Diff: trackballer.cpp

Revision:

0:2743c73d648d

Child:

2:3c680dd598b7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/trackballer.cpp	Sat Feb 19 19:14:01 2011 +0000
@@ -0,0 +1,182 @@
+#include "mbed.h"
+#include "trackballer.h"
+
+
+
+
+trackballer::trackballer(PinName button, PinName right, PinName down, PinName left, PinName up, PinName red, PinName green, PinName blue, PinName white)
+{
+    
+    _buttonPin = new DigitalIn(button);
+    _rightPin = new DigitalIn(right);
+    _downPin = new DigitalIn(down);
+    _leftPin = new DigitalIn(left);
+    _upPin = new DigitalIn(up);
+    
+    _redLED = new PwmOut(red);
+    _greenLED = new PwmOut(green);
+    _blueLED = new PwmOut(blue);
+    _whiteLED = new PwmOut(white);
+
+
+
+    _buttonPushCounter = 0;   // counter for the number of button presses
+    
+    _buttonState = 0;         // current state of the button
+    _lastButtonState = 0;     // previous state of the button
+    
+    _upState = 0;
+    _downState = 0;
+    _leftState = 0;
+    _rightState = 0;
+    _lastUpState = 0;
+    _lastDownState = 0;
+    _lastLeftState = 0;
+    _lastRightState = 0;
+    
+    _xPosition = 0.0;
+    _yPosition = 0.0;
+    
+    
+    _buttonPin->mode(PullUp);
+
+    _redLED->write(0.0);
+    _greenLED->write(0.0);
+    _blueLED->write(0.0);
+    _whiteLED->write(0.0);
+ 
+    _direction = 0x00;
+
+    _outputTimer.start();
+
+}
+
+
+
+/******************/
+/* Public         */
+/******************/
+
+
+void trackballer::getDirection(float &xPosition, float &yPosition)
+{
+
+    _buttonState = _buttonPin->read();
+
+    // compare the _buttonState to its previous state
+    if (_buttonState != _lastButtonState) 
+    {
+        // if the state has changed, increment the counter
+        if (_buttonState == 1) 
+        {
+            // if the current state is 1 then the button
+            // went from off to on:
+            _buttonPushCounter++;
+            printf("Number of button pushes:  %i\n", _buttonPushCounter);
+        }
+    }
+    _lastButtonState = _buttonState;
+
+
+    if (_buttonPushCounter % 2 == 0) 
+    {
+        _redLED->write(1);
+    }
+    else 
+    {
+        _redLED->write(0);
+    }
+
+    _upState = _upPin->read();
+
+    if (_upState != _lastUpState) 
+    {
+        if (_upState == 1) 
+        {
+            // if the current state is 1 then the button
+            // went from off to on:
+            _yPosition-=TRACK_INC;
+            if (_yPosition < 0.0) 
+            {
+                _yPosition = 0.0;
+            }
+        }
+    }
+    _lastUpState = _upState;
+
+
+    _downState = _downPin->read();
+
+    // compare the _buttonState to its previous state
+    if (_downState != _lastDownState)
+    {
+        // if the state has changed, increment the counter
+        if (_downState == 1) 
+        {
+            // if the current state is 1 then the button
+            // went from off to on:
+            _yPosition+=TRACK_INC;
+            if (_yPosition > 1.0) 
+            {
+                _yPosition = 1.0;
+            }
+        }
+    }
+    _lastDownState = _downState;
+
+
+    _leftState = _leftPin->read();
+
+    // compare the _buttonState to its previous state
+    if (_leftState != _lastLeftState) 
+    {
+        // if the state has changed, increment the counter
+        if (_leftState == 1) 
+        {
+            // if the current state is 1 then the button
+            // went from off to on:
+            _xPosition-=TRACK_INC;
+            if (_xPosition < 0.0) 
+            {
+                _xPosition = 0.0;
+            }
+        }
+    }
+    _lastLeftState = _leftState;
+
+    _rightState = _rightPin->read();
+
+    // compare the _buttonState to its previous state
+    if (_rightState != _lastRightState) 
+    {
+        // if the state has changed, increment the counter
+        if (_rightState == 1) 
+        {
+            // if the current state is 1 then the button
+            // went from off to on:
+            _xPosition+=TRACK_INC;
+            if (_xPosition > 1.0) 
+            {
+                _xPosition = 1.0;
+            }
+        }
+    }
+    _lastRightState = _rightState;
+
+    _blueLED->write(_xPosition);
+    _greenLED->write(_yPosition);
+    
+    xPosition = _xPosition;
+    yPosition = _yPosition;
+
+
+
+    if (_outputTimer.read_ms() > 1000) 
+    {
+        printf("Position:  (x%f, y%f)\n", _xPosition, _yPosition);
+
+        _outputTimer.reset();
+
+    }
+
+}
\ No newline at end of file