XJEL2645 (19/20) / Mbed 2 deprecated el17rl

Li Ruofan 201199450

Dependencies:   mbed

Gamepad/Gamepad.h@0:80a59a49d504, 2020-05-23 (annotated)

Committer:
DannyLee
Date:
Sat May 23 19:01:15 2020 +0000
Revision:
0:80a59a49d504
The new project

Who changed what in which revision?

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DannyLee 0:80a59a49d504 1 #ifndef GAMEPAD_H
DannyLee 0:80a59a49d504 2 #define GAMEPAD_H
DannyLee 0:80a59a49d504 3
DannyLee 0:80a59a49d504 4 #include <bitset>
DannyLee 0:80a59a49d504 5
DannyLee 0:80a59a49d504 6 // Forward declaration of the classes that we use from the mbed library
DannyLee 0:80a59a49d504 7 // This avoids the need for us to include the huge mbed.h header inside our
DannyLee 0:80a59a49d504 8 // own library API
DannyLee 0:80a59a49d504 9 namespace mbed
DannyLee 0:80a59a49d504 10 {
DannyLee 0:80a59a49d504 11 class AnalogIn;
DannyLee 0:80a59a49d504 12 class InterruptIn;
DannyLee 0:80a59a49d504 13 class PwmOut;
DannyLee 0:80a59a49d504 14 class Timeout;
DannyLee 0:80a59a49d504 15 }
DannyLee 0:80a59a49d504 16
DannyLee 0:80a59a49d504 17 #define TOL 0.1f
DannyLee 0:80a59a49d504 18 #define RAD2DEG 57.2957795131f
DannyLee 0:80a59a49d504 19
DannyLee 0:80a59a49d504 20 /** Enum for direction */
DannyLee 0:80a59a49d504 21 enum Direction {
DannyLee 0:80a59a49d504 22 CENTRE, /**< joystick centred */
DannyLee 0:80a59a49d504 23 N, /**< pushed North (0)*/
DannyLee 0:80a59a49d504 24 NE, /**< pushed North-East (45) */
DannyLee 0:80a59a49d504 25 E, /**< pushed East (90) */
DannyLee 0:80a59a49d504 26 SE, /**< pushed South-East (135) */
DannyLee 0:80a59a49d504 27 S, /**< pushed South (180) */
DannyLee 0:80a59a49d504 28 SW, /**< pushed South-West (225) */
DannyLee 0:80a59a49d504 29 W, /**< pushed West (270) */
DannyLee 0:80a59a49d504 30 NW /**< pushed North-West (315) */
DannyLee 0:80a59a49d504 31 };
DannyLee 0:80a59a49d504 32
DannyLee 0:80a59a49d504 33 /** Vector 2D struct */
DannyLee 0:80a59a49d504 34 struct Vector2D {
DannyLee 0:80a59a49d504 35 float x; /**< float for x value */
DannyLee 0:80a59a49d504 36 float y; /**< float for y value */
DannyLee 0:80a59a49d504 37 };
DannyLee 0:80a59a49d504 38
DannyLee 0:80a59a49d504 39 /** Polar coordinate struct */
DannyLee 0:80a59a49d504 40 struct Polar {
DannyLee 0:80a59a49d504 41 float mag; /**< float for magnitude */
DannyLee 0:80a59a49d504 42 float angle; /**< float for angle (in degrees) */
DannyLee 0:80a59a49d504 43 };
DannyLee 0:80a59a49d504 44
DannyLee 0:80a59a49d504 45 /** Gamepad Class
DannyLee 0:80a59a49d504 46 * @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
DannyLee 0:80a59a49d504 47 * @author Dr Craig A. Evans
DannyLee 0:80a59a49d504 48 * @author Dr Alex Valavanis
DannyLee 0:80a59a49d504 49 */
DannyLee 0:80a59a49d504 50 class Gamepad
DannyLee 0:80a59a49d504 51 {
DannyLee 0:80a59a49d504 52 public:
DannyLee 0:80a59a49d504 53 /** Gamepad events
DannyLee 0:80a59a49d504 54 * @brief List of events that can be registered on the gamepad
DannyLee 0:80a59a49d504 55 */
DannyLee 0:80a59a49d504 56 enum GamepadEvent {
DannyLee 0:80a59a49d504 57 A_PRESSED, ///< Button A has been pressed
DannyLee 0:80a59a49d504 58 B_PRESSED, ///< Button B has been pressed
DannyLee 0:80a59a49d504 59 X_PRESSED, ///< Button X has been pressed
DannyLee 0:80a59a49d504 60 Y_PRESSED, ///< Button Y has been pressed
DannyLee 0:80a59a49d504 61 L_PRESSED, ///< Button L has been pressed
DannyLee 0:80a59a49d504 62 R_PRESSED, ///< Button R has been pressed
DannyLee 0:80a59a49d504 63 BACK_PRESSED, ///< Button "Back" has been pressed
