Yuheng Huo / Mbed 2 deprecated hyh_copy_copy

test

Dependencies:   mbed FXOS8700CQ

Gamepad/Gamepad.h@4:c7dc43515215, 2020-05-15 (annotated)

Committer:
Neowless
Date:
Fri May 15 20:36:00 2020 +0000
Revision:
4:c7dc43515215
Parent:
1:48b0bf0bcda8 
test;

Who changed what in which revision?

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Neowless 1:48b0bf0bcda8 1 #ifndef GAMEPAD_H
Neowless 1:48b0bf0bcda8 2 #define GAMEPAD_H
Neowless 1:48b0bf0bcda8 3
Neowless 1:48b0bf0bcda8 4 #include <bitset>
Neowless 1:48b0bf0bcda8 5
Neowless 1:48b0bf0bcda8 6 // Forward declaration of the classes that we use from the mbed library
Neowless 1:48b0bf0bcda8 7 // This avoids the need for us to include the huge mbed.h header inside our
Neowless 1:48b0bf0bcda8 8 // own library API
Neowless 1:48b0bf0bcda8 9 namespace mbed
Neowless 1:48b0bf0bcda8 10 {
Neowless 1:48b0bf0bcda8 11 class AnalogIn;
Neowless 1:48b0bf0bcda8 12 class InterruptIn;
Neowless 1:48b0bf0bcda8 13 class PwmOut;
Neowless 1:48b0bf0bcda8 14 class Timeout;
Neowless 1:48b0bf0bcda8 15 }
Neowless 1:48b0bf0bcda8 16
Neowless 1:48b0bf0bcda8 17 #define TOL 0.1f
Neowless 1:48b0bf0bcda8 18 #define RAD2DEG 57.2957795131f
Neowless 1:48b0bf0bcda8 19
Neowless 1:48b0bf0bcda8 20 /** Enum for direction */
Neowless 1:48b0bf0bcda8 21 enum Direction {
Neowless 1:48b0bf0bcda8 22 CENTRE, /**< joystick centred */
Neowless 1:48b0bf0bcda8 23 N, /**< pushed North (0)*/
Neowless 1:48b0bf0bcda8 24 NE, /**< pushed North-East (45) */
Neowless 1:48b0bf0bcda8 25 E, /**< pushed East (90) */
Neowless 1:48b0bf0bcda8 26 SE, /**< pushed South-East (135) */
Neowless 1:48b0bf0bcda8 27 S, /**< pushed South (180) */
Neowless 1:48b0bf0bcda8 28 SW, /**< pushed South-West (225) */
Neowless 1:48b0bf0bcda8 29 W, /**< pushed West (270) */
Neowless 1:48b0bf0bcda8 30 NW /**< pushed North-West (315) */
Neowless 1:48b0bf0bcda8 31 };
Neowless 1:48b0bf0bcda8 32
Neowless 1:48b0bf0bcda8 33 /** Vector 2D struct */
Neowless 1:48b0bf0bcda8 34 struct Vector2D {
Neowless 1:48b0bf0bcda8 35 float x; /**< float for x value */
Neowless 1:48b0bf0bcda8 36 float y; /**< float for y value */
Neowless 1:48b0bf0bcda8 37 };
Neowless 1:48b0bf0bcda8 38
Neowless 1:48b0bf0bcda8 39 /** Polar coordinate struct */
Neowless 1:48b0bf0bcda8 40 struct Polar {
Neowless 1:48b0bf0bcda8 41 float mag; /**< float for magnitude */
Neowless 1:48b0bf0bcda8 42 float angle; /**< float for angle (in degrees) */
Neowless 1:48b0bf0bcda8 43 };
Neowless 1:48b0bf0bcda8 44
Neowless 1:48b0bf0bcda8 45 /** Gamepad Class
Neowless 1:48b0bf0bcda8 46 * @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
Neowless 1:48b0bf0bcda8 47 * @author Dr Craig A. Evans
