勇帜 周 / Mbed 2 deprecated 2645_Final_project_1

bird

Dependencies:   mbed

Gamepad/Gamepad.h@6:9bf0273ee25f, 2019-05-06 (annotated)

Committer:
1013373474
Date:
Mon May 06 05:02:25 2019 +0000
Revision:
6:9bf0273ee25f
Parent:
0:3887ebee1b37 
change the class name of structure_2.h file

Who changed what in which revision?

UserRevisionLine numberNew contents of line
1013373474 0:3887ebee1b37 1 #ifndef GAMEPAD_H
1013373474 0:3887ebee1b37 2 #define GAMEPAD_H
1013373474 0:3887ebee1b37 3
1013373474 0:3887ebee1b37 4 #include <bitset>
1013373474 0:3887ebee1b37 5
1013373474 0:3887ebee1b37 6 // Forward declaration of the classes that we use from the mbed library
1013373474 0:3887ebee1b37 7 // This avoids the need for us to include the huge mbed.h header inside our
1013373474 0:3887ebee1b37 8 // own library API
1013373474 0:3887ebee1b37 9 namespace mbed
1013373474 0:3887ebee1b37 10 {
1013373474 0:3887ebee1b37 11 class AnalogIn;
1013373474 0:3887ebee1b37 12 class InterruptIn;
1013373474 0:3887ebee1b37 13 class PwmOut;
1013373474 0:3887ebee1b37 14 class Timeout;
1013373474 0:3887ebee1b37 15 }
1013373474 0:3887ebee1b37 16
1013373474 0:3887ebee1b37 17 #define TOL 0.1f
1013373474 0:3887ebee1b37 18 #define RAD2DEG 57.2957795131f
1013373474 0:3887ebee1b37 19
1013373474 0:3887ebee1b37 20 /** Enum for direction */
1013373474 0:3887ebee1b37 21 enum Direction {
1013373474 0:3887ebee1b37 22 CENTRE, /**< joystick centred */
1013373474 0:3887ebee1b37 23 N, /**< pushed North (0)*/
1013373474 0:3887ebee1b37 24 NE, /**< pushed North-East (45) */
1013373474 0:3887ebee1b37 25 E, /**< pushed East (90) */
1013373474 0:3887ebee1b37 26 SE, /**< pushed South-East (135) */
1013373474 0:3887ebee1b37 27 S, /**< pushed South (180) */
1013373474 0:3887ebee1b37 28 SW, /**< pushed South-West (225) */
1013373474 0:3887ebee1b37 29 W, /**< pushed West (270) */
1013373474 0:3887ebee1b37 30 NW /**< pushed North-West (315) */
1013373474 0:3887ebee1b37 31 };
1013373474 0:3887ebee1b37 32
1013373474 0:3887ebee1b37 33 /** Vector 2D struct */
1013373474 0:3887ebee1b37 34 struct Vector2D {
1013373474 0:3887ebee1b37 35 float x; /**< float for x value */
1013373474 0:3887ebee1b37 36 float y; /**< float for y value */
1013373474 0:3887ebee1b37 37 };
1013373474 0:3887ebee1b37 38
1013373474 0:3887ebee1b37 39 /** Polar coordinate struct */
1013373474 0:3887ebee1b37 40 struct Polar {
1013373474 0:3887ebee1b37 41 float mag; /**< float for magnitude */
1013373474 0:3887ebee1b37 42 float angle; /**< float for angle (in degrees) */
1013373474 0:3887ebee1b37 43 };
1013373474 0:3887ebee1b37 44
1013373474 0:3887ebee1b37 45 /** Gamepad Class
1013373474 0:3887ebee1b37 46 @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
1013373474 0:3887ebee1b37 47 @author Dr Craig A. Evans
1013373474 0:3887ebee1b37 48 @author Dr Alex Valanvanis
1013373474 0:3887ebee1b37 49 @date Febraury 2017
1013373474 0:3887ebee1b37 50 */
1013373474 0:3887ebee1b37 51 class Gamepad
1013373474 0:3887ebee1b37 52 {
1013373474 0:3887ebee1b37 53 public:
1013373474 0:3887ebee1b37 54 /** Gamepad events
1013373474 0:3887ebee1b37 55 * @brief List of events that can be registered on the gamepad
1013373474 0:3887ebee1b37 56 */
1013373474 0:3887ebee1b37 57 enum GamepadEvent {
1013373474 0:3887ebee1b37 58 A_PRESSED, ///< Button A has been pressed
1013373474 0:3887ebee1b37 59 B_PRESSED, ///< Button B has been pressed
1013373474 0:3887ebee1b37 60 X_PRESSED, ///< Button X has been pressed
