Li Ruofan 201199450
Dependencies: mbed Gamepad Joystick
Diff: Joystick/Joystick.cpp
- Revision:
- 8:b4a2954dd74f
- Parent:
- 7:e3844250b77d
--- a/Joystick/Joystick.cpp Fri May 15 22:23:22 2020 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,502 +0,0 @@ -#include "Joystick.h" - -Joystick::Joystick(PinName vertPin,PinName horizPin,PinName clickPin) -{ - vert = new AnalogIn(vertPin); - horiz = new AnalogIn(horizPin); - click = new InterruptIn(clickPin); -} - -void Joystick::init() -{ - // read centred values of joystick - _x0 = horiz->read(); - _y0 = vert->read(); - - // this assumes that the joystick is centred when the init function is called - // if perfectly centred, the pots should read 0.5, but this may - // not be the case and x0 and y0 will be used to calibrate readings - - // turn on pull-down for button -> this assumes the other side of the button - // is connected to +3V3 so we read 1 when pressed and 0 when not pressed - click->mode(PullDown); - // we therefore need to fire the interrupt on a rising edge - click->rise(callback(this,&Joystick::click_isr)); - // need to use a callback since mbed-os5 - basically tells it to look in this class for the ISR - _click_flag = 0; - -} - -Direction Joystick::get_direction() -{ - float angle = get_angle(); // 0 to 360, -1 for centred - - Direction d; - // partition 360 into segments and check which segment the angle is in - if (angle < 0.0f) { - d = CENTRE; // check for -1.0 angle - } else if (angle < 22.5f) { // then keep going in 45 degree increments - d = N; - } else if (angle < 67.5f) { - d = NE; - } else if (angle < 112.5f) { - d = E; - } else if (angle < 157.5f) { - d = SE; - } else if (angle < 202.5f) { - d = S; - } else if (angle < 247.5f) { - d = SW; - } else if (angle < 292.5f) { - d = W; - } else if (angle < 337.5f) { - d = NW; - } else { - d = N; - } - - return d; -} - -// this method gets the magnitude of the joystick movement -float Joystick::get_mag() -{ - Polar p = get_polar(); - return p.mag; -} - -// this method gets the angle of joystick movement (0 to 360, 0 North) -float Joystick::get_angle() -{ - Polar p = get_polar(); - return p.angle; -} - -// get raw joystick coordinate in range -1 to 1 -// Direction (x,y) -// North (0,1) -// East (1,0) -// South (0,-1) -// West (-1,0) -Vector2D Joystick::get_coord() -{ - // read() returns value in range 0.0 to 1.0 so is scaled and centre value - // substracted to get values in the range -1.0 to 1.0 - float x = 2.0f*( horiz->read() - _x0 ); - float y = 2.0f*( vert->read() - _y0 ); - - // Note: the x value here is inverted to ensure the positive x is to the - // right. This is simply due to how the potentiometer on the joystick - // I was using was connected up. It could have been corrected in hardware - // by swapping the power supply pins. Instead it is done in software so may - // need to be changed depending on your wiring setup - - Vector2D coord = {-x,y}; - return coord; -} - -// This maps the raw x,y coord onto a circular grid. -// See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html -Vector2D Joystick::get_mapped_coord() -{ - Vector2D coord = get_coord(); - - // do the transformation - float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f); - float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f); - - Vector2D mapped_coord = {x,y}; - return mapped_coord; -} - -// this function converts the mapped coordinates into polar form -Polar Joystick::get_polar() -{ - // get the mapped coordinate - Vector2D coord = get_mapped_coord(); - - // at this point, 0 degrees (i.e. x-axis) will be defined to the East. - // We want 0 degrees to correspond to North and increase clockwise to 359 - // like a compass heading, so we need to swap the axis and invert y - float x = coord.y; - float y = coord.x; - - float mag = sqrt(x*x+y*y); // pythagoras - float angle = RAD2DEG*atan2(y,x); - // angle will be in range -180 to 180, so add 360 to negative angles to - // move to 0 to 360 range - if (angle < 0.0f) { - angle+=360.0f; - } - - // the noise on the ADC causes the values of x and y to fluctuate slightly - // around the centred values. This causes the random angle values to get - // calculated when the joystick is centred and untouched. This is also when - // the magnitude is very small, so we