XJEL2645 (19/20) / Mbed 2 deprecated el17y2z

Yunting Zou 201199716

Dependencies:   mbed MotionSensor

Gamepad/Gamepad.h@3:4bd22344278d, 2020-05-14 (annotated)

Committer:
zhouyun123
Date:
Thu May 14 17:18:58 2020 +0000
Revision:
3:4bd22344278d
Parent:
0:047e14f53977 
Final Submission. I have read and agreed with Statement of Academic Integrity.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zhouyun123 0:047e14f53977 1 #ifndef GAMEPAD_H
zhouyun123 0:047e14f53977 2 #define GAMEPAD_H
zhouyun123 0:047e14f53977 3
zhouyun123 0:047e14f53977 4 #include <bitset>
zhouyun123 0:047e14f53977 5
zhouyun123 0:047e14f53977 6 // Forward declaration of the classes that we use from the mbed library
zhouyun123 0:047e14f53977 7 // This avoids the need for us to include the huge mbed.h header inside our
zhouyun123 0:047e14f53977 8 // own library API
zhouyun123 0:047e14f53977 9 namespace mbed
zhouyun123 0:047e14f53977 10 {
zhouyun123 0:047e14f53977 11 class AnalogIn;
zhouyun123 0:047e14f53977 12 class InterruptIn;
zhouyun123 0:047e14f53977 13 class PwmOut;
zhouyun123 0:047e14f53977 14 class Timeout;
zhouyun123 0:047e14f53977 15 }
zhouyun123 0:047e14f53977 16
zhouyun123 0:047e14f53977 17 #define TOL 0.1f
zhouyun123 0:047e14f53977 18 #define RAD2DEG 57.2957795131f
zhouyun123 0:047e14f53977 19
zhouyun123 0:047e14f53977 20 /** Enum for direction */
zhouyun123 0:047e14f53977 21 enum Direction {
zhouyun123 0:047e14f53977 22 CENTRE, /**< joystick centred */
zhouyun123 0:047e14f53977 23 N, /**< pushed North (0)*/
zhouyun123 0:047e14f53977 24 NE, /**< pushed North-East (45) */
zhouyun123 0:047e14f53977 25 E, /**< pushed East (90) */
zhouyun123 0:047e14f53977 26 SE, /**< pushed South-East (135) */
zhouyun123 0:047e14f53977 27 S, /**< pushed South (180) */
zhouyun123 0:047e14f53977 28 SW, /**< pushed South-West (225) */
zhouyun123 0:047e14f53977 29 W, /**< pushed West (270) */
zhouyun123 0:047e14f53977 30 NW /**< pushed North-West (315) */
zhouyun123 0:047e14f53977 31 };
zhouyun123 0:047e14f53977 32
zhouyun123 0:047e14f53977 33 /** Vector 2D struct */
zhouyun123 0:047e14f53977 34 struct Vector2D {
zhouyun123 0:047e14f53977 35 float x; /**< float for x value */
zhouyun123 0:047e14f53977 36 float y; /**< float for y value */
zhouyun123 0:047e14f53977 37 };
zhouyun123 0:047e14f53977 38
zhouyun123 0:047e14f53977 39 /** Polar coordinate struct */
zhouyun123 0:047e14f53977 40 struct Polar {
zhouyun123 0:047e14f53977 41 float mag; /**< float for magnitude */
zhouyun123 0:047e14f53977 42 float angle; /**< float for angle (in degrees) */
zhouyun123 0:047e14f53977 43 };
zhouyun123 0:047e14f53977 44
zhouyun123 0:047e14f53977 45 /** Gamepad Class
zhouyun123 0:047e14f53977 46 @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
zhouyun123 0:047e14f53977 47 @author Dr Craig A. Evans
zhouyun123 0:047e14f53977 48 @author Dr Alex Valanvanis
zhouyun123 0:047e14f53977 49 @date Febraury 2017
zhouyun123 0:047e14f53977 50 */
zhouyun123 0:047e14f53977 51 class Gamepad
zhouyun123 0:047e14f53977 52 {
zhouyun123 0:047e14f53977 53 public:
zhouyun123 0:047e14f53977 54 /** Gamepad events
zhouyun123 0:047e14f53977 55 * @brief List of events that can be registered on the gamepad
zhouyun123 0:047e14f53977 56 */
zhouyun123 0:047e14f53977 57 enum GamepadEvent {
zhouyun123 0:047e14f53977 58 A_PRESSED, ///< Button A has been pressed
zhouyun123 0:047e14f53977 59 B_PRESSED, ///< Button B has been pressed
