RUOFAN LI / Mbed 2 deprecated el17rl1

Li Ruofan 201199450

Dependencies:   mbed Gamepad Joystick

Gamepad/Gamepad.h@5:e3a9f0548922, 2020-05-15 (annotated)

Committer:
DannyLee
Date:
Fri May 15 19:57:40 2020 +0000
Revision:
5:e3a9f0548922
need to debug

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DannyLee 5:e3a9f0548922 1 #ifndef GAMEPAD_H
DannyLee 5:e3a9f0548922 2 #define GAMEPAD_H
DannyLee 5:e3a9f0548922 3
DannyLee 5:e3a9f0548922 4 #include <bitset>
DannyLee 5:e3a9f0548922 5
DannyLee 5:e3a9f0548922 6 // Forward declaration of the classes that we use from the mbed library
DannyLee 5:e3a9f0548922 7 // This avoids the need for us to include the huge mbed.h header inside our
DannyLee 5:e3a9f0548922 8 // own library API
DannyLee 5:e3a9f0548922 9 namespace mbed
DannyLee 5:e3a9f0548922 10 {
DannyLee 5:e3a9f0548922 11 class AnalogIn;
DannyLee 5:e3a9f0548922 12 class InterruptIn;
DannyLee 5:e3a9f0548922 13 class PwmOut;
DannyLee 5:e3a9f0548922 14 class Timeout;
DannyLee 5:e3a9f0548922 15 }
DannyLee 5:e3a9f0548922 16
DannyLee 5:e3a9f0548922 17 #define TOL 0.1f
DannyLee 5:e3a9f0548922 18 #define RAD2DEG 57.2957795131f
DannyLee 5:e3a9f0548922 19
DannyLee 5:e3a9f0548922 20 /** Enum for direction */
DannyLee 5:e3a9f0548922 21 enum Direction {
DannyLee 5:e3a9f0548922 22 CENTRE, /**< joystick centred */
DannyLee 5:e3a9f0548922 23 N, /**< pushed North (0)*/
DannyLee 5:e3a9f0548922 24 NE, /**< pushed North-East (45) */
DannyLee 5:e3a9f0548922 25 E, /**< pushed East (90) */
DannyLee 5:e3a9f0548922 26 SE, /**< pushed South-East (135) */
DannyLee 5:e3a9f0548922 27 S, /**< pushed South (180) */
DannyLee 5:e3a9f0548922 28 SW, /**< pushed South-West (225) */
DannyLee 5:e3a9f0548922 29 W, /**< pushed West (270) */
DannyLee 5:e3a9f0548922 30 NW /**< pushed North-West (315) */
DannyLee 5:e3a9f0548922 31 };
DannyLee 5:e3a9f0548922 32
DannyLee 5:e3a9f0548922 33 /** Vector 2D struct */
DannyLee 5:e3a9f0548922 34 struct Vector2D {
DannyLee 5:e3a9f0548922 35 float x; /**< float for x value */
DannyLee 5:e3a9f0548922 36 float y; /**< float for y value */
DannyLee 5:e3a9f0548922 37 };
DannyLee 5:e3a9f0548922 38
DannyLee 5:e3a9f0548922 39 /** Polar coordinate struct */
DannyLee 5:e3a9f0548922 40 struct Polar {
DannyLee 5:e3a9f0548922 41 float mag; /**< float for magnitude */
DannyLee 5:e3a9f0548922 42 float angle; /**< float for angle (in degrees) */
DannyLee 5:e3a9f0548922 43 };
DannyLee 5:e3a9f0548922 44
DannyLee 5:e3a9f0548922 45 /** Gamepad Class
DannyLee 5:e3a9f0548922 46 * @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
DannyLee 5:e3a9f0548922 47 * @author Dr Craig A. Evans
DannyLee 5:e3a9f0548922 48 * @author Dr Alex Valavanis
DannyLee 5:e3a9f0548922 49 */
DannyLee 5:e3a9f0548922 50 class Gamepad
DannyLee 5:e3a9f0548922 51 {
DannyLee 5:e3a9f0548922 52 public:
DannyLee 5:e3a9f0548922 53 /** Gamepad events
DannyLee 5:e3a9f0548922 54 * @brief List of events that can be registered on the gamepad
DannyLee 5:e3a9f0548922 55 */
DannyLee 5:e3a9f0548922 56 enum GamepadEvent {
DannyLee 5:e3a9f0548922 57 A_PRESSED, ///< Button A has been pressed
DannyLee 5:e3a9f0548922 58 B_PRESSED, ///< Button B has been pressed
DannyLee 5:e3a9f0548922 59 X_PRESSED, ///< Button X has been pressed
DannyLee 5:e3a9f0548922 60 Y_PRESSED, ///< Button Y has been pressed
DannyLee 5:e3a9f0548922 61 L_PRESSED, ///< Button L has been pressed
DannyLee 5:e3a9f0548922 62 R_PRESSED, ///< Button R has been pressed
DannyLee 5:e3a9f0548922 63 BACK_PRESSED, ///< Button "Back" has been pressed
