This Class allows the joystick, buttons and petiometers to be implemented easily and coherently in other classes
Fork of Gamepad by
Controller.cpp
- Committer:
- domkay97
- Date:
- 2017-04-12
- Revision:
- 22:2f5a009a82a6
- Parent:
- 21:99ec20695524
- Child:
- 23:34da21dfdfd6
File content as of revision 22:2f5a009a82a6:
#include "Controller.h" #include "mbed.h" //////////// constructor/destructor //////////// Controller::Controller() : _led1(new PwmOut(PTA1)), _led2(new PwmOut(PTA2)), _led3(new PwmOut(PTC2)), _led4(new PwmOut(PTC3)), _led5(new PwmOut(PTC4)), _led6(new PwmOut(PTD3)), _button_A(new InterruptIn(PTB9)), _button_B(new InterruptIn(PTD0)), _button_X(new InterruptIn(PTC17)), _button_Y(new InterruptIn(PTC12)), _button_L(new InterruptIn(PTB18)), _button_R(new InterruptIn(PTB3)), _button_back(new InterruptIn(PTB19)), _button_start(new InterruptIn(PTC5)), _button_joystick(new InterruptIn(PTC16)), _vert(new AnalogIn(PTB10)), _horiz(new AnalogIn(PTB11)), _buzzer(new PwmOut(PTC10)), _pot(new AnalogIn(PTB2)), _timeout(new Timeout()), _event_state(0), _x0(0), _y0(0) {} Controller::~Controller() { delete _led1,_led2,_led3,_led4,_led5,_led6; delete _button_A,_button_B,_button_joystick,_vert,_horiz; delete _button_X,_button_Y,_button_back,_button_start; delete _button_L,_button_R, _buzzer, _pot, _timeout; } ///////////////// public methods ///////////////// void Controller::init() { leds_off(); init_buttons(); // read centred values of joystick _x0 = _horiz->read(); _y0 = _vert->read(); // clear all flags _event_state = 0; } void Controller::leds_off() { leds(0.0); } void Controller::leds_on() { leds(1.0); } void Controller::leds(float val) const { if (val < 0.0f) { val = 0.0f; } if (val > 1.0f) { val = 1.0f; } // leds are active-low, so subtract from 1.0 // 0.0 corresponds to fully-off, 1.0 to fully-on val = 1.0f - val; _led1->write(val); _led2->write(val); _led3->write(val); _led4->write(val); _led5->write(val); _led6->write(val); } void Controller::led(int n,float val) const { // ensure they are within vlaid range if (val < 0.0f) { val = 0.0f; } if (val > 1.0f) { val = 1.0f; } switch (n) { // check for valid LED number and set value case 1: _led1->write(1.0f-val); // active-low so subtract from 1 break; case 2: _led2->write(1.0f-val); // active-low so subtract from 1 break; case 3: _led3->write(1.0f-val); // active-low so subtract from 1 break; case 4: _led4->write(1.0f-val); // active-low so subtract from 1 break; case 5: _led5->write(1.0f-val); // active-low so subtract from 1 break; case 6: _led6->write(1.0f-val); // active-low so subtract from 1 break; } } float Controller::read_pot() const { return _pot->read(); } void Controller::tone(float frequency, float duration) { _buzzer->period(1.0f/frequency); _buzzer->write(0.5); // 50% duty cycle - square wave _timeout->attach(callback(this, &Controller::tone_off), duration ); } bool Controller::check_event(ControllerEvent const id) { // Check whether event flag is set if (_event_state[id]) { _event_state.reset(id); // clear flag return true; } else { return false; } } // this method gets the magnitude of the joystick movement float Controller::get_mag() { Polar p = get_polar(); return p.mag; } // this method gets the angle of joystick movement (0 to 360, 0 North) float Controller::get_angle() { Polar p = get_polar(); return p.angle; } Direction Controller::get_direction() { float angle = get_angle(); // 0 to 360, -1 for centred Direction d; // partition 360 into segments and check which segment the angle is in if (angle < 0.0f) { d = CENTRE; // check for -1.0 angle } else if (angle < 22.5f) { // then keep going in 45 degree increments d = N; } else if (angle < 67.5f) { d = NE; } else if (angle < 112.5f) { d = E; } else if (angle < 157.5f) { d = SE; } else if (angle < 202.5f) { d = S; } else if (angle < 247.5f) { d = SW; } else if (angle < 292.5f) { d = W; } else if (angle < 337.5f) { d = NW; } else { d = N; } return d; } ///////////////////// private methods //////////////////////// void Controller::tone_off() { // called after timeout _buzzer->write(0.0); } void Controller::init_buttons() { // turn on pull-downs as other side of button