Aaron Goselin
Control library for the Sparkfun Entertainment Trackballer breakout board.
trackballer.cpp@15:a66aea99500e, 2011-02-20 (annotated)
- Committer:
- Nakor
- Date:
- Sun Feb 20 18:05:08 2011 +0000
- Revision:
- 15:a66aea99500e
- Parent:
- 14:d566efcd787b
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Nakor | 0:2743c73d648d | 1 | #include "mbed.h" |
| Nakor | 0:2743c73d648d | 2 | #include "trackballer.h" |
| Nakor | 0:2743c73d648d | 3 | |
| Nakor | 0:2743c73d648d | 4 | |
| Nakor | 0:2743c73d648d | 5 | |
| Nakor | 0:2743c73d648d | 6 | |
| Nakor | 6:c0ebd0f8f873 | 7 | trackballer::trackballer(PinName button, PinName right, PinName down, PinName left, PinName up, PinName red, PinName green, PinName blue, PinName white, char limits) |
| Nakor | 0:2743c73d648d | 8 | { |
| Nakor | 0:2743c73d648d | 9 | |
| Nakor | 6:c0ebd0f8f873 | 10 | _limits = limits; |
| Nakor | 6:c0ebd0f8f873 | 11 | |
| Nakor | 0:2743c73d648d | 12 | _buttonPin = new DigitalIn(button); |
| Nakor | 0:2743c73d648d | 13 | _rightPin = new DigitalIn(right); |
| Nakor | 0:2743c73d648d | 14 | _downPin = new DigitalIn(down); |
| Nakor | 0:2743c73d648d | 15 | _leftPin = new DigitalIn(left); |
| Nakor | 0:2743c73d648d | 16 | _upPin = new DigitalIn(up); |
| Nakor | 0:2743c73d648d | 17 | |
| Nakor | 0:2743c73d648d | 18 | _redLED = new PwmOut(red); |
| Nakor | 0:2743c73d648d | 19 | _greenLED = new PwmOut(green); |
| Nakor | 0:2743c73d648d | 20 | _blueLED = new PwmOut(blue); |
| Nakor | 0:2743c73d648d | 21 | _whiteLED = new PwmOut(white); |
| Nakor | 0:2743c73d648d | 22 | |
| Nakor | 0:2743c73d648d | 23 | |
| Nakor | 0:2743c73d648d | 24 | |
| Nakor | 0:2743c73d648d | 25 | _buttonPushCounter = 0; // counter for the number of button presses |
| Nakor | 0:2743c73d648d | 26 | |
| Nakor | 11:35347e6474f9 | 27 | _buttonState = 1; // current state of the button |
| Nakor | 11:35347e6474f9 | 28 | _lastButtonState = 1; // previous state of the button |
| Nakor | 0:2743c73d648d | 29 | |
| Nakor | 0:2743c73d648d | 30 | _upState = 0; |
| Nakor | 0:2743c73d648d | 31 | _downState = 0; |
| Nakor | 0:2743c73d648d | 32 | _leftState = 0; |
| Nakor | 0:2743c73d648d | 33 | _rightState = 0; |
| Nakor | 0:2743c73d648d | 34 | _lastUpState = 0; |
| Nakor | 0:2743c73d648d | 35 | _lastDownState = 0; |
| Nakor | 0:2743c73d648d | 36 | _lastLeftState = 0; |
| Nakor | 0:2743c73d648d | 37 | _lastRightState = 0; |
| Nakor | 0:2743c73d648d | 38 | |
| Nakor | 7:229fc175e05e | 39 | _xPosition = 0.5; |
| Nakor | 7:229fc175e05e | 40 | _yPosition = 0.5; |
| Nakor | 0:2743c73d648d | 41 | |
| Nakor | 0:2743c73d648d | 42 | |
| Nakor | 0:2743c73d648d | 43 | _buttonPin->mode(PullUp); |
| Nakor | 0:2743c73d648d | 44 | |
| Nakor | 0:2743c73d648d | 45 | _redLED->write(0.0); |
