Max Houghton / Mbed 2 deprecated MazeGame_el15mh

el15mh 200929957

Dependencies:   mbed

Gamepad/Gamepad.cpp@9:960dfc71c224, 2017-05-04 (annotated)

Committer:
el15mh
Date:
Thu May 04 14:43:29 2017 +0000
Revision:
9:960dfc71c224
Documented using doxygen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
el15mh 9:960dfc71c224 1 #include "Gamepad.h"
el15mh 9:960dfc71c224 2
el15mh 9:960dfc71c224 3 #include "mbed.h"
el15mh 9:960dfc71c224 4
el15mh 9:960dfc71c224 5 //////////// constructor/destructor ////////////
el15mh 9:960dfc71c224 6 Gamepad::Gamepad()
el15mh 9:960dfc71c224 7 :
el15mh 9:960dfc71c224 8 _led1(new PwmOut(PTA1)),
el15mh 9:960dfc71c224 9 _led2(new PwmOut(PTA2)),
el15mh 9:960dfc71c224 10 _led3(new PwmOut(PTC2)),
el15mh 9:960dfc71c224 11 _led4(new PwmOut(PTC3)),
el15mh 9:960dfc71c224 12 _led5(new PwmOut(PTC4)),
el15mh 9:960dfc71c224 13 _led6(new PwmOut(PTD3)),
el15mh 9:960dfc71c224 14
el15mh 9:960dfc71c224 15 _button_A(new InterruptIn(PTB9)),
el15mh 9:960dfc71c224 16 _button_B(new InterruptIn(PTD0)),
el15mh 9:960dfc71c224 17 _button_X(new InterruptIn(PTC17)),
el15mh 9:960dfc71c224 18 _button_Y(new InterruptIn(PTC12)),
el15mh 9:960dfc71c224 19 _button_L(new InterruptIn(PTB18)),
el15mh 9:960dfc71c224 20 _button_R(new InterruptIn(PTB3)),
el15mh 9:960dfc71c224 21 _button_back(new InterruptIn(PTB19)),
el15mh 9:960dfc71c224 22 _button_start(new InterruptIn(PTC5)),
el15mh 9:960dfc71c224 23 _button_joystick(new InterruptIn(PTC16)),
el15mh 9:960dfc71c224 24
el15mh 9:960dfc71c224 25 _vert(new AnalogIn(PTB10)),
el15mh 9:960dfc71c224 26 _horiz(new AnalogIn(PTB11)),
el15mh 9:960dfc71c224 27
el15mh 9:960dfc71c224 28 _buzzer(new PwmOut(PTC10)),
el15mh 9:960dfc71c224 29 _pot(new AnalogIn(PTB2)),
el15mh 9:960dfc71c224 30
el15mh 9:960dfc71c224 31 _timeout(new Timeout()),
el15mh 9:960dfc71c224 32
el15mh 9:960dfc71c224 33 _event_state(0),
el15mh 9:960dfc71c224 34
el15mh 9:960dfc71c224 35 _x0(0),
el15mh 9:960dfc71c224 36 _y0(0)
el15mh 9:960dfc71c224 37 {}
el15mh 9:960dfc71c224 38
el15mh 9:960dfc71c224 39 Gamepad::~Gamepad()
el15mh 9:960dfc71c224 40 {
el15mh 9:960dfc71c224 41 delete _led1,_led2,_led3,_led4,_led5,_led6;
el15mh 9:960dfc71c224 42 delete _button_A,_button_B,_button_joystick,_vert,_horiz;
el15mh 9:960dfc71c224 43 delete _button_X,_button_Y,_button_back,_button_start;
el15mh 9:960dfc71c224 44 delete _button_L,_button_R, _buzzer, _pot, _timeout;
el15mh 9:960dfc71c224 45 }
el15mh 9:960dfc71c224 46
el15mh 9:960dfc71c224 47 ///////////////// public methods /////////////////
el15mh 9:960dfc71c224 48
el15mh 9:960dfc71c224 49 void Gamepad::init()
el15mh 9:960dfc71c224 50 {
el15mh 9:960dfc71c224 51 leds_off();
el15mh 9:960dfc71c224 52 init_buttons();
el15mh 9:960dfc71c224 53
el15mh 9:960dfc71c224 54 // read centred values of joystick