is connected to 3V3 // button is 0 when not pressed and 1 when pressed _button_A->mode(PullDown); _button_B->mode(PullDown); _button_X->mode(PullDown); _button_Y->mode(PullDown); _button_back->mode(PullDown); _button_start->mode(PullDown); _button_L->mode(PullDown); _button_R->mode(PullDown); _button_joystick->mode(PullDown); // therefore setup rising edge interrupts _button_A->rise(callback(this,&Controller::a_isr)); _button_B->rise(callback(this,&Controller::b_isr)); _button_X->rise(callback(this,&Controller::x_isr)); _button_Y->rise(callback(this,&Controller::y_isr)); _button_L->rise(callback(this,&Controller::l_isr)); _button_R->rise(callback(this,&Controller::r_isr)); _button_start->rise(callback(this,&Controller::start_isr)); _button_back->rise(callback(this,&Controller::back_isr)); _button_joystick->rise(callback(this,&Controller::joy_isr)); } // button interrupts ISRs // Each of these simply sets the appropriate event bit in the _event_state // variable void Controller::a_isr() { _event_state.set(A_PRESSED); } void Controller::b_isr() { _event_state.set(B_PRESSED); } void Controller::x_isr() { _event_state.set(X_PRESSED); } void Controller::y_isr() { _event_state.set(Y_PRESSED); } void Controller::l_isr() { _event_state.set(L_PRESSED); } void Controller::r_isr() { _event_state.set(R_PRESSED); } void Controller::back_isr() { _event_state.set(BACK_PRESSED); } void Controller::start_isr() { _event_state.set(START_PRESSED); } void Controller::joy_isr() { _event_state.set(JOY_PRESSED); } // get raw joystick coordinate in range -1 to 1 // Direction (x,y) // North (0,1) // East (1,0) // South (0,-1) // West (-1,0) Vector2D Controller::get_coord() { // read() returns value in range 0.0 to 1.0 so is scaled and centre value // substracted to get values in the range -1.0 to 1.0 float x = 2.0f*( _horiz->read() - _x0 ); float y = 2.0f*( _vert->read() - _y0 ); // Note: the x value here is inverted to ensure the positive x is to the // right. This is simply due to how the potentiometer on the joystick // I was using was connected up. It could have been corrected in hardware // by swapping the power supply pins. Instead it is done in software so may // need to be changed depending on your wiring setup Vector2D coord = {-x,y}; return coord; } // This maps the raw x,y coord onto a circular grid. // See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html Vector2D Controller::get_mapped_coord() { Vector2D coord = get_coord(); // do the transformation float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f); float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f); Vector2D mapped_coord = {x,y}; return mapped_coord; } // this function converts the mapped coordinates into polar form Polar Controller::get_polar() { // get the mapped coordinate Vector2D coord = get_mapped_coord(); // at this point, 0 degrees (i.e. x-axis) will be defined to the East. // We want 0 degrees to correspond to North and increase clockwise to 359 // like a compass heading, so we need to swap the axis and invert y float x = coord.y; float y = coord.x; float mag = sqrt(x*x+y*y); // pythagoras float angle = RAD2DEG*atan2(y,x); // angle will be in range -180 to 180, so add 360 to negative angles to // move to 0 to 360 range if (angle < 0.0f) { angle+=360.0f; } // the noise on the ADC causes the values of x and y to fluctuate slightly // around the centred values. This causes the random angle values to get // calculated when the joystick is centred and untouched. This is also when // the magnitude is very small, so we can check for a small magnitude and then // set the angle to -1. This will inform us when the angle is invalid and the // joystick is centred if (mag < TOL) { mag = 0.0f; angle = -1.0f; } Polar p = {mag,angle}; return p; } int Controller::check_for_buttons() { if (check_event(A_PRESSED)) { return 1; } else if (check_event(B_PRESSED)) { return 2; } else if (check_event(X_PRESSED)) { return 3; } else if (check_event(Y_PRESSED)) { return 4; } else if (check_event(L_PRESSED)) { return 5; } else if (check_event(R_PRESSED)) { return 6; } else if (check_event(JOY_PRESSED)) { return 7; } else { return 0; } }