| Nakor | 0:2743c73d648d | 46 | _greenLED->write(0.0); |
| Nakor | 0:2743c73d648d | 47 | _blueLED->write(0.0); |
| Nakor | 0:2743c73d648d | 48 | _whiteLED->write(0.0); |
| Nakor | 0:2743c73d648d | 49 | |
| Nakor | 0:2743c73d648d | 50 | _direction = 0x00; |
| Nakor | 0:2743c73d648d | 51 | |
| Nakor | 0:2743c73d648d | 52 | _outputTimer.start(); |
| Nakor | 0:2743c73d648d | 53 | |
| Nakor | 0:2743c73d648d | 54 | } |
| Nakor | 0:2743c73d648d | 55 | |
| Nakor | 0:2743c73d648d | 56 | |
| Nakor | 0:2743c73d648d | 57 | |
| Nakor | 0:2743c73d648d | 58 | /******************/ |
| Nakor | 0:2743c73d648d | 59 | /* Public */ |
| Nakor | 0:2743c73d648d | 60 | /******************/ |
| Nakor | 0:2743c73d648d | 61 | |
| Nakor | 0:2743c73d648d | 62 | |
| Nakor | 5:0abcaea1fb07 | 63 | void trackballer::getState(float &xPosition, float &yPosition, char &button) |
| Nakor | 0:2743c73d648d | 64 | { |
| Nakor | 15:a66aea99500e | 65 | char heldState = 0x00; |
| Nakor | 15:a66aea99500e | 66 | char isHeld = 0x00; |
| Nakor | 15:a66aea99500e | 67 | char exitWhile = 0x00; |
| Nakor | 0:2743c73d648d | 68 | |
| Nakor | 0:2743c73d648d | 69 | _buttonState = _buttonPin->read(); |
| Nakor | 0:2743c73d648d | 70 | |
| Nakor | 14:d566efcd787b | 71 | //int counter1 = 0; |
| Nakor | 14:d566efcd787b | 72 | |
| Nakor | 0:2743c73d648d | 73 | // compare the _buttonState to its previous state |
| Nakor | 0:2743c73d648d | 74 | if (_buttonState != _lastButtonState) |
| Nakor | 0:2743c73d648d | 75 | { |
| Nakor | 14:d566efcd787b | 76 | |
| Nakor | 0:2743c73d648d | 77 | // if the state has changed, increment the counter |
| Nakor | 0:2743c73d648d | 78 | if (_buttonState == 1) |
| Nakor | 0:2743c73d648d | 79 | { |
| Nakor | 15:a66aea99500e | 80 | |
| Nakor | 15:a66aea99500e | 81 | |
| Nakor | 14:d566efcd787b | 82 | /* |
| Nakor | 14:d566efcd787b | 83 | while(_buttonPin->read() == _buttonState) |
| Nakor | 14:d566efcd787b | 84 | { |
| Nakor | 14:d566efcd787b | 85 | //printf("HELD\n"); |
| Nakor | 14:d566efcd787b | 86 | counter1++; |
| Nakor | 14:d566efcd787b | 87 | if(counter1 > 20) |
| Nakor | 14:d566efcd787b | 88 | { |
| Nakor | 14:d566efcd787b | 89 | printf("HELD\n"); |
| Nakor | 14:d566efcd787b | 90 | return; |
| Nakor | 14:d566efcd787b | 91 | } |
| Nakor | 14:d566efcd787b | 92 | } |
| Nakor | 14:d566efcd787b | 93 | */ |
| Nakor | 0:2743c73d648d | 94 | // if the current state is 1 then the button |
| Nakor | 0:2743c73d648d | 95 | // went from off to on: |
| Nakor | 0:2743c73d648d | 96 | _buttonPushCounter++; |
| Nakor | 10:9b35f63411ad | 97 | button = 0x01; |
| Nakor | 10:9b35f63411ad | 98 | //printf("Number of button pushes: %i\n", _buttonPushCounter); |
| Nakor | 0:2743c73d648d | 99 | } |
| Nakor | 15:a66aea99500e | 100 | else if(_buttonState == 0) |
| Nakor | 15:a66aea99500e | 101 | { |
