Hu Dongyu / Mbed 2 deprecated HuDongyu

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Dependencies:   mbed

Gamepad/Gamepad.h@7:4b92c1ee6231, 2020-04-29 (annotated)

Committer:
dongyuhu
Date:
Wed Apr 29 10:51:02 2020 +0000
Revision:
7:4b92c1ee6231
Parent:
0:9e95a5ef2659 
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dongyuhu 0:9e95a5ef2659 1 #ifndef GAMEPAD_H
dongyuhu 0:9e95a5ef2659 2 #define GAMEPAD_H
dongyuhu 0:9e95a5ef2659 3
dongyuhu 0:9e95a5ef2659 4 #include <bitset>
dongyuhu 0:9e95a5ef2659 5
dongyuhu 0:9e95a5ef2659 6 // Forward declaration of the classes that we use from the mbed library
dongyuhu 0:9e95a5ef2659 7 // This avoids the need for us to include the huge mbed.h header inside our
dongyuhu 0:9e95a5ef2659 8 // own library API
dongyuhu 0:9e95a5ef2659 9 namespace mbed
dongyuhu 0:9e95a5ef2659 10 {
dongyuhu 0:9e95a5ef2659 11 class AnalogIn;
dongyuhu 0:9e95a5ef2659 12 class InterruptIn;
dongyuhu 0:9e95a5ef2659 13 class PwmOut;
dongyuhu 0:9e95a5ef2659 14 class Timeout;
dongyuhu 0:9e95a5ef2659 15 }
dongyuhu 0:9e95a5ef2659 16
dongyuhu 0:9e95a5ef2659 17 #define TOL 0.1f
dongyuhu 0:9e95a5ef2659 18 #define RAD2DEG 57.2957795131f
dongyuhu 0:9e95a5ef2659 19
dongyuhu 0:9e95a5ef2659 20 /** Enum for direction */
dongyuhu 0:9e95a5ef2659 21 enum Direction {
dongyuhu 0:9e95a5ef2659 22 CENTRE, /**< joystick centred */
dongyuhu 0:9e95a5ef2659 23 N, /**< pushed North (0)*/
dongyuhu 0:9e95a5ef2659 24 NE, /**< pushed North-East (45) */
dongyuhu 0:9e95a5ef2659 25 E, /**< pushed East (90) */
dongyuhu 0:9e95a5ef2659 26 SE, /**< pushed South-East (135) */
dongyuhu 0:9e95a5ef2659 27 S, /**< pushed South (180) */
dongyuhu 0:9e95a5ef2659 28 SW, /**< pushed South-West (225) */
dongyuhu 0:9e95a5ef2659 29 W, /**< pushed West (270) */
dongyuhu 0:9e95a5ef2659 30 NW /**< pushed North-West (315) */
dongyuhu 0:9e95a5ef2659 31 };
dongyuhu 0:9e95a5ef2659 32
dongyuhu 0:9e95a5ef2659 33 /** Vector 2D struct */
dongyuhu 0:9e95a5ef2659 34 struct Vector2D {
dongyuhu 0:9e95a5ef2659 35 float x; /**< float for x value */
dongyuhu 0:9e95a5ef2659 36 float y; /**< float for y value */
dongyuhu 0:9e95a5ef2659 37 };
dongyuhu 0:9e95a5ef2659 38
dongyuhu 0:9e95a5ef2659 39 /** Polar coordinate struct */
dongyuhu 0:9e95a5ef2659 40 struct Polar {
dongyuhu 0:9e95a5ef2659 41 float mag; /**< float for magnitude */
dongyuhu 0:9e95a5ef2659 42 float angle; /**< float for angle (in degrees) */
dongyuhu 0:9e95a5ef2659 43 };
dongyuhu 0:9e95a5ef2659 44
dongyuhu 0:9e95a5ef2659 45 /** Gamepad Class
dongyuhu 0:9e95a5ef2659 46 * @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
dongyuhu 0:9e95a5ef2659 47 * @author Dr Craig A. Evans
