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 AnalogOut;
00015 class Ticker;
00016 class Timeout;
00017 }
00018 
00019 #define TOL 0.1f
00020 #define RAD2DEG 57.2957795131f
00021 #define PI 3.14159265359
00022 
00023 
00024 /** Enum for direction */
00025 enum Direction {
00026     CENTRE,  /**< joystick centred */
00027     N,       /**< pushed North (0)*/
00028     NE,      /**< pushed North-East (45) */
00029     E,       /**< pushed East (90) */
00030     SE,      /**< pushed South-East (135) */
00031     S,       /**< pushed South (180) */
00032     SW,      /**< pushed South-West (225) */
00033     W,       /**< pushed West (270) */
00034     NW       /**< pushed North-West (315) */
00035 };
00036 
00037 /** Vector 2D struct */
00038 struct Vector2D {
00039     float x; /**< float for x value */
00040     float y; /**< float for y value */
00041 };
00042 
00043 /** Polar coordinate struct */
00044 struct Polar {
00045     float mag;  /**< float for magnitude */
00046     float angle; /**< float for angle (in degrees) */
00047 };
00048 
00049 /** Gamepad Class
00050  * @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
00051  * @author Dr Craig A. Evans
00052  * @author Dr Alex Valavanis
00053  * @author Joshua Davy
00054  */
00055 class Gamepad
00056 {
00057 
00058 private:
00059     mbed::PwmOut *_led1;
00060     mbed::PwmOut *_led2;
00061     mbed::PwmOut *_led3;
00062     mbed::PwmOut *_led4;
00063     mbed::PwmOut *_led5;
00064     mbed::PwmOut *_led6;
00065 
00066     mbed::InterruptIn *_button_A;
00067     mbed::InterruptIn *_button_B;
00068     mbed::InterruptIn *_button_X;
00069     mbed::InterruptIn *_button_Y;
00070     mbed::InterruptIn *_button_start;
00071 
00072     mbed::AnalogIn *_vert;
00073     mbed::AnalogIn *_horiz;
00074 
00075     mbed::AnalogIn *_pot1;
00076     mbed::AnalogIn *_pot2;
00077     
00078     mbed::AnalogOut *dac;
00079     mbed::Ticker *ticker;
00080     mbed::Timeout *timeout;
00081     mbed::Timeout *note_timeout;
00082 
00083     // centred x,y values
00084     float _x0;
00085     float _y0;
00086     
00087     float *_sample_array;
00088     const int *_notes;
00089     const int *_durations;
00090     
00091     int _n;
00092     int _melody_length;
00093     volatile unsigned int _sample;
00094     volatile unsigned int _note;
00095     float _bpm;
00096     bool _repeat;
00097     
00098 
00099 public:
00100     /** Constructor */
00101     Gamepad();
00102 
00103     /** Initialise all peripherals and configure interrupts */
00104     void init();
00105 
00106     /** Turn all LEDs on */
00107     void leds_on();
00108 
00109     /** Turn all LEDs off */
00110     void leds_off();
00111 
00112     /** Set all LEDs to duty-cycle
00113     *@param value in range 0.0 to 1.0
00114     */
00115     void leds(float val) const;
00116 
00117     /** Set LED to duty-cycle
00118     *@param led number (0 to 5)
00119     *@param value in range 0.0 to 1.0
00120     */
00121     void led(int n,float val) const;
00122 
00123     /** Read potentiometer 1 value
00124     *@returns potentiometer value in range 0.0 to 1.0
00125     */
00126     float read_pot1() const;
00127 
00128     /** Read potentiometer 2 value
00129     *@returns potentiometer value in range 0.0 to 1.0
00130     */
00131     float read_pot2() const;
00132 
00133     /** Get magnitude of joystick movement
00134     * @returns value in range 0.0 to 1.0
00135     */
00136     float get_mag();
00137 
00138     /** Get angle of joystick movement
00139     * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
00140     */
00141     float get_angle();