Neowless 1:48b0bf0bcda8 48 * @author Dr Alex Valavanis
Neowless 1:48b0bf0bcda8 49 */
Neowless 1:48b0bf0bcda8 50 class Gamepad
Neowless 1:48b0bf0bcda8 51 {
Neowless 1:48b0bf0bcda8 52 public:
Neowless 1:48b0bf0bcda8 53 /** Gamepad events
Neowless 1:48b0bf0bcda8 54 * @brief List of events that can be registered on the gamepad
Neowless 1:48b0bf0bcda8 55 */
Neowless 1:48b0bf0bcda8 56 enum GamepadEvent {
Neowless 1:48b0bf0bcda8 57 A_PRESSED, ///< Button A has been pressed
Neowless 1:48b0bf0bcda8 58 B_PRESSED, ///< Button B has been pressed
Neowless 1:48b0bf0bcda8 59 X_PRESSED, ///< Button X has been pressed
Neowless 1:48b0bf0bcda8 60 Y_PRESSED, ///< Button Y has been pressed
Neowless 1:48b0bf0bcda8 61 L_PRESSED, ///< Button L has been pressed
Neowless 1:48b0bf0bcda8 62 R_PRESSED, ///< Button R has been pressed
Neowless 1:48b0bf0bcda8 63 BACK_PRESSED, ///< Button "Back" has been pressed
Neowless 1:48b0bf0bcda8 64 START_PRESSED, ///< Button "Start" has been pressed
Neowless 1:48b0bf0bcda8 65 JOY_PRESSED, ///< Joystick button has been pressed
Neowless 1:48b0bf0bcda8 66 N_EVENTS ///< A dummy flag that marks the end of the list
Neowless 1:48b0bf0bcda8 67 };
Neowless 1:48b0bf0bcda8 68
Neowless 1:48b0bf0bcda8 69 private:
Neowless 1:48b0bf0bcda8 70 mbed::PwmOut *_led1;
Neowless 1:48b0bf0bcda8 71 mbed::PwmOut *_led2;
Neowless 1:48b0bf0bcda8 72 mbed::PwmOut *_led3;
Neowless 1:48b0bf0bcda8 73 mbed::PwmOut *_led4;
Neowless 1:48b0bf0bcda8 74 mbed::PwmOut *_led5;
Neowless 1:48b0bf0bcda8 75 mbed::PwmOut *_led6;
Neowless 1:48b0bf0bcda8 76
Neowless 1:48b0bf0bcda8 77 mbed::InterruptIn *_button_A;
Neowless 1:48b0bf0bcda8 78 mbed::InterruptIn *_button_B;
Neowless 1:48b0bf0bcda8 79 mbed::InterruptIn *_button_X;
Neowless 1:48b0bf0bcda8 80 mbed::InterruptIn *_button_Y;
Neowless 1:48b0bf0bcda8 81 mbed::InterruptIn *_button_L;
Neowless 1:48b0bf0bcda8 82 mbed::InterruptIn *_button_R;
Neowless 1:48b0bf0bcda8 83 mbed::InterruptIn *_button_back;
Neowless 1:48b0bf0bcda8 84 mbed::InterruptIn *_button_start;
Neowless 1:48b0bf0bcda8 85 mbed::InterruptIn *_button_joystick;
Neowless 1:48b0bf0bcda8 86
Neowless 1:48b0bf0bcda8 87 mbed::AnalogIn *_vert;
Neowless 1:48b0bf0bcda8 88 mbed::AnalogIn *_horiz;
Neowless 1:48b0bf0bcda8 89
Neowless 1:48b0bf0bcda8 90 mbed::PwmOut *_buzzer;
Neowless 1:48b0bf0bcda8 91 mbed::AnalogIn *_pot;
Neowless 1:48b0bf0bcda8 92
Neowless 1:48b0bf0bcda8 93 mbed::Timeout *_timeout;
Neowless 1:48b0bf0bcda8 94
Neowless 1:48b0bf0bcda8 95 std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
Neowless 1:48b0bf0bcda8 96
Neowless 1:48b0bf0bcda8 97 // centred x,y values
Neowless 1:48b0bf0bcda8 98 float _x0;
Neowless 1:48b0bf0bcda8 99 float _y0;
