0b5b8b 176 } else if (angle < 22.5f) { // then keep going in 45 degree increments
yumaowei 1:df66be0b5b8b 177 d = N;
yumaowei 1:df66be0b5b8b 178 } else if (angle < 67.5f) {
yumaowei 1:df66be0b5b8b 179 d = NE;
yumaowei 1:df66be0b5b8b 180 } else if (angle < 112.5f) {
yumaowei 1:df66be0b5b8b 181 d = E;
yumaowei 1:df66be0b5b8b 182 } else if (angle < 157.5f) {
yumaowei 1:df66be0b5b8b 183 d = SE;
yumaowei 1:df66be0b5b8b 184 } else if (angle < 202.5f) {
yumaowei 1:df66be0b5b8b 185 d = S;
yumaowei 1:df66be0b5b8b 186 } else if (angle < 247.5f) {
yumaowei 1:df66be0b5b8b 187 d = SW;
yumaowei 1:df66be0b5b8b 188 } else if (angle < 292.5f) {
yumaowei 1:df66be0b5b8b 189 d = W;
yumaowei 1:df66be0b5b8b 190 } else if (angle < 337.5f) {
yumaowei 1:df66be0b5b8b 191 d = NW;
yumaowei 1:df66be0b5b8b 192 } else {
yumaowei 1:df66be0b5b8b 193 d = N;
yumaowei 1:df66be0b5b8b 194 }
yumaowei 1:df66be0b5b8b 195
yumaowei 1:df66be0b5b8b 196 return d;
yumaowei 1:df66be0b5b8b 197 }
yumaowei 1:df66be0b5b8b 198
yumaowei 1:df66be0b5b8b 199 void Gamepad::reset_buttons()
yumaowei 1:df66be0b5b8b 200 {
yumaowei 1:df66be0b5b8b 201 A_fall = B_fall = X_fall = Y_fall = start_fall = false;
yumaowei 1:df66be0b5b8b 202 }
yumaowei 1:df66be0b5b8b 203
yumaowei 1:df66be0b5b8b 204 bool Gamepad::A_pressed()
yumaowei 1:df66be0b5b8b 205 {
yumaowei 1:df66be0b5b8b 206 if (A_fall) {
yumaowei 1:df66be0b5b8b 207 A_fall = false;
yumaowei 1:df66be0b5b8b 208 return true;
yumaowei 1:df66be0b5b8b 209 } else {
yumaowei 1:df66be0b5b8b 210 return false;
yumaowei 1:df66be0b5b8b 211 }
yumaowei 1:df66be0b5b8b 212 }
yumaowei 1:df66be0b5b8b 213
yumaowei 1:df66be0b5b8b 214 bool Gamepad::B_pressed()
yumaowei 1:df66be0b5b8b 215 {
yumaowei 1:df66be0b5b8b 216 if (B_fall) {
yumaowei 1:df66be0b5b8b 217 B_fall = false;
yumaowei 1:df66be0b5b8b 218 return true;
yumaowei 1:df66be0b5b8b 219 } else {
yumaowei 1:df66be0b5b8b 220 return false;
yumaowei 1:df66be0b5b8b 221 }
yumaowei 1:df66be0b5b8b 222 }
yumaowei 1:df66be0b5b8b 223
yumaowei 1:df66be0b5b8b 224 bool Gamepad::X_pressed()
yumaowei 1:df66be0b5b8b 225 {
yumaowei 1:df66be0b5b8b 226 if (X_fall) {
yumaowei 1:df66be0b5b8b 227 X_fall = false;
yumaowei 1:df66be0b5b8b 228 return true;
yumaowei 1:df66be0b5b8b 229 } else {
yumaowei 1:df66be0b5b8b 230 return false;
yumaowei 1:df66be0b5b8b 231 }
yumaowei 1:df66be0b5b8b 232 }
yumaowei 1:df66be0b5b8b 233
yumaowei 1:df66be0b5b8b 234 bool Gamepad::Y_pressed()
yumaowei 1:df66be0b5b8b 235 {
yumaowei 1:df66be0b5b8b 236 if (Y_fall) {
yumaowei 1:df66be0b5b8b 237 Y_fall = false;
yumaowei 1:df66be0b5b8b 238 return true;
yumaowei 1:df66be0b5b8b 239 } else {
yumaowei 1:df66be0b5b8b 240 return false;
yumaowei 1:df66be0b5b8b 241 }
yumaowei 1:df66be0b5b8b 242 }