el15mh 9:960dfc71c224 55 _x0 = _horiz->read();
el15mh 9:960dfc71c224 56 _y0 = _vert->read();
el15mh 9:960dfc71c224 57
el15mh 9:960dfc71c224 58 // clear all flags
el15mh 9:960dfc71c224 59 _event_state = 0;
el15mh 9:960dfc71c224 60 }
el15mh 9:960dfc71c224 61
el15mh 9:960dfc71c224 62 void Gamepad::leds_off()
el15mh 9:960dfc71c224 63 {
el15mh 9:960dfc71c224 64 leds(0.0);
el15mh 9:960dfc71c224 65 }
el15mh 9:960dfc71c224 66
el15mh 9:960dfc71c224 67 void Gamepad::leds_on()
el15mh 9:960dfc71c224 68 {
el15mh 9:960dfc71c224 69 leds(1.0);
el15mh 9:960dfc71c224 70 }
el15mh 9:960dfc71c224 71
el15mh 9:960dfc71c224 72 void Gamepad::leds(float val) const
el15mh 9:960dfc71c224 73 {
el15mh 9:960dfc71c224 74 if (val < 0.0f) {
el15mh 9:960dfc71c224 75 val = 0.0f;
el15mh 9:960dfc71c224 76 }
el15mh 9:960dfc71c224 77 if (val > 1.0f) {
el15mh 9:960dfc71c224 78 val = 1.0f;
el15mh 9:960dfc71c224 79 }
el15mh 9:960dfc71c224 80
el15mh 9:960dfc71c224 81 // leds are active-low, so subtract from 1.0
el15mh 9:960dfc71c224 82 // 0.0 corresponds to fully-off, 1.0 to fully-on
el15mh 9:960dfc71c224 83 val = 1.0f - val;
el15mh 9:960dfc71c224 84
el15mh 9:960dfc71c224 85 _led1->write(val);
el15mh 9:960dfc71c224 86 _led2->write(val);
el15mh 9:960dfc71c224 87 _led3->write(val);
el15mh 9:960dfc71c224 88 _led4->write(val);
el15mh 9:960dfc71c224 89 _led5->write(val);
el15mh 9:960dfc71c224 90 _led6->write(val);
el15mh 9:960dfc71c224 91 }
el15mh 9:960dfc71c224 92
el15mh 9:960dfc71c224 93 void Gamepad::led(int n,float val) const
el15mh 9:960dfc71c224 94 {
el15mh 9:960dfc71c224 95 // ensure they are within vlaid range
el15mh 9:960dfc71c224 96 if (val < 0.0f) {
el15mh 9:960dfc71c224 97 val = 0.0f;
el15mh 9:960dfc71c224 98 }
el15mh 9:960dfc71c224 99 if (val > 1.0f) {
el15mh 9:960dfc71c224 100 val = 1.0f;
el15mh 9:960dfc71c224 101 }
el15mh 9:960dfc71c224 102
el15mh 9:960dfc71c224 103 switch (n) {
el15mh 9:960dfc71c224 104
el15mh 9:960dfc71c224 105 // check for valid LED number and set value
el15mh 9:960dfc71c224 106
el15mh 9:960dfc71c224 107 case 1:
el15mh 9:960dfc71c224 108 _led1->write(1.0f-val); // active-low so subtract from 1
el15mh 9:960dfc71c224 109 break;
el15mh 9:960dfc71c224 110 case 2:
el15mh 9:960dfc71c224 111 _led2->write(1.0f-val); // active-low so subtract from 1
el15mh 9:960dfc71c224 112 break;
el15mh 9:960dfc71c224 113 case 3:
el15mh 9:960dfc71c224 114 _led3->write(1.0f-val); // active-low so subtract from 1
el15mh 9:960dfc71c224 115 break;
el15mh 9:960dfc71c224 116 case 4:
el15mh 9:960dfc71c224 117 _led4->write(1.0f-val); // active-low so subtract from 1
el15mh 9:960dfc71c224 118 break;
el15mh 9:960dfc71c224 119 case 5:
el15mh 9:960dfc71c224 120 _led5->write(1.0f-val); // active-low so subtract from 1
el15mh 9:960dfc71c224 121 break;
el15mh 9:960dfc71c224 122 case 6:
