Aiming Wu / Mbed 2 deprecated Game

Implement basic functions.

Dependencies:   mbed N5110

Gamepad/Gamepad.h@0:7173d91b03e1, 2019-05-03 (annotated)

Committer:
Wuuu
Date:
Fri May 03 13:03:59 2019 +0000
Revision:
0:7173d91b03e1
Copter, which with header programme.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wuuu 0:7173d91b03e1 1 #ifndef GAMEPAD_H
Wuuu 0:7173d91b03e1 2 #define GAMEPAD_H
Wuuu 0:7173d91b03e1 3
Wuuu 0:7173d91b03e1 4 #include <bitset>
Wuuu 0:7173d91b03e1 5
Wuuu 0:7173d91b03e1 6 // Forward declaration of the classes that we use from the mbed library
Wuuu 0:7173d91b03e1 7 // This avoids the need for us to include the huge mbed.h header inside our
Wuuu 0:7173d91b03e1 8 // own library API
Wuuu 0:7173d91b03e1 9 namespace mbed
Wuuu 0:7173d91b03e1 10 {
Wuuu 0:7173d91b03e1 11 class AnalogIn;
Wuuu 0:7173d91b03e1 12 class InterruptIn;
Wuuu 0:7173d91b03e1 13 class PwmOut;
Wuuu 0:7173d91b03e1 14 class Timeout;
Wuuu 0:7173d91b03e1 15 }
Wuuu 0:7173d91b03e1 16
Wuuu 0:7173d91b03e1 17 #define TOL 0.1f
Wuuu 0:7173d91b03e1 18 #define RAD2DEG 57.2957795131f
Wuuu 0:7173d91b03e1 19
Wuuu 0:7173d91b03e1 20 /** Enum for direction */
Wuuu 0:7173d91b03e1 21 enum Direction {
Wuuu 0:7173d91b03e1 22 CENTRE, /**< joystick centred */
Wuuu 0:7173d91b03e1 23 N, /**< pushed North (0)*/
Wuuu 0:7173d91b03e1 24 NE, /**< pushed North-East (45) */
Wuuu 0:7173d91b03e1 25 E, /**< pushed East (90) */
Wuuu 0:7173d91b03e1 26 SE, /**< pushed South-East (135) */
Wuuu 0:7173d91b03e1 27 S, /**< pushed South (180) */
Wuuu 0:7173d91b03e1 28 SW, /**< pushed South-West (225) */
Wuuu 0:7173d91b03e1 29 W, /**< pushed West (270) */
Wuuu 0:7173d91b03e1 30 NW /**< pushed North-West (315) */
Wuuu 0:7173d91b03e1 31 };
Wuuu 0:7173d91b03e1 32
Wuuu 0:7173d91b03e1 33 /** Vector 2D struct */
Wuuu 0:7173d91b03e1 34 struct Vector2D {
Wuuu 0:7173d91b03e1 35 float x; /**< float for x value */
Wuuu 0:7173d91b03e1 36 float y; /**< float for y value */
Wuuu 0:7173d91b03e1 37 };
Wuuu 0:7173d91b03e1 38
Wuuu 0:7173d91b03e1 39 /** Polar coordinate struct */
Wuuu 0:7173d91b03e1 40 struct Polar {
Wuuu 0:7173d91b03e1 41 float mag; /**< float for magnitude */
Wuuu 0:7173d91b03e1 42 float angle; /**< float for angle (in degrees) */
Wuuu 0:7173d91b03e1 43 };
Wuuu 0:7173d91b03e1 44
Wuuu 0:7173d91b03e1 45 /** Gamepad Class
Wuuu 0:7173d91b03e1 46 @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
Wuuu 0:7173d91b03e1 47 @author Dr Craig A. Evans
Wuuu 0:7173d91b03e1 48 @author Dr Alex Valanvanis
Wuuu 0:7173d91b03e1 49 @date Febraury 2017
Wuuu 0:7173d91b03e1 50 */
Wuuu 0:7173d91b03e1 51 class Gamepad
Wuuu 0:7173d91b03e1 52 {
Wuuu 0:7173d91b03e1 53 public:
Wuuu 0:7173d91b03e1 54 /** Gamepad events
Wuuu 0:7173d91b03e1 55 * @brief List of events that can be registered on the gamepad
Wuuu 0:7173d91b03e1 56 */
Wuuu 0:7173d91b03e1 57 enum GamepadEvent {
Wuuu 0:7173d91b03e1 58 A_PRESSED, ///< Button A has been pressed
Wuuu 0:7173d91b03e1 59 B_PRESSED, ///< Button B has been pressed
Wuuu 0:7173d91b03e1 60 X_PRESSED, ///< Button X has been pressed