yumaowei 1:df66be0b5b8b 243
yumaowei 1:df66be0b5b8b 244 bool Gamepad::start_pressed()
yumaowei 1:df66be0b5b8b 245 {
yumaowei 1:df66be0b5b8b 246 if (start_fall) {
yumaowei 1:df66be0b5b8b 247 start_fall = false;
yumaowei 1:df66be0b5b8b 248 return true;
yumaowei 1:df66be0b5b8b 249 } else {
yumaowei 1:df66be0b5b8b 250 return false;
yumaowei 1:df66be0b5b8b 251 }
yumaowei 1:df66be0b5b8b 252 }
yumaowei 1:df66be0b5b8b 253
yumaowei 1:df66be0b5b8b 254 bool Gamepad::A_held()
yumaowei 1:df66be0b5b8b 255 {
yumaowei 1:df66be0b5b8b 256 // Buttons are configured as PullUp hence the not
yumaowei 1:df66be0b5b8b 257 return !_button_A->read();
yumaowei 1:df66be0b5b8b 258 }
yumaowei 1:df66be0b5b8b 259
yumaowei 1:df66be0b5b8b 260 bool Gamepad::B_held()
yumaowei 1:df66be0b5b8b 261 {
yumaowei 1:df66be0b5b8b 262 return !_button_B->read();
yumaowei 1:df66be0b5b8b 263 }
yumaowei 1:df66be0b5b8b 264
yumaowei 1:df66be0b5b8b 265 bool Gamepad::X_held()
yumaowei 1:df66be0b5b8b 266 {
yumaowei 1:df66be0b5b8b 267 return !_button_X->read();
yumaowei 1:df66be0b5b8b 268 }
yumaowei 1:df66be0b5b8b 269
yumaowei 1:df66be0b5b8b 270 bool Gamepad::Y_held()
yumaowei 1:df66be0b5b8b 271 {
yumaowei 1:df66be0b5b8b 272 return !_button_Y->read();
yumaowei 1:df66be0b5b8b 273 }
yumaowei 1:df66be0b5b8b 274
yumaowei 1:df66be0b5b8b 275 bool Gamepad::start_held()
yumaowei 1:df66be0b5b8b 276 {
yumaowei 1:df66be0b5b8b 277 return !_button_start->read();
yumaowei 1:df66be0b5b8b 278 }
yumaowei 1:df66be0b5b8b 279
yumaowei 1:df66be0b5b8b 280 ///////////////////// private methods ////////////////////////
yumaowei 1:df66be0b5b8b 281
yumaowei 1:df66be0b5b8b 282 // get raw joystick coordinate in range -1 to 1
yumaowei 1:df66be0b5b8b 283 // Direction (x,y)
yumaowei 1:df66be0b5b8b 284 // North (0,1)
yumaowei 1:df66be0b5b8b 285 // East (1,0)
yumaowei 1:df66be0b5b8b 286 // South (0,-1)
yumaowei 1:df66be0b5b8b 287 // West (-1,0)
yumaowei 1:df66be0b5b8b 288 Vector2D Gamepad::get_coord()
yumaowei 1:df66be0b5b8b 289 {
yumaowei 1:df66be0b5b8b 290 // read() returns value in range 0.0 to 1.0 so is scaled and centre value
yumaowei 1:df66be0b5b8b 291 // substracted to get values in the range -1.0 to 1.0
yumaowei 1:df66be0b5b8b 292 float x = 2.0f*( _horiz->read() - _x0 );
yumaowei 1:df66be0b5b8b 293 float y = 2.0f*( _vert->read() - _y0 );
yumaowei 1:df66be0b5b8b 294
yumaowei 1:df66be0b5b8b 295 // Note: the y value here is inverted to ensure the positive y is up
yumaowei 1:df66be0b5b8b 296
yumaowei 1:df66be0b5b8b 297 Vector2D coord = {x,-y};
yumaowei 1:df66be0b5b8b 298 return coord;
yumaowei 1:df66be0b5b8b 299 }
yumaowei 1:df66be0b5b8b 300
yumaowei 1:df66be0b5b8b 301 // This maps the raw x,y coord onto a circular grid.