DannyLee 0:80a59a49d504 64 START_PRESSED, ///< Button "Start" has been pressed
DannyLee 0:80a59a49d504 65 JOY_PRESSED, ///< Joystick button has been pressed
DannyLee 0:80a59a49d504 66 N_EVENTS ///< A dummy flag that marks the end of the list
DannyLee 0:80a59a49d504 67 };
DannyLee 0:80a59a49d504 68
DannyLee 0:80a59a49d504 69 private:
DannyLee 0:80a59a49d504 70 mbed::PwmOut *_led1;
DannyLee 0:80a59a49d504 71 mbed::PwmOut *_led2;
DannyLee 0:80a59a49d504 72 mbed::PwmOut *_led3;
DannyLee 0:80a59a49d504 73 mbed::PwmOut *_led4;
DannyLee 0:80a59a49d504 74 mbed::PwmOut *_led5;
DannyLee 0:80a59a49d504 75 mbed::PwmOut *_led6;
DannyLee 0:80a59a49d504 76
DannyLee 0:80a59a49d504 77 mbed::InterruptIn *_button_A;
DannyLee 0:80a59a49d504 78 mbed::InterruptIn *_button_B;
DannyLee 0:80a59a49d504 79 mbed::InterruptIn *_button_X;
DannyLee 0:80a59a49d504 80 mbed::InterruptIn *_button_Y;
DannyLee 0:80a59a49d504 81 mbed::InterruptIn *_button_L;
DannyLee 0:80a59a49d504 82 mbed::InterruptIn *_button_R;
DannyLee 0:80a59a49d504 83 mbed::InterruptIn *_button_back;
DannyLee 0:80a59a49d504 84 mbed::InterruptIn *_button_start;
DannyLee 0:80a59a49d504 85 mbed::InterruptIn *_button_joystick;
DannyLee 0:80a59a49d504 86
DannyLee 0:80a59a49d504 87 mbed::AnalogIn *_vert;
DannyLee 0:80a59a49d504 88 mbed::AnalogIn *_horiz;
DannyLee 0:80a59a49d504 89
DannyLee 0:80a59a49d504 90 mbed::PwmOut *_buzzer;
DannyLee 0:80a59a49d504 91 mbed::AnalogIn *_pot;
DannyLee 0:80a59a49d504 92
DannyLee 0:80a59a49d504 93 mbed::Timeout *_timeout;
DannyLee 0:80a59a49d504 94
DannyLee 0:80a59a49d504 95 std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
DannyLee 0:80a59a49d504 96
DannyLee 0:80a59a49d504 97 // centred x,y values
DannyLee 0:80a59a49d504 98 float _x0;
DannyLee 0:80a59a49d504 99 float _y0;
DannyLee 0:80a59a49d504 100
DannyLee 0:80a59a49d504 101 public:
DannyLee 0:80a59a49d504 102 /** Constructor */
DannyLee 0:80a59a49d504 103 Gamepad();
DannyLee 0:80a59a49d504 104
DannyLee 0:80a59a49d504 105 /** Destructor */
DannyLee 0:80a59a49d504 106 ~Gamepad();
DannyLee 0:80a59a49d504 107
DannyLee 0:80a59a49d504 108 /** Initialise all peripherals and configure interrupts */
DannyLee 0:80a59a49d504 109 void init();
DannyLee 0:80a59a49d504 110
DannyLee 0:80a59a49d504 111 /** Turn all LEDs on */
DannyLee 0:80a59a49d504 112 void leds_on();
DannyLee 0:80a59a49d504 113
DannyLee 0:80a59a49d504 114 /** Turn all LEDs off */
DannyLee 0:80a59a49d504 115 void leds_off();
DannyLee 0:80a59a49d504 116
DannyLee 0:80a59a49d504 117 /** Set all LEDs to duty-cycle
DannyLee 0:80a59a49d504 118 *@param value in range 0.0 to 1.0
DannyLee 0:80a59a49d504 119 */
DannyLee 0:80a59a49d504 120 void leds(float val) const;
DannyLee 0:80a59a49d504 121
DannyLee 0:80a59a49d504 122 /** Set LED to duty-cycle
DannyLee 0:80a59a49d504 123 *@param led number (0 to 5)
DannyLee 0:80a59a49d504 124 *@param value in range 0.0 to 1.0
DannyLee 0:80a59a49d504 125 */
DannyLee 0:80a59a49d504 126 void led(int n,float val) const;
DannyLee 0:80a59a49d504 127
DannyLee 0:80a59a49d504 128 /** Read potentiometer
DannyLee 0:80a59a49d504 129 *@returns potentiometer value in range 0.0 to 1.0
DannyLee 0:80a59a49d504 130 */
DannyLee 0:80a59a49d504 131 float read_pot() const;
DannyLee 0:80a59a49d504 132
DannyLee 0:80a59a49d504 133 /** Play tone on piezo
DannyLee 0:80a59a49d504 134 * @param frequency in Hz
DannyLee 0:80a59a49d504 135 * @param duration of tone in seconds
DannyLee 0:80a59a49d504 136 */
DannyLee 0:80a59a49d504 137 void tone(float frequency, float duration);
DannyLee 0:80a59a49d504 138