el15mh 9:960dfc71c224 123 _led6->write(1.0f-val); // active-low so subtract from 1
el15mh 9:960dfc71c224 124 break;
el15mh 9:960dfc71c224 125
el15mh 9:960dfc71c224 126 }
el15mh 9:960dfc71c224 127 }
el15mh 9:960dfc71c224 128
el15mh 9:960dfc71c224 129 float Gamepad::read_pot() const
el15mh 9:960dfc71c224 130 {
el15mh 9:960dfc71c224 131 return _pot->read();
el15mh 9:960dfc71c224 132 }
el15mh 9:960dfc71c224 133
el15mh 9:960dfc71c224 134 void Gamepad::tone(float frequency, float duration)
el15mh 9:960dfc71c224 135 {
el15mh 9:960dfc71c224 136 _buzzer->period(1.0f/frequency);
el15mh 9:960dfc71c224 137 _buzzer->write(0.5); // 50% duty cycle - square wave
el15mh 9:960dfc71c224 138 _timeout->attach(callback(this, &Gamepad::tone_off), duration );
el15mh 9:960dfc71c224 139 }
el15mh 9:960dfc71c224 140
el15mh 9:960dfc71c224 141 bool Gamepad::check_event(GamepadEvent const id)
el15mh 9:960dfc71c224 142 {
el15mh 9:960dfc71c224 143 // Check whether event flag is set
el15mh 9:960dfc71c224 144 if (_event_state[id]) {
el15mh 9:960dfc71c224 145 _event_state.reset(id); // clear flag
el15mh 9:960dfc71c224 146 return true;
el15mh 9:960dfc71c224 147 } else {
el15mh 9:960dfc71c224 148 return false;
el15mh 9:960dfc71c224 149 }
el15mh 9:960dfc71c224 150 }
el15mh 9:960dfc71c224 151
el15mh 9:960dfc71c224 152 // this method gets the magnitude of the joystick movement
el15mh 9:960dfc71c224 153 float Gamepad::get_mag()
el15mh 9:960dfc71c224 154 {
el15mh 9:960dfc71c224 155 Polar p = get_polar();
el15mh 9:960dfc71c224 156 return p.mag;
el15mh 9:960dfc71c224 157 }
el15mh 9:960dfc71c224 158
el15mh 9:960dfc71c224 159 // this method gets the angle of joystick movement (0 to 360, 0 North)
el15mh 9:960dfc71c224 160 float Gamepad::get_angle()
el15mh 9:960dfc71c224 161 {
el15mh 9:960dfc71c224 162 Polar p = get_polar();
el15mh 9:960dfc71c224 163 return p.angle;
el15mh 9:960dfc71c224 164 }
el15mh 9:960dfc71c224 165
el15mh 9:960dfc71c224 166 Direction Gamepad::get_direction()
el15mh 9:960dfc71c224 167 {
el15mh 9:960dfc71c224 168 float angle = get_angle(); // 0 to 360, -1 for centred
el15mh 9:960dfc71c224 169
el15mh 9:960dfc71c224 170 Direction d;
el15mh 9:960dfc71c224 171 // partition 360 into segments and check which segment the angle is in
el15mh 9:960dfc71c224 172 if (angle < 0.0f) {
el15mh 9:960dfc71c224 173 d = CENTRE; // check for -1.0 angle
el15mh 9:960dfc71c224 174 } else if (angle < 22.5f) { // then keep going in 45 degree increments
el15mh 9:960dfc71c224 175 d = N;
el15mh 9:960dfc71c224 176 } else if (angle < 67.5f) {
el15mh 9:960dfc71c224 177 d = NE;
el15mh 9:960dfc71c224 178 } else if (angle < 112.5f) {
el15mh 9:960dfc71c224 179 d = E;
el15mh 9:960dfc71c224 180 } else if (angle < 157.5f) {
el15mh 9:960dfc71c224 181 d = SE;
