XJEL2645 (19/20) / Mbed 2 deprecated el17rl

Li Ruofan 201199450

Dependencies:   mbed

Gamepad/Gamepad.cpp@1:bd7c99a5bd10, 2020-05-24 (annotated)

Committer:
DannyLee
Date:
Sun May 24 08:16:35 2020 +0000
Revision:
1:bd7c99a5bd10
Parent:
0:80a59a49d504 
Li Ruofan 201199450

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DannyLee 0:80a59a49d504 1 #include "Gamepad.h"
DannyLee 0:80a59a49d504 2
DannyLee 0:80a59a49d504 3 #include "mbed.h"
DannyLee 0:80a59a49d504 4
DannyLee 0:80a59a49d504 5 //////////// constructor/destructor ////////////
DannyLee 0:80a59a49d504 6 Gamepad::Gamepad()
DannyLee 0:80a59a49d504 7 :
DannyLee 0:80a59a49d504 8 _led1(new PwmOut(PTA1)),
DannyLee 0:80a59a49d504 9 _led2(new PwmOut(PTA2)),
DannyLee 0:80a59a49d504 10 _led3(new PwmOut(PTC2)),
DannyLee 0:80a59a49d504 11 _led4(new PwmOut(PTC3)),
DannyLee 0:80a59a49d504 12 _led5(new PwmOut(PTC4)),
DannyLee 0:80a59a49d504 13 _led6(new PwmOut(PTD3)),
DannyLee 0:80a59a49d504 14
DannyLee 0:80a59a49d504 15 _button_A(new InterruptIn(PTB9)),
DannyLee 0:80a59a49d504 16 _button_B(new InterruptIn(PTD0)),
DannyLee 0:80a59a49d504 17 _button_X(new InterruptIn(PTC17)),
DannyLee 0:80a59a49d504 18 _button_Y(new InterruptIn(PTC12)),
DannyLee 0:80a59a49d504 19 _button_L(new InterruptIn(PTB18)),
DannyLee 0:80a59a49d504 20 _button_R(new InterruptIn(PTB3)),
DannyLee 0:80a59a49d504 21 _button_back(new InterruptIn(PTB19)),
DannyLee 0:80a59a49d504 22 _button_start(new InterruptIn(PTC5)),
DannyLee 0:80a59a49d504 23 _button_joystick(new InterruptIn(PTC16)),
DannyLee 0:80a59a49d504 24
DannyLee 0:80a59a49d504 25 _vert(new AnalogIn(PTB10)),
DannyLee 0:80a59a49d504 26 _horiz(new AnalogIn(PTB11)),
DannyLee 0:80a59a49d504 27
DannyLee 0:80a59a49d504 28 _buzzer(new PwmOut(PTC10)),
DannyLee 0:80a59a49d504 29 _pot(new AnalogIn(PTB2)),
DannyLee 0:80a59a49d504 30
DannyLee 0:80a59a49d504 31 _timeout(new Timeout()),
DannyLee 0:80a59a49d504 32
DannyLee 0:80a59a49d504 33 _event_state(0),
DannyLee 0:80a59a49d504 34
DannyLee 0:80a59a49d504 35 _x0(0),
DannyLee 0:80a59a49d504 36 _y0(0)
DannyLee 0:80a59a49d504 37 {}
DannyLee 0:80a59a49d504 38
DannyLee 0:80a59a49d504 39 Gamepad::~Gamepad()
DannyLee 0:80a59a49d504 40 {
DannyLee 0:80a59a49d504 41 delete _led1,_led2,_led3,_led4,_led5,_led6;
DannyLee 0:80a59a49d504 42 delete _button_A,_button_B,_button_joystick,_vert,_horiz;
DannyLee 0:80a59a49d504 43 delete _button_X,_button_Y,_button_back,_button_start;
DannyLee 0:80a59a49d504 44 delete _button_L,_button_R, _buzzer, _pot, _timeout;
DannyLee 0:80a59a49d504 45 }
DannyLee 0:80a59a49d504 46
DannyLee 0:80a59a49d504 47 ///////////////// public methods /////////////////
DannyLee 0:80a59a49d504 48
DannyLee 0:80a59a49d504 49 void Gamepad::init()
DannyLee 0:80a59a49d504 50 {
DannyLee 0:80a59a49d504 51 leds_off();
DannyLee 0:80a59a49d504 52 init_buttons();
DannyLee 0:80a59a49d504 53
DannyLee 0:80a59a49d504 54 // read centred values of joystick