yumaowei 1:df66be0b5b8b 302 // See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html
yumaowei 1:df66be0b5b8b 303 Vector2D Gamepad::get_mapped_coord()
yumaowei 1:df66be0b5b8b 304 {
yumaowei 1:df66be0b5b8b 305 Vector2D coord = get_coord();
yumaowei 1:df66be0b5b8b 306
yumaowei 1:df66be0b5b8b 307 // do the transformation
yumaowei 1:df66be0b5b8b 308 float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f);
yumaowei 1:df66be0b5b8b 309 float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f);
yumaowei 1:df66be0b5b8b 310
yumaowei 1:df66be0b5b8b 311 Vector2D mapped_coord = {x,y};
yumaowei 1:df66be0b5b8b 312 return mapped_coord;
yumaowei 1:df66be0b5b8b 313 }
yumaowei 1:df66be0b5b8b 314
yumaowei 1:df66be0b5b8b 315 // this function converts the mapped coordinates into polar form
yumaowei 1:df66be0b5b8b 316 Polar Gamepad::get_polar()
yumaowei 1:df66be0b5b8b 317 {
yumaowei 1:df66be0b5b8b 318 // get the mapped coordinate
yumaowei 1:df66be0b5b8b 319 Vector2D coord = get_mapped_coord();
yumaowei 1:df66be0b5b8b 320
yumaowei 1:df66be0b5b8b 321 // at this point, 0 degrees (i.e. x-axis) will be defined to the East.
yumaowei 1:df66be0b5b8b 322 // We want 0 degrees to correspond to North and increase clockwise to 359
yumaowei 1:df66be0b5b8b 323 // like a compass heading, so we need to swap the axis and invert y
yumaowei 1:df66be0b5b8b 324 float x = coord.y;
yumaowei 1:df66be0b5b8b 325 float y = coord.x;
yumaowei 1:df66be0b5b8b 326
yumaowei 1:df66be0b5b8b 327 float mag = sqrt(x*x+y*y); // pythagoras
yumaowei 1:df66be0b5b8b 328 float angle = RAD2DEG*atan2(y,x);
yumaowei 1:df66be0b5b8b 329 // angle will be in range -180 to 180, so add 360 to negative angles to
yumaowei 1:df66be0b5b8b 330 // move to 0 to 360 range
yumaowei 1:df66be0b5b8b 331 if (angle < 0.0f) {
yumaowei 1:df66be0b5b8b 332 angle+=360.0f;
yumaowei 1:df66be0b5b8b 333 }
yumaowei 1:df66be0b5b8b 334
yumaowei 1:df66be0b5b8b 335 // the noise on the ADC causes the values of x and y to fluctuate slightly
yumaowei 1:df66be0b5b8b 336 // around the centred values. This causes the random angle values to get
yumaowei 1:df66be0b5b8b 337 // calculated when the joystick is centred and untouched. This is also when
yumaowei 1:df66be0b5b8b 338 // the magnitude is very small, so we can check for a small magnitude and then
yumaowei 1:df66be0b5b8b 339 // set the angle to -1. This will inform us when the angle is invalid and the
yumaowei 1:df66be0b5b8b 340 // joystick is centred
yumaowei 1:df66be0b5b8b 341
yumaowei 1:df66be0b5b8b 342 if (mag < TOL) {
yumaowei 1:df66be0b5b8b 343 mag = 0.0f;
yumaowei 1:df66be0b5b8b 344 angle = -1.0f;
yumaowei 1:df66be0b5b8b 345 }
yumaowei 1:df66be0b5b8b 346
yumaowei 1:df66be0b5b8b 347 Polar p = {mag,angle};
yumaowei 1:df66be0b5b8b 348 return p;
yumaowei 1:df66be0b5b8b 349 }
yumaowei 1:df66be0b5b8b 350