can check for a small magnitude and then - // set the angle to -1. This will inform us when the angle is invalid and the - // joystick is centred - - if (mag < TOL) { - mag = 0.0f; - angle = -1.0f; - } - - Polar p = {mag,angle}; - return p; -} - -bool Joystick::button_pressed() -{ - // ISR must have been triggered - if (_click_flag) { - _click_flag = 0; // clear flag - return true; - } else { - return false; - } -} - -void Joystick::click_isr() -{ - _click_flag = 1; -}#include "Gamepad.h" - -#include "mbed.h" - -//////////// constructor/destructor //////////// -Gamepad::Gamepad() - : - _led1(new PwmOut(PTA1)), - _led2(new PwmOut(PTA2)), - _led3(new PwmOut(PTC2)), - _led4(new PwmOut(PTC3)), - _led5(new PwmOut(PTC4)), - _led6(new PwmOut(PTD3)), - - _button_A(new InterruptIn(PTB9)), - _button_B(new InterruptIn(PTD0)), - _button_X(new InterruptIn(PTC17)), - _button_Y(new InterruptIn(PTC12)), - _button_L(new InterruptIn(PTB18)), - _button_R(new InterruptIn(PTB3)), - _button_back(new InterruptIn(PTB19)), - _button_start(new InterruptIn(PTC5)), - _button_joystick(new InterruptIn(PTC16)), - - _vert(new AnalogIn(PTB10)), - _horiz(new AnalogIn(PTB11)), - - _buzzer(new PwmOut(PTC10)), - _pot(new AnalogIn(PTB2)), - - _timeout(new Timeout()), - - _event_state(0), - - _x0(0), - _y0(0) -{} - -Gamepad::~Gamepad() -{ - delete _led1,_led2,_led3,_led4,_led5,_led6; - delete _button_A,_button_B,_button_joystick,_vert,_horiz; - delete _button_X,_button_Y,_button_back,_button_start; - delete _button_L,_button_R, _buzzer, _pot, _timeout; -} - -///////////////// public methods ///////////////// - -void Gamepad::init() -{ - leds_off(); - init_buttons(); - - // read centred values of joystick - _x0 = _horiz->read(); - _y0 = _vert->read(); - - // clear all flags - _event_state = 0; -} - -void Gamepad::leds_off() -{ - leds(0.0); -} - -void Gamepad::leds_on() -{ - leds(1.0); -} - -void Gamepad::leds(float val) const -{ - if (val < 0.0f) { - val = 0.0f; - } - if (val > 1.0f) { - val = 1.0f; - } - - // leds are active-low, so subtract from 1.0 - // 0.0 corresponds to fully-off, 1.0 to fully-on - val = 1.0f - val; - - _led1->write(val); - _led2->write(val); - _led3->write(val); - _led4->write(val); - _led5->write(val); - _led6->write(val); -} - -void Gamepad::led(int n,float val) const -{ - // ensure they are within vlaid range - if (val < 0.0f) { - val = 0.0f; - } - if (val > 1.0f) { - val = 1.0f; - } - - switch (n) { - - // check for valid LED number and set value - - case 1: - _led1->write(1.0f-val); // active-low so subtract from 1 - break; - case 2: - _led2->write(1.0f-val); // active-low so subtract from 1 - break; - case 3: - _led3->write(1.0f-val); // active-low so subtract from 1 - break; - case 4: - _led4->write(1.0f-val); // active-low so subtract from 1 - break; - case 5: - _led5->write(1.0f-val); // active-low so subtract from 1 - break; - case 6: - _led6->write(1.0f-val); // active-low so subtract from 1 - break; - - } -} - -float Gamepad::read_pot() const -{ - return _pot->read(); -} - -void Gamepad::tone(float frequency, float duration) -{ - _buzzer->period(1.0f/frequency); - _buzzer->write(0.5); // 50% duty cycle - square wave - _timeout->attach(callback(this, &Gamepad::tone_off), duration ); -} - -bool Gamepad::check_event(GamepadEvent const id) -{ - // Check whether event flag is set - if (_event_state[id]) { - _event_state.reset(id); // clear flag - return true; - } else { - return false; - } -} - -// this method gets the magnitude of the joystick movement -float Gamepad::get_mag() -{ - Polar p = get_polar(); - return p.mag; -} - -// this method gets the angle of joystick movement (0 to 360, 0 North) -float Gamepad::get_angle() -{ - Polar p = get_polar(); - return p.angle; -} - -Direction Gamepad::get_direction() -{ - float angle = get_angle(); // 0 to 360, -1 for centred - - Direction d; - // partition 360 into segments and check which segment the angle is in - if (angle < 0.0f) { - d = CENTRE; // check for -1.0 angle - } else if (angle < 22.5f) { // then keep going in 45 degree increments - d = N; - } else if (angle < 67.5f) { - d = NE; - } else if (angle < 112.5f) { - d = E; - } else if (angle < 157.5f) { - d = SE; - } else if (angle < 202.5f) { - d = S; - } else if (angle < 247.5f) { - d = SW; - } else if (angle < 