el15mh 9:960dfc71c224 182 } else if (angle < 202.5f) {
el15mh 9:960dfc71c224 183 d = S;
el15mh 9:960dfc71c224 184 } else if (angle < 247.5f) {
el15mh 9:960dfc71c224 185 d = SW;
el15mh 9:960dfc71c224 186 } else if (angle < 292.5f) {
el15mh 9:960dfc71c224 187 d = W;
el15mh 9:960dfc71c224 188 } else if (angle < 337.5f) {
el15mh 9:960dfc71c224 189 d = NW;
el15mh 9:960dfc71c224 190 } else {
el15mh 9:960dfc71c224 191 d = N;
el15mh 9:960dfc71c224 192 }
el15mh 9:960dfc71c224 193
el15mh 9:960dfc71c224 194 return d;
el15mh 9:960dfc71c224 195 }
el15mh 9:960dfc71c224 196
el15mh 9:960dfc71c224 197 ///////////////////// private methods ////////////////////////
el15mh 9:960dfc71c224 198
el15mh 9:960dfc71c224 199 void Gamepad::tone_off()
el15mh 9:960dfc71c224 200 {
el15mh 9:960dfc71c224 201 // called after timeout
el15mh 9:960dfc71c224 202 _buzzer->write(0.0);
el15mh 9:960dfc71c224 203 }
el15mh 9:960dfc71c224 204
el15mh 9:960dfc71c224 205 void Gamepad::init_buttons()
el15mh 9:960dfc71c224 206 {
el15mh 9:960dfc71c224 207 // turn on pull-downs as other side of button is connected to 3V3
el15mh 9:960dfc71c224 208 // button is 0 when not pressed and 1 when pressed
el15mh 9:960dfc71c224 209 _button_A->mode(PullDown);
el15mh 9:960dfc71c224 210 _button_B->mode(PullDown);
el15mh 9:960dfc71c224 211 _button_X->mode(PullDown);
el15mh 9:960dfc71c224 212 _button_Y->mode(PullDown);
el15mh 9:960dfc71c224 213 _button_back->mode(PullDown);
el15mh 9:960dfc71c224 214 _button_start->mode(PullDown);
el15mh 9:960dfc71c224 215 _button_L->mode(PullDown);
el15mh 9:960dfc71c224 216 _button_R->mode(PullDown);
el15mh 9:960dfc71c224 217 _button_joystick->mode(PullDown);
el15mh 9:960dfc71c224 218 // therefore setup rising edge interrupts
el15mh 9:960dfc71c224 219 _button_A->rise(callback(this,&Gamepad::a_isr));
el15mh 9:960dfc71c224 220 _button_B->rise(callback(this,&Gamepad::b_isr));
el15mh 9:960dfc71c224 221 _button_X->rise(callback(this,&Gamepad::x_isr));
el15mh 9:960dfc71c224 222 _button_Y->rise(callback(this,&Gamepad::y_isr));
el15mh 9:960dfc71c224 223 _button_L->rise(callback(this,&Gamepad::l_isr));
el15mh 9:960dfc71c224 224 _button_R->rise(callback(this,&Gamepad::r_isr));
el15mh 9:960dfc71c224 225 _button_start->rise(callback(this,&Gamepad::start_isr));
el15mh 9:960dfc71c224 226 _button_back->rise(callback(this,&Gamepad::back_isr));
el15mh 9:960dfc71c224 227 _button_joystick->rise(callback(this,&Gamepad::joy_isr));
el15mh 9:960dfc71c224 228 }
el15mh 9:960dfc71c224 229
el15mh 9:960dfc71c224 230 // button interrupts ISRs
el15mh 9:960dfc71c224 231 // Each of these simply sets the appropriate event bit in the _event_state
el15mh 9:960dfc71c224 232 // variable
el15mh 9:960dfc71c224 233 void Gamepad::a_isr()
el15mh 9:960dfc71c224 234 {
el15mh 9:960dfc71c224 235 _event_state.set(A_PRESSED);