zhouyun123 0:047e14f53977 60 X_PRESSED, ///< Button X has been pressed
zhouyun123 0:047e14f53977 61 Y_PRESSED, ///< Button Y has been pressed
zhouyun123 0:047e14f53977 62 L_PRESSED, ///< Button L has been pressed
zhouyun123 0:047e14f53977 63 R_PRESSED, ///< Button R has been pressed
zhouyun123 0:047e14f53977 64 BACK_PRESSED, ///< Button "Back" has been pressed
zhouyun123 0:047e14f53977 65 START_PRESSED, ///< Button "Start" has been pressed
zhouyun123 0:047e14f53977 66 JOY_PRESSED, ///< Joystick button has been pressed
zhouyun123 0:047e14f53977 67 N_EVENTS ///< A dummy flag that marks the end of the list
zhouyun123 0:047e14f53977 68 };
zhouyun123 0:047e14f53977 69 private:
zhouyun123 0:047e14f53977 70 mbed::PwmOut *_led1;
zhouyun123 0:047e14f53977 71 mbed::PwmOut *_led2;
zhouyun123 0:047e14f53977 72 mbed::PwmOut *_led3;
zhouyun123 0:047e14f53977 73 mbed::PwmOut *_led4;
zhouyun123 0:047e14f53977 74 mbed::PwmOut *_led5;
zhouyun123 0:047e14f53977 75 mbed::PwmOut *_led6;
zhouyun123 0:047e14f53977 76
zhouyun123 0:047e14f53977 77 mbed::InterruptIn *_button_A;
zhouyun123 0:047e14f53977 78 mbed::InterruptIn *_button_B;
zhouyun123 0:047e14f53977 79 mbed::InterruptIn *_button_X;
zhouyun123 0:047e14f53977 80 mbed::InterruptIn *_button_Y;
zhouyun123 0:047e14f53977 81 mbed::InterruptIn *_button_L;
zhouyun123 0:047e14f53977 82 mbed::InterruptIn *_button_R;
zhouyun123 0:047e14f53977 83 mbed::InterruptIn *_button_back;
zhouyun123 0:047e14f53977 84 mbed::InterruptIn *_button_start;
zhouyun123 0:047e14f53977 85 mbed::InterruptIn *_button_joystick;
zhouyun123 0:047e14f53977 86
zhouyun123 0:047e14f53977 87 mbed::AnalogIn *_vert;
zhouyun123 0:047e14f53977 88 mbed::AnalogIn *_horiz;
zhouyun123 0:047e14f53977 89
zhouyun123 0:047e14f53977 90 mbed::PwmOut *_buzzer;
zhouyun123 0:047e14f53977 91 mbed::AnalogIn *_pot;
zhouyun123 0:047e14f53977 92
zhouyun123 0:047e14f53977 93 mbed::Timeout *_timeout;
zhouyun123 0:047e14f53977 94
zhouyun123 0:047e14f53977 95 std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
zhouyun123 0:047e14f53977 96
zhouyun123 0:047e14f53977 97 // centred x,y values
zhouyun123 0:047e14f53977 98 float _x0;
zhouyun123 0:047e14f53977 99 float _y0;
zhouyun123 0:047e14f53977 100
zhouyun123 0:047e14f53977 101 public:
zhouyun123 0:047e14f53977 102
zhouyun123 0:047e14f53977 103 /** Constructor */
zhouyun123 0:047e14f53977 104 Gamepad();
zhouyun123 0:047e14f53977 105
zhouyun123 0:047e14f53977 106 /** Destructor */
zhouyun123 0:047e14f53977 107 ~Gamepad();
zhouyun123 0:047e14f53977 108
zhouyun123 0:047e14f53977 109 /** Initialise all peripherals and configure interrupts */
zhouyun123 0:047e14f53977 110 void init();
zhouyun123 0:047e14f53977 111
zhouyun123 0:047e14f53977 112 /** Turn all LEDs on */
zhouyun123 0:047e14f53977 113 void leds_on();
zhouyun123 0:047e14f53977 114
zhouyun123 0:047e14f53977 115 /** Turn all LEDs off */
zhouyun123 0:047e14f53977 116 void leds_off();
zhouyun123 0:047e14f53977 117
zhouyun123 0:047e14f53977 118 /** Set all LEDs to duty-cycle
zhouyun123 0:047e14f53977 119 *@param value in range 0.0 to 1.0
zhouyun123 0:047e14f53977 120 */
zhouyun123 0:047e14f53977 121 void leds(float val) const;
zhouyun123 0:047e14f53977 122
zhouyun123 0:047e14f53977 123 /** Set LED to duty-cycle
zhouyun123 0:047e14f53977 124 *@param led number (0 to 5)
zhouyun123 0:047e14f53977 125 *@param value in range 0.0 to 1.0
zhouyun123 0:047e14f53977 126 */
zhouyun123 0:047e14f53977 127 void led(int n,float val) const;
