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Li Ruofan 201199450
Dependencies: mbed Gamepad Joystick
Diff: Gamepad/Gamepad.h
- Revision:
- 8:b4a2954dd74f
- Parent:
- 7:e3844250b77d
diff -r e3844250b77d -r b4a2954dd74f Gamepad/Gamepad.h --- a/Gamepad/Gamepad.h Fri May 15 22:23:22 2020 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,205 +0,0 @@ -#ifndef GAMEPAD_H -#define GAMEPAD_H - -#include <bitset> - -// Forward declaration of the classes that we use from the mbed library -// This avoids the need for us to include the huge mbed.h header inside our -// own library API -namespace mbed -{ -class AnalogIn; -class InterruptIn; -class PwmOut; -class Timeout; -} - -#define TOL 0.1f -#define RAD2DEG 57.2957795131f - -/** Enum for direction */ -enum Direction { - CENTRE, /**< joystick centred */ - N, /**< pushed North (0)*/ - NE, /**< pushed North-East (45) */ - E, /**< pushed East (90) */ - SE, /**< pushed South-East (135) */ - S, /**< pushed South (180) */ - SW, /**< pushed South-West (225) */ - W, /**< pushed West (270) */ - NW /**< pushed North-West (315) */ -}; - -/** Vector 2D struct */ -struct Vector2D { - float x; /**< float for x value */ - float y; /**< float for y value */ -}; - -/** Polar coordinate struct */ -struct Polar { - float mag; /**< float for magnitude */ - float angle; /**< float for angle (in degrees) */ -}; - -/** Gamepad Class - * @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds - * @author Dr Craig A. Evans - * @author Dr Alex Valavanis - */ -class Gamepad -{ -public: -/** Gamepad events - * @brief List of events that can be registered on the gamepad - */ -enum GamepadEvent { - A_PRESSED, ///< Button A has been pressed - B_PRESSED, ///< Button B has been pressed - X_PRESSED, ///< Button X has been pressed - Y_PRESSED, ///< Button Y has been pressed - L_PRESSED, ///< Button L has been pressed - R_PRESSED, ///< Button R has been pressed - BACK_PRESSED, ///< Button "Back" has been pressed - START_PRESSED, ///< Button "Start" has been pressed - JOY_PRESSED, ///< Joystick button has been pressed - N_EVENTS ///< A dummy flag that marks the end of the list -}; - -private: - mbed::PwmOut *_led1; - mbed::PwmOut *_led2; - mbed::PwmOut *_led3; - mbed::PwmOut *_led4; - mbed::PwmOut *_led5; - mbed::PwmOut *_led6; - - mbed::InterruptIn *_button_A; - mbed::InterruptIn *_button_B; - mbed::InterruptIn *_button_X; - mbed::InterruptIn *_button_Y; - mbed::InterruptIn *_button_L; - mbed::InterruptIn *_button_R; - mbed::InterruptIn *_button_back; - mbed::InterruptIn *_button_start; - mbed::InterruptIn *_button_joystick; - - mbed::AnalogIn *_vert; - mbed::AnalogIn *_horiz; - - mbed::PwmOut *_buzzer; - mbed::AnalogIn *_pot; - - mbed::Timeout *_timeout; - - std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed - - // centred x,y values - float _x0; - float _y0; - -public: - /** Constructor */ - Gamepad(); - - /** Destructor */ - ~Gamepad(); - - /** Initialise all peripherals and configure interrupts */ - void init(); - - /** Turn all LEDs on */ - void leds_on(); - - /** Turn all LEDs off */ - void leds_off(); - - /** Set all LEDs to duty-cycle - *@param value in range 0.0 to 1.0 - */ - void leds(float val) const; - - /** Set LED to duty-cycle - *@param led number (0 to 5) - *@param value in range 0.0 to 1.0 - */ - void led(int n,float val) const; - - /** Read potentiometer - *@returns potentiometer value in range 0.0 to 1.0 - */ - float read_pot() const; - - /** Play tone on piezo - * @param frequency in Hz - * @param duration of tone in seconds - */ - void tone(float frequency, float duration); - - /** - * @brief Check whether an event flag has been set and clear it - * @param id[in] The ID of the event to test - * @return true if the event occurred - */ - bool check_event(GamepadEvent const id); - - /** - * @brief Get the raw binary event state - * @return The event state as a binary code - * @details The check_event() function is likely to be more useful than - * this, for testing whether a given event has occurred. It can be - * useful for debugging via the terminal, however, for example: - * @code - * std::cout << gamepad.get_raw_event_state() << std::endl; - * @endcode - */ - inline std::bitset<N_EVENTS> get_raw_event_state() const { - return _event_state; - } - - /** Get magnitude of joystick movement - * @returns value in range 0.0 to 1.0 - */ - float get_mag(); - - /** Get angle of joystick movement - * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central - */ - float get_angle(); - - /** Gets joystick direction - * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW, - */ - Direction get_direction(); // N,NE,E,SE etc. - - /** Gets raw cartesian co-ordinates of joystick - * @returns a struct with x,y members, each in the range 0.0 to 1.0 - */ - Vector2D get_coord(); // cartesian co-ordinates x,y - - /** Gets cartesian coordinates mapped to circular grid - * @returns a struct with x,y members, each in the range 0.0 to 1.0 - */ - Vector2D get_mapped_coord(); // x,y mapped to circle - - /** Gets polar coordinates of the joystick - * @returns a struct contains mag and angle - */ - Polar get_polar(); // mag and angle in struct form - -private: - void init_buttons(); - void tone_off(); - - void a_isr(); - void b_isr(); - void x_isr(); - void y_isr(); - void l_isr(); - void r_isr(); - void back_isr(); - void start_isr(); - void joy_isr(); -}; - -#endif \ No newline at end of file