Jörg Weber / Mbed 2 deprecated USBJoystick_2

Demo for USBJoystick updated for 32 buttons.

Dependencies:   USBDevice USBJoystick_SIM mbed USBJoystick_2

Dependents:   USBJoystick_2

Fork of USBJoystick_HelloWorld2 by Wim Huiskamp

main.cpp@1:b106cf2e99ba, 2018-07-22 (annotated)

Committer:
Cirrus01
Date:
Sun Jul 22 10:36:35 2018 +0000
Revision:
1:b106cf2e99ba
Parent:
0:e43878690c0e
Child:
2:967da2faedcd
Inital

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wim 0:e43878690c0e 1 /* mbed USBJoystick Library Demo
wim 0:e43878690c0e 2 * Copyright (c) 2012, v01: Initial version, WH,
wim 0:e43878690c0e 3 * Modified USBMouse code ARM Limited.
wim 0:e43878690c0e 4 * (c) 2010-2011 mbed.org, MIT License
Cirrus01 1:b106cf2e99ba 5 * 2016, v02: Updated USBDevice Lib, Added waitForConnect, Updated 32 bits button
wim 0:e43878690c0e 6 *
wim 0:e43878690c0e 7 * Permission is hereby granted, free of charge, to any person obtaining a copy
wim 0:e43878690c0e 8 * of this software and associated documentation files (the "Software"), to deal
wim 0:e43878690c0e 9 * in the Software without restriction, inclumosig without limitation the rights
wim 0:e43878690c0e 10 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
wim 0:e43878690c0e 11 * copies of the Software, and to permit persons to whom the Software is
wim 0:e43878690c0e 12 * furnished to do so, subject to the following conditions:
wim 0:e43878690c0e 13 *
wim 0:e43878690c0e 14 * The above copyright notice and this permission notice shall be included in
wim 0:e43878690c0e 15 * all copies or substantial portions of the Software.
wim 0:e43878690c0e 16 *
wim 0:e43878690c0e 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
wim 0:e43878690c0e 18 * IMPLIED, INCLUmosiG BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
wim 0:e43878690c0e 19 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
wim 0:e43878690c0e 20 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
wim 0:e43878690c0e 21 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
wim 0:e43878690c0e 22 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
wim 0:e43878690c0e 23 * THE SOFTWARE.
wim 0:e43878690c0e 24 */
wim 0:e43878690c0e 25
wim 0:e43878690c0e 26 #include "mbed.h"
Cirrus01 1:b106cf2e99ba 27 #include "config.h"
wim 0:e43878690c0e 28 #include "USBJoystick.h"
wim 0:e43878690c0e 29
wim 0:e43878690c0e 30 //#define LANDTIGER 1
wim 0:e43878690c0e 31
wim 0:e43878690c0e 32 //USBMouse mouse;
wim 0:e43878690c0e 33 USBJoystick joystick;
wim 0:e43878690c0e 34
wim 0:e43878690c0e 35 // Variables for Heartbeat and Status monitoring