DannyLee 0:80a59a49d504 55 _x0 = _horiz->read();
DannyLee 0:80a59a49d504 56 _y0 = _vert->read();
DannyLee 0:80a59a49d504 57
DannyLee 0:80a59a49d504 58 // clear all flags
DannyLee 0:80a59a49d504 59 _event_state = 0;
DannyLee 0:80a59a49d504 60 }
DannyLee 0:80a59a49d504 61
DannyLee 0:80a59a49d504 62 void Gamepad::leds_off()
DannyLee 0:80a59a49d504 63 {
DannyLee 0:80a59a49d504 64 leds(0.0);
DannyLee 0:80a59a49d504 65 }
DannyLee 0:80a59a49d504 66
DannyLee 0:80a59a49d504 67 void Gamepad::leds_on()
DannyLee 0:80a59a49d504 68 {
DannyLee 0:80a59a49d504 69 leds(1.0);
DannyLee 0:80a59a49d504 70 }
DannyLee 0:80a59a49d504 71
DannyLee 0:80a59a49d504 72 void Gamepad::leds(float val) const
DannyLee 0:80a59a49d504 73 {
DannyLee 0:80a59a49d504 74 if (val < 0.0f) {
DannyLee 0:80a59a49d504 75 val = 0.0f;
DannyLee 0:80a59a49d504 76 }
DannyLee 0:80a59a49d504 77 if (val > 1.0f) {
DannyLee 0:80a59a49d504 78 val = 1.0f;
DannyLee 0:80a59a49d504 79 }
DannyLee 0:80a59a49d504 80
DannyLee 0:80a59a49d504 81 // leds are active-low, so subtract from 1.0
DannyLee 0:80a59a49d504 82 // 0.0 corresponds to fully-off, 1.0 to fully-on
DannyLee 0:80a59a49d504 83 val = 1.0f - val;
DannyLee 0:80a59a49d504 84
DannyLee 0:80a59a49d504 85 _led1->write(val);
DannyLee 0:80a59a49d504 86 _led2->write(val);
DannyLee 0:80a59a49d504 87 _led3->write(val);
DannyLee 0:80a59a49d504 88 _led4->write(val);
DannyLee 0:80a59a49d504 89 _led5->write(val);
DannyLee 0:80a59a49d504 90 _led6->write(val);
DannyLee 0:80a59a49d504 91 }
DannyLee 0:80a59a49d504 92
DannyLee 0:80a59a49d504 93 void Gamepad::led(int n,float val) const
DannyLee 0:80a59a49d504 94 {
DannyLee 0:80a59a49d504 95 // ensure they are within vlaid range
DannyLee 0:80a59a49d504 96 if (val < 0.0f) {
DannyLee 0:80a59a49d504 97 val = 0.0f;
DannyLee 0:80a59a49d504 98 }
DannyLee 0:80a59a49d504 99 if (val > 1.0f) {
DannyLee 0:80a59a49d504 100 val = 1.0f;
DannyLee 0:80a59a49d504 101 }
DannyLee 0:80a59a49d504 102
DannyLee 0:80a59a49d504 103 switch (n) {
DannyLee 0:80a59a49d504 104
DannyLee 0:80a59a49d504 105 // check for valid LED number and set value
DannyLee 0:80a59a49d504 106
DannyLee 0:80a59a49d504 107 case 1:
DannyLee 0:80a59a49d504 108 _led1->write(1.0f-val); // active-low so subtract from 1
DannyLee 0:80a59a49d504 109 break;
DannyLee 0:80a59a49d504 110 case 2:
DannyLee 0:80a59a49d504 111 _led2->write(1.0f-val); // active-low so subtract from 1
DannyLee 0:80a59a49d504 112 break;
DannyLee 0:80a59a49d504 113 case 3:
DannyLee 0:80a59a49d504 114 _led3->write(1.0f-val); // active-low so subtract from 1
DannyLee 0:80a59a49d504 115 break;
DannyLee 0:80a59a49d504 116 case 4:
DannyLee 0:80a59a49d504 117 _led4->write(1.0f-val); // active-low so subtract from 1
DannyLee 0:80a59a49d504 118 break;
DannyLee 0:80a59a49d504 119 case 5:
DannyLee 0:80a59a49d504 120 _led5->write(1.0f-val); // active-low so subtract from 1
DannyLee 0:80a59a49d504 121 break;
