This Class allows the joystick, buttons and petiometers to be implemented easily and coherently in other classes
Fork of Gamepad by
Controller.h@21:99ec20695524, 2017-04-12 (annotated)
- Committer:
- domkay97
- Date:
- Wed Apr 12 22:19:48 2017 +0000
- Revision:
- 21:99ec20695524
- Child:
- 23:34da21dfdfd6
Moved methods from display to operator class
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
domkay97 | 21:99ec20695524 | 1 | #ifndef Controller_H |
domkay97 | 21:99ec20695524 | 2 | #define Controller_H |
domkay97 | 21:99ec20695524 | 3 | |
domkay97 | 21:99ec20695524 | 4 | #include <bitset> |
domkay97 | 21:99ec20695524 | 5 | #include "mbed.h" |
domkay97 | 21:99ec20695524 | 6 | #include "N5110.h" |
domkay97 | 21:99ec20695524 | 7 | #include "Display.h" |
domkay97 | 21:99ec20695524 | 8 | #include "Controller.h" |
domkay97 | 21:99ec20695524 | 9 | |
domkay97 | 21:99ec20695524 | 10 | |
domkay97 | 21:99ec20695524 | 11 | // Forward declaration of the classes that we use from the mbed library |
domkay97 | 21:99ec20695524 | 12 | // This avoids the need for us to include the huge mbed.h header inside our |
domkay97 | 21:99ec20695524 | 13 | // own library API |
domkay97 | 21:99ec20695524 | 14 | namespace mbed |
domkay97 | 21:99ec20695524 | 15 | { |
domkay97 | 21:99ec20695524 | 16 | class AnalogIn; |
domkay97 | 21:99ec20695524 | 17 | class InterruptIn; |
domkay97 | 21:99ec20695524 | 18 | class PwmOut; |
domkay97 | 21:99ec20695524 | 19 | class Timeout; |
domkay97 | 21:99ec20695524 | 20 | } |
domkay97 | 21:99ec20695524 | 21 | |
domkay97 | 21:99ec20695524 | 22 | #define TOL 0.1f |
domkay97 | 21:99ec20695524 | 23 | #define RAD2DEG 57.2957795131f |
domkay97 | 21:99ec20695524 | 24 | |
domkay97 | 21:99ec20695524 | 25 | /** Enum for direction */ |
domkay97 | 21:99ec20695524 | 26 | enum Direction { |
domkay97 | 21:99ec20695524 | 27 | CENTRE, /**< joystick centred */ |
domkay97 | 21:99ec20695524 | 28 | N, /**< pushed North (0)*/ |
domkay97 | 21:99ec20695524 | 29 | NE, /**< pushed North-East (45) */ |
domkay97 | 21:99ec20695524 | 30 | E, /**< pushed East (90) */ |
domkay97 | 21:99ec20695524 | 31 | SE, /**< pushed South-East (135) */ |
domkay97 | 21:99ec20695524 | 32 | S, /**< pushed South (180) */ |
domkay97 | 21:99ec20695524 | 33 | SW, /**< pushed South-West (225) */ |
domkay97 | 21:99ec20695524 | 34 | W, /**< pushed West (270) */ |
domkay97 | 21:99ec20695524 | 35 | NW /**< pushed North-West (315) */ |
domkay97 | 21:99ec20695524 | 36 | }; |
domkay97 | 21:99ec20695524 | 37 | |
domkay97 | 21:99ec20695524 | 38 | /** Vector 2D struct */ |
domkay97 | 21:99ec20695524 | 39 | struct Vector2D { |
domkay97 | 21:99ec20695524 | 40 | float x; /**< float for x value */ |
domkay97 | 21:99ec20695524 | 41 | float y; /**< float for y value */ |
domkay97 | 21:99ec20695524 | 42 | }; |
domkay97 | 21:99ec20695524 | 43 | |
domkay97 | 21:99ec20695524 | 44 | /** Polar coordinate struct */ |
domkay97 | 21:99ec20695524 | 45 | struct Polar { |
domkay97 | 21:99ec20695524 | 46 | float mag; /**< float for magnitude */ |