DannyLee 5:e3a9f0548922 64 START_PRESSED, ///< Button "Start" has been pressed
DannyLee 5:e3a9f0548922 65 JOY_PRESSED, ///< Joystick button has been pressed
DannyLee 5:e3a9f0548922 66 N_EVENTS ///< A dummy flag that marks the end of the list
DannyLee 5:e3a9f0548922 67 };
DannyLee 5:e3a9f0548922 68
DannyLee 5:e3a9f0548922 69 private:
DannyLee 5:e3a9f0548922 70 mbed::PwmOut *_led1;
DannyLee 5:e3a9f0548922 71 mbed::PwmOut *_led2;
DannyLee 5:e3a9f0548922 72 mbed::PwmOut *_led3;
DannyLee 5:e3a9f0548922 73 mbed::PwmOut *_led4;
DannyLee 5:e3a9f0548922 74 mbed::PwmOut *_led5;
DannyLee 5:e3a9f0548922 75 mbed::PwmOut *_led6;
DannyLee 5:e3a9f0548922 76
DannyLee 5:e3a9f0548922 77 mbed::InterruptIn *_button_A;
DannyLee 5:e3a9f0548922 78 mbed::InterruptIn *_button_B;
DannyLee 5:e3a9f0548922 79 mbed::InterruptIn *_button_X;
DannyLee 5:e3a9f0548922 80 mbed::InterruptIn *_button_Y;
DannyLee 5:e3a9f0548922 81 mbed::InterruptIn *_button_L;
DannyLee 5:e3a9f0548922 82 mbed::InterruptIn *_button_R;
DannyLee 5:e3a9f0548922 83 mbed::InterruptIn *_button_back;
DannyLee 5:e3a9f0548922 84 mbed::InterruptIn *_button_start;
DannyLee 5:e3a9f0548922 85 mbed::InterruptIn *_button_joystick;
DannyLee 5:e3a9f0548922 86
DannyLee 5:e3a9f0548922 87 mbed::AnalogIn *_vert;
DannyLee 5:e3a9f0548922 88 mbed::AnalogIn *_horiz;
DannyLee 5:e3a9f0548922 89
DannyLee 5:e3a9f0548922 90 mbed::PwmOut *_buzzer;
DannyLee 5:e3a9f0548922 91 mbed::AnalogIn *_pot;
DannyLee 5:e3a9f0548922 92
DannyLee 5:e3a9f0548922 93 mbed::Timeout *_timeout;
DannyLee 5:e3a9f0548922 94
DannyLee 5:e3a9f0548922 95 std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
DannyLee 5:e3a9f0548922 96
DannyLee 5:e3a9f0548922 97 // centred x,y values
DannyLee 5:e3a9f0548922 98 float _x0;
DannyLee 5:e3a9f0548922 99 float _y0;
DannyLee 5:e3a9f0548922 100
DannyLee 5:e3a9f0548922 101 public:
DannyLee 5:e3a9f0548922 102 /** Constructor */
DannyLee 5:e3a9f0548922 103 Gamepad();
DannyLee 5:e3a9f0548922 104
DannyLee 5:e3a9f0548922 105 /** Destructor */
DannyLee 5:e3a9f0548922 106 ~Gamepad();
DannyLee 5:e3a9f0548922 107
DannyLee 5:e3a9f0548922 108 /** Initialise all peripherals and configure interrupts */
DannyLee 5:e3a9f0548922 109 void init();
DannyLee 5:e3a9f0548922 110
DannyLee 5:e3a9f0548922 111 /** Turn all LEDs on */
DannyLee 5:e3a9f0548922 112 void leds_on();
DannyLee 5:e3a9f0548922 113
DannyLee 5:e3a9f0548922 114 /** Turn all LEDs off */
DannyLee 5:e3a9f0548922 115 void leds_off();
DannyLee 5:e3a9f0548922 116
DannyLee 5:e3a9f0548922 117 /** Set all LEDs to duty-cycle
DannyLee 5:e3a9f0548922 118 *@param value in range 0.0 to 1.0
DannyLee 5:e3a9f0548922 119 */
DannyLee 5:e3a9f0548922 120 void leds(float val) const;
DannyLee 5:e3a9f0548922 121
DannyLee 5:e3a9f0548922 122 /** Set LED to duty-cycle
DannyLee 5:e3a9f0548922 123 *@param led number (0 to 5)
DannyLee 5:e3a9f0548922 124 *@param value in range 0.0 to 1.0
DannyLee 5:e3a9f0548922 125 */
DannyLee 5:e3a9f0548922 126 void led(int n,float val) const;
DannyLee 5:e3a9f0548922 127
DannyLee 5:e3a9f0548922 128 /** Read potentiometer
DannyLee 5:e3a9f0548922 129 *@returns potentiometer value in range 0.0 to 1.0
DannyLee 5:e3a9f0548922 130 */
DannyLee 5:e3a9f0548922 131 float read_pot() const;
DannyLee 5:e3a9f0548922 132
DannyLee 5:e3a9f0548922 133 /** Play tone on piezo
DannyLee 5:e3a9f0548922 134 * @param frequency in Hz
DannyLee 5:e3a9f0548922 135 * @param duration of tone in seconds
DannyLee 5:e3a9f0548922 136 */
DannyLee 5:e3a9f0548922 137 void tone(float frequency, float duration);
DannyLee 5:e3a9f0548922 138