DannyLee 0:80a59a49d504 122 case 6:
DannyLee 0:80a59a49d504 123 _led6->write(1.0f-val); // active-low so subtract from 1
DannyLee 0:80a59a49d504 124 break;
DannyLee 0:80a59a49d504 125
DannyLee 0:80a59a49d504 126 }
DannyLee 0:80a59a49d504 127 }
DannyLee 0:80a59a49d504 128
DannyLee 0:80a59a49d504 129 float Gamepad::read_pot() const
DannyLee 0:80a59a49d504 130 {
DannyLee 0:80a59a49d504 131 return _pot->read();
DannyLee 0:80a59a49d504 132 }
DannyLee 0:80a59a49d504 133
DannyLee 0:80a59a49d504 134 void Gamepad::tone(float frequency, float duration)
DannyLee 0:80a59a49d504 135 {
DannyLee 0:80a59a49d504 136 _buzzer->period(1.0f/frequency);
DannyLee 0:80a59a49d504 137 _buzzer->write(0.5); // 50% duty cycle - square wave
DannyLee 0:80a59a49d504 138 _timeout->attach(callback(this, &Gamepad::tone_off), duration );
DannyLee 0:80a59a49d504 139 }
DannyLee 0:80a59a49d504 140
DannyLee 0:80a59a49d504 141 bool Gamepad::check_event(GamepadEvent const id)
DannyLee 0:80a59a49d504 142 {
DannyLee 0:80a59a49d504 143 // Check whether event flag is set
DannyLee 0:80a59a49d504 144 if (_event_state[id]) {
DannyLee 0:80a59a49d504 145 _event_state.reset(id); // clear flag
DannyLee 0:80a59a49d504 146 return true;
DannyLee 0:80a59a49d504 147 } else {
DannyLee 0:80a59a49d504 148 return false;
DannyLee 0:80a59a49d504 149 }
DannyLee 0:80a59a49d504 150 }
DannyLee 0:80a59a49d504 151
DannyLee 0:80a59a49d504 152 // this method gets the magnitude of the joystick movement
DannyLee 0:80a59a49d504 153 float Gamepad::get_mag()
DannyLee 0:80a59a49d504 154 {
DannyLee 0:80a59a49d504 155 Polar p = get_polar();
DannyLee 0:80a59a49d504 156 return p.mag;
DannyLee 0:80a59a49d504 157 }
DannyLee 0:80a59a49d504 158
DannyLee 0:80a59a49d504 159 // this method gets the angle of joystick movement (0 to 360, 0 North)
DannyLee 0:80a59a49d504 160 float Gamepad::get_angle()
DannyLee 0:80a59a49d504 161 {
DannyLee 0:80a59a49d504 162 Polar p = get_polar();
DannyLee 0:80a59a49d504 163 return p.angle;
DannyLee 0:80a59a49d504 164 }
DannyLee 0:80a59a49d504 165
DannyLee 0:80a59a49d504 166 Direction Gamepad::get_direction()
DannyLee 0:80a59a49d504 167 {
DannyLee 0:80a59a49d504 168 float angle = get_angle(); // 0 to 360, -1 for centred
DannyLee 0:80a59a49d504 169
DannyLee 0:80a59a49d504 170 Direction d;
DannyLee 0:80a59a49d504 171 // partition 360 into segments and check which segment the angle is in
DannyLee 0:80a59a49d504 172 if (angle < 0.0f) {
DannyLee 0:80a59a49d504 173 d = CENTRE; // check for -1.0 angle
DannyLee 0:80a59a49d504 174 } else if (angle < 22.5f) { // then keep going in 45 degree increments
DannyLee 0:80a59a49d504 175 d = N;
DannyLee 0:80a59a49d504 176 } else if (angle < 67.5f) {
DannyLee 0:80a59a49d504 177 d = NE;
DannyLee 0:80a59a49d504 178 } else if (angle < 112.5f) {
DannyLee 0:80a59a49d504 179 d = E;
DannyLee 0:80a59a49d504 180 } else if (angle < 157.5f) {
DannyLee 0:80a59a49d504 181 d = SE;