dongyuhu 0:9e95a5ef2659 48 * @author Dr Alex Valavanis
dongyuhu 0:9e95a5ef2659 49 */
dongyuhu 0:9e95a5ef2659 50 class Gamepad
dongyuhu 0:9e95a5ef2659 51 {
dongyuhu 0:9e95a5ef2659 52 public:
dongyuhu 0:9e95a5ef2659 53 /** Gamepad events
dongyuhu 0:9e95a5ef2659 54 * @brief List of events that can be registered on the gamepad
dongyuhu 0:9e95a5ef2659 55 */
dongyuhu 0:9e95a5ef2659 56 enum GamepadEvent {
dongyuhu 0:9e95a5ef2659 57 A_PRESSED, ///< Button A has been pressed
dongyuhu 0:9e95a5ef2659 58 B_PRESSED, ///< Button B has been pressed
dongyuhu 0:9e95a5ef2659 59 X_PRESSED, ///< Button X has been pressed
dongyuhu 0:9e95a5ef2659 60 Y_PRESSED, ///< Button Y has been pressed
dongyuhu 0:9e95a5ef2659 61 L_PRESSED, ///< Button L has been pressed
dongyuhu 0:9e95a5ef2659 62 R_PRESSED, ///< Button R has been pressed
dongyuhu 0:9e95a5ef2659 63 BACK_PRESSED, ///< Button "Back" has been pressed
dongyuhu 0:9e95a5ef2659 64 START_PRESSED, ///< Button "Start" has been pressed
dongyuhu 0:9e95a5ef2659 65 JOY_PRESSED, ///< Joystick button has been pressed
dongyuhu 0:9e95a5ef2659 66 N_EVENTS ///< A dummy flag that marks the end of the list
dongyuhu 0:9e95a5ef2659 67 };
dongyuhu 0:9e95a5ef2659 68
dongyuhu 0:9e95a5ef2659 69 private:
dongyuhu 0:9e95a5ef2659 70 mbed::PwmOut *_led1;
dongyuhu 0:9e95a5ef2659 71 mbed::PwmOut *_led2;
dongyuhu 0:9e95a5ef2659 72 mbed::PwmOut *_led3;
dongyuhu 0:9e95a5ef2659 73 mbed::PwmOut *_led4;
dongyuhu 0:9e95a5ef2659 74 mbed::PwmOut *_led5;
dongyuhu 0:9e95a5ef2659 75 mbed::PwmOut *_led6;
dongyuhu 0:9e95a5ef2659 76
dongyuhu 0:9e95a5ef2659 77 mbed::InterruptIn *_button_A;
dongyuhu 0:9e95a5ef2659 78 mbed::InterruptIn *_button_B;
dongyuhu 0:9e95a5ef2659 79 mbed::InterruptIn *_button_X;
dongyuhu 0:9e95a5ef2659 80 mbed::InterruptIn *_button_Y;
dongyuhu 0:9e95a5ef2659 81 mbed::InterruptIn *_button_L;
dongyuhu 0:9e95a5ef2659 82 mbed::InterruptIn *_button_R;
dongyuhu 0:9e95a5ef2659 83 mbed::InterruptIn *_button_back;
dongyuhu 0:9e95a5ef2659 84 mbed::InterruptIn *_button_start;
dongyuhu 0:9e95a5ef2659 85 mbed::InterruptIn *_button_joystick;
dongyuhu 0:9e95a5ef2659 86
dongyuhu 0:9e95a5ef2659 87 mbed::AnalogIn *_vert;
dongyuhu 0:9e95a5ef2659 88 mbed::AnalogIn *_horiz;
dongyuhu 0:9e95a5ef2659 89
dongyuhu 0:9e95a5ef2659 90 mbed::PwmOut *_buzzer;
dongyuhu 0:9e95a5ef2659 91 mbed::AnalogIn *_pot;
dongyuhu 0:9e95a5ef2659 92
dongyuhu 0:9e95a5ef2659 93 mbed::Timeout *_timeout;
dongyuhu 0:9e95a5ef2659 94
dongyuhu 0:9e95a5ef2659 95 std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
dongyuhu 0:9e95a5ef2659 96
dongyuhu 0:9e95a5ef2659 97 // centred x,y values
dongyuhu 0:9e95a5ef2659 98 float _x0;
dongyuhu 0:9e95a5ef2659 99 float _y0;
dongyuhu 0:9e95a5ef2659 100