Neowless 1:48b0bf0bcda8 100
Neowless 1:48b0bf0bcda8 101 public:
Neowless 1:48b0bf0bcda8 102 /** Constructor */
Neowless 1:48b0bf0bcda8 103 Gamepad();
Neowless 1:48b0bf0bcda8 104
Neowless 1:48b0bf0bcda8 105 /** Destructor */
Neowless 1:48b0bf0bcda8 106 ~Gamepad();
Neowless 1:48b0bf0bcda8 107
Neowless 1:48b0bf0bcda8 108 /** Initialise all peripherals and configure interrupts */
Neowless 1:48b0bf0bcda8 109 void init();
Neowless 1:48b0bf0bcda8 110
Neowless 1:48b0bf0bcda8 111 /** Turn all LEDs on */
Neowless 1:48b0bf0bcda8 112 void leds_on();
Neowless 1:48b0bf0bcda8 113
Neowless 1:48b0bf0bcda8 114 /** Turn all LEDs off */
Neowless 1:48b0bf0bcda8 115 void leds_off();
Neowless 1:48b0bf0bcda8 116
Neowless 1:48b0bf0bcda8 117 /** Set all LEDs to duty-cycle
Neowless 1:48b0bf0bcda8 118 *@param value in range 0.0 to 1.0
Neowless 1:48b0bf0bcda8 119 */
Neowless 1:48b0bf0bcda8 120 void leds(float val) const;
Neowless 1:48b0bf0bcda8 121
Neowless 1:48b0bf0bcda8 122 /** Set LED to duty-cycle
Neowless 1:48b0bf0bcda8 123 *@param led number (0 to 5)
Neowless 1:48b0bf0bcda8 124 *@param value in range 0.0 to 1.0
Neowless 1:48b0bf0bcda8 125 */
Neowless 1:48b0bf0bcda8 126 void led(int n,float val) const;
Neowless 1:48b0bf0bcda8 127
Neowless 1:48b0bf0bcda8 128 /** Read potentiometer
Neowless 1:48b0bf0bcda8 129 *@returns potentiometer value in range 0.0 to 1.0
Neowless 1:48b0bf0bcda8 130 */
Neowless 1:48b0bf0bcda8 131 float read_pot() const;
Neowless 1:48b0bf0bcda8 132
Neowless 1:48b0bf0bcda8 133 /** Play tone on piezo
Neowless 1:48b0bf0bcda8 134 * @param frequency in Hz
Neowless 1:48b0bf0bcda8 135 * @param duration of tone in seconds
Neowless 1:48b0bf0bcda8 136 */
Neowless 1:48b0bf0bcda8 137 void tone(float frequency, float duration);
Neowless 1:48b0bf0bcda8 138
Neowless 1:48b0bf0bcda8 139 /**
Neowless 1:48b0bf0bcda8 140 * @brief Check whether an event flag has been set and clear it
Neowless 1:48b0bf0bcda8 141 * @param id[in] The ID of the event to test
Neowless 1:48b0bf0bcda8 142 * @return true if the event occurred
Neowless 1:48b0bf0bcda8 143 */
Neowless 1:48b0bf0bcda8 144 bool check_event(GamepadEvent const id);
Neowless 1:48b0bf0bcda8 145
Neowless 1:48b0bf0bcda8 146 /**
Neowless 1:48b0bf0bcda8 147 * @brief Get the raw binary event state
Neowless 1:48b0bf0bcda8 148 * @return The event state as a binary code
Neowless 1:48b0bf0bcda8 149 * @details The check_event() function is likely to be more useful than
Neowless 1:48b0bf0bcda8 150 * this, for testing whether a given event has occurred. It can be
Neowless 1:48b0bf0bcda8 151 * useful for debugging via the terminal, however, for example:
Neowless 1:48b0bf0bcda8 152 * @code