DannyLee 0:80a59a49d504 182 } else if (angle < 202.5f) {
DannyLee 0:80a59a49d504 183 d = S;
DannyLee 0:80a59a49d504 184 } else if (angle < 247.5f) {
DannyLee 0:80a59a49d504 185 d = SW;
DannyLee 0:80a59a49d504 186 } else if (angle < 292.5f) {
DannyLee 0:80a59a49d504 187 d = W;
DannyLee 0:80a59a49d504 188 } else if (angle < 337.5f) {
DannyLee 0:80a59a49d504 189 d = NW;
DannyLee 0:80a59a49d504 190 } else {
DannyLee 0:80a59a49d504 191 d = N;
DannyLee 0:80a59a49d504 192 }
DannyLee 0:80a59a49d504 193
DannyLee 0:80a59a49d504 194 return d;
DannyLee 0:80a59a49d504 195 }
DannyLee 0:80a59a49d504 196
DannyLee 0:80a59a49d504 197 ///////////////////// private methods ////////////////////////
DannyLee 0:80a59a49d504 198
DannyLee 0:80a59a49d504 199 void Gamepad::tone_off()
DannyLee 0:80a59a49d504 200 {
DannyLee 0:80a59a49d504 201 // called after timeout
DannyLee 0:80a59a49d504 202 _buzzer->write(0.0);
DannyLee 0:80a59a49d504 203 }
DannyLee 0:80a59a49d504 204
DannyLee 0:80a59a49d504 205 void Gamepad::init_buttons()
DannyLee 0:80a59a49d504 206 {
DannyLee 0:80a59a49d504 207 // turn on pull-downs as other side of button is connected to 3V3
DannyLee 0:80a59a49d504 208 // button is 0 when not pressed and 1 when pressed
DannyLee 0:80a59a49d504 209 _button_A->mode(PullDown);
DannyLee 0:80a59a49d504 210 _button_B->mode(PullDown);
DannyLee 0:80a59a49d504 211 _button_X->mode(PullDown);
DannyLee 0:80a59a49d504 212 _button_Y->mode(PullDown);
DannyLee 0:80a59a49d504 213 _button_back->mode(PullDown);
DannyLee 0:80a59a49d504 214 _button_start->mode(PullDown);
DannyLee 0:80a59a49d504 215 _button_L->mode(PullDown);
DannyLee 0:80a59a49d504 216 _button_R->mode(PullDown);
DannyLee 0:80a59a49d504 217 _button_joystick->mode(PullDown);
DannyLee 0:80a59a49d504 218 // therefore setup rising edge interrupts
DannyLee 0:80a59a49d504 219 _button_A->rise(callback(this,&Gamepad::a_isr));
DannyLee 0:80a59a49d504 220 _button_B->rise(callback(this,&Gamepad::b_isr));
DannyLee 0:80a59a49d504 221 _button_X->rise(callback(this,&Gamepad::x_isr));
DannyLee 0:80a59a49d504 222 _button_Y->rise(callback(this,&Gamepad::y_isr));
DannyLee 0:80a59a49d504 223 _button_L->rise(callback(this,&Gamepad::l_isr));
DannyLee 0:80a59a49d504 224 _button_R->rise(callback(this,&Gamepad::r_isr));
DannyLee 0:80a59a49d504 225 _button_start->rise(callback(this,&Gamepad::start_isr));
DannyLee 0:80a59a49d504 226 _button_back->rise(callback(this,&Gamepad::back_isr));
DannyLee 0:80a59a49d504 227 _button_joystick->rise(callback(this,&Gamepad::joy_isr));
DannyLee 0:80a59a49d504 228 }
DannyLee 0:80a59a49d504 229
DannyLee 0:80a59a49d504 230 // button interrupts ISRs
DannyLee 0:80a59a49d504 231 // Each of these simply sets the appropriate event bit in the _event_state
DannyLee 0:80a59a49d504 232 // variable
DannyLee 0:80a59a49d504 233 void Gamepad::a_isr()
DannyLee 0:80a59a49d504 234 {
DannyLee 0:80a59a49d504 235 _event_state.set(A_PRESSED);