yumaowei 1:df66be0b5b8b 351 // ISRs for buttons
yumaowei 1:df66be0b5b8b 352 void Gamepad::A_fall_interrupt()
yumaowei 1:df66be0b5b8b 353 {
yumaowei 1:df66be0b5b8b 354 A_fall = true;
yumaowei 1:df66be0b5b8b 355 }
yumaowei 1:df66be0b5b8b 356 void Gamepad::B_fall_interrupt()
yumaowei 1:df66be0b5b8b 357 {
yumaowei 1:df66be0b5b8b 358 B_fall = true;
yumaowei 1:df66be0b5b8b 359 }
yumaowei 1:df66be0b5b8b 360 void Gamepad::X_fall_interrupt()
yumaowei 1:df66be0b5b8b 361 {
yumaowei 1:df66be0b5b8b 362 X_fall = true;
yumaowei 1:df66be0b5b8b 363 }
yumaowei 1:df66be0b5b8b 364 void Gamepad::Y_fall_interrupt()
yumaowei 1:df66be0b5b8b 365 {
yumaowei 1:df66be0b5b8b 366 Y_fall = true;
yumaowei 1:df66be0b5b8b 367 }
yumaowei 1:df66be0b5b8b 368 void Gamepad::start_fall_interrupt()
yumaowei 1:df66be0b5b8b 369 {
yumaowei 1:df66be0b5b8b 370 start_fall = true;
yumaowei 1:df66be0b5b8b 371 }
yumaowei 1:df66be0b5b8b 372
yumaowei 1:df66be0b5b8b 373 void Gamepad::set_bpm(float bpm)
yumaowei 1:df66be0b5b8b 374 {
yumaowei 1:df66be0b5b8b 375 _bpm = bpm;
yumaowei 1:df66be0b5b8b 376 }
yumaowei 1:df66be0b5b8b 377
yumaowei 1:df66be0b5b8b 378 void Gamepad::tone(float frequency,float duration)
yumaowei 1:df66be0b5b8b 379 {
yumaowei 1:df66be0b5b8b 380 // calculate time step between samples
yumaowei 1:df66be0b5b8b 381 float dt = 1.0f/(frequency*_n);
yumaowei 1:df66be0b5b8b 382 // start from beginning of LUT
yumaowei 1:df66be0b5b8b 383 _sample = 0;
yumaowei 1:df66be0b5b8b 384
yumaowei 1:df66be0b5b8b 385 // setup ticker and timeout to stop ticker
yumaowei 1:df66be0b5b8b 386
yumaowei 1:df66be0b5b8b 387 // the ticker repeats every dt to plat each sample in turn
yumaowei 1:df66be0b5b8b 388 ticker->attach(callback(this, &Gamepad::ticker_isr), dt);
yumaowei 1:df66be0b5b8b 389 // the timeout stops the ticker after the required duration
yumaowei 1:df66be0b5b8b 390 timeout->attach(callback(this, &Gamepad::timeout_isr), duration );
yumaowei 1:df66be0b5b8b 391 }
yumaowei 1:df66be0b5b8b 392
yumaowei 1:df66be0b5b8b 393 void Gamepad::play_melody(int length,const int *notes,const int *durations,float bpm,bool repeat)
yumaowei 1:df66be0b5b8b 394 {
yumaowei 1:df66be0b5b8b 395 // copy arguments to member variables
yumaowei 1:df66be0b5b8b 396 _bpm = bpm;
yumaowei 1:df66be0b5b8b 397 _notes = notes; // pointer for array
yumaowei 1:df66be0b5b8b 398 _durations = durations; // pointer for array
yumaowei 1:df66be0b5b8b 399 _melody_length = length;
yumaowei 1:df66be0b5b8b 400 _repeat = repeat;
yumaowei 1:df66be0b5b8b 401
yumaowei 1:df66be0b5b8b 402 _note = 0; // start from first note
yumaowei 1:df66be0b5b8b 403
yumaowei 1:df66be0b5b8b 404 play_next_note(); // play the next note in the melody
yumaowei 1:df66be0b5b8b 405 }
yumaowei 1:df66be0b5b8b 406
yumaowei 1:df66be0b5b8b 407 void Gamepad::write_dac(float val)
yumaowei 1:df66be0b5b8b 408 {