Cirrus01 1:b106cf2e99ba 36 DigitalOut myled1(LED4);
wim 0:e43878690c0e 37 DigitalOut myled2(LED2);
wim 0:e43878690c0e 38 DigitalOut myled3(LED3);
Cirrus01 1:b106cf2e99ba 39 DigitalOut heartbeatLED(LED1);
Cirrus01 1:b106cf2e99ba 40
Cirrus01 1:b106cf2e99ba 41 AnalogIn inX(A0);
Cirrus01 1:b106cf2e99ba 42 AnalogIn inY(A1);
Cirrus01 1:b106cf2e99ba 43 AnalogIn inRudder(A2);
Cirrus01 1:b106cf2e99ba 44 AnalogIn inThrottle(A3);
Cirrus01 1:b106cf2e99ba 45 AnalogIn inBreaks(A4);
Cirrus01 1:b106cf2e99ba 46 AnalogIn inFlaps(A5);
wim 0:e43878690c0e 47
wim 0:e43878690c0e 48 Ticker heartbeat;
wim 0:e43878690c0e 49 Serial pc(USBTX, USBRX); // tx, rx
wim 0:e43878690c0e 50
Cirrus01 1:b106cf2e99ba 51 // number of elements in an array
Cirrus01 1:b106cf2e99ba 52 #define countof(x) (sizeof(x)/sizeof((x)[0]))
Cirrus01 1:b106cf2e99ba 53
Cirrus01 1:b106cf2e99ba 54 // button input map array
Cirrus01 1:b106cf2e99ba 55 DigitalIn *buttonDigIn[NUM_OF_BUTTONS]; // config.h
Cirrus01 1:b106cf2e99ba 56
Cirrus01 1:b106cf2e99ba 57 // hat button input map array
Cirrus01 1:b106cf2e99ba 58 DigitalIn *hatDigIn[NUM_OF_HAT_BUTTONS]; // config.h
Cirrus01 1:b106cf2e99ba 59
wim 0:e43878690c0e 60 // Heartbeat monitor
Cirrus01 1:b106cf2e99ba 61 void pulse()
Cirrus01 1:b106cf2e99ba 62 {
Cirrus01 1:b106cf2e99ba 63 heartbeatLED = !heartbeatLED;
Cirrus01 1:b106cf2e99ba 64 }
Cirrus01 1:b106cf2e99ba 65
Cirrus01 1:b106cf2e99ba 66 void heartbeat_start()
Cirrus01 1:b106cf2e99ba 67 {
Cirrus01 1:b106cf2e99ba 68 heartbeatLED=1;
Cirrus01 1:b106cf2e99ba 69 heartbeat.attach(&pulse, 0.5);
Cirrus01 1:b106cf2e99ba 70 }
Cirrus01 1:b106cf2e99ba 71
Cirrus01 1:b106cf2e99ba 72 void heartbeat_stop()
Cirrus01 1:b106cf2e99ba 73 {
Cirrus01 1:b106cf2e99ba 74 heartbeat.detach();
wim 0:e43878690c0e 75 }
wim 0:e43878690c0e 76
Cirrus01 1:b106cf2e99ba 77 // button state
Cirrus01 1:b106cf2e99ba 78 struct ButtonState
Cirrus01 1:b106cf2e99ba 79 {
Cirrus01 1:b106cf2e99ba 80 // current on/off state
Cirrus01 1:b106cf2e99ba 81 int pressed;
Cirrus01 1:b106cf2e99ba 82
Cirrus01 1:b106cf2e99ba 83 // Sticky time remaining for current state. When a
Cirrus01 1:b106cf2e99ba 84 // state transition occurs, we set this to a debounce
Cirrus01 1:b106cf2e99ba 85 // period. Future state transitions will be ignored
Cirrus01 1:b106cf2e99ba 86 // until the debounce time elapses.
Cirrus01 1:b106cf2e99ba 87 int bt;
Cirrus01 1:b106cf2e99ba 88 } buttonState[NUM_OF_BUTTONS];
wim 0:e43878690c0e 89
Cirrus01 1:b106cf2e99ba 90 // timer for button reports
Cirrus01 1:b106cf2e99ba 91 static Timer buttonTimer;
Cirrus01 1:b106cf2e99ba 92