Neowless 1:48b0bf0bcda8 153 * std::cout << gamepad.get_raw_event_state() << std::endl;
Neowless 1:48b0bf0bcda8 154 * @endcode
Neowless 1:48b0bf0bcda8 155 */
Neowless 1:48b0bf0bcda8 156 inline std::bitset<N_EVENTS> get_raw_event_state() const {
Neowless 1:48b0bf0bcda8 157 return _event_state;
Neowless 1:48b0bf0bcda8 158 }
Neowless 1:48b0bf0bcda8 159
Neowless 1:48b0bf0bcda8 160 /** Get magnitude of joystick movement
Neowless 1:48b0bf0bcda8 161 * @returns value in range 0.0 to 1.0
Neowless 1:48b0bf0bcda8 162 */
Neowless 1:48b0bf0bcda8 163 float get_mag();
Neowless 1:48b0bf0bcda8 164
Neowless 1:48b0bf0bcda8 165 /** Get angle of joystick movement
Neowless 1:48b0bf0bcda8 166 * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
Neowless 1:48b0bf0bcda8 167 */
Neowless 1:48b0bf0bcda8 168 float get_angle();
Neowless 1:48b0bf0bcda8 169
Neowless 1:48b0bf0bcda8 170 /** Gets joystick direction
Neowless 1:48b0bf0bcda8 171 * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
Neowless 1:48b0bf0bcda8 172 */
Neowless 1:48b0bf0bcda8 173 Direction get_direction(); // N,NE,E,SE etc.
Neowless 1:48b0bf0bcda8 174
Neowless 1:48b0bf0bcda8 175 /** Gets raw cartesian co-ordinates of joystick
Neowless 1:48b0bf0bcda8 176 * @returns a struct with x,y members, each in the range 0.0 to 1.0
Neowless 1:48b0bf0bcda8 177 */
Neowless 1:48b0bf0bcda8 178 Vector2D get_coord(); // cartesian co-ordinates x,y
Neowless 1:48b0bf0bcda8 179
Neowless 1:48b0bf0bcda8 180 /** Gets cartesian coordinates mapped to circular grid
Neowless 1:48b0bf0bcda8 181 * @returns a struct with x,y members, each in the range 0.0 to 1.0
Neowless 1:48b0bf0bcda8 182 */
Neowless 1:48b0bf0bcda8 183 Vector2D get_mapped_coord(); // x,y mapped to circle
Neowless 1:48b0bf0bcda8 184
Neowless 1:48b0bf0bcda8 185 /** Gets polar coordinates of the joystick
Neowless 1:48b0bf0bcda8 186 * @returns a struct contains mag and angle
Neowless 1:48b0bf0bcda8 187 */
Neowless 1:48b0bf0bcda8 188 Polar get_polar(); // mag and angle in struct form
Neowless 1:48b0bf0bcda8 189
Neowless 1:48b0bf0bcda8 190 private:
Neowless 1:48b0bf0bcda8 191 void init_buttons();
Neowless 1:48b0bf0bcda8 192 void tone_off();
Neowless 1:48b0bf0bcda8 193
Neowless 1:48b0bf0bcda8 194 void a_isr();
Neowless 1:48b0bf0bcda8 195 void b_isr();
Neowless 1:48b0bf0bcda8 196 void x_isr();
Neowless 1:48b0bf0bcda8 197 void y_isr();
Neowless 1:48b0bf0bcda8 198 void l_isr();
Neowless 1:48b0bf0bcda8 199 void r_isr();
Neowless 1:48b0bf0bcda8 200 void back_isr();
Neowless 1:48b0bf0bcda8 201 void start_isr();
Neowless 1:48b0bf0bcda8 202 void joy_isr();
Neowless 1:48b0bf0bcda8 203 };
Neowless 1:48b0bf0bcda8 204
Neowless 1:48b0bf0bcda8 205 #endif