WIP PID
Dependencies: USBDEVICE USBJoystick mbed
Fork of USBJoystick_HelloWorld2 by
main.cpp
- Committer:
- Cirrus01
- Date:
- 2018-07-07
- Revision:
- 1:caf8a4134cbf
- Parent:
- 0:e43878690c0e
File content as of revision 1:caf8a4134cbf:
/* mbed USBJoystick Library Demo * Copyright (c) 2012, v01: Initial version, WH, * Modified USBMouse code ARM Limited. * (c) 2010-2011 mbed.org, MIT License * 2016, v02: Updated USBDevice Lib, Added waitForConnect, Updated 32 bits button * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, inclumosig without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUmosiG BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #include "mbed.h" #include "config.h" #include "USBJoystick.h" //#define LANDTIGER 1 // number of elements in an array #define countof(x) (sizeof(x)/sizeof((x)[0])) // The Simulator Device USBJoystick joystick; // Variables for Button input DigitalIn *buttonDigIn[NUM_OF_BUTTONS]; // config.h DigitalIn *hatDigIn[NUM_OF_HAT_BUTTONS]; // config.h // Variables for Heartbeat and Status monitoring DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut heartbeatLED(LED4); AnalogIn xi(A0); AnalogIn yi(A1); AnalogIn fi(A2); AnalogIn bi(A3); AnalogIn ri(A4); AnalogIn ti(A5); Ticker heartbeat; Serial pc(USBTX, USBRX); // tx, rx // Heartbeat monitor void pulse() { heartbeatLED = !heartbeatLED; } void heartbeat_start() { heartbeatLED=1; heartbeat.attach(&pulse, 0.5); } void heartbeat_stop() { heartbeat.detach(); } // button state struct ButtonState { // current on/off state int pressed; // Sticky time remaining for current state. When a // state transition occurs, we set this to a debounce // period. Future state transitions will be ignored // until the debounce time elapses. int t; } buttonState[NUM_OF_BUTTONS]; // timer for button reports static Timer buttonTimer; // initialize the button inputs void initButtons() { // create the digital inputs for (int i = 0 ; i < countof(buttonDigIn) ; ++i) { if (i < countof(buttonMap) && buttonMap[i] != NC) buttonDigIn[i] = new DigitalIn(buttonMap[i]); else buttonDigIn[i] = 0; } // start the button timer buttonTimer.start(); } // read the button input state uint32_t readButtons() { // start with all buttons off uint32_t buttons = 0; // figure the time elapsed since the last scan int dt = buttonTimer.read_ms(); // reset the timef for the next scan buttonTimer.reset(); // scan the button list uint32_t bit = 1; DigitalIn **di = buttonDigIn; ButtonState *bs = buttonState; for (int i = 0 ; i < countof(buttonDigIn) ; ++i, ++di, ++bs, bit <<= 1) { // read this button if (*di != 0) { // deduct the elapsed time since the last update // from the button's remaining sticky time bs->t -= dt; if (bs->t < 0) bs->t = 0; // If the sticky time has elapsed, note the new physical // state of the button. If we still have sticky time // remaining, ignore the physical state; the last state // change persists until the sticky time elapses so that // we smooth out any "bounce" (electrical transients that // occur when the switch contact is opened or closed). if (bs->t == 0) { // get the new physical state int pressed = !