Diff: Joystick.cpp

Revision:

0:9c486d50434e

Child:

4:beeaa40d49fa

diff -r 000000000000 -r 9c486d50434e Joystick.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Joystick.cpp	Tue Sep 28 14:59:57 2010 +0000
@@ -0,0 +1,98 @@
+#include "Joystick.h"
+
+AnalogIn hin(p19);
+AnalogIn vin(p18);
+
+joyhv last = {0.5,0.5};
+
+double scaleb(double min, double max, double bmin, double bmax, double num){
+    double shifted = num + (bmin - min);    //shifted bmin down to min
+    return (shifted - min) * (bmax-bmin)/(max-min) + min; //scaled bmax to max
+}
+
+double doscale(double pos){
+    double min, max, midmin, midmax, scaled;
+    
+    min = 0.087;
+    max = 0.98;
+    
+    midmin = 0.51;
+    midmax = 0.56;
+
+    
+    if(pos < midmin){           // lower than 0.5 tolerance - backwards
+        scaled = scaleb(min, midmin, 0, 0.5, pos);
+    } else if (pos > midmax){   //greater than 0.5 tolerance - forwards
+        scaled = scaleb(midmax, max, 0.5, 1, pos);
+    } else {
+        scaled = 0.5;
+    }
+    
+    //check if out of bounds [0,1]
+    
+    if(scaled < 0)
+        scaled = 0;
+    
+    if(scaled > 1)
+        scaled = 1;
+    
+    return scaled;
+}
+
+
+double dofilter(double last, double num, double factor){
+
+    return last*factor + num*(1-factor);
+
+}
+
+Joystick::Joystick(PinName b, PinName h, PinName v) : _b(b), _h(h), _v(v) {
+}
+
+Joystick::operator joyhv (){
+    joyhv data;
+    data.v = _v.read();
+    data.h = _h.read();
+    return data;
+}
+
+double Joystick::getV (){
+    return _v.read();
+}
+
+double Joystick::getH (){
+    return _h.read();
+}
+
+void Joystick::rise (void (*fptr)(void)){ 
+    _b.rise(fptr);
+}
+
+void Joystick::fall (void (*fptr)(void)){
+    _b.fall(fptr);
+}
+
+//simple filtering
+joyhv Joystick::filter(joyhv read, double factor){
+
+    joyhv filtered = {0.5,0.5};
+    
+    filtered.v = dofilter(last.v, read.v, factor);
+    filtered.h = dofilter(last.h, read.h, factor);
+    
+    last.v = filtered.v;
+    last.h = filtered.h;
+    
+    return filtered;
+}
+
+joyhv Joystick::scale(joyhv read){
+    
+    joyhv scaled = {0.5,0.5};
+    
+    scaled.v = doscale(read.v);
+    scaled.h = doscale(read.h);
+    
+    return scaled;
+    
+}
\ No newline at end of file