OpenMoCo / SpaceBall

Library to handle SpaceBall, SpaceMouse and SpaceOrb on serial port. Gets access to 3D rotation and translation vector as well as button status. (USB is not supported)

Dependents:   SpaceBall_Example

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SpaceBall Class Reference
Public Member Functions

SpaceBall Class Reference

SpaceBall class, based on serial connection. More...

#include <SpaceBall.h>

Public Member Functions

 SpaceBall (PinName tx, PinName rx, bool bSpaceOrb=false)
 Create a input object connected to the specified serial pin.
 ~SpaceBall ()
 destructor
void Init ()
 initializing the connection to the device
void SetMapping (int mapping)
 Set mapping mode for function GetAxis() to adapt coordinate system.
void GetTranslation (float *fValue[3]) const
 Gets the translation axis (push, pull) as 3D vector.
void GetRotation (float *fValue[3]) const
 Gets the rotation axis as 3D vector.
float GetAxis (int nAxis) const
 Gets a single axis value.
int GetAxisRaw (int nAxis) const
 Gets a single axis value.
float operator[] (eSpaceBallAxis nAxis) const
 Gets a single axis value as [] operator.
float operator[] (int nAxis) const
 Gets a single axis value as [] operator.
int GetButtons () const
 Gets the button states as an bit-combination.
 operator int (void) const
 Gets the button states as an bit-combination as int operator.
void SetScale (float fScale=1.0f)
 Sets the additional scaling factor for function GetAxis()
float GetScale (void)
 Gets the additional scaling factor for function GetAxis()

Detailed Description

SpaceBall class, based on serial connection.

Library to handle SpaceBall, SpaceMouse and SpaceOrb on serial port. Gets access to 3D rotation and translation vector as well as button status

Supported devices:

  • Spaceball 2003A
  • Spaceball 2003B
  • Spaceball 2003 FLX
  • Spaceball 3003
  • Spaceball 3003 FLX
  • Spaceball 4000 FLX
  • SpaceMouse
  • SpaceOrb (Note: Flag has to be set in constructor)

Note: USB or wireless devices are NOT supported by this class

Serial connection (D-Sub 9p male):

  • 3 <--- RS232 Driver <--- mbed TX
  • 2 ---> RS232 Driver ---> mbed RX
  • 5 ----| GND
  • 4 <--- Power +9...+12 volt
  • 7 <--- Power +9...+12 volt

Example: (illuminates LEDs dependent on force at the Spaceball) 

#include "mbed.h"
#include "SpaceBall.h"

PwmOut led[] = {(LED1), (LED2), (LED3), (LED4) };
SpaceBall SBall(p9, p10);   // tx, rx, bSOrb

int main() {
    SBall.Init();
    
    while(1) {

        led[0] = abs( SBall[TX] ) + abs( SBall[TY] ) + abs( SBall[TZ] );
        led[1] = abs( SBall[RX] );
        led[2] = abs( SBall[RY] );
        led[3] = abs( SBall[RZ] );
        
        wait_us(500);
    }
}

Definition at line 118 of file SpaceBall.h.

Constructor & Destructor Documentation

SpaceBall ( PinName  tx,
PinName  rx,
bool  bSpaceOrb = false 
)

Create a input object connected to the specified serial pin.

Parameters:
txSerial TX pin to connect to
rxSerial RX pin to connect to
bSpaceOrbFlag to select device. false = SpaceBall and SpaceMouse. true = SpaceOrb

Definition at line 8 of file SpaceBall.cpp.

~SpaceBall (  )

destructor

Definition at line 130 of file SpaceBall.h.

Member Function Documentation

float GetAxis ( int  nAxis ) const

Gets a single axis value.

Coordinate system is mapped according function SetMapping()

Parameters:
nAxisAxis index/name
Returns:
Axis value as scaled float

Definition at line 75 of file SpaceBall.cpp.

int GetAxisRaw ( int  nAxis ) const

Gets a single axis value.

Coordinate system is mapped according function SetMapping()

Parameters:
nAxisAxis index/name
Returns:
Axis value as unscaled int (as provided by the SpaceBall)

Definition at line 117 of file SpaceBall.cpp.

int GetButtons (  ) const

Gets the button states as an bit-combination.

See definitions of Spaceball Button bit-masks

Returns:
Buttons bit-combination

Definition at line 204 of file SpaceBall.h.

void GetRotation ( float *  fValue[3] ) const

Gets the rotation axis as 3D vector.

Parameters:
fValue[]Return vector with Pitch, Roll and Yaw

Definition at line 159 of file SpaceBall.h.

float GetScale ( void   )

Gets the additional scaling factor for function GetAxis()

Returns:
Scaling factor

Definition at line 227 of file SpaceBall.h.

void GetTranslation ( float *  fValue[3] ) const

Gets the translation axis (push, pull) as 3D vector.

Parameters:
fValue[]Return vector with X, Y and Z

Definition at line 148 of file SpaceBall.h.

void Init (  )

initializing the connection to the device

Definition at line 41 of file SpaceBall.cpp.

operator int ( void   ) const

Gets the button states as an bit-combination as int operator.

See definitions of Spaceball Button bit-masks

Usage: int b = spaceball;

Returns:
Buttons bit-combination

Definition at line 213 of file SpaceBall.h.

float operator[] ( int  nAxis ) const

Gets a single axis value as [] operator.

Coordinate system is mapped according function SetMapping()

Usage: float x = spaceball[3];

Parameters:
nAxisAxis index/name
Returns:
Axis value as scaled float

Definition at line 197 of file SpaceBall.h.

float operator[] ( eSpaceBallAxis  nAxis ) const

Gets a single axis value as [] operator.

Coordinate system is mapped according function SetMapping()

Usage: float x = spaceball[RX];

Parameters:
nAxisAxis index/name
Returns:
Axis value as scaled float

Definition at line 187 of file SpaceBall.h.

void SetMapping ( int  mapping )

Set mapping mode for function GetAxis() to adapt coordinate system.

Parameters:
mappingMapping mode

Definition at line 141 of file SpaceBall.h.

void SetScale ( float  fScale = 1.0f )

Sets the additional scaling factor for function GetAxis()

Parameters:
fScaleScaling factor

Definition at line 220 of file SpaceBall.h.

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