el15mh 9:960dfc71c224 236 }
el15mh 9:960dfc71c224 237 void Gamepad::b_isr()
el15mh 9:960dfc71c224 238 {
el15mh 9:960dfc71c224 239 _event_state.set(B_PRESSED);
el15mh 9:960dfc71c224 240 }
el15mh 9:960dfc71c224 241 void Gamepad::x_isr()
el15mh 9:960dfc71c224 242 {
el15mh 9:960dfc71c224 243 _event_state.set(X_PRESSED);
el15mh 9:960dfc71c224 244 }
el15mh 9:960dfc71c224 245 void Gamepad::y_isr()
el15mh 9:960dfc71c224 246 {
el15mh 9:960dfc71c224 247 _event_state.set(Y_PRESSED);
el15mh 9:960dfc71c224 248 }
el15mh 9:960dfc71c224 249 void Gamepad::l_isr()
el15mh 9:960dfc71c224 250 {
el15mh 9:960dfc71c224 251 _event_state.set(L_PRESSED);
el15mh 9:960dfc71c224 252 }
el15mh 9:960dfc71c224 253 void Gamepad::r_isr()
el15mh 9:960dfc71c224 254 {
el15mh 9:960dfc71c224 255 _event_state.set(R_PRESSED);
el15mh 9:960dfc71c224 256 }
el15mh 9:960dfc71c224 257 void Gamepad::back_isr()
el15mh 9:960dfc71c224 258 {
el15mh 9:960dfc71c224 259 _event_state.set(BACK_PRESSED);
el15mh 9:960dfc71c224 260 }
el15mh 9:960dfc71c224 261 void Gamepad::start_isr()
el15mh 9:960dfc71c224 262 {
el15mh 9:960dfc71c224 263 _event_state.set(START_PRESSED);
el15mh 9:960dfc71c224 264 }
el15mh 9:960dfc71c224 265 void Gamepad::joy_isr()
el15mh 9:960dfc71c224 266 {
el15mh 9:960dfc71c224 267 _event_state.set(JOY_PRESSED);
el15mh 9:960dfc71c224 268 }
el15mh 9:960dfc71c224 269
el15mh 9:960dfc71c224 270 // get raw joystick coordinate in range -1 to 1
el15mh 9:960dfc71c224 271 // Direction (x,y)
el15mh 9:960dfc71c224 272 // North (0,1)
el15mh 9:960dfc71c224 273 // East (1,0)
el15mh 9:960dfc71c224 274 // South (0,-1)
el15mh 9:960dfc71c224 275 // West (-1,0)
el15mh 9:960dfc71c224 276 Vector2D Gamepad::get_coord()
el15mh 9:960dfc71c224 277 {
el15mh 9:960dfc71c224 278 // read() returns value in range 0.0 to 1.0 so is scaled and centre value
el15mh 9:960dfc71c224 279 // substracted to get values in the range -1.0 to 1.0
el15mh 9:960dfc71c224 280 float x = 2.0f*( _horiz->read() - _x0 );
el15mh 9:960dfc71c224 281 float y = 2.0f*( _vert->read() - _y0 );
el15mh 9:960dfc71c224 282
el15mh 9:960dfc71c224 283 // Note: the x value here is inverted to ensure the positive x is to the
el15mh 9:960dfc71c224 284 // right. This is simply due to how the potentiometer on the joystick
el15mh 9:960dfc71c224 285 // I was using was connected up. It could have been corrected in hardware
el15mh 9:960dfc71c224 286 // by swapping the power supply pins. Instead it is done in software so may
el15mh 9:960dfc71c224 287 // need to be changed depending on your wiring setup
el15mh 9:960dfc71c224 288
el15mh 9:960dfc71c224 289 Vector2D coord = {-x,y};
el15mh 9:960dfc71c224 290 return coord;
el15mh 9:960dfc71c224 291 }
el15mh 9:960dfc71c224 292
el15mh 9:960dfc71c224 293 // This maps the raw x,y coord onto a circular grid.