Cirrus01 1:b106cf2e99ba 93 // initialize the button inputs
Cirrus01 1:b106cf2e99ba 94 void initButtons()
Cirrus01 1:b106cf2e99ba 95 {
Cirrus01 1:b106cf2e99ba 96 // create the digital inputs
Cirrus01 1:b106cf2e99ba 97 for (int i = 0 ; i < countof(buttonDigIn) ; ++i)
Cirrus01 1:b106cf2e99ba 98 {
Cirrus01 1:b106cf2e99ba 99 if (i < countof(buttonMap) && buttonMap[i] != NC)
Cirrus01 1:b106cf2e99ba 100 buttonDigIn[i] = new DigitalIn(buttonMap[i]);
Cirrus01 1:b106cf2e99ba 101 else
Cirrus01 1:b106cf2e99ba 102 buttonDigIn[i] = 0;
Cirrus01 1:b106cf2e99ba 103 }
Cirrus01 1:b106cf2e99ba 104
Cirrus01 1:b106cf2e99ba 105 // start the button timer
Cirrus01 1:b106cf2e99ba 106 buttonTimer.start();
wim 0:e43878690c0e 107 }
wim 0:e43878690c0e 108
wim 0:e43878690c0e 109
Cirrus01 1:b106cf2e99ba 110 // read the button input state
Cirrus01 1:b106cf2e99ba 111 uint32_t readButtons()
Cirrus01 1:b106cf2e99ba 112 {
Cirrus01 1:b106cf2e99ba 113 // start with all buttons off
Cirrus01 1:b106cf2e99ba 114 uint32_t buttons = 0;
Cirrus01 1:b106cf2e99ba 115
Cirrus01 1:b106cf2e99ba 116 // figure the time elapsed since the last scan
Cirrus01 1:b106cf2e99ba 117 int dt = buttonTimer.read_ms();
Cirrus01 1:b106cf2e99ba 118
Cirrus01 1:b106cf2e99ba 119 // reset the timef for the next scan
Cirrus01 1:b106cf2e99ba 120 buttonTimer.reset();
wim 0:e43878690c0e 121
Cirrus01 1:b106cf2e99ba 122 // scan the button list
Cirrus01 1:b106cf2e99ba 123 uint32_t bit = 1;
Cirrus01 1:b106cf2e99ba 124 DigitalIn **di = buttonDigIn;
Cirrus01 1:b106cf2e99ba 125 ButtonState *bs = buttonState;
Cirrus01 1:b106cf2e99ba 126 for (int i = 0 ; i < countof(buttonDigIn) ; ++i, ++di, ++bs, bit <<= 1)
Cirrus01 1:b106cf2e99ba 127 {
Cirrus01 1:b106cf2e99ba 128 // read this button
Cirrus01 1:b106cf2e99ba 129 if (*di != 0)
Cirrus01 1:b106cf2e99ba 130 {
Cirrus01 1:b106cf2e99ba 131 // deduct the elapsed time since the last update
Cirrus01 1:b106cf2e99ba 132 // from the button's remaining sticky time
Cirrus01 1:b106cf2e99ba 133 bs->bt -= dt;
Cirrus01 1:b106cf2e99ba 134 if (bs->bt < 0)
Cirrus01 1:b106cf2e99ba 135 bs->bt = 0;
Cirrus01 1:b106cf2e99ba 136
Cirrus01 1:b106cf2e99ba 137 // If the sticky time has elapsed, note the new physical
Cirrus01 1:b106cf2e99ba 138 // state of the button. If we still have sticky time
Cirrus01 1:b106cf2e99ba 139 // remaining, ignore the physical state; the last state
Cirrus01 1:b106cf2e99ba 140 // change persists until the sticky time elapses so that
Cirrus01 1:b106cf2e99ba 141 // we smooth out any "bounce" (electrical transients that
Cirrus01 1:b106cf2e99ba 142 // occur when the switch contact is opened or closed).