DannyLee 0:80a59a49d504 236 }
DannyLee 0:80a59a49d504 237 void Gamepad::b_isr()
DannyLee 0:80a59a49d504 238 {
DannyLee 0:80a59a49d504 239 _event_state.set(B_PRESSED);
DannyLee 0:80a59a49d504 240 }
DannyLee 0:80a59a49d504 241 void Gamepad::x_isr()
DannyLee 0:80a59a49d504 242 {
DannyLee 0:80a59a49d504 243 _event_state.set(X_PRESSED);
DannyLee 0:80a59a49d504 244 }
DannyLee 0:80a59a49d504 245 void Gamepad::y_isr()
DannyLee 0:80a59a49d504 246 {
DannyLee 0:80a59a49d504 247 _event_state.set(Y_PRESSED);
DannyLee 0:80a59a49d504 248 }
DannyLee 0:80a59a49d504 249 void Gamepad::l_isr()
DannyLee 0:80a59a49d504 250 {
DannyLee 0:80a59a49d504 251 _event_state.set(L_PRESSED);
DannyLee 0:80a59a49d504 252 }
DannyLee 0:80a59a49d504 253 void Gamepad::r_isr()
DannyLee 0:80a59a49d504 254 {
DannyLee 0:80a59a49d504 255 _event_state.set(R_PRESSED);
DannyLee 0:80a59a49d504 256 }
DannyLee 0:80a59a49d504 257 void Gamepad::back_isr()
DannyLee 0:80a59a49d504 258 {
DannyLee 0:80a59a49d504 259 _event_state.set(BACK_PRESSED);
DannyLee 0:80a59a49d504 260 }
DannyLee 0:80a59a49d504 261 void Gamepad::start_isr()
DannyLee 0:80a59a49d504 262 {
DannyLee 0:80a59a49d504 263 _event_state.set(START_PRESSED);
DannyLee 0:80a59a49d504 264 }
DannyLee 0:80a59a49d504 265 void Gamepad::joy_isr()
DannyLee 0:80a59a49d504 266 {
DannyLee 0:80a59a49d504 267 _event_state.set(JOY_PRESSED);
DannyLee 0:80a59a49d504 268 }
DannyLee 0:80a59a49d504 269
DannyLee 0:80a59a49d504 270 // get raw joystick coordinate in range -1 to 1
DannyLee 0:80a59a49d504 271 // Direction (x,y)
DannyLee 0:80a59a49d504 272 // North (0,1)
DannyLee 0:80a59a49d504 273 // East (1,0)
DannyLee 0:80a59a49d504 274 // South (0,-1)
DannyLee 0:80a59a49d504 275 // West (-1,0)
DannyLee 0:80a59a49d504 276 Vector2D Gamepad::get_coord()
DannyLee 0:80a59a49d504 277 {
DannyLee 0:80a59a49d504 278 // read() returns value in range 0.0 to 1.0 so is scaled and centre value
DannyLee 0:80a59a49d504 279 // substracted to get values in the range -1.0 to 1.0
DannyLee 0:80a59a49d504 280 float x = 2.0f*( _horiz->read() - _x0 );
DannyLee 0:80a59a49d504 281 float y = 2.0f*( _vert->read() - _y0 );
DannyLee 0:80a59a49d504 282
DannyLee 0:80a59a49d504 283 // Note: the x value here is inverted to ensure the positive x is to the
DannyLee 0:80a59a49d504 284 // right. This is simply due to how the potentiometer on the joystick
DannyLee 0:80a59a49d504 285 // I was using was connected up. It could have been corrected in hardware
DannyLee 0:80a59a49d504 286 // by swapping the power supply pins. Instead it is done in software so may
DannyLee 0:80a59a49d504 287 // need to be changed depending on your wiring setup
DannyLee 0:80a59a49d504 288
DannyLee 0:80a59a49d504 289 Vector2D coord = {-x,y};
DannyLee 0:80a59a49d504 290 return coord;
DannyLee 0:80a59a49d504 291 }
DannyLee 0:80a59a49d504 292
DannyLee 0:80a59a49d504 293 // This maps the raw x,y coord onto a circular grid.
