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Li Ruofan 201199450
Dependencies: mbed Gamepad Joystick
Diff: Joystick/Joystick.h
- Revision:
- 3:cf9fead9c3f4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Joystick/Joystick.h Thu May 14 13:12:28 2020 +0000 @@ -0,0 +1,108 @@ +#ifndef JOYSTICK_H +#define JOYSTICK_H + +#include "mbed.h" + +// this value can be tuned to alter tolerance of joystick movement +#define TOL 0.1f +#define RAD2DEG 57.2957795131f + +enum Direction { + CENTRE, // 0 + N, // 1 + NE, // 2 + E, // 3 + SE, // 4 + S, // 5 + SW, // 6 + W, // 7 + NW // 8 +}; + +struct Vector2D { + float x; + float y; +}; + +struct Polar { + float mag; + float angle; +}; + +/** Joystick Class +@author Dr Craig A. Evans, University of Leeds +@brief Library for interfacing with analogue joystick + +Example: + +@code + +#include "mbed.h" +#include "Joystick.h" + +// y x button +Joystick joystick(PTB10,PTB11,PTC16); + +int main() { + + joystick.init(); + + while(1) { + + Vector2D coord = joystick.get_coord(); + printf("Coord = %f,%f\n",coord.x,coord.y); + + Vector2D mapped_coord = joystick.get_mapped_coord(); + printf("Mapped coord = %f,%f\n",mapped_coord.x,mapped_coord.y); + + float mag = joystick.get_mag(); + float angle = joystick.get_angle(); + printf("Mag = %f Angle = %f\n",mag,angle); + + Direction d = joystick.get_direction(); + printf("Direction = %i\n",d); + + if (joystick.button_pressed() ) { + printf("Button Pressed\n"); + } + + wait(0.5); + } + + +} + +* @endcode +*/ +class Joystick +{ +public: + + // y-pot x-pot button + Joystick(PinName vertPin,PinName horizPin,PinName clickPin); + + void init(); // needs to be called at start with joystick centred + float get_mag(); // polar + float get_angle(); // polar + Vector2D get_coord(); // cartesian co-ordinates x,y + Vector2D get_mapped_coord(); // x,y mapped to circle + Direction get_direction(); // N,NE,E,SE etc. + Polar get_polar(); // mag and angle in struct form + bool button_pressed(); // read button flag set in ISR when button pressed + +private: + + AnalogIn *vert; + AnalogIn *horiz; + InterruptIn *click; + + int _click_flag; // flag set in ISR + void click_isr(); // ISR on button press + + // centred x,y values + float _x0; + float _y0; + +}; + +#endif \ No newline at end of file