Cirrus01 1:b106cf2e99ba 143 if (bs->bt == 0)
Cirrus01 1:b106cf2e99ba 144 {
Cirrus01 1:b106cf2e99ba 145 // get the new physical state
Cirrus01 1:b106cf2e99ba 146 int pressed = !(*di)->read();
Cirrus01 1:b106cf2e99ba 147
Cirrus01 1:b106cf2e99ba 148 // update the button's logical state if this is a change
Cirrus01 1:b106cf2e99ba 149 if (pressed != bs->pressed)
Cirrus01 1:b106cf2e99ba 150 {
Cirrus01 1:b106cf2e99ba 151 // store the new state
Cirrus01 1:b106cf2e99ba 152 bs->pressed = pressed;
Cirrus01 1:b106cf2e99ba 153
Cirrus01 1:b106cf2e99ba 154 // start a new sticky period for debouncing this
Cirrus01 1:b106cf2e99ba 155 // state change
Cirrus01 1:b106cf2e99ba 156 bs->bt = 10;
Cirrus01 1:b106cf2e99ba 157 }
Cirrus01 1:b106cf2e99ba 158 }
Cirrus01 1:b106cf2e99ba 159
Cirrus01 1:b106cf2e99ba 160 // if it's pressed, OR its bit into the state
Cirrus01 1:b106cf2e99ba 161 if (bs->pressed)
Cirrus01 1:b106cf2e99ba 162 buttons |= bit;
Cirrus01 1:b106cf2e99ba 163 }
Cirrus01 1:b106cf2e99ba 164 }
Cirrus01 1:b106cf2e99ba 165
Cirrus01 1:b106cf2e99ba 166 // return the new button list
Cirrus01 1:b106cf2e99ba 167 return buttons;
Cirrus01 1:b106cf2e99ba 168 }
wim 0:e43878690c0e 169
Cirrus01 1:b106cf2e99ba 170 // hat state
Cirrus01 1:b106cf2e99ba 171 struct HatState
Cirrus01 1:b106cf2e99ba 172 {
Cirrus01 1:b106cf2e99ba 173 // current on/off state
Cirrus01 1:b106cf2e99ba 174 int pressed;
Cirrus01 1:b106cf2e99ba 175
Cirrus01 1:b106cf2e99ba 176 // Sticky time remaining for current state. When a
Cirrus01 1:b106cf2e99ba 177 // state transition occurs, we set this to a debounce
Cirrus01 1:b106cf2e99ba 178 // period. Future state transitions will be ignored
Cirrus01 1:b106cf2e99ba 179 // until the debounce time elapses.
Cirrus01 1:b106cf2e99ba 180 int ht;
Cirrus01 1:b106cf2e99ba 181 } hatState[NUM_OF_HAT_BUTTONS];
Cirrus01 1:b106cf2e99ba 182
Cirrus01 1:b106cf2e99ba 183 // timer for hat reports
Cirrus01 1:b106cf2e99ba 184 static Timer hatTimer;
Cirrus01 1:b106cf2e99ba 185
Cirrus01 1:b106cf2e99ba 186 // initialize the hat inputs
Cirrus01 1:b106cf2e99ba 187 void initHat()
Cirrus01 1:b106cf2e99ba 188 {
Cirrus01 1:b106cf2e99ba 189 // create the digital inputs
Cirrus01 1:b106cf2e99ba 190 for (int i = 0 ; i < countof(hatDigIn) ; ++i)
Cirrus01 1:b106cf2e99ba 191 {
Cirrus01 1:b106cf2e99ba 192 if (i < countof(hatMap) && hatMap[i] != NC)
Cirrus01 1:b106cf2e99ba 193 hatDigIn[i] = new DigitalIn(hatMap[i]);
Cirrus01 1:b106cf2e99ba 194 else
Cirrus01 1:b106cf2e99ba 195 hatDigIn[i] = 0;
Cirrus01 1:b106cf2e99ba 196 }
Cirrus01 1:b106cf2e99ba 197 }
wim 0:e43878690c0e 198
Cirrus01 1:b106cf2e99ba 199 // read the hat button input state
Cirrus01 1:b106cf2e99ba 200 uint8_t readHat()