1013373474 0:3887ebee1b37 61 Y_PRESSED, ///< Button Y has been pressed
1013373474 0:3887ebee1b37 62 L_PRESSED, ///< Button L has been pressed
1013373474 0:3887ebee1b37 63 R_PRESSED, ///< Button R has been pressed
1013373474 0:3887ebee1b37 64 BACK_PRESSED, ///< Button "Back" has been pressed
1013373474 0:3887ebee1b37 65 START_PRESSED, ///< Button "Start" has been pressed
1013373474 0:3887ebee1b37 66 JOY_PRESSED, ///< Joystick button has been pressed
1013373474 0:3887ebee1b37 67 N_EVENTS ///< A dummy flag that marks the end of the list
1013373474 0:3887ebee1b37 68 };
1013373474 0:3887ebee1b37 69 private:
1013373474 0:3887ebee1b37 70 mbed::PwmOut *_led1;
1013373474 0:3887ebee1b37 71 mbed::PwmOut *_led2;
1013373474 0:3887ebee1b37 72 mbed::PwmOut *_led3;
1013373474 0:3887ebee1b37 73 mbed::PwmOut *_led4;
1013373474 0:3887ebee1b37 74 mbed::PwmOut *_led5;
1013373474 0:3887ebee1b37 75 mbed::PwmOut *_led6;
1013373474 0:3887ebee1b37 76
1013373474 0:3887ebee1b37 77 mbed::InterruptIn *_button_A;
1013373474 0:3887ebee1b37 78 mbed::InterruptIn *_button_B;
1013373474 0:3887ebee1b37 79 mbed::InterruptIn *_button_X;
1013373474 0:3887ebee1b37 80 mbed::InterruptIn *_button_Y;
1013373474 0:3887ebee1b37 81 mbed::InterruptIn *_button_L;
1013373474 0:3887ebee1b37 82 mbed::InterruptIn *_button_R;
1013373474 0:3887ebee1b37 83 mbed::InterruptIn *_button_back;
1013373474 0:3887ebee1b37 84 mbed::InterruptIn *_button_start;
1013373474 0:3887ebee1b37 85 mbed::InterruptIn *_button_joystick;
1013373474 0:3887ebee1b37 86
1013373474 0:3887ebee1b37 87 mbed::AnalogIn *_vert;
1013373474 0:3887ebee1b37 88 mbed::AnalogIn *_horiz;
1013373474 0:3887ebee1b37 89
1013373474 0:3887ebee1b37 90 mbed::PwmOut *_buzzer;
1013373474 0:3887ebee1b37 91 mbed::AnalogIn *_pot;
1013373474 0:3887ebee1b37 92
1013373474 0:3887ebee1b37 93 mbed::Timeout *_timeout;
1013373474 0:3887ebee1b37 94
1013373474 0:3887ebee1b37 95 std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
1013373474 0:3887ebee1b37 96
1013373474 0:3887ebee1b37 97 // centred x,y values
1013373474 0:3887ebee1b37 98 float _x0;
1013373474 0:3887ebee1b37 99 float _y0;
1013373474 0:3887ebee1b37 100
1013373474 0:3887ebee1b37 101 public:
1013373474 0:3887ebee1b37 102
1013373474 0:3887ebee1b37 103 /** Constructor */
1013373474 0:3887ebee1b37 104 Gamepad();
1013373474 0:3887ebee1b37 105
1013373474 0:3887ebee1b37 106 /** Destructor */
1013373474 0:3887ebee1b37 107 ~Gamepad();
1013373474 0:3887ebee1b37 108
1013373474 0:3887ebee1b37 109 /** Initialise all peripherals and configure interrupts */
1013373474 0:3887ebee1b37 110 void init();
1013373474 0:3887ebee1b37 111
1013373474 0:3887ebee1b37 112 /** Turn all LEDs on */
1013373474 0:3887ebee1b37 113 void leds_on();
1013373474 0:3887ebee1b37 114
1013373474 0:3887ebee1b37 115 /** Turn all LEDs off */
1013373474 0:3887ebee1b37 116 void leds_off();
1013373474 0:3887ebee1b37 117
1013373474 0:3887ebee1b37 118 /** Set all LEDs to duty-cycle
1013373474 0:3887ebee1b37 119 *@param value in range 0.0 to 1.0
1013373474 0:3887ebee1b37 120 */
1013373474 0:3887ebee1b37 121 void leds(float val) const;
1013373474 0:3887ebee1b37 122
1013373474 0:3887ebee1b37 123 /** Set LED to duty-cycle
1013373474 0:3887ebee1b37 124 *@param led number (0 to 5)
1013373474 0:3887ebee1b37 125 *@param value in range 0.0 to 1.0
1013373474 0:3887ebee1b37 126 */
1013373474 0:3887ebee1b37 127 void led(int n,float val) const;
