File content as of revision 11:ff86b2ffce01:

#ifndef GAMEPAD_H
#define GAMEPAD_H

#include "mbed.h"

#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
@date Febraury 2017
*/
class Gamepad
{
private:
    PwmOut *_led1;
    PwmOut *_led2;
    PwmOut *_led3;
    PwmOut *_led4;
    PwmOut *_led5;
    PwmOut *_led6;

    InterruptIn *_button_A;
    InterruptIn *_button_B;
    InterruptIn *_button_X;
    InterruptIn *_button_Y;
    InterruptIn *_button_back;
    InterruptIn *_button_start;
    InterruptIn *_button_L;
    InterruptIn *_button_R;
    InterruptIn *_button_joystick;

    AnalogIn *_vert;
    AnalogIn *_horiz;

    PwmOut   *_buzzer;
    AnalogIn *_pot;

    Timeout *_timeout;

    bool _a_flag;
    bool _b_flag;
    bool _x_flag;
    bool _y_flag;
    bool _l_flag;
    bool _r_flag;
    bool _back_flag;
    bool _start_flag;
    bool _joy_flag;

    // 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 value in range 0.0 to 1.0
    */
    void led1(float val);

    /** Set LED to duty-cycle
      *@param value in range 0.0 to 1.0
      */
    void led2(float val);

    /** Set LED to duty-cycle
    *@param value in range 0.0 to 1.0
    */
    void led3(float val);

    /** Set LED to duty-cycle
    *@param value in range 0.0 to 1.0
    */
    void led4(float val);

    /** Set LED to duty-cycle
    *@param value in range 0.0 to 1.0
    */
    void led5(float val);

    /** Set LED to duty-cycle
    *@param value in range 0.0 to 1.0
    */
    void led6(float val);

    /** 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);

    /** Check if A button pressed
    * @returns true if yes, false if no
    */
    bool a_pressed();

    /** Check if B button pressed
    * @returns true if yes, false if no
    */
    bool b_pressed();

    /** Check if X button pressed
    * @returns true if yes, false if no
    */
    bool x_pressed();

    /** Check if Y button pressed
    * @returns true if yes, false if no
    */
    bool y_pressed();

    /** Check if L button pressed
    * @returns true if yes, false if no
    */
    bool l_pressed();

    /** Check if R button pressed
    * @returns true if yes, false if no
    */
    bool r_pressed();

    /** Check if Back button pressed
    * @returns true if yes, false if no
    */
    bool back_pressed();

    /** Check if Start button pressed
    * @returns true if yes, false if no
    */
    bool start_pressed();

    /** Check if Joystick button pressed
    * @returns true if yes, false if no
    */
    bool joystick_pressed();

    /** 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