| Nakor | 15:a66aea99500e | 102 | _holdTimer.start(); |
| Nakor | 15:a66aea99500e | 103 | while(_holdTimer.read() < 2.0 && !exitWhile) |
| Nakor | 15:a66aea99500e | 104 | { |
| Nakor | 15:a66aea99500e | 105 | heldState = !_buttonPin->read(); |
| Nakor | 15:a66aea99500e | 106 | |
| Nakor | 15:a66aea99500e | 107 | if(heldState == 0) |
| Nakor | 15:a66aea99500e | 108 | { |
| Nakor | 15:a66aea99500e | 109 | isHeld = 0x00; |
| Nakor | 15:a66aea99500e | 110 | exitWhile = 0x01; |
| Nakor | 15:a66aea99500e | 111 | } |
| Nakor | 15:a66aea99500e | 112 | else |
| Nakor | 15:a66aea99500e | 113 | { |
| Nakor | 15:a66aea99500e | 114 | if(_holdTimer.read() > 1.0) |
| Nakor | 15:a66aea99500e | 115 | { |
| Nakor | 15:a66aea99500e | 116 | isHeld = 0x01; |
| Nakor | 15:a66aea99500e | 117 | exitWhile = 0x01; |
| Nakor | 15:a66aea99500e | 118 | } |
| Nakor | 15:a66aea99500e | 119 | } |
| Nakor | 15:a66aea99500e | 120 | |
| Nakor | 15:a66aea99500e | 121 | |
| Nakor | 15:a66aea99500e | 122 | } |
| Nakor | 15:a66aea99500e | 123 | |
| Nakor | 15:a66aea99500e | 124 | _holdTimer.stop(); |
| Nakor | 15:a66aea99500e | 125 | _holdTimer.reset(); |
| Nakor | 15:a66aea99500e | 126 | |
| Nakor | 15:a66aea99500e | 127 | if(isHeld) |
| Nakor | 15:a66aea99500e | 128 | { |
| Nakor | 15:a66aea99500e | 129 | printf("HELD\n"); |
| Nakor | 15:a66aea99500e | 130 | button = 0x03; |
| Nakor | 15:a66aea99500e | 131 | return; |
| Nakor | 15:a66aea99500e | 132 | } |
| Nakor | 15:a66aea99500e | 133 | } |
| Nakor | 0:2743c73d648d | 134 | } |
| Nakor | 10:9b35f63411ad | 135 | else |
| Nakor | 10:9b35f63411ad | 136 | { |
| Nakor | 10:9b35f63411ad | 137 | button = 0x00; |
| Nakor | 10:9b35f63411ad | 138 | } |
| Nakor | 0:2743c73d648d | 139 | _lastButtonState = _buttonState; |
| Nakor | 10:9b35f63411ad | 140 | //button = !_buttonState; |
| Nakor | 0:2743c73d648d | 141 | |
| Nakor | 0:2743c73d648d | 142 | |
| Nakor | 0:2743c73d648d | 143 | if (_buttonPushCounter % 2 == 0) |
| Nakor | 0:2743c73d648d | 144 | { |
| Nakor | 0:2743c73d648d | 145 | _redLED->write(1); |
| Nakor | 8:2602108edf40 | 146 | //button = 0x01; |
| Nakor | 0:2743c73d648d | 147 | } |
| Nakor | 0:2743c73d648d | 148 | else |
| Nakor | 0:2743c73d648d | 149 | { |
| Nakor | 0:2743c73d648d | 150 | _redLED->write(0); |
| Nakor | 8:2602108edf40 | 151 | //button = 0x00; |
| Nakor | 0:2743c73d648d | 152 | } |
| Nakor | 0:2743c73d648d | 153 | |
| Nakor | 0:2743c73d648d | 154 | _upState = _upPin->read(); |
| Nakor | 0:2743c73d648d | 155 | |
| Nakor | 0:2743c73d648d | 156 | if (_upState != _lastUpState) |
| Nakor | 0:2743c73d648d | 157 | { |
| Nakor | 0:2743c73d648d | 158 | if (_upState == 1) |
| Nakor | 0:2743c73d648d | 159 | { |
| Nakor | 0:2743c73d648d | 160 | // if the current state is 1 then the button |