DannyLee 0:80a59a49d504 139 /**
DannyLee 0:80a59a49d504 140 * @brief Check whether an event flag has been set and clear it
DannyLee 0:80a59a49d504 141 * @param id[in] The ID of the event to test
DannyLee 0:80a59a49d504 142 * @return true if the event occurred
DannyLee 0:80a59a49d504 143 */
DannyLee 0:80a59a49d504 144 bool check_event(GamepadEvent const id);
DannyLee 0:80a59a49d504 145
DannyLee 0:80a59a49d504 146 /**
DannyLee 0:80a59a49d504 147 * @brief Get the raw binary event state
DannyLee 0:80a59a49d504 148 * @return The event state as a binary code
DannyLee 0:80a59a49d504 149 * @details The check_event() function is likely to be more useful than
DannyLee 0:80a59a49d504 150 * this, for testing whether a given event has occurred. It can be
DannyLee 0:80a59a49d504 151 * useful for debugging via the terminal, however, for example:
DannyLee 0:80a59a49d504 152 * @code
DannyLee 0:80a59a49d504 153 * std::cout << gamepad.get_raw_event_state() << std::endl;
DannyLee 0:80a59a49d504 154 * @endcode
DannyLee 0:80a59a49d504 155 */
DannyLee 0:80a59a49d504 156 inline std::bitset<N_EVENTS> get_raw_event_state() const {
DannyLee 0:80a59a49d504 157 return _event_state;
DannyLee 0:80a59a49d504 158 }
DannyLee 0:80a59a49d504 159
DannyLee 0:80a59a49d504 160 /** Get magnitude of joystick movement
DannyLee 0:80a59a49d504 161 * @returns value in range 0.0 to 1.0
DannyLee 0:80a59a49d504 162 */
DannyLee 0:80a59a49d504 163 float get_mag();
DannyLee 0:80a59a49d504 164
DannyLee 0:80a59a49d504 165 /** Get angle of joystick movement
DannyLee 0:80a59a49d504 166 * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
DannyLee 0:80a59a49d504 167 */
DannyLee 0:80a59a49d504 168 float get_angle();
DannyLee 0:80a59a49d504 169
DannyLee 0:80a59a49d504 170 /** Gets joystick direction
DannyLee 0:80a59a49d504 171 * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
DannyLee 0:80a59a49d504 172 */
DannyLee 0:80a59a49d504 173 Direction get_direction(); // N,NE,E,SE etc.
DannyLee 0:80a59a49d504 174
DannyLee 0:80a59a49d504 175 /** Gets raw cartesian co-ordinates of joystick
DannyLee 0:80a59a49d504 176 * @returns a struct with x,y members, each in the range 0.0 to 1.0
DannyLee 0:80a59a49d504 177 */
DannyLee 0:80a59a49d504 178 Vector2D get_coord(); // cartesian co-ordinates x,y
DannyLee 0:80a59a49d504 179
DannyLee 0:80a59a49d504 180 /** Gets cartesian coordinates mapped to circular grid
DannyLee 0:80a59a49d504 181 * @returns a struct with x,y members, each in the range 0.0 to 1.0
DannyLee 0:80a59a49d504 182 */
DannyLee 0:80a59a49d504 183 Vector2D get_mapped_coord(); // x,y mapped to circle
DannyLee 0:80a59a49d504 184
DannyLee 0:80a59a49d504 185 /** Gets polar coordinates of the joystick
DannyLee 0:80a59a49d504 186 * @returns a struct contains mag and angle
DannyLee 0:80a59a49d504 187 */
DannyLee 0:80a59a49d504 188 Polar get_polar(); // mag and angle in struct form
DannyLee 0:80a59a49d504 189
DannyLee 0:80a59a49d504 190 private:
DannyLee 0:80a59a49d504 191 void init_buttons();
DannyLee 0:80a59a49d504 192 void tone_off();
DannyLee 0:80a59a49d504 193
DannyLee 0:80a59a49d504 194 void a_isr();
DannyLee 0:80a59a49d504 195 void b_isr();
DannyLee 0:80a59a49d504 196 void x_isr();
DannyLee 0:80a59a49d504 197 void y_isr();
DannyLee 0:80a59a49d504 198 void l_isr();
DannyLee 0:80a59a49d504 199 void r_isr();
DannyLee 0:80a59a49d504 200 void back_isr();
DannyLee 0:80a59a49d504 201 void start_isr();
DannyLee 0:80a59a49d504 202 void joy_isr();
DannyLee 0:80a59a49d504 203 };
DannyLee 0:80a59a49d504 204
DannyLee 0:80a59a49d504 205 #endif