Wuuu 0:7173d91b03e1 61 Y_PRESSED, ///< Button Y has been pressed
Wuuu 0:7173d91b03e1 62 L_PRESSED, ///< Button L has been pressed
Wuuu 0:7173d91b03e1 63 R_PRESSED, ///< Button R has been pressed
Wuuu 0:7173d91b03e1 64 BACK_PRESSED, ///< Button "Back" has been pressed
Wuuu 0:7173d91b03e1 65 START_PRESSED, ///< Button "Start" has been pressed
Wuuu 0:7173d91b03e1 66 JOY_PRESSED, ///< Joystick button has been pressed
Wuuu 0:7173d91b03e1 67 N_EVENTS ///< A dummy flag that marks the end of the list
Wuuu 0:7173d91b03e1 68 };
Wuuu 0:7173d91b03e1 69 private:
Wuuu 0:7173d91b03e1 70 mbed::PwmOut *_led1;
Wuuu 0:7173d91b03e1 71 mbed::PwmOut *_led2;
Wuuu 0:7173d91b03e1 72 mbed::PwmOut *_led3;
Wuuu 0:7173d91b03e1 73 mbed::PwmOut *_led4;
Wuuu 0:7173d91b03e1 74 mbed::PwmOut *_led5;
Wuuu 0:7173d91b03e1 75 mbed::PwmOut *_led6;
Wuuu 0:7173d91b03e1 76
Wuuu 0:7173d91b03e1 77 mbed::InterruptIn *_button_A;
Wuuu 0:7173d91b03e1 78 mbed::InterruptIn *_button_B;
Wuuu 0:7173d91b03e1 79 mbed::InterruptIn *_button_X;
Wuuu 0:7173d91b03e1 80 mbed::InterruptIn *_button_Y;
Wuuu 0:7173d91b03e1 81 mbed::InterruptIn *_button_L;
Wuuu 0:7173d91b03e1 82 mbed::InterruptIn *_button_R;
Wuuu 0:7173d91b03e1 83 mbed::InterruptIn *_button_back;
Wuuu 0:7173d91b03e1 84 mbed::InterruptIn *_button_start;
Wuuu 0:7173d91b03e1 85 mbed::InterruptIn *_button_joystick;
Wuuu 0:7173d91b03e1 86
Wuuu 0:7173d91b03e1 87 mbed::AnalogIn *_vert;
Wuuu 0:7173d91b03e1 88 mbed::AnalogIn *_horiz;
Wuuu 0:7173d91b03e1 89
Wuuu 0:7173d91b03e1 90 mbed::PwmOut *_buzzer;
Wuuu 0:7173d91b03e1 91 mbed::AnalogIn *_pot;
Wuuu 0:7173d91b03e1 92
Wuuu 0:7173d91b03e1 93 mbed::Timeout *_timeout;
Wuuu 0:7173d91b03e1 94
Wuuu 0:7173d91b03e1 95 std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
Wuuu 0:7173d91b03e1 96
Wuuu 0:7173d91b03e1 97 // centred x,y values
Wuuu 0:7173d91b03e1 98 float _x0;
Wuuu 0:7173d91b03e1 99 float _y0;
Wuuu 0:7173d91b03e1 100
Wuuu 0:7173d91b03e1 101 public:
Wuuu 0:7173d91b03e1 102
Wuuu 0:7173d91b03e1 103 /** Constructor */
Wuuu 0:7173d91b03e1 104 Gamepad();
Wuuu 0:7173d91b03e1 105
Wuuu 0:7173d91b03e1 106 /** Destructor */
Wuuu 0:7173d91b03e1 107 ~Gamepad();
Wuuu 0:7173d91b03e1 108
Wuuu 0:7173d91b03e1 109 /** Initialise all peripherals and configure interrupts */
Wuuu 0:7173d91b03e1 110 void init();
Wuuu 0:7173d91b03e1 111
Wuuu 0:7173d91b03e1 112 /** Turn all LEDs on */
Wuuu 0:7173d91b03e1 113 void leds_on();
Wuuu 0:7173d91b03e1 114
Wuuu 0:7173d91b03e1 115 /** Turn all LEDs off */
Wuuu 0:7173d91b03e1 116 void leds_off();
Wuuu 0:7173d91b03e1 117
Wuuu 0:7173d91b03e1 118 /** Set all LEDs to duty-cycle
Wuuu 0:7173d91b03e1 119 *@param value in range 0.0 to 1.0
Wuuu 0:7173d91b03e1 120 */
Wuuu 0:7173d91b03e1 121 void leds(float val) const;
Wuuu 0:7173d91b03e1 122
Wuuu 0:7173d91b03e1 123 /** Set LED to duty-cycle
Wuuu 0:7173d91b03e1 124 *@param led number (0 to 5)
Wuuu 0:7173d91b03e1 125 *@param value in range 0.0 to 1.0
Wuuu 0:7173d91b03e1 126 */
Wuuu 0:7173d91b03e1 127 void led(int n,float val) const;