el15mh 9:960dfc71c224 294 // See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html
el15mh 9:960dfc71c224 295 Vector2D Gamepad::get_mapped_coord()
el15mh 9:960dfc71c224 296 {
el15mh 9:960dfc71c224 297 Vector2D coord = get_coord();
el15mh 9:960dfc71c224 298
el15mh 9:960dfc71c224 299 // do the transformation
el15mh 9:960dfc71c224 300 float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f);
el15mh 9:960dfc71c224 301 float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f);
el15mh 9:960dfc71c224 302
el15mh 9:960dfc71c224 303 Vector2D mapped_coord = {x,y};
el15mh 9:960dfc71c224 304 return mapped_coord;
el15mh 9:960dfc71c224 305 }
el15mh 9:960dfc71c224 306
el15mh 9:960dfc71c224 307 // this function converts the mapped coordinates into polar form
el15mh 9:960dfc71c224 308 Polar Gamepad::get_polar()
el15mh 9:960dfc71c224 309 {
el15mh 9:960dfc71c224 310 // get the mapped coordinate
el15mh 9:960dfc71c224 311 Vector2D coord = get_mapped_coord();
el15mh 9:960dfc71c224 312
el15mh 9:960dfc71c224 313 // at this point, 0 degrees (i.e. x-axis) will be defined to the East.
el15mh 9:960dfc71c224 314 // We want 0 degrees to correspond to North and increase clockwise to 359
el15mh 9:960dfc71c224 315 // like a compass heading, so we need to swap the axis and invert y
el15mh 9:960dfc71c224 316 float x = coord.y;
el15mh 9:960dfc71c224 317 float y = coord.x;
el15mh 9:960dfc71c224 318
el15mh 9:960dfc71c224 319 float mag = sqrt(x*x+y*y); // pythagoras
el15mh 9:960dfc71c224 320 float angle = RAD2DEG*atan2(y,x);
el15mh 9:960dfc71c224 321 // angle will be in range -180 to 180, so add 360 to negative angles to
el15mh 9:960dfc71c224 322 // move to 0 to 360 range
el15mh 9:960dfc71c224 323 if (angle < 0.0f) {
el15mh 9:960dfc71c224 324 angle+=360.0f;
el15mh 9:960dfc71c224 325 }
el15mh 9:960dfc71c224 326
el15mh 9:960dfc71c224 327 // the noise on the ADC causes the values of x and y to fluctuate slightly
el15mh 9:960dfc71c224 328 // around the centred values. This causes the random angle values to get
el15mh 9:960dfc71c224 329 // calculated when the joystick is centred and untouched. This is also when
el15mh 9:960dfc71c224 330 // the magnitude is very small, so we can check for a small magnitude and then
el15mh 9:960dfc71c224 331 // set the angle to -1. This will inform us when the angle is invalid and the
el15mh 9:960dfc71c224 332 // joystick is centred
el15mh 9:960dfc71c224 333
el15mh 9:960dfc71c224 334 if (mag < TOL) {
el15mh 9:960dfc71c224 335 mag = 0.0f;
el15mh 9:960dfc71c224 336 angle = -1.0f;
el15mh 9:960dfc71c224 337 }
el15mh 9:960dfc71c224 338
el15mh 9:960dfc71c224 339 Polar p = {mag,angle};
el15mh 9:960dfc71c224 340 return p;
el15mh 9:960dfc71c224 341 }