| Nakor | 0:2743c73d648d | 161 | // went from off to on: |
| Nakor | 0:2743c73d648d | 162 | _yPosition-=TRACK_INC; |
| Nakor | 6:c0ebd0f8f873 | 163 | if(_limits) |
| Nakor | 0:2743c73d648d | 164 | { |
| Nakor | 6:c0ebd0f8f873 | 165 | if (_yPosition < 0.0) |
| Nakor | 6:c0ebd0f8f873 | 166 | { |
| Nakor | 6:c0ebd0f8f873 | 167 | _yPosition = 0.0; |
| Nakor | 6:c0ebd0f8f873 | 168 | } |
| Nakor | 0:2743c73d648d | 169 | } |
| Nakor | 0:2743c73d648d | 170 | } |
| Nakor | 0:2743c73d648d | 171 | } |
| Nakor | 0:2743c73d648d | 172 | _lastUpState = _upState; |
| Nakor | 0:2743c73d648d | 173 | |
| Nakor | 0:2743c73d648d | 174 | |
| Nakor | 0:2743c73d648d | 175 | _downState = _downPin->read(); |
| Nakor | 0:2743c73d648d | 176 | |
| Nakor | 0:2743c73d648d | 177 | // compare the _buttonState to its previous state |
| Nakor | 0:2743c73d648d | 178 | if (_downState != _lastDownState) |
| Nakor | 0:2743c73d648d | 179 | { |
| Nakor | 0:2743c73d648d | 180 | // if the state has changed, increment the counter |
| Nakor | 0:2743c73d648d | 181 | if (_downState == 1) |
| Nakor | 0:2743c73d648d | 182 | { |
| Nakor | 0:2743c73d648d | 183 | // if the current state is 1 then the button |
| Nakor | 0:2743c73d648d | 184 | // went from off to on: |
| Nakor | 0:2743c73d648d | 185 | _yPosition+=TRACK_INC; |
| Nakor | 6:c0ebd0f8f873 | 186 | if(_limits) |
| Nakor | 0:2743c73d648d | 187 | { |
| Nakor | 6:c0ebd0f8f873 | 188 | if (_yPosition > 1.0) |
| Nakor | 6:c0ebd0f8f873 | 189 | { |
| Nakor | 6:c0ebd0f8f873 | 190 | _yPosition = 1.0; |
| Nakor | 6:c0ebd0f8f873 | 191 | } |
| Nakor | 0:2743c73d648d | 192 | } |
| Nakor | 0:2743c73d648d | 193 | } |
| Nakor | 0:2743c73d648d | 194 | } |
| Nakor | 0:2743c73d648d | 195 | _lastDownState = _downState; |
| Nakor | 0:2743c73d648d | 196 | |
| Nakor | 0:2743c73d648d | 197 | |
| Nakor | 0:2743c73d648d | 198 | _leftState = _leftPin->read(); |
| Nakor | 0:2743c73d648d | 199 | |
| Nakor | 0:2743c73d648d | 200 | // compare the _buttonState to its previous state |
| Nakor | 0:2743c73d648d | 201 | if (_leftState != _lastLeftState) |
| Nakor | 0:2743c73d648d | 202 | { |
| Nakor | 0:2743c73d648d | 203 | // if the state has changed, increment the counter |
| Nakor | 0:2743c73d648d | 204 | if (_leftState == 1) |
| Nakor | 0:2743c73d648d | 205 | { |
| Nakor | 0:2743c73d648d | 206 | // if the current state is 1 then the button |
| Nakor | 0:2743c73d648d | 207 | // went from off to on: |
| Nakor | 0:2743c73d648d | 208 | _xPosition-=TRACK_INC; |
| Nakor | 6:c0ebd0f8f873 | 209 | if(_limits) |
| Nakor | 0:2743c73d648d | 210 | { |
| Nakor | 6:c0ebd0f8f873 | 211 | if (_xPosition < 0.0) |
| Nakor | 6:c0ebd0f8f873 | 212 | { |
| Nakor | 6:c0ebd0f8f873 | 213 | _xPosition = 0.0; |
| Nakor | 6:c0ebd0f8f873 | 214 | } |
| Nakor | 0:2743c73d648d | 215 | } |