zhouyun123 0:047e14f53977 128
zhouyun123 0:047e14f53977 129 /** Read potentiometer
zhouyun123 0:047e14f53977 130 *@returns potentiometer value in range 0.0 to 1.0
zhouyun123 0:047e14f53977 131 */
zhouyun123 0:047e14f53977 132 float read_pot() const;
zhouyun123 0:047e14f53977 133
zhouyun123 0:047e14f53977 134 /** Play tone on piezo
zhouyun123 0:047e14f53977 135 * @param frequency in Hz
zhouyun123 0:047e14f53977 136 * @param duration of tone in seconds
zhouyun123 0:047e14f53977 137 */
zhouyun123 0:047e14f53977 138 void tone(float frequency, float duration);
zhouyun123 0:047e14f53977 139
zhouyun123 0:047e14f53977 140 /**
zhouyun123 0:047e14f53977 141 * @brief Check whether an event flag has been set and clear it
zhouyun123 0:047e14f53977 142 * @param id[in] The ID of the event to test
zhouyun123 0:047e14f53977 143 * @return true if the event occurred
zhouyun123 0:047e14f53977 144 */
zhouyun123 0:047e14f53977 145 bool check_event(GamepadEvent const id);
zhouyun123 0:047e14f53977 146
zhouyun123 0:047e14f53977 147 /** Get magnitude of joystick movement
zhouyun123 0:047e14f53977 148 * @returns value in range 0.0 to 1.0
zhouyun123 0:047e14f53977 149 */
zhouyun123 0:047e14f53977 150
zhouyun123 0:047e14f53977 151 float get_mag();
zhouyun123 0:047e14f53977 152
zhouyun123 0:047e14f53977 153 /** Get angle of joystick movement
zhouyun123 0:047e14f53977 154 * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
zhouyun123 0:047e14f53977 155 */
zhouyun123 0:047e14f53977 156 float get_angle();
zhouyun123 0:047e14f53977 157
zhouyun123 0:047e14f53977 158 /** Gets joystick direction
zhouyun123 0:047e14f53977 159 * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
zhouyun123 0:047e14f53977 160 */
zhouyun123 0:047e14f53977 161 Direction get_direction(); // N,NE,E,SE etc.
zhouyun123 0:047e14f53977 162
zhouyun123 0:047e14f53977 163 /** Gets raw cartesian co-ordinates of joystick
zhouyun123 0:047e14f53977 164 * @returns a struct with x,y members, each in the range 0.0 to 1.0
zhouyun123 0:047e14f53977 165 */
zhouyun123 0:047e14f53977 166 Vector2D get_coord(); // cartesian co-ordinates x,y
zhouyun123 0:047e14f53977 167
zhouyun123 0:047e14f53977 168 /** Gets cartesian coordinates mapped to circular grid
zhouyun123 0:047e14f53977 169 * @returns a struct with x,y members, each in the range 0.0 to 1.0
zhouyun123 0:047e14f53977 170 */
zhouyun123 0:047e14f53977 171 Vector2D get_mapped_coord(); // x,y mapped to circle
zhouyun123 0:047e14f53977 172
zhouyun123 0:047e14f53977 173 /** Gets polar coordinates of the joystick
zhouyun123 0:047e14f53977 174 * @returns a struct contains mag and angle
zhouyun123 0:047e14f53977 175 */
zhouyun123 0:047e14f53977 176 Polar get_polar(); // mag and angle in struct form
zhouyun123 0:047e14f53977 177
zhouyun123 0:047e14f53977 178 private:
zhouyun123 0:047e14f53977 179 void init_buttons();
zhouyun123 0:047e14f53977 180 void tone_off();
zhouyun123 0:047e14f53977 181
zhouyun123 0:047e14f53977 182 void a_isr();
zhouyun123 0:047e14f53977 183 void b_isr();
zhouyun123 0:047e14f53977 184 void x_isr();
zhouyun123 0:047e14f53977 185 void y_isr();
zhouyun123 0:047e14f53977 186 void l_isr();
zhouyun123 0:047e14f53977 187 void r_isr();
zhouyun123 0:047e14f53977 188 void back_isr();
zhouyun123 0:047e14f53977 189 void start_isr();
zhouyun123 0:047e14f53977 190 void joy_isr();
zhouyun123 0:047e14f53977 191 };
zhouyun123 0:047e14f53977 192
zhouyun123 0:047e14f53977 193 #endif