dongyuhu 0:9e95a5ef2659 101 public:
dongyuhu 0:9e95a5ef2659 102 /** Constructor */
dongyuhu 0:9e95a5ef2659 103 Gamepad();
dongyuhu 0:9e95a5ef2659 104
dongyuhu 0:9e95a5ef2659 105 /** Destructor */
dongyuhu 0:9e95a5ef2659 106 ~Gamepad();
dongyuhu 0:9e95a5ef2659 107
dongyuhu 0:9e95a5ef2659 108 /** Initialise all peripherals and configure interrupts */
dongyuhu 0:9e95a5ef2659 109 void init();
dongyuhu 0:9e95a5ef2659 110
dongyuhu 0:9e95a5ef2659 111 /** Turn all LEDs on */
dongyuhu 0:9e95a5ef2659 112 void leds_on();
dongyuhu 0:9e95a5ef2659 113
dongyuhu 0:9e95a5ef2659 114 /** Turn all LEDs off */
dongyuhu 0:9e95a5ef2659 115 void leds_off();
dongyuhu 0:9e95a5ef2659 116
dongyuhu 0:9e95a5ef2659 117 /** Set all LEDs to duty-cycle
dongyuhu 0:9e95a5ef2659 118 *@param value in range 0.0 to 1.0
dongyuhu 0:9e95a5ef2659 119 */
dongyuhu 0:9e95a5ef2659 120 void leds(float val) const;
dongyuhu 0:9e95a5ef2659 121
dongyuhu 0:9e95a5ef2659 122 /** Set LED to duty-cycle
dongyuhu 0:9e95a5ef2659 123 *@param led number (0 to 5)
dongyuhu 0:9e95a5ef2659 124 *@param value in range 0.0 to 1.0
dongyuhu 0:9e95a5ef2659 125 */
dongyuhu 0:9e95a5ef2659 126 void led(int n,float val) const;
dongyuhu 0:9e95a5ef2659 127
dongyuhu 0:9e95a5ef2659 128 /** Read potentiometer
dongyuhu 0:9e95a5ef2659 129 *@returns potentiometer value in range 0.0 to 1.0
dongyuhu 0:9e95a5ef2659 130 */
dongyuhu 0:9e95a5ef2659 131 float read_pot() const;
dongyuhu 0:9e95a5ef2659 132
dongyuhu 0:9e95a5ef2659 133 /** Play tone on piezo
dongyuhu 0:9e95a5ef2659 134 * @param frequency in Hz
dongyuhu 0:9e95a5ef2659 135 * @param duration of tone in seconds
dongyuhu 0:9e95a5ef2659 136 */
dongyuhu 0:9e95a5ef2659 137 void tone(float frequency, float duration);
dongyuhu 0:9e95a5ef2659 138
dongyuhu 0:9e95a5ef2659 139 /**
dongyuhu 0:9e95a5ef2659 140 * @brief Check whether an event flag has been set and clear it
dongyuhu 0:9e95a5ef2659 141 * @param id[in] The ID of the event to test
dongyuhu 0:9e95a5ef2659 142 * @return true if the event occurred
dongyuhu 0:9e95a5ef2659 143 */
dongyuhu 0:9e95a5ef2659 144 bool check_event(GamepadEvent const id);
dongyuhu 0:9e95a5ef2659 145
dongyuhu 0:9e95a5ef2659 146 /**
dongyuhu 0:9e95a5ef2659 147 * @brief Get the raw binary event state
dongyuhu 0:9e95a5ef2659 148 * @return The event state as a binary code
dongyuhu 0:9e95a5ef2659 149 * @details The check_event() function is likely to be more useful than
dongyuhu 0:9e95a5ef2659 150 * this, for testing whether a given event has occurred. It can be
dongyuhu 0:9e95a5ef2659 151 * useful for debugging via the terminal, however, for example:
dongyuhu 0:9e95a5ef2659 152 * @code