| Nakor | 0:2743c73d648d | 216 | } |
| Nakor | 0:2743c73d648d | 217 | } |
| Nakor | 0:2743c73d648d | 218 | _lastLeftState = _leftState; |
| Nakor | 0:2743c73d648d | 219 | |
| Nakor | 0:2743c73d648d | 220 | _rightState = _rightPin->read(); |
| Nakor | 0:2743c73d648d | 221 | |
| Nakor | 0:2743c73d648d | 222 | // compare the _buttonState to its previous state |
| Nakor | 0:2743c73d648d | 223 | if (_rightState != _lastRightState) |
| Nakor | 0:2743c73d648d | 224 | { |
| Nakor | 0:2743c73d648d | 225 | // if the state has changed, increment the counter |
| Nakor | 0:2743c73d648d | 226 | if (_rightState == 1) |
| Nakor | 0:2743c73d648d | 227 | { |
| Nakor | 0:2743c73d648d | 228 | // if the current state is 1 then the button |
| Nakor | 0:2743c73d648d | 229 | // went from off to on: |
| Nakor | 0:2743c73d648d | 230 | _xPosition+=TRACK_INC; |
| Nakor | 6:c0ebd0f8f873 | 231 | if(_limits) |
| Nakor | 0:2743c73d648d | 232 | { |
| Nakor | 6:c0ebd0f8f873 | 233 | if (_xPosition > 1.0) |
| Nakor | 6:c0ebd0f8f873 | 234 | { |
| Nakor | 6:c0ebd0f8f873 | 235 | _xPosition = 1.0; |
| Nakor | 6:c0ebd0f8f873 | 236 | } |
| Nakor | 0:2743c73d648d | 237 | } |
| Nakor | 0:2743c73d648d | 238 | } |
| Nakor | 0:2743c73d648d | 239 | } |
| Nakor | 0:2743c73d648d | 240 | _lastRightState = _rightState; |
| Nakor | 0:2743c73d648d | 241 | |
| Nakor | 0:2743c73d648d | 242 | _blueLED->write(_xPosition); |
| Nakor | 0:2743c73d648d | 243 | _greenLED->write(_yPosition); |
| Nakor | 0:2743c73d648d | 244 | |
| Nakor | 0:2743c73d648d | 245 | xPosition = _xPosition; |
| Nakor | 0:2743c73d648d | 246 | yPosition = _yPosition; |
| Nakor | 0:2743c73d648d | 247 | |
| Nakor | 0:2743c73d648d | 248 | |
| Nakor | 6:c0ebd0f8f873 | 249 | |
| Nakor | 6:c0ebd0f8f873 | 250 | #if DEBUG_POSITION |
| Nakor | 4:3d1791d6608a | 251 | int ixPosition = _xPosition * 95; |
| Nakor | 4:3d1791d6608a | 252 | int iyPosition = _yPosition * 63; |
| Nakor | 4:3d1791d6608a | 253 | |
| Nakor | 6:c0ebd0f8f873 | 254 | |
| Nakor | 6:c0ebd0f8f873 | 255 | |
| Nakor | 0:2743c73d648d | 256 | if (_outputTimer.read_ms() > 1000) |
| Nakor | 0:2743c73d648d | 257 | { |
| Nakor | 4:3d1791d6608a | 258 | printf("Position: (x%i, y%i)\n", ixPosition, iyPosition); |
| Nakor | 0:2743c73d648d | 259 | |
| Nakor | 0:2743c73d648d | 260 | _outputTimer.reset(); |
| Nakor | 0:2743c73d648d | 261 | |
| Nakor | 0:2743c73d648d | 262 | } |
| Nakor | 6:c0ebd0f8f873 | 263 | #endif |
| Nakor | 0:2743c73d648d | 264 | |
| Nakor | 7:229fc175e05e | 265 | } |
| Nakor | 7:229fc175e05e | 266 | |
| Nakor | 7:229fc175e05e | 267 | void trackballer::reset() |
| Nakor | 7:229fc175e05e | 268 | { |
| Nakor | 7:229fc175e05e | 269 | _xPosition = 0.5; |
| Nakor | 7:229fc175e05e | 270 | _yPosition = 0.5; |
| Nakor | 0:2743c73d648d | 271 | } |