File content as of revision 19:3a62cbc6fee9:

#include "controller.h"

Controller::Controller() : FEP(XBee1TX, XBee1RX, ADDR)
{
    for(int i = 0; i < 7; i++) button1[i] = 0;
    for(int i = 0; i < 6; i++) button2[i] = 0;
    for(int i = 0; i < 6; i++) data[i] = 0;
    for(int i = 0; i < 4; i++) stick[i] = 0;
    for(int i = 0; i < 2; i++) radian[i] = 0;
    for(int i = 0; i < 2; i++) norm[i] = 0;
    fepTemp = 0;
}

Controller::Controller(PinName FEPtx, PinName FEPrx, int addr) :
FEP(FEPtx, FEPrx, addr)
{
    for(int i = 0; i < 7; i++) button1[i] = 0;
    for(int i = 0; i < 6; i++) button2[i] = 0;
    for(int i = 0; i < 6; i++) data[i] = 0;
    for(int i = 0; i < 4; i++) stick[i] = 0;
    for(int i = 0; i < 2; i++) radian[i] = 0;
    for(int i = 0; i < 2; i++) norm[i] = 0;
    fepTemp = 0;
}

bool Controller::receiveState()
{
    fepTemp = FEP::read(data, DATA_SIZE);
    if(fepTemp == FEP_SUCCESS) {
        for(int i = 0; i < 7; i++) {
            button1[i] = data[4] % 2;
            data[4] /= 2;
        }
        for(int i=0; i<6; i++) {
            button2[i] = data[5] % 2;
            data[5] /= 2;
        }
        for(int i = 0; i < 4; i++) {
            stick[i] = -((double)(data[i] / STICK_DIVIDE) * 2.0 - 1.0);
        }
        setStick();
    } else if(fepTemp == FEP_NO_RESPONSE) {
        return 0;
    } else {
        return 0;
    }
    return 1;
}

void Controller::setStick()
{
    for(int i = 0; i < 4; i++) {
        if(stick[i] < STICK_NEWTRAL && stick[i] > -STICK_NEWTRAL) stick[i] = 0;
    }

    radian[0] = atan2(stick[1], -stick[0]);
    radian[1] = atan2(stick[3], -stick[2]);

    norm[0] = hypot(stick[0], stick[1]);
    norm[1] = hypot(stick[2], stick[3]);

    if(norm[0] < STICK_NEWTRAL) norm[0] = 0;
    if(norm[1] < STICK_NEWTRAL) norm[1] = 0;
    if(norm[0] > STICK_NORM_MAX) norm[0] = STICK_NORM_MAX;
    if(norm[1] > STICK_NORM_MAX) norm[1] = STICK_NORM_MAX;
}

bool Controller::getButton1(int number)
{
    return button1[number];
}

bool Controller::getButton2(int number)
{
    return button2[number];
}

float Controller::getStick(int number)
{
    return stick[number];
}

float Controller::getRadian(int number)
{
    return radian[number];
}

float Controller::getNorm(int number)
{
    return norm[number];
}