dongyuhu 0:9e95a5ef2659 153 * std::cout << gamepad.get_raw_event_state() << std::endl;
dongyuhu 0:9e95a5ef2659 154 * @endcode
dongyuhu 0:9e95a5ef2659 155 */
dongyuhu 0:9e95a5ef2659 156 inline std::bitset<N_EVENTS> get_raw_event_state() const {
dongyuhu 0:9e95a5ef2659 157 return _event_state;
dongyuhu 0:9e95a5ef2659 158 }
dongyuhu 0:9e95a5ef2659 159
dongyuhu 0:9e95a5ef2659 160 /** Get magnitude of joystick movement
dongyuhu 0:9e95a5ef2659 161 * @returns value in range 0.0 to 1.0
dongyuhu 0:9e95a5ef2659 162 */
dongyuhu 0:9e95a5ef2659 163 float get_mag();
dongyuhu 0:9e95a5ef2659 164
dongyuhu 0:9e95a5ef2659 165 /** Get angle of joystick movement
dongyuhu 0:9e95a5ef2659 166 * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
dongyuhu 0:9e95a5ef2659 167 */
dongyuhu 0:9e95a5ef2659 168 float get_angle();
dongyuhu 0:9e95a5ef2659 169
dongyuhu 0:9e95a5ef2659 170 /** Gets joystick direction
dongyuhu 0:9e95a5ef2659 171 * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
dongyuhu 0:9e95a5ef2659 172 */
dongyuhu 0:9e95a5ef2659 173 Direction get_direction(); // N,NE,E,SE etc.
dongyuhu 0:9e95a5ef2659 174
dongyuhu 0:9e95a5ef2659 175 /** Gets raw cartesian co-ordinates of joystick
dongyuhu 0:9e95a5ef2659 176 * @returns a struct with x,y members, each in the range 0.0 to 1.0
dongyuhu 0:9e95a5ef2659 177 */
dongyuhu 0:9e95a5ef2659 178 Vector2D get_coord(); // cartesian co-ordinates x,y
dongyuhu 0:9e95a5ef2659 179
dongyuhu 0:9e95a5ef2659 180 /** Gets cartesian coordinates mapped to circular grid
dongyuhu 0:9e95a5ef2659 181 * @returns a struct with x,y members, each in the range 0.0 to 1.0
dongyuhu 0:9e95a5ef2659 182 */
dongyuhu 0:9e95a5ef2659 183 Vector2D get_mapped_coord(); // x,y mapped to circle
dongyuhu 0:9e95a5ef2659 184
dongyuhu 0:9e95a5ef2659 185 /** Gets polar coordinates of the joystick
dongyuhu 0:9e95a5ef2659 186 * @returns a struct contains mag and angle
dongyuhu 0:9e95a5ef2659 187 */
dongyuhu 0:9e95a5ef2659 188 Polar get_polar(); // mag and angle in struct form
dongyuhu 0:9e95a5ef2659 189
dongyuhu 0:9e95a5ef2659 190 private:
dongyuhu 0:9e95a5ef2659 191 void init_buttons();
dongyuhu 0:9e95a5ef2659 192 void tone_off();
dongyuhu 0:9e95a5ef2659 193
dongyuhu 0:9e95a5ef2659 194 void a_isr();
dongyuhu 0:9e95a5ef2659 195 void b_isr();
dongyuhu 0:9e95a5ef2659 196 void x_isr();
dongyuhu 0:9e95a5ef2659 197 void y_isr();
dongyuhu 0:9e95a5ef2659 198 void l_isr();
dongyuhu 0:9e95a5ef2659 199 void r_isr();
dongyuhu 0:9e95a5ef2659 200 void back_isr();
dongyuhu 0:9e95a5ef2659 201 void start_isr();
dongyuhu 0:9e95a5ef2659 202 void joy_isr();
dongyuhu 0:9e95a5ef2659 203 };
dongyuhu 0:9e95a5ef2659 204
dongyuhu 0:9e95a5ef2659 205 #endif
dongyuhu 0:9e95a5ef2659 206