DannyLee 0:80a59a49d504 294 // See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html
DannyLee 0:80a59a49d504 295 Vector2D Gamepad::get_mapped_coord()
DannyLee 0:80a59a49d504 296 {
DannyLee 0:80a59a49d504 297 Vector2D coord = get_coord();
DannyLee 0:80a59a49d504 298
DannyLee 0:80a59a49d504 299 // do the transformation
DannyLee 0:80a59a49d504 300 float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f);
DannyLee 0:80a59a49d504 301 float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f);
DannyLee 0:80a59a49d504 302
DannyLee 0:80a59a49d504 303 Vector2D mapped_coord = {x,y};
DannyLee 0:80a59a49d504 304 return mapped_coord;
DannyLee 0:80a59a49d504 305 }
DannyLee 0:80a59a49d504 306
DannyLee 0:80a59a49d504 307 // this function converts the mapped coordinates into polar form
DannyLee 0:80a59a49d504 308 Polar Gamepad::get_polar()
DannyLee 0:80a59a49d504 309 {
DannyLee 0:80a59a49d504 310 // get the mapped coordinate
DannyLee 0:80a59a49d504 311 Vector2D coord = get_mapped_coord();
DannyLee 0:80a59a49d504 312
DannyLee 0:80a59a49d504 313 // at this point, 0 degrees (i.e. x-axis) will be defined to the East.
DannyLee 0:80a59a49d504 314 // We want 0 degrees to correspond to North and increase clockwise to 359
DannyLee 0:80a59a49d504 315 // like a compass heading, so we need to swap the axis and invert y
DannyLee 0:80a59a49d504 316 float x = coord.y;
DannyLee 0:80a59a49d504 317 float y = coord.x;
DannyLee 0:80a59a49d504 318
DannyLee 0:80a59a49d504 319 float mag = sqrt(x*x+y*y); // pythagoras
DannyLee 0:80a59a49d504 320 float angle = RAD2DEG*atan2(y,x);
DannyLee 0:80a59a49d504 321 // angle will be in range -180 to 180, so add 360 to negative angles to
DannyLee 0:80a59a49d504 322 // move to 0 to 360 range
DannyLee 0:80a59a49d504 323 if (angle < 0.0f) {
DannyLee 0:80a59a49d504 324 angle+=360.0f;
DannyLee 0:80a59a49d504 325 }
DannyLee 0:80a59a49d504 326
DannyLee 0:80a59a49d504 327 // the noise on the ADC causes the values of x and y to fluctuate slightly
DannyLee 0:80a59a49d504 328 // around the centred values. This causes the random angle values to get
DannyLee 0:80a59a49d504 329 // calculated when the joystick is centred and untouched. This is also when
DannyLee 0:80a59a49d504 330 // the magnitude is very small, so we can check for a small magnitude and then
DannyLee 0:80a59a49d504 331 // set the angle to -1. This will inform us when the angle is invalid and the
DannyLee 0:80a59a49d504 332 // joystick is centred
DannyLee 0:80a59a49d504 333
DannyLee 0:80a59a49d504 334 if (mag < TOL) {
DannyLee 0:80a59a49d504 335 mag = 0.0f;
DannyLee 0:80a59a49d504 336 angle = -1.0f;
DannyLee 0:80a59a49d504 337 }
DannyLee 0:80a59a49d504 338
DannyLee 0:80a59a49d504 339 Polar p = {mag,angle};
DannyLee 0:80a59a49d504 340 return p;
DannyLee 0:80a59a49d504 341 }