Cirrus01 1:b106cf2e99ba 201 {
Cirrus01 1:b106cf2e99ba 202 // start with all buttons off
Cirrus01 1:b106cf2e99ba 203 uint8_t hat = 0;
Cirrus01 1:b106cf2e99ba 204
Cirrus01 1:b106cf2e99ba 205 // figure the time elapsed since the last scan
Cirrus01 1:b106cf2e99ba 206 int dt = hatTimer.read_ms();
Cirrus01 1:b106cf2e99ba 207
Cirrus01 1:b106cf2e99ba 208 // reset the timef for the next scan
Cirrus01 1:b106cf2e99ba 209 hatTimer.reset();
Cirrus01 1:b106cf2e99ba 210
Cirrus01 1:b106cf2e99ba 211 // scan the button list
Cirrus01 1:b106cf2e99ba 212 uint8_t bit = 1;
Cirrus01 1:b106cf2e99ba 213 DigitalIn **di = hatDigIn;
Cirrus01 1:b106cf2e99ba 214 HatState *hs = hatState;
Cirrus01 1:b106cf2e99ba 215 for (int i = 0 ; i < countof(hatDigIn) ; ++i, ++di, ++hs, bit <<= 1)
Cirrus01 1:b106cf2e99ba 216 {
Cirrus01 1:b106cf2e99ba 217 // read this button
Cirrus01 1:b106cf2e99ba 218 if (*di != 0)
Cirrus01 1:b106cf2e99ba 219 {
Cirrus01 1:b106cf2e99ba 220 // deduct the elapsed time since the last update
Cirrus01 1:b106cf2e99ba 221 // from the button's remaining sticky time
Cirrus01 1:b106cf2e99ba 222 hs->ht -= dt;
Cirrus01 1:b106cf2e99ba 223 if (hs->ht < 0)
Cirrus01 1:b106cf2e99ba 224 hs->ht = 0;
Cirrus01 1:b106cf2e99ba 225
Cirrus01 1:b106cf2e99ba 226 // If the sticky time has elapsed, note the new physical
Cirrus01 1:b106cf2e99ba 227 // state of the button. If we still have sticky time
Cirrus01 1:b106cf2e99ba 228 // remaining, ignore the physical state; the last state
Cirrus01 1:b106cf2e99ba 229 // change persists until the sticky time elapses so that
Cirrus01 1:b106cf2e99ba 230 // we smooth out any "bounce" (electrical transients that
Cirrus01 1:b106cf2e99ba 231 // occur when the switch contact is opened or closed).
Cirrus01 1:b106cf2e99ba 232 if (hs->ht == 0)
Cirrus01 1:b106cf2e99ba 233 {
Cirrus01 1:b106cf2e99ba 234 // get the new physical state
Cirrus01 1:b106cf2e99ba 235 int pressed = !(*di)->read();
Cirrus01 1:b106cf2e99ba 236
Cirrus01 1:b106cf2e99ba 237 // update the button's logical state if this is a change
Cirrus01 1:b106cf2e99ba 238 if (pressed != hs->pressed)
Cirrus01 1:b106cf2e99ba 239 {
Cirrus01 1:b106cf2e99ba 240 // store the new state
Cirrus01 1:b106cf2e99ba 241 hs->pressed = pressed;
Cirrus01 1:b106cf2e99ba 242
Cirrus01 1:b106cf2e99ba 243 // start a new sticky period for debouncing this
Cirrus01 1:b106cf2e99ba 244 // state change
Cirrus01 1:b106cf2e99ba 245 hs->ht = 10;
Cirrus01 1:b106cf2e99ba 246 }
Cirrus01 1:b106cf2e99ba 247 }
Cirrus01 1:b106cf2e99ba 248
Cirrus01 1:b106cf2e99ba 249 // if it's pressed, OR its bit into the state
Cirrus01 1:b106cf2e99ba 250 if (hs->pressed)
Cirrus01 1:b106cf2e99ba 251 hat |= bit;