Wuuu 0:7173d91b03e1 128
Wuuu 0:7173d91b03e1 129 /** Read potentiometer
Wuuu 0:7173d91b03e1 130 *@returns potentiometer value in range 0.0 to 1.0
Wuuu 0:7173d91b03e1 131 */
Wuuu 0:7173d91b03e1 132 float read_pot() const;
Wuuu 0:7173d91b03e1 133
Wuuu 0:7173d91b03e1 134 /** Play tone on piezo
Wuuu 0:7173d91b03e1 135 * @param frequency in Hz
Wuuu 0:7173d91b03e1 136 * @param duration of tone in seconds
Wuuu 0:7173d91b03e1 137 */
Wuuu 0:7173d91b03e1 138 void tone(float frequency, float duration);
Wuuu 0:7173d91b03e1 139
Wuuu 0:7173d91b03e1 140 /**
Wuuu 0:7173d91b03e1 141 * @brief Check whether an event flag has been set and clear it
Wuuu 0:7173d91b03e1 142 * @param id[in] The ID of the event to test
Wuuu 0:7173d91b03e1 143 * @return true if the event occurred
Wuuu 0:7173d91b03e1 144 */
Wuuu 0:7173d91b03e1 145 bool check_event(GamepadEvent const id);
Wuuu 0:7173d91b03e1 146
Wuuu 0:7173d91b03e1 147 /** Get magnitude of joystick movement
Wuuu 0:7173d91b03e1 148 * @returns value in range 0.0 to 1.0
Wuuu 0:7173d91b03e1 149 */
Wuuu 0:7173d91b03e1 150
Wuuu 0:7173d91b03e1 151 float get_mag();
Wuuu 0:7173d91b03e1 152
Wuuu 0:7173d91b03e1 153 /** Get angle of joystick movement
Wuuu 0:7173d91b03e1 154 * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
Wuuu 0:7173d91b03e1 155 */
Wuuu 0:7173d91b03e1 156 float get_angle();
Wuuu 0:7173d91b03e1 157
Wuuu 0:7173d91b03e1 158 /** Gets joystick direction
Wuuu 0:7173d91b03e1 159 * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
Wuuu 0:7173d91b03e1 160 */
Wuuu 0:7173d91b03e1 161 Direction get_direction(); // N,NE,E,SE etc.
Wuuu 0:7173d91b03e1 162
Wuuu 0:7173d91b03e1 163 /** Gets raw cartesian co-ordinates of joystick
Wuuu 0:7173d91b03e1 164 * @returns a struct with x,y members, each in the range 0.0 to 1.0
Wuuu 0:7173d91b03e1 165 */
Wuuu 0:7173d91b03e1 166 Vector2D get_coord(); // cartesian co-ordinates x,y
Wuuu 0:7173d91b03e1 167
Wuuu 0:7173d91b03e1 168 /** Gets cartesian coordinates mapped to circular grid
Wuuu 0:7173d91b03e1 169 * @returns a struct with x,y members, each in the range 0.0 to 1.0
Wuuu 0:7173d91b03e1 170 */
Wuuu 0:7173d91b03e1 171 Vector2D get_mapped_coord(); // x,y mapped to circle
Wuuu 0:7173d91b03e1 172
Wuuu 0:7173d91b03e1 173 /** Gets polar coordinates of the joystick
Wuuu 0:7173d91b03e1 174 * @returns a struct contains mag and angle
Wuuu 0:7173d91b03e1 175 */
Wuuu 0:7173d91b03e1 176 Polar get_polar(); // mag and angle in struct form
Wuuu 0:7173d91b03e1 177
Wuuu 0:7173d91b03e1 178 private:
Wuuu 0:7173d91b03e1 179 void init_buttons();
Wuuu 0:7173d91b03e1 180 void tone_off();
Wuuu 0:7173d91b03e1 181
Wuuu 0:7173d91b03e1 182 void a_isr();
Wuuu 0:7173d91b03e1 183 void b_isr();
Wuuu 0:7173d91b03e1 184 void x_isr();
Wuuu 0:7173d91b03e1 185 void y_isr();
Wuuu 0:7173d91b03e1 186 void l_isr();
Wuuu 0:7173d91b03e1 187 void r_isr();
Wuuu 0:7173d91b03e1 188 void back_isr();
Wuuu 0:7173d91b03e1 189 void start_isr();
Wuuu 0:7173d91b03e1 190 void joy_isr();
Wuuu 0:7173d91b03e1 191 };
Wuuu 0:7173d91b03e1 192
Wuuu 0:7173d91b03e1 193 #endif