yumaowei 1:df66be0b5b8b 409 if (val < 0.0f) {
yumaowei 1:df66be0b5b8b 410 val = 0.0f;
yumaowei 1:df66be0b5b8b 411 } else if (val > 1.0f) {
yumaowei 1:df66be0b5b8b 412 val = 1.0f;
yumaowei 1:df66be0b5b8b 413 }
yumaowei 1:df66be0b5b8b 414 dac->write(val);
yumaowei 1:df66be0b5b8b 415 }
yumaowei 1:df66be0b5b8b 416
yumaowei 1:df66be0b5b8b 417
yumaowei 1:df66be0b5b8b 418 void Gamepad::play_next_note()
yumaowei 1:df66be0b5b8b 419 {
yumaowei 1:df66be0b5b8b 420 // _note is the note index to play
yumaowei 1:df66be0b5b8b 421
yumaowei 1:df66be0b5b8b 422 // calculate the duration and frequency of the note
yumaowei 1:df66be0b5b8b 423 float duration = 60.0f/(_bpm*_durations[_note]);
yumaowei 1:df66be0b5b8b 424 float frequency = float(_notes[_note]);
yumaowei 1:df66be0b5b8b 425 //printf("[%i] f = %f d = %f\n",_note,frequency,duration);
yumaowei 1:df66be0b5b8b 426
yumaowei 1:df66be0b5b8b 427 // check if the note is not a space and if not then play the note
yumaowei 1:df66be0b5b8b 428 if (frequency > 0) {
yumaowei 1:df66be0b5b8b 429 tone(frequency,duration);
yumaowei 1:df66be0b5b8b 430 }
yumaowei 1:df66be0b5b8b 431
yumaowei 1:df66be0b5b8b 432 // the timeout goes to the next note in the melody
yumaowei 1:df66be0b5b8b 433 // double the duration to leave a bit of a gap in between notes to be better
yumaowei 1:df66be0b5b8b 434 // able to distinguish them
yumaowei 1:df66be0b5b8b 435 note_timeout->attach(callback(this, &Gamepad::note_timeout_isr), duration*2.0f );
yumaowei 1:df66be0b5b8b 436 }
yumaowei 1:df66be0b5b8b 437
yumaowei 1:df66be0b5b8b 438 // called when the next note needs playing
yumaowei 1:df66be0b5b8b 439 void Gamepad::note_timeout_isr()
yumaowei 1:df66be0b5b8b 440 {
yumaowei 1:df66be0b5b8b 441 _note++; // go onto next note
yumaowei 1:df66be0b5b8b 442
yumaowei 1:df66be0b5b8b 443 // if in repeat mode then reset the note counter when get to end of melody
yumaowei 1:df66be0b5b8b 444 if (_repeat && _note == _melody_length) {
yumaowei 1:df66be0b5b8b 445 _note=0;
yumaowei 1:df66be0b5b8b 446 }
yumaowei 1:df66be0b5b8b 447
yumaowei 1:df66be0b5b8b 448 // check if note is within the melody
yumaowei 1:df66be0b5b8b 449 if (_note < _melody_length) {
yumaowei 1:df66be0b5b8b 450 play_next_note();
yumaowei 1:df66be0b5b8b 451 }
yumaowei 1:df66be0b5b8b 452 }
yumaowei 1:df66be0b5b8b 453
yumaowei 1:df66be0b5b8b 454 void Gamepad::ticker_isr()
yumaowei 1:df66be0b5b8b 455 {
yumaowei 1:df66be0b5b8b 456 dac->write(_sample_array[_sample%_n]); // use modulo to get index to play
yumaowei 1:df66be0b5b8b 457 _sample++; // increment the sample ready for next time
yumaowei 1:df66be0b5b8b 458 }
yumaowei 1:df66be0b5b8b 459
yumaowei 1:df66be0b5b8b 460 void Gamepad::timeout_isr()
yumaowei 1:df66be0b5b8b 461 {
yumaowei 1:df66be0b5b8b 462 // stops the ticker to end the note
yumaowei 1:df66be0b5b8b 463 ticker->detach();
yumaowei 1:df66be0b5b8b 464 }