00142 
00143     /** Gets joystick direction
00144     * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
00145     */
00146     Direction get_direction();    // N,NE,E,SE etc.
00147 
00148     /** Gets raw cartesian co-ordinates of joystick
00149     * @returns a struct with x,y members, each in the range 0.0 to 1.0
00150     */
00151     Vector2D get_coord();         // cartesian co-ordinates x,y
00152 
00153     /** Gets cartesian coordinates mapped to circular grid
00154     * @returns a struct with x,y members, each in the range 0.0 to 1.0
00155     */
00156     Vector2D get_mapped_coord();  // x,y mapped to circle
00157 
00158     /** Gets polar coordinates of the joystick
00159     * @returns a struct contains mag and angle
00160     */
00161     Polar get_polar();            // mag and angle in struct form
00162 
00163 
00164     /** Resets all button states. Useful for calling inbetween scenes
00165     *   where you do not want button presses from the previous scene effecting
00166     *   the current scene
00167     */
00168     void reset_buttons();
00169 
00170     /** Returns true if A has been pressed
00171     * @returns a bool corresponding to A being pressed
00172     */
00173 
00174     bool A_pressed();
00175 
00176     /** Returns true if A is held
00177     * @returns a bool corresponding to A being held
00178     *
00179     */
00180     bool A_held();
00181     
00182 
00183     /** Returns true if B has been pressed
00184     * @returns a bool corresponding to B being pressed
00185     */
00186     bool B_pressed();
00187 
00188     /** Returns true if B is held
00189     * @returns a bool corresponding to B being held
00190     *
00191     */
00192     bool B_held();
00193 
00194     /** Returns true if B has been pressed
00195     * @returns a bool corresponding to B being pressed
00196     */
00197     bool X_pressed();
00198 
00199     /** Returns true if X is held
00200     * @returns a bool corresponding to X being held
00201     *
00202     */
00203     bool X_held();    
00204 
00205     /** Returns true if Y has been pressed
00206     * @returns a bool corresponding to Y being pressed
00207     */
00208     bool Y_pressed();
00209 
00210     /** Returns true if Y is held
00211     * @returns a bool corresponding to Y being held
00212     *
00213     */
00214     bool Y_held();
00215 
00216 
00217     /** Returns true if start has been pressed
00218     * @returns a bool corresponding to start being pressed
00219     */
00220     bool start_pressed();
00221 
00222     /** Returns true if start is held
00223     * @returns a bool corresponding to start being held
00224     *
00225     */
00226     bool start_held();
00227     
00228     /** Play a single tone for the specifed duration
00229     *@param note frequency (in Hz)
00230     *@param duration (in s)
00231     */
00232     void tone(const float frequency,const float duration);
00233     
00234     /** Play a melody
00235     *@param length of note array
00236     *@param array of note frequencies (in Hz) - 0 treated as a rest
00237     *@param array of note durations (4 corresponds to 1/4, 8 is 1/8 etc.)