DannyLee 5:e3a9f0548922 139 /**
DannyLee 5:e3a9f0548922 140 * @brief Check whether an event flag has been set and clear it
DannyLee 5:e3a9f0548922 141 * @param id[in] The ID of the event to test
DannyLee 5:e3a9f0548922 142 * @return true if the event occurred
DannyLee 5:e3a9f0548922 143 */
DannyLee 5:e3a9f0548922 144 bool check_event(GamepadEvent const id);
DannyLee 5:e3a9f0548922 145
DannyLee 5:e3a9f0548922 146 /**
DannyLee 5:e3a9f0548922 147 * @brief Get the raw binary event state
DannyLee 5:e3a9f0548922 148 * @return The event state as a binary code
DannyLee 5:e3a9f0548922 149 * @details The check_event() function is likely to be more useful than
DannyLee 5:e3a9f0548922 150 * this, for testing whether a given event has occurred. It can be
DannyLee 5:e3a9f0548922 151 * useful for debugging via the terminal, however, for example:
DannyLee 5:e3a9f0548922 152 * @code
DannyLee 5:e3a9f0548922 153 * std::cout << gamepad.get_raw_event_state() << std::endl;
DannyLee 5:e3a9f0548922 154 * @endcode
DannyLee 5:e3a9f0548922 155 */
DannyLee 5:e3a9f0548922 156 inline std::bitset<N_EVENTS> get_raw_event_state() const {
DannyLee 5:e3a9f0548922 157 return _event_state;
DannyLee 5:e3a9f0548922 158 }
DannyLee 5:e3a9f0548922 159
DannyLee 5:e3a9f0548922 160 /** Get magnitude of joystick movement
DannyLee 5:e3a9f0548922 161 * @returns value in range 0.0 to 1.0
DannyLee 5:e3a9f0548922 162 */
DannyLee 5:e3a9f0548922 163 float get_mag();
DannyLee 5:e3a9f0548922 164
DannyLee 5:e3a9f0548922 165 /** Get angle of joystick movement
DannyLee 5:e3a9f0548922 166 * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
DannyLee 5:e3a9f0548922 167 */
DannyLee 5:e3a9f0548922 168 float get_angle();
DannyLee 5:e3a9f0548922 169
DannyLee 5:e3a9f0548922 170 /** Gets joystick direction
DannyLee 5:e3a9f0548922 171 * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
DannyLee 5:e3a9f0548922 172 */
DannyLee 5:e3a9f0548922 173 Direction get_direction(); // N,NE,E,SE etc.
DannyLee 5:e3a9f0548922 174
DannyLee 5:e3a9f0548922 175 /** Gets raw cartesian co-ordinates of joystick
DannyLee 5:e3a9f0548922 176 * @returns a struct with x,y members, each in the range 0.0 to 1.0
DannyLee 5:e3a9f0548922 177 */
DannyLee 5:e3a9f0548922 178 Vector2D get_coord(); // cartesian co-ordinates x,y
DannyLee 5:e3a9f0548922 179
DannyLee 5:e3a9f0548922 180 /** Gets cartesian coordinates mapped to circular grid
DannyLee 5:e3a9f0548922 181 * @returns a struct with x,y members, each in the range 0.0 to 1.0
DannyLee 5:e3a9f0548922 182 */
DannyLee 5:e3a9f0548922 183 Vector2D get_mapped_coord(); // x,y mapped to circle
DannyLee 5:e3a9f0548922 184
DannyLee 5:e3a9f0548922 185 /** Gets polar coordinates of the joystick
DannyLee 5:e3a9f0548922 186 * @returns a struct contains mag and angle
DannyLee 5:e3a9f0548922 187 */
DannyLee 5:e3a9f0548922 188 Polar get_polar(); // mag and angle in struct form
DannyLee 5:e3a9f0548922 189
DannyLee 5:e3a9f0548922 190 private:
DannyLee 5:e3a9f0548922 191 void init_buttons();
DannyLee 5:e3a9f0548922 192 void tone_off();
DannyLee 5:e3a9f0548922 193
DannyLee 5:e3a9f0548922 194 void a_isr();
DannyLee 5:e3a9f0548922 195 void b_isr();
DannyLee 5:e3a9f0548922 196 void x_isr();
DannyLee 5:e3a9f0548922 197 void y_isr();
DannyLee 5:e3a9f0548922 198 void l_isr();
DannyLee 5:e3a9f0548922 199 void r_isr();
DannyLee 5:e3a9f0548922 200 void back_isr();
DannyLee 5:e3a9f0548922 201 void start_isr();
DannyLee 5:e3a9f0548922 202 void joy_isr();
DannyLee 5:e3a9f0548922 203 };
DannyLee 5:e3a9f0548922 204
DannyLee 5:e3a9f0548922 205 #endif