Joystick.h

00001 #ifndef JOYSTICK_H
00002 #define JOYSTICK_H
00003 
00004 #include "mbed.h"
00005 #include "Utils.h"
00006 
00007 // this value can be tuned to alter tolerance of joystick movement
00008 #define TOL 0.1f
00009 #define RAD2DEG 57.2957795131f
00010 
00011 
00012 
00013 /** Joystick Class
00014 @author Dr Craig A. Evans, University of Leeds
00015 @brief  Library for interfacing with analogue joystick
00016 
00017 Example:
00018 
00019 @code
00020 
00021 #include "mbed.h"
00022 #include "Joystick.h"
00023 
00024 //                  y     x     button
00025 Joystick joystick(PTB11,PTB10);
00026 
00027 int main() {
00028     
00029     joystick.init();
00030     
00031     while(1) {
00032     
00033         Vector2D coord = joystick.get_coord();
00034         printf("Coord = %f,%f\n",coord.x,coord.y);
00035         
00036         Vector2D mapped_coord = joystick.get_mapped_coord(); 
00037         printf("Mapped coord = %f,%f\n",mapped_coord.x,mapped_coord.y); 
00038         
00039         float mag = joystick.get_mag();
00040         float angle = joystick.get_angle();
00041         printf("Mag = %f Angle = %f\n",mag,angle);
00042         
00043         Direction d = joystick.get_direction();
00044         printf("Direction = %i\n",d);
00045     
00046           
00047         wait(0.5);
00048     }
00049     
00050     
00051 }
00052 
00053 * @endcode
00054 */
00055 class Joystick
00056 {
00057 public:
00058     
00059     //              y-pot              x-pot            
00060     Joystick(PinName vertPin,PinName horizPin);
00061     
00062     void init();  // needs to be called at start with joystick centred
00063     float get_mag();              // polar
00064     float get_angle();            // polar
00065     Vector2D get_coord();         // cartesian co-ordinates x,y
00066     Vector2D get_mapped_coord();  // x,y mapped to circle
00067     Direction get_direction();    // N,NE,E,SE etc.
00068     Polar get_polar();            // mag and angle in struct form
00069     
00070 private:
00071 
00072     AnalogIn *vert;
00073     AnalogIn *horiz;
00074        
00075     // centred x,y values    
00076     float _x0;
00077     float _y0;
00078     
00079 };
00080 
00081 #endif