Cirrus01 1:b106cf2e99ba 252 pc.printf("Hat: %d\n", hat);
Cirrus01 1:b106cf2e99ba 253 }
Cirrus01 1:b106cf2e99ba 254 }
Cirrus01 1:b106cf2e99ba 255
Cirrus01 1:b106cf2e99ba 256 // return the new button list
Cirrus01 1:b106cf2e99ba 257 //pc.printf("Hat: %d", hat);
Cirrus01 1:b106cf2e99ba 258 return hat;
Cirrus01 1:b106cf2e99ba 259 }
wim 0:e43878690c0e 260
Cirrus01 1:b106cf2e99ba 261 int main()
Cirrus01 1:b106cf2e99ba 262 {
Cirrus01 1:b106cf2e99ba 263 //uint16_t i = 0;
Cirrus01 1:b106cf2e99ba 264 int16_t throttle = 0;
Cirrus01 1:b106cf2e99ba 265 int16_t rudder = 0;
Cirrus01 1:b106cf2e99ba 266 int16_t breaks = 0;
Cirrus01 1:b106cf2e99ba 267 int16_t flaps = 0;
Cirrus01 1:b106cf2e99ba 268 int16_t x = 0;
Cirrus01 1:b106cf2e99ba 269 int16_t y = 0;
Cirrus01 1:b106cf2e99ba 270 //int32_t radius = 120;
Cirrus01 1:b106cf2e99ba 271 //int32_t angle = 0;
Cirrus01 1:b106cf2e99ba 272 //uint8_t tmp = 0;
Cirrus01 1:b106cf2e99ba 273 //uint32_t tmp = 1;
Cirrus01 1:b106cf2e99ba 274 uint32_t buttons = 0;
Cirrus01 1:b106cf2e99ba 275 uint8_t hat = 0;
Cirrus01 1:b106cf2e99ba 276
Cirrus01 1:b106cf2e99ba 277 pc.printf("Hello World from Joystick!\n\r");
Cirrus01 1:b106cf2e99ba 278
Cirrus01 1:b106cf2e99ba 279 initButtons();
Cirrus01 1:b106cf2e99ba 280 initHat();
Cirrus01 1:b106cf2e99ba 281
Cirrus01 1:b106cf2e99ba 282 heartbeat_start();
wim 0:e43878690c0e 283
Cirrus01 1:b106cf2e99ba 284 while (1) {
Cirrus01 1:b106cf2e99ba 285 // Basic Joystick
Cirrus01 1:b106cf2e99ba 286 // throttle = (i >> 8) & 0xFF; // value -127 .. 128
Cirrus01 1:b106cf2e99ba 287 // rudder = (i >> 8) & 0xFF; // value -127 .. 128
Cirrus01 1:b106cf2e99ba 288 // breaks = (i >> 8) & 0xFF; // value 0 .. 255
Cirrus01 1:b106cf2e99ba 289 // flaps = (i >> 8) & 0xFF; // value 0 .. 255
Cirrus01 1:b106cf2e99ba 290
Cirrus01 1:b106cf2e99ba 291 /*
Cirrus01 1:b106cf2e99ba 292 #if (BUTTONS4 == 1)
Cirrus01 1:b106cf2e99ba 293 buttons = (i >> 8) & 0x0F; // value 0 .. 15, one bit per button
Cirrus01 1:b106cf2e99ba 294 #endif
Cirrus01 1:b106cf2e99ba 295 #if (BUTTONS8 == 1)
Cirrus01 1:b106cf2e99ba 296 buttons = (i >> 8) & 0xFF; // value 0 .. 255, one bit per button
Cirrus01 1:b106cf2e99ba 297 #endif
Cirrus01 1:b106cf2e99ba 298 #if (BUTTONS32 == 1)
Cirrus01 1:b106cf2e99ba 299 //tmp = (i >> 8) & 0xFF; // value 0 .. 255, one bit per button
Cirrus01 1:b106cf2e99ba 300 //buttons = (( tmp << 0) & 0x000000FF);
Cirrus01 1:b106cf2e99ba 301 //buttons = buttons | ((~tmp << 8) & 0x0000FF00);
Cirrus01 1:b106cf2e99ba 302 //buttons = buttons | (( tmp << 16) & 0x00FF0000);
Cirrus01 1:b106cf2e99ba 303 //buttons = buttons | ((~tmp << 24) & 0xFF000000);//
Cirrus01 1:b106cf2e99ba 304 buttons = tmp;
Cirrus01 1:b106cf2e99ba 305 tmp += 1;