00238     *@param beats per minute
00239     *@param whether to repeat or play just once
00240     */
00241     void play_melody(int length,const int *notes,const int *durations,float bpm,bool repeat);
00242     
00243     /** Set the BPM of the melody
00244     *@param beats per minute
00245     */
00246     void set_bpm(float bpm);
00247     
00248     /** Write an analog voltage to the speaker
00249     *@param voltage in range 0.0 to 1.0 (corresponds 0.0 to 3.3 V)
00250     */
00251     void write_dac(float val);
00252 
00253 
00254 
00255 
00256 private:
00257 
00258     volatile bool A_fall;
00259     void A_fall_interrupt();
00260 
00261     volatile bool B_fall;
00262     void B_fall_interrupt();
00263     
00264     volatile bool X_fall;
00265     void X_fall_interrupt();
00266 
00267     volatile bool Y_fall;
00268     void Y_fall_interrupt();
00269 
00270     volatile bool start_fall;
00271     void start_fall_interrupt();
00272 
00273    // Tone functions  
00274     void ticker_isr();    
00275     void timeout_isr();
00276     void note_timeout_isr();  
00277     void play_next_note();
00278 
00279 
00280 
00281 };
00282 
00283 // Note definitions from Arduino.cc
00284 #define NOTE_B0  31
00285 #define NOTE_C1  33
00286 #define NOTE_CS1 35
00287 #define NOTE_D1  37
00288 #define NOTE_DS1 39
00289 #define NOTE_E1  41
00290 #define NOTE_F1  44
00291 #define NOTE_FS1 46
00292 #define NOTE_G1  49
00293 #define NOTE_GS1 52
00294 #define NOTE_A1  55
00295 #define NOTE_AS1 58
00296 #define NOTE_B1  62
00297 #define NOTE_C2  65
00298 #define NOTE_CS2 69
00299 #define NOTE_D2  73
00300 #define NOTE_DS2 78
00301 #define NOTE_E2  82
00302 #define NOTE_F2  87
00303 #define NOTE_FS2 93
00304 #define NOTE_G2  98
00305 #define NOTE_GS2 104
00306 #define NOTE_A2  110
00307 #define NOTE_AS2 117
00308 #define NOTE_B2  123
00309 #define NOTE_C3  131
00310 #define NOTE_CS3 139
00311 #define NOTE_D3  147
00312 #define NOTE_DS3 156
00313 #define NOTE_E3  165
00314 #define NOTE_F3  175
00315 #define NOTE_FS3 185
00316 #define NOTE_G3  196
00317 #define NOTE_GS3 208
00318 #define NOTE_A3  220
00319 #define NOTE_AS3 233
00320 #define NOTE_B3  247
00321 #define NOTE_C4  262
00322 #define NOTE_CS4 277
00323 #define NOTE_D4  294
00324 #define NOTE_DS4 311
00325 #define NOTE_E4  330
00326 #define NOTE_F4  349
00327 #define NOTE_FS4 370
00328 #define NOTE_G4  392
00329 #define NOTE_GS4 415
00330 #define NOTE_A4  440
00331 #define NOTE_AS4 466
00332 #define NOTE_B4  494
00333 #define NOTE_C5  523
00334 #define NOTE_CS5 554
00335 #define NOTE_D5  587
00336 #define NOTE_DS5 622
00337 #define NOTE_E5  659
00338 #define NOTE_F5  698
00339 #define NOTE_FS5 740
00340 #define NOTE_G5  784
00341 #define NOTE_GS5 831
00342 #define NOTE_A5  880
00343 #define NOTE_AS5 932
00344 #define NOTE_B5  988
00345 #define NOTE_C6  1047
00346 #define NOTE_CS6 1109
00347 #define NOTE_D6  1175
00348 #define NOTE_DS6 1245
00349 #define NOTE_E6  1319
00350 #define NOTE_F6  1397
00351 #define NOTE_FS6 1480
00352 #define NOTE_G6  1568
00353 #define NOTE_GS6 1661
00354 #define NOTE_A6  1760
00355 #define NOTE_AS6 1865
00356 #define NOTE_B6  1976
00357 #define NOTE_C7  2093
00358 #define NOTE_CS7 2217
00359 #define NOTE_D7  2349
00360 #define NOTE_DS7 2489
00361 #define NOTE_E7  2637
00362 #define NOTE_F7  2794
00363 #define NOTE_FS7 2960
00364 #define NOTE_G7  3136
00365 #define NOTE_GS7 3322
00366 #define NOTE_A7  3520
00367 #define NOTE_AS7 3729
00368 #define NOTE_B7  3951
00369 #define NOTE_C8  4186
00370 #define NOTE_CS8 4435
00371 #define NOTE_D8  4699
00372 #define NOTE_DS8 4978
00373 
00374 #endif