domkay97 | 21:99ec20695524 | 47 | float angle; /**< float for angle (in degrees) */ |
domkay97 | 21:99ec20695524 | 48 | }; |
domkay97 | 21:99ec20695524 | 49 | |
domkay97 | 21:99ec20695524 | 50 | /** Controller Class |
domkay97 | 21:99ec20695524 | 51 | @brief Library for interfacing with ELEC2645 Controller PCB, University of Leeds |
domkay97 | 21:99ec20695524 | 52 | @author Dr Craig A. Evans |
domkay97 | 21:99ec20695524 | 53 | @author Dr Alex Valanvanis |
domkay97 | 21:99ec20695524 | 54 | @date Febraury 2017 |
domkay97 | 21:99ec20695524 | 55 | */ |
domkay97 | 21:99ec20695524 | 56 | class Controller |
domkay97 | 21:99ec20695524 | 57 | { |
domkay97 | 21:99ec20695524 | 58 | public: |
domkay97 | 21:99ec20695524 | 59 | /** Controller events |
domkay97 | 21:99ec20695524 | 60 | * @brief List of events that can be registered on the Controller |
domkay97 | 21:99ec20695524 | 61 | */ |
domkay97 | 21:99ec20695524 | 62 | enum ControllerEvent { |
domkay97 | 21:99ec20695524 | 63 | A_PRESSED, ///< Button A has been pressed |
domkay97 | 21:99ec20695524 | 64 | B_PRESSED, ///< Button B has been pressed |
domkay97 | 21:99ec20695524 | 65 | X_PRESSED, ///< Button X has been pressed |
domkay97 | 21:99ec20695524 | 66 | Y_PRESSED, ///< Button Y has been pressed |
domkay97 | 21:99ec20695524 | 67 | L_PRESSED, ///< Button L has been pressed |
domkay97 | 21:99ec20695524 | 68 | R_PRESSED, ///< Button R has been pressed |
domkay97 | 21:99ec20695524 | 69 | BACK_PRESSED, ///< Button "Back" has been pressed |
domkay97 | 21:99ec20695524 | 70 | START_PRESSED, ///< Button "Start" has been pressed |
domkay97 | 21:99ec20695524 | 71 | JOY_PRESSED, ///< Joystick button has been pressed |
domkay97 | 21:99ec20695524 | 72 | N_EVENTS ///< A dummy flag that marks the end of the list |
domkay97 | 21:99ec20695524 | 73 | }; |
domkay97 | 21:99ec20695524 | 74 | private: |
domkay97 | 21:99ec20695524 | 75 | mbed::PwmOut *_led1; |
domkay97 | 21:99ec20695524 | 76 | mbed::PwmOut *_led2; |
domkay97 | 21:99ec20695524 | 77 | mbed::PwmOut *_led3; |
domkay97 | 21:99ec20695524 | 78 | mbed::PwmOut *_led4; |
domkay97 | 21:99ec20695524 | 79 | mbed::PwmOut *_led5; |
domkay97 | 21:99ec20695524 | 80 | mbed::PwmOut *_led6; |
domkay97 | 21:99ec20695524 | 81 | |
domkay97 | 21:99ec20695524 | 82 | mbed::InterruptIn *_button_A; |
domkay97 | 21:99ec20695524 | 83 | mbed::InterruptIn *_button_B; |
domkay97 | 21:99ec20695524 | 84 | mbed::InterruptIn *_button_X; |
domkay97 | 21:99ec20695524 | 85 | mbed::InterruptIn *_button_Y; |
domkay97 | 21:99ec20695524 | 86 | mbed::InterruptIn *_button_L; |
domkay97 | 21:99ec20695524 | 87 | mbed::InterruptIn *_button_R; |
domkay97 | 21:99ec20695524 | 88 | mbed::InterruptIn *_button_back; |
domkay97 | 21:99ec20695524 | 89 | mbed::InterruptIn *_button_start; |
domkay97 | 21:99ec20695524 | 90 | mbed::InterruptIn *_button_joystick; |
domkay97 | 21:99ec20695524 | 91 | |
domkay97 | 21:99ec20695524 | 92 | mbed::AnalogIn *_vert; |