Cirrus01 1:b106cf2e99ba 306 pc.printf("Tmp: %u\n", tmp);
Cirrus01 1:b106cf2e99ba 307 #endif
Cirrus01 1:b106cf2e99ba 308
Cirrus01 1:b106cf2e99ba 309 #if (HAT4 == 1)
Cirrus01 1:b106cf2e99ba 310 hat = (i >> 8) & 0x03; // value 0, 1, 2, 3 or 4 for neutral
wim 0:e43878690c0e 311 #endif
wim 0:e43878690c0e 312 #if (HAT8 == 1)
Cirrus01 1:b106cf2e99ba 313 hat = (i >> 8) & 0x07; // value 0..7 or 8 for neutral
Cirrus01 1:b106cf2e99ba 314 #endif
Cirrus01 1:b106cf2e99ba 315 i++;
Cirrus01 1:b106cf2e99ba 316
Cirrus01 1:b106cf2e99ba 317 //x = cos((double)angle*3.14/180.0)*radius; // value -127 .. 128
Cirrus01 1:b106cf2e99ba 318 //y = sin((double)angle*3.14/180.0)*radius; // value -127 .. 128
Cirrus01 1:b106cf2e99ba 319 //angle += 3;
Cirrus01 1:b106cf2e99ba 320 */
Cirrus01 1:b106cf2e99ba 321
Cirrus01 1:b106cf2e99ba 322 buttons = readButtons();
Cirrus01 1:b106cf2e99ba 323 hat = readHat();
Cirrus01 1:b106cf2e99ba 324 //pc.printf("Hat: %d\n", hat);
wim 0:e43878690c0e 325
Cirrus01 1:b106cf2e99ba 326 throttle = inThrottle.read() * 256 - 128;
Cirrus01 1:b106cf2e99ba 327 if(throttle < -127)
Cirrus01 1:b106cf2e99ba 328 throttle = -127;
Cirrus01 1:b106cf2e99ba 329 if(throttle > 127)
Cirrus01 1:b106cf2e99ba 330 throttle = 127;
Cirrus01 1:b106cf2e99ba 331 rudder = inRudder.read() * 256 - 128;
Cirrus01 1:b106cf2e99ba 332 if(rudder < -127)
Cirrus01 1:b106cf2e99ba 333 rudder = -127;
Cirrus01 1:b106cf2e99ba 334 if(rudder > 127)
Cirrus01 1:b106cf2e99ba 335 rudder = 127;
Cirrus01 1:b106cf2e99ba 336 breaks = inBreaks.read() * 256 - 127;
Cirrus01 1:b106cf2e99ba 337 if(breaks < -127)
Cirrus01 1:b106cf2e99ba 338 breaks = -127;
Cirrus01 1:b106cf2e99ba 339 if(breaks > 127)
Cirrus01 1:b106cf2e99ba 340 breaks = 127;
Cirrus01 1:b106cf2e99ba 341 flaps = inFlaps.read() * 256 - 127;
Cirrus01 1:b106cf2e99ba 342 if(flaps < -127)
Cirrus01 1:b106cf2e99ba 343 flaps = -127;
Cirrus01 1:b106cf2e99ba 344 if(flaps > 127)
Cirrus01 1:b106cf2e99ba 345 flaps = 127;
wim 0:e43878690c0e 346
Cirrus01 1:b106cf2e99ba 347 x = inX.read() * 256 - 127;
Cirrus01 1:b106cf2e99ba 348 if(x < -127)
Cirrus01 1:b106cf2e99ba 349 x = -127;
Cirrus01 1:b106cf2e99ba 350 if(x > 127)
Cirrus01 1:b106cf2e99ba 351 x = 127;
Cirrus01 1:b106cf2e99ba 352 y = inY.read() * 254 - 127;
Cirrus01 1:b106cf2e99ba 353 if(y < -127)
Cirrus01 1:b106cf2e99ba 354 y = -127;
Cirrus01 1:b106cf2e99ba 355 if(y < 127)
Cirrus01 1:b106cf2e99ba 356 y = 127;
Cirrus01 1:b106cf2e99ba 357
Cirrus01 1:b106cf2e99ba 358 joystick.update(throttle, rudder, breaks, flaps, x, y, buttons, hat);
Cirrus01 1:b106cf2e99ba 359 wait(0.01);
Cirrus01 1:b106cf2e99ba 360 }
Cirrus01 1:b106cf2e99ba 361
Cirrus01 1:b106cf2e99ba 362 //pc.printf("Bye World!\n\r");
wim 0:e43878690c0e 363 }