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 Timeout;
00015 }
00016 
00017 #define TOL 0.1f
00018 #define RAD2DEG 57.2957795131f
00019 
00020 #define G_NOTE 196.00f
00021 #define C_NOTE 261.60f
00022 
00023 /** Enum for direction */
00024 enum Direction {
00025     CENTRE,  /**< joystick centred */
00026     N,       /**< pushed North (0)*/
00027     NE,      /**< pushed North-East (45) */
00028     E,       /**< pushed East (90) */
00029     SE,      /**< pushed South-East (135) */
00030     S,       /**< pushed South (180) */
00031     SW,      /**< pushed South-West (225) */
00032     W,       /**< pushed West (270) */
00033     NW       /**< pushed North-West (315) */
00034 };
00035 
00036 /** Vector 2D struct */
00037 struct Vector2D {
00038     float x; /**< float for x value */
00039     float y; /**< float for y value */
00040 };
00041 
00042 /** Polar coordinate struct */
00043 struct Polar {
00044     float mag;  /**< float for magnitude */
00045     float angle; /**< float for angle (in degrees) */
00046 };
00047 
00048 /** Gamepad Class
00049  * @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
00050  * @author Dr Craig A. Evans
00051  * @author Dr Alex Valavanis
00052  */
00053 class Gamepad
00054 {
00055 public:
00056 /** Gamepad events 
00057  * @brief List of events that can be registered on the gamepad
00058  */
00059 enum GamepadEvent {
00060     A_PRESSED,     ///< Button A has been pressed
00061     B_PRESSED,     ///< Button B has been pressed
00062     X_PRESSED,     ///< Button X has been pressed
00063     Y_PRESSED,     ///< Button Y has been pressed
00064     L_PRESSED,     ///< Button L has been pressed
00065     R_PRESSED,     ///< Button R has been pressed
00066     BACK_PRESSED,  ///< Button "Back" has been pressed
00067     START_PRESSED, ///< Button "Start" has been pressed
00068     JOY_PRESSED,   ///< Joystick button has been pressed
00069     N_EVENTS       ///< A dummy flag that marks the end of the list
00070 };
00071 
00072 private:
00073     mbed::PwmOut *_led1;
00074     mbed::PwmOut *_led2;
00075     mbed::PwmOut *_led3;
00076     mbed::PwmOut *_led4;
00077     mbed::PwmOut *_led5;
00078     mbed::PwmOut *_led6;
00079 
00080     mbed::InterruptIn *_button_A;
00081     mbed::InterruptIn *_button_B;
00082     mbed::InterruptIn *_button_X;
00083     mbed::InterruptIn *_button_Y;
00084     mbed::InterruptIn *_button_L;
00085     mbed::InterruptIn *_button_R;
00086     mbed::InterruptIn *_button_back;
00087     mbed::InterruptIn *_button_start;
00088     mbed::InterruptIn *_button_joystick;
00089 
00090     mbed::AnalogIn *_vert;
00091     mbed::AnalogIn *_horiz;
00092 
00093     mbed::PwmOut   *_buzzer;
00094     mbed::AnalogIn *_pot;
00095 
00096     mbed::Timeout *_timeout;
00097 
00098     std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
00099 
00100     // centred x,y values
00101     float _x0;
00102     float _y0;
00103 
00104 public:
00105     /** Constructor */
00106     Gamepad();
00107 
00108     /** Destructor */
00109     ~Gamepad();
00110 
00111     /** Initialise all peripherals and configure interrupts */
00112     void init();
00113 
00114     /** Turn all LEDs on */
00115     void leds_on();
00116 
00117     /** Turn all LEDs off */
00118     void leds_off();
00119 
00120     /** Set all LEDs to duty-cycle
00121     *@param value in range 0.0 to 1.0
00122     */
00123     void leds(float val) const;
00124 
00125     /** Set LED to duty-cycle
00126     *@param led number (0 to 5)
00127     *@param value in range 0.0 to 1.0
00128     */
00129     void led(int n,float val) const;
00130 
00131     /** Read potentiometer
00132     *@returns potentiometer value in range 0.0 to 1.0
00133     */
00134     float read_pot() const;
00135 
00136     /** Play tone on piezo
00137     * @param frequency in Hz
00138     * @param duration of tone in seconds
00139     */
00140     void tone(float frequency, float duration);
00141 
00142     /**
00143      * @brief Check whether an event flag has been set and clear it
00144      * @param id[in] The ID of the event to test
00145      * @return true if the event occurred
00146      */
00147     bool check_event(GamepadEvent const id);
00148 
00149     /**
00150      * @brief   Get the raw binary event state
00151      * @return  The event state as a binary code
00152      * @details The check_event() function is likely to be more useful than
00153      *          this, for testing whether a given event has occurred. It can be
00154      *          useful for debugging via the terminal, however, for example:
00155      *          @code
00156      *          std::cout << gamepad.get_raw_event_state() << std::endl;
00157      *          @endcode
00158      */
00159     inline std::bitset<N_EVENTS> get_raw_event_state() const {
00160         return _event_state;
00161     }
00162 
00163     /** Get magnitude of joystick movement
00164     * @returns value in range 0.0 to 1.0
00165     */
00166     float get_mag();
00167 
00168     /** Get angle of joystick movement
00169     * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
00170     */
00171     float get_angle();
00172 
00173     /** Gets joystick direction
00174     * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
00175     */
00176     Direction get_direction();    // N,NE,E,SE etc.
00177 
00178     /** Gets raw cartesian co-ordinates of joystick
00179     * @returns a struct with x,y members, each in the range 0.0 to 1.0
00180     */
00181     Vector2D get_coord();         // cartesian co-ordinates x,y
00182 
00183     /** Gets cartesian coordinates mapped to circular grid
00184     * @returns a struct with x,y members, each in the range 0.0 to 1.0
00185     */
00186     Vector2D get_mapped_coord();  // x,y mapped to circle
00187 
00188     /** Gets polar coordinates of the joystick
00189     * @returns a struct contains mag and angle
00190     */
00191     Polar get_polar();            // mag and angle in struct form
00192 
00193 private:
00194     void init_buttons();
00195     void tone_off();
00196 
00197     void a_isr();
00198     void b_isr();
00199     void x_isr();
00200     void y_isr();
00201     void l_isr();
00202     void r_isr();
00203     void back_isr();
00204     void start_isr();
00205     void joy_isr();
00206 };
00207 
00208 #endif