domkay97 | 21:99ec20695524 | 93 | mbed::AnalogIn *_horiz; |
domkay97 | 21:99ec20695524 | 94 | |
domkay97 | 21:99ec20695524 | 95 | mbed::PwmOut *_buzzer; |
domkay97 | 21:99ec20695524 | 96 | mbed::AnalogIn *_pot; |
domkay97 | 21:99ec20695524 | 97 | |
domkay97 | 21:99ec20695524 | 98 | mbed::Timeout *_timeout; |
domkay97 | 21:99ec20695524 | 99 | |
domkay97 | 21:99ec20695524 | 100 | std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed |
domkay97 | 21:99ec20695524 | 101 | |
domkay97 | 21:99ec20695524 | 102 | // centred x,y values |
domkay97 | 21:99ec20695524 | 103 | float _x0; |
domkay97 | 21:99ec20695524 | 104 | float _y0; |
domkay97 | 21:99ec20695524 | 105 | |
domkay97 | 21:99ec20695524 | 106 | public: |
domkay97 | 21:99ec20695524 | 107 | |
domkay97 | 21:99ec20695524 | 108 | /** Constructor */ |
domkay97 | 21:99ec20695524 | 109 | Controller(); |
domkay97 | 21:99ec20695524 | 110 | |
domkay97 | 21:99ec20695524 | 111 | /** Destructor */ |
domkay97 | 21:99ec20695524 | 112 | ~Controller(); |
domkay97 | 21:99ec20695524 | 113 | |
domkay97 | 21:99ec20695524 | 114 | /** Initialise all peripherals and configure interrupts */ |
domkay97 | 21:99ec20695524 | 115 | void init(); |
domkay97 | 21:99ec20695524 | 116 | |
domkay97 | 21:99ec20695524 | 117 | /** Turn all LEDs on */ |
domkay97 | 21:99ec20695524 | 118 | void leds_on(); |
domkay97 | 21:99ec20695524 | 119 | |
domkay97 | 21:99ec20695524 | 120 | /** Turn all LEDs off */ |
domkay97 | 21:99ec20695524 | 121 | void leds_off(); |
domkay97 | 21:99ec20695524 | 122 | |
domkay97 | 21:99ec20695524 | 123 | /** Set all LEDs to duty-cycle |
domkay97 | 21:99ec20695524 | 124 | *@param value in range 0.0 to 1.0 |
domkay97 | 21:99ec20695524 | 125 | */ |
domkay97 | 21:99ec20695524 | 126 | void leds(float val) const; |
domkay97 | 21:99ec20695524 | 127 | |
domkay97 | 21:99ec20695524 | 128 | /** Set LED to duty-cycle |
domkay97 | 21:99ec20695524 | 129 | *@param led number (0 to 5) |
domkay97 | 21:99ec20695524 | 130 | *@param value in range 0.0 to 1.0 |
domkay97 | 21:99ec20695524 | 131 | */ |
domkay97 | 21:99ec20695524 | 132 | void led(int n,float val) const; |
domkay97 | 21:99ec20695524 | 133 | |
domkay97 | 21:99ec20695524 | 134 | /** Read potentiometer |
domkay97 | 21:99ec20695524 | 135 | *@returns potentiometer value in range 0.0 to 1.0 |
domkay97 | 21:99ec20695524 | 136 | */ |
domkay97 | 21:99ec20695524 | 137 | float read_pot() const; |
domkay97 | 21:99ec20695524 | 138 | |
domkay97 | 21:99ec20695524 | 139 | /** Play tone on piezo |
domkay97 | 21:99ec20695524 | 140 | * @param frequency in Hz |
domkay97 | 21:99ec20695524 | 141 | * @param duration of tone in seconds |
domkay97 | 21:99ec20695524 | 142 | */ |
domkay97 | 21:99ec20695524 | 143 | void tone(float frequency, float duration); |
domkay97 | 21:99ec20695524 | 144 | |
domkay97 | 21:99ec20695524 | 145 | /** |
domkay97 | 21:99ec20695524 | 146 | * @brief Check whether an event flag has been set and clear it |
domkay97 | 21:99ec20695524 | 147 | * @param id[in] The ID of the event to test |