(*di)->read(); // update the button's logical state if this is a change if (pressed != bs->pressed) { // store the new state bs->pressed = pressed; // start a new sticky period for debouncing this // state change bs->t = 25; } } // if it's pressed, OR its bit into the state if (bs->pressed) buttons |= bit; } } // return the new button list return buttons; } // timer for hat button reports static Timer hatTimer; // button state struct HatState { // current on/off state int pressed; // Sticky time remaining for current state. When a // state transition occurs, we set this to a debounce // period. Future state transitions will be ignored // until the debounce time elapses. int t; } hatState[NUM_OF_HAT_BUTTONS]; // initialize the hat inputs void initHat() { // create the digital inputs for (int i = 0 ; i < countof(hatDigIn) ; ++i) { if (i < countof(hatMap) && hatMap[i] != NC) hatDigIn[i] = new DigitalIn(hatMap[i]); else hatDigIn[i] = 0; } } // read the button input state uint32_t readHat() { // start with all buttons off uint8_t hat = 0; // figure the time elapsed since the last scan int dt = hatTimer.read_ms(); // reset the timef for the next scan hatTimer.reset(); // scan the button list uint8_t bit = 1; DigitalIn **di = hatDigIn; HatState *bs = hatState; for (int i = 0 ; i < countof(hatDigIn) ; ++i, ++di, ++bs, bit <<= 1) { // read this button if (*di != 0) { // deduct the elapsed time since the last update // from the button's remaining sticky time bs->t -= dt; if (bs->t < 0) bs->t = 0; // If the sticky time has elapsed, note the new physical // state of the button. If we still have sticky time // remaining, ignore the physical state; the last state // change persists until the sticky time elapses so that // we smooth out any "bounce" (electrical transients that // occur when the switch contact is opened or closed). if (bs->t == 0) { // get the new physical state int pressed = !(*di)->read(); // update the button's logical state if this is a change if (pressed != bs->pressed) { // store the new state bs->pressed = pressed; // start a new sticky period for debouncing this // state change bs->t = 25; } } // if it's pressed, OR its bit into the state if (bs->pressed) hat |= bit; } } // return the new button list return hat; } int main() { //uint16_t i = 0; int16_t throttle = 0; int16_t rudder = 0; int16_t flaps = 0; int16_t breaks = 0; int16_t x = 0; int16_t y = 0; //int32_t radius = 120; //int32_t angle = 0; //uint8_t tmp = 0; uint32_t buttons = 0; uint8_t hat = 0; pc.printf("Hello World from Joystick!\n\r"); initButtons(); initHat(); heartbeat_start(); while (1) { /* // Basic Joystick throttle = (i >> 8) & 0xFF; // value -127 .. 128 rudder = (i >> 8) & 0xFF; // value -127 .. 128 flaps = (i >> 8) & 0xFF; // value -127 .. 128 breaks = (i >> 8) & 0xFF; // value -127 .. 128 #if (BUTTONS4 == 1) buttons = (i >> 8) & 0x0F; // value 0 .. 15, one bit per button #endif #if (BUTTONS8 == 1) buttons = (i >> 8) & 0xFF; // value 0 .. 255, one bit per button #endif #if (BUTTONS32 == 1) tmp = (i >> 8) & 0xFF; // value 0 .. 255, one bit per button buttons = (( tmp << 0) & 0x000000FF); buttons = buttons | ((~tmp << 8) & 0x0000FF00); buttons = buttons | (( tmp << 16) & 0x00FF0000); buttons = buttons | ((~tmp << 24) & 0xFF000000); #endif #if (HAT4 == 1) hat = (i >> 8) & 0x03; // value 0, 1, 2, 3 or 4 for neutral #endif #if (HAT8 == 1) hat = (i >> 8) & 0x07; // value 0..7 or 8 for neutral #endif i++; //x = cos((double)angle*3.14/180.0)*radius; // value -127 .. 128 //y = sin((double)angle*3.14/180.0)*radius; // value -127 .. 128 //angle += 3; */ buttons = readButtons(); hat = readHat(); x = int(((double)xi.read() - 0.5) * 254); y = int(((double)yi.read() - 0.5) * 254); flaps = int(((double)fi.read() - 0.5) * 254); breaks = int(((double)bi.read() - 0.5) * 254); rudder = int(((double)ri.read() - 0.5) * 254); throttle = int(((double)ti.read() - 0.5) * 254); joystick.update(throttle, rudder, flaps, breaks, x, y, buttons, hat); wait(0.001); } //pc.printf("Bye World!\n\r"); }