1013373474 0:3887ebee1b37 128
1013373474 0:3887ebee1b37 129 /** Read potentiometer
1013373474 0:3887ebee1b37 130 *@returns potentiometer value in range 0.0 to 1.0
1013373474 0:3887ebee1b37 131 */
1013373474 0:3887ebee1b37 132 float read_pot() const;
1013373474 0:3887ebee1b37 133
1013373474 0:3887ebee1b37 134 /** Play tone on piezo
1013373474 0:3887ebee1b37 135 * @param frequency in Hz
1013373474 0:3887ebee1b37 136 * @param duration of tone in seconds
1013373474 0:3887ebee1b37 137 */
1013373474 0:3887ebee1b37 138 void tone(float frequency, float duration);
1013373474 0:3887ebee1b37 139
1013373474 0:3887ebee1b37 140 /**
1013373474 0:3887ebee1b37 141 * @brief Check whether an event flag has been set and clear it
1013373474 0:3887ebee1b37 142 * @param id[in] The ID of the event to test
1013373474 0:3887ebee1b37 143 * @return true if the event occurred
1013373474 0:3887ebee1b37 144 */
1013373474 0:3887ebee1b37 145 bool check_event(GamepadEvent const id);
1013373474 0:3887ebee1b37 146
1013373474 0:3887ebee1b37 147 /** Get magnitude of joystick movement
1013373474 0:3887ebee1b37 148 * @returns value in range 0.0 to 1.0
1013373474 0:3887ebee1b37 149 */
1013373474 0:3887ebee1b37 150
1013373474 0:3887ebee1b37 151 float get_mag();
1013373474 0:3887ebee1b37 152
1013373474 0:3887ebee1b37 153 /** Get angle of joystick movement
1013373474 0:3887ebee1b37 154 * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
1013373474 0:3887ebee1b37 155 */
1013373474 0:3887ebee1b37 156 float get_angle();
1013373474 0:3887ebee1b37 157
1013373474 0:3887ebee1b37 158 /** Gets joystick direction
1013373474 0:3887ebee1b37 159 * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
1013373474 0:3887ebee1b37 160 */
1013373474 0:3887ebee1b37 161 Direction get_direction(); // N,NE,E,SE etc.
1013373474 0:3887ebee1b37 162
1013373474 0:3887ebee1b37 163 /** Gets raw cartesian co-ordinates of joystick
1013373474 0:3887ebee1b37 164 * @returns a struct with x,y members, each in the range 0.0 to 1.0
1013373474 0:3887ebee1b37 165 */
1013373474 0:3887ebee1b37 166 Vector2D get_coord(); // cartesian co-ordinates x,y
1013373474 0:3887ebee1b37 167
1013373474 0:3887ebee1b37 168 /** Gets cartesian coordinates mapped to circular grid
1013373474 0:3887ebee1b37 169 * @returns a struct with x,y members, each in the range 0.0 to 1.0
1013373474 0:3887ebee1b37 170 */
1013373474 0:3887ebee1b37 171 Vector2D get_mapped_coord(); // x,y mapped to circle
1013373474 0:3887ebee1b37 172
1013373474 0:3887ebee1b37 173 /** Gets polar coordinates of the joystick
1013373474 0:3887ebee1b37 174 * @returns a struct contains mag and angle
1013373474 0:3887ebee1b37 175 */
1013373474 0:3887ebee1b37 176 Polar get_polar(); // mag and angle in struct form
1013373474 0:3887ebee1b37 177
1013373474 0:3887ebee1b37 178 private:
1013373474 0:3887ebee1b37 179 void init_buttons();
1013373474 0:3887ebee1b37 180 void tone_off();
1013373474 0:3887ebee1b37 181
1013373474 0:3887ebee1b37 182 void a_isr();
1013373474 0:3887ebee1b37 183 void b_isr();
1013373474 0:3887ebee1b37 184 void x_isr();
1013373474 0:3887ebee1b37 185 void y_isr();
1013373474 0:3887ebee1b37 186 void l_isr();
1013373474 0:3887ebee1b37 187 void r_isr();
1013373474 0:3887ebee1b37 188 void back_isr();
1013373474 0:3887ebee1b37 189 void start_isr();
1013373474 0:3887ebee1b37 190 void joy_isr();
1013373474 0:3887ebee1b37 191 };
1013373474 0:3887ebee1b37 192
1013373474 0:3887ebee1b37 193 #endif