292.5f) { - d = W; - } else if (angle < 337.5f) { - d = NW; - } else { - d = N; - } - - return d; -} - -///////////////////// private methods //////////////////////// - -void Gamepad::tone_off() -{ - // called after timeout - _buzzer->write(0.0); -} - -void Gamepad::init_buttons() -{ - // turn on pull-downs as other side of button is connected to 3V3 - // button is 0 when not pressed and 1 when pressed - _button_A->mode(PullDown); - _button_B->mode(PullDown); - _button_X->mode(PullDown); - _button_Y->mode(PullDown); - _button_back->mode(PullDown); - _button_start->mode(PullDown); - _button_L->mode(PullDown); - _button_R->mode(PullDown); - _button_joystick->mode(PullDown); - // therefore setup rising edge interrupts - _button_A->rise(callback(this,&Gamepad::a_isr)); - _button_B->rise(callback(this,&Gamepad::b_isr)); - _button_X->rise(callback(this,&Gamepad::x_isr)); - _button_Y->rise(callback(this,&Gamepad::y_isr)); - _button_L->rise(callback(this,&Gamepad::l_isr)); - _button_R->rise(callback(this,&Gamepad::r_isr)); - _button_start->rise(callback(this,&Gamepad::start_isr)); - _button_back->rise(callback(this,&Gamepad::back_isr)); - _button_joystick->rise(callback(this,&Gamepad::joy_isr)); -} - -// button interrupts ISRs -// Each of these simply sets the appropriate event bit in the _event_state -// variable -void Gamepad::a_isr() -{ - _event_state.set(A_PRESSED); -} -void Gamepad::b_isr() -{ - _event_state.set(B_PRESSED); -} -void Gamepad::x_isr() -{ - _event_state.set(X_PRESSED); -} -void Gamepad::y_isr() -{ - _event_state.set(Y_PRESSED); -} -void Gamepad::l_isr() -{ - _event_state.set(L_PRESSED); -} -void Gamepad::r_isr() -{ - _event_state.set(R_PRESSED); -} -void Gamepad::back_isr() -{ - _event_state.set(BACK_PRESSED); -} -void Gamepad::start_isr() -{ - _event_state.set(START_PRESSED); -} -void Gamepad::joy_isr() -{ - _event_state.set(JOY_PRESSED); -} - -// get raw joystick coordinate in range -1 to 1 -// Direction (x,y) -// North (0,1) -// East (1,0) -// South (0,-1) -// West (-1,0) -Vector2D Gamepad::get_coord() -{ - // read() returns value in range 0.0 to 1.0 so is scaled and centre value - // substracted to get values in the range -1.0 to 1.0 - float x = 2.0f*( _horiz->read() - _x0 ); - float y = 2.0f*( _vert->read() - _y0 ); - - // Note: the x value here is inverted to ensure the positive x is to the - // right. This is simply due to how the potentiometer on the joystick - // I was using was connected up. It could have been corrected in hardware - // by swapping the power supply pins. Instead it is done in software so may - // need to be changed depending on your wiring setup - - Vector2D coord = {-x,y}; - return coord; -} - -// This maps the raw x,y coord onto a circular grid. -// See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html -Vector2D Gamepad::get_mapped_coord() -{ - Vector2D coord = get_coord(); - - // do the transformation - float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f); - float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f); - - Vector2D mapped_coord = {x,y}; - return mapped_coord; -} - -// this function converts the mapped coordinates into polar form -Polar Gamepad::get_polar() -{ - // get the mapped coordinate - Vector2D coord = get_mapped_coord(); - - // at this point, 0 degrees (i.e. x-axis) will be defined to the East. - // We want 0 degrees to correspond to North and increase clockwise to 359 - // like a compass heading, so we need to swap the axis and invert y - float x = coord.y; - float y = coord.x; - - float mag = sqrt(x*x+y*y); // pythagoras - float angle = RAD2DEG*atan2(y,x); - // angle will be in range -180 to 180, so add 360 to negative angles to - // move to 0 to 360 range - if (angle < 0.0f) { - angle+=360.0f; - } - - // the noise on the ADC causes the values of x and y to fluctuate slightly - // around the centred values. This causes the random angle values to get - // calculated when the joystick is centred and untouched. This is also when - // the magnitude is very small, so we can check for a small magnitude and then - // set the angle to -1. This will inform us when the angle is invalid and the - // joystick is centred - - if (mag < TOL) { - mag = 0.0f; - angle = -1.0f; - } - - Polar p = {mag,angle}; - return p; -} \ No newline at end of file