domkay97 | 21:99ec20695524 | 148 | * @return true if the event occurred |
domkay97 | 21:99ec20695524 | 149 | */ |
domkay97 | 21:99ec20695524 | 150 | bool check_event(ControllerEvent const id); |
domkay97 | 21:99ec20695524 | 151 | |
domkay97 | 21:99ec20695524 | 152 | /** Get magnitude of joystick movement |
domkay97 | 21:99ec20695524 | 153 | * @returns value in range 0.0 to 1.0 |
domkay97 | 21:99ec20695524 | 154 | */ |
domkay97 | 21:99ec20695524 | 155 | int check_for_buttons(); |
domkay97 | 21:99ec20695524 | 156 | float get_mag(); |
domkay97 | 21:99ec20695524 | 157 | |
domkay97 | 21:99ec20695524 | 158 | /** Get angle of joystick movement |
domkay97 | 21:99ec20695524 | 159 | * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central |
domkay97 | 21:99ec20695524 | 160 | */ |
domkay97 | 21:99ec20695524 | 161 | float get_angle(); |
domkay97 | 21:99ec20695524 | 162 | /** Gets joystick direction |
domkay97 | 21:99ec20695524 | 163 | * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW, |
domkay97 | 21:99ec20695524 | 164 | */ |
domkay97 | 21:99ec20695524 | 165 | Direction get_direction(); // N,NE,E,SE etc. |
domkay97 | 21:99ec20695524 | 166 | |
domkay97 | 21:99ec20695524 | 167 | /** Gets raw cartesian co-ordinates of joystick |
domkay97 | 21:99ec20695524 | 168 | * @returns a struct with x,y members, each in the range 0.0 to 1.0 |
domkay97 | 21:99ec20695524 | 169 | */ |
domkay97 | 21:99ec20695524 | 170 | Vector2D get_coord(); // cartesian co-ordinates x,y |
domkay97 | 21:99ec20695524 | 171 | |
domkay97 | 21:99ec20695524 | 172 | /** Gets cartesian coordinates mapped to circular grid |
domkay97 | 21:99ec20695524 | 173 | * @returns a struct with x,y members, each in the range 0.0 to 1.0 |
domkay97 | 21:99ec20695524 | 174 | */ |
domkay97 | 21:99ec20695524 | 175 | Vector2D get_mapped_coord(); // x,y mapped to circle |
domkay97 | 21:99ec20695524 | 176 | |
domkay97 | 21:99ec20695524 | 177 | /** Gets polar coordinates of the joystick |
domkay97 | 21:99ec20695524 | 178 | * @returns a struct contains mag and angle |
domkay97 | 21:99ec20695524 | 179 | */ |
domkay97 | 21:99ec20695524 | 180 | Polar get_polar(); // mag and angle in struct form |
domkay97 | 21:99ec20695524 | 181 | |
domkay97 | 21:99ec20695524 | 182 | private: |
domkay97 | 21:99ec20695524 | 183 | void init_buttons(); |
domkay97 | 21:99ec20695524 | 184 | void tone_off(); |
domkay97 | 21:99ec20695524 | 185 | |
domkay97 | 21:99ec20695524 | 186 | void a_isr(); |
domkay97 | 21:99ec20695524 | 187 | void b_isr(); |
domkay97 | 21:99ec20695524 | 188 | void x_isr(); |
domkay97 | 21:99ec20695524 | 189 | void y_isr(); |
domkay97 | 21:99ec20695524 | 190 | void l_isr(); |
domkay97 | 21:99ec20695524 | 191 | void r_isr(); |
domkay97 | 21:99ec20695524 | 192 | void back_isr(); |
domkay97 | 21:99ec20695524 | 193 | void start_isr(); |
domkay97 | 21:99ec20695524 | 194 | void joy_isr(); |
domkay97 | 21:99ec20695524 | 195 | }; |
domkay97 | 21:99ec20695524 | 196 | |
domkay97 | 21:99ec20695524 | 197 | #endif |