Gamepad.h

00001 #ifndef GAMEPAD_H
00002 #define GAMEPAD_H
00003 
00004 #include <bitset>
00005 
00006 // Forward declaration of the classes that we use from the mbed library
00007 // This avoids the need for us to include the huge mbed.h header inside our
00008 // own library API
00009 namespace mbed
00010 {
00011 class AnalogIn;
00012 class InterruptIn;
00013 class PwmOut;
00014 class Timeout;
00015 }
00016 
00017 #define TOL 0.1f
00018 #define RAD2DEG 57.2957795131f
00019 
00020 /** Enum for direction */
00021 enum Direction {
00022     CENTRE,  /**< joystick centred */
00023     N,       /**< pushed North (0)*/
00024     NE,      /**< pushed North-East (45) */
00025     E,       /**< pushed East (90) */
00026     SE,      /**< pushed South-East (135) */
00027     S,       /**< pushed South (180) */
00028     SW,      /**< pushed South-West (225) */
00029     W,       /**< pushed West (270) */
00030     NW       /**< pushed North-West (315) */
00031 };
00032 
00033 /** Vector 2D struct */
00034 struct Vector2D {
00035     float x; /**< float for x value */
00036     float y; /**< float for y value */
00037 };
00038 
00039 /** Polar coordinate struct */
00040 struct Polar {
00041     float mag;  /**< float for magnitude */
00042     float angle; /**< float for angle (in degrees) */
00043 };
00044 
00045 /** Gamepad Class
00046  * @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
00047  * @author Dr Craig A. Evans
00048  * @author Dr Alex Valavanis
00049  */
00050 class Gamepad
00051 {
00052 public:
00053 /** Gamepad events 
00054  * @brief List of events that can be registered on the gamepad
00055  */
00056 enum GamepadEvent {
00057     A_PRESSED,     ///< Button A has been pressed
00058     B_PRESSED,     ///< Button B has been pressed
00059     X_PRESSED,     ///< Button X has been pressed
00060     Y_PRESSED,     ///< Button Y has been pressed
00061     L_PRESSED,     ///< Button L has been pressed
00062     R_PRESSED,     ///< Button R has been pressed
00063     BACK_PRESSED,  ///< Button "Back" has been pressed
00064     START_PRESSED, ///< Button "Start" has been pressed
00065     JOY_PRESSED,   ///< Joystick button has been pressed
00066     N_EVENTS       ///< A dummy flag that marks the end of the list
00067 };
00068 
00069 private:
00070     mbed::PwmOut *_led1;
00071     mbed::PwmOut *_led2;
00072     mbed::PwmOut *_led3;
00073     mbed::PwmOut *_led4;
00074     mbed::PwmOut *_led5;
00075     mbed::PwmOut *_led6;
00076 
00077     mbed::InterruptIn *_button_A;
00078     mbed::InterruptIn *_button_B;
00079     mbed::InterruptIn *_button_X;
00080     mbed::InterruptIn *_button_Y;
00081     mbed::InterruptIn *_button_L;
00082     mbed::InterruptIn *_button_R;
00083     mbed::InterruptIn *_button_back;
00084     mbed::InterruptIn *_button_start;
00085     mbed::InterruptIn *_button_joystick;
00086 
00087     mbed::AnalogIn *_vert;
00088     mbed::AnalogIn *_horiz;
00089 
00090     mbed::PwmOut   *_buzzer;
00091     mbed::AnalogIn *_pot;
00092 
00093     mbed::Timeout *_timeout;
00094 
00095     std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
00096 
00097     // centred x,y values
00098     float _x0;
00099     float _y0;
00100 
00101 public:
00102     /** Constructor */
00103     Gamepad();
00104 
00105     /** Destructor */
00106     ~Gamepad();
00107 
00108     /** Initialise all peripherals and configure interrupts */
00109     void init();
00110 
00111     /** Turn all LEDs on */
00112     void leds_on();
00113 
00114     /** Turn all LEDs off */
00115     void leds_off();
00116 
00117     /** Set all LEDs to duty-cycle
00118     *@param value in range 0.0 to 1.0
00119     */
00120     void leds(float val) const;
00121 
00122     /** Set LED to duty-cycle
00123     *@param led number (0 to 5)
00124     *@param value in range 0.0 to 1.0
00125     */
00126     void led(int n,float val) const;
00127 
00128     /** Read potentiometer
00129     *@returns potentiometer value in range 0.0 to 1.0
00130     */
00131     float read_pot() const;
00132 
00133     /** Play tone on piezo
00134     * @param frequency in Hz
00135     * @param duration of tone in seconds
00136     */
00137     void tone(float frequency, float duration);
00138 
00139     /**
00140      * @brief Check whether an event flag has been set and clear it
00141      * @param id[in] The ID of the event to test
00142      * @return true if the event occurred
00143      */
00144     bool check_event(GamepadEvent const id);
00145 
00146     /**
00147      * @brief   Get the raw binary event state
00148      * @return  The event state as a binary code
00149      * @details The check_event() function is likely to be more useful than
00150      *          this, for testing whether a given event has occurred. It can be
00151      *          useful for debugging via the terminal, however, for example:
00152      *          @code
00153      *          std::cout << gamepad.get_raw_event_state() << std::endl;
00154      *          @endcode
00155      */
00156     inline std::bitset<N_EVENTS> get_raw_event_state() const {
00157         return _event_state;
00158     }
00159 
00160     /** Get magnitude of joystick movement
00161     * @returns value in range 0.0 to 1.0
00162     */
00163     float get_mag();
00164 
00165     /** Get angle of joystick movement
00166     * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
00167     */
00168     float get_angle();
00169 
00170     /** Gets joystick direction
00171     * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
00172     */
00173     Direction get_direction();    // N,NE,E,SE etc.
00174 
00175     /** Gets raw cartesian co-ordinates of joystick
00176     * @returns a struct with x,y members, each in the range 0.0 to 1.0
00177     */
00178     Vector2D get_coord();         // cartesian co-ordinates x,y
00179 
00180     /** Gets cartesian coordinates mapped to circular grid
00181     * @returns a struct with x,y members, each in the range 0.0 to 1.0
00182     */
00183     Vector2D get_mapped_coord();  // x,y mapped to circle
00184 
00185     /** Gets polar coordinates of the joystick
00186     * @returns a struct contains mag and angle
00187     */
00188     Polar get_polar();            // mag and angle in struct form
00189 
00190 private:
00191     void init_buttons();
00192     void tone_off();
00193 
00194     void a_isr();
00195     void b_isr();
00196     void x_isr();
00197     void y_isr();
00198     void l_isr();
00199     void r_isr();
00200     void back_isr();
00201     void start_isr();
00202     void joy_isr();
00203 };
00204 
00205 #endif