![](/media/cache/profiles/f16cb71ca1813353fcef2c86431621a7.jpg.50x50_q85.png)
el15mh 200929957
Gamepad/Gamepad.h@10:989e5dbd12ee, 2017-05-04 (annotated)
- Committer:
- el15mh
- Date:
- Thu May 04 17:39:23 2017 +0000
- Revision:
- 10:989e5dbd12ee
- Parent:
- 9:960dfc71c224
Documented and final revision
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
el15mh | 9:960dfc71c224 | 1 | #ifndef GAMEPAD_H |
el15mh | 9:960dfc71c224 | 2 | #define GAMEPAD_H |
el15mh | 9:960dfc71c224 | 3 | |
el15mh | 9:960dfc71c224 | 4 | #include <bitset> |
el15mh | 9:960dfc71c224 | 5 | |
el15mh | 9:960dfc71c224 | 6 | // Forward declaration of the classes that we use from the mbed library |
el15mh | 9:960dfc71c224 | 7 | // This avoids the need for us to include the huge mbed.h header inside our |
el15mh | 9:960dfc71c224 | 8 | // own library API |
el15mh | 9:960dfc71c224 | 9 | namespace mbed |
el15mh | 9:960dfc71c224 | 10 | { |
el15mh | 9:960dfc71c224 | 11 | class AnalogIn; |
el15mh | 9:960dfc71c224 | 12 | class InterruptIn; |
el15mh | 9:960dfc71c224 | 13 | class PwmOut; |
el15mh | 9:960dfc71c224 | 14 | class Timeout; |
el15mh | 9:960dfc71c224 | 15 | } |
el15mh | 9:960dfc71c224 | 16 | |
el15mh | 9:960dfc71c224 | 17 | #define TOL 0.1f |
el15mh | 9:960dfc71c224 | 18 | #define RAD2DEG 57.2957795131f |
el15mh | 9:960dfc71c224 | 19 | |
el15mh | 9:960dfc71c224 | 20 | #define G_NOTE 196.00f |
el15mh | 9:960dfc71c224 | 21 | #define C_NOTE 261.60f |
el15mh | 9:960dfc71c224 | 22 | |
el15mh | 9:960dfc71c224 | 23 | /** Enum for direction */ |
el15mh | 9:960dfc71c224 | 24 | enum Direction { |
el15mh | 9:960dfc71c224 | 25 | CENTRE, /**< joystick centred */ |
el15mh | 9:960dfc71c224 | 26 | N, /**< pushed North (0)*/ |
el15mh | 9:960dfc71c224 | 27 | NE, /**< pushed North-East (45) */ |
el15mh | 9:960dfc71c224 | 28 | E, /**< pushed East (90) */ |
el15mh | 9:960dfc71c224 | 29 | SE, /**< pushed South-East (135) */ |
el15mh | 9:960dfc71c224 | 30 | S, /**< pushed South (180) */ |
el15mh | 9:960dfc71c224 | 31 | SW, /**< pushed South-West (225) */ |
el15mh | 9:960dfc71c224 | 32 | W, /**< pushed West (270) */ |
el15mh | 9:960dfc71c224 | 33 | NW /**< pushed North-West (315) */ |
el15mh | 9:960dfc71c224 | 34 | }; |
el15mh | 9:960dfc71c224 | 35 | |
el15mh | 9:960dfc71c224 | 36 | /** Vector 2D struct */ |
el15mh | 9:960dfc71c224 | 37 | struct Vector2D { |
el15mh | 9:960dfc71c224 | 38 | float x; /**< float for x value */ |
el15mh | 9:960dfc71c224 | 39 | float y; /**< float for y value */ |
el15mh | 9:960dfc71c224 | 40 | }; |
el15mh | 9:960dfc71c224 | 41 | |
el15mh | 9:960dfc71c224 | 42 | /** Polar coordinate struct */ |
el15mh | 9:960dfc71c224 | 43 | struct Polar { |
el15mh | 9:960dfc71c224 | 44 | float mag; /**< float for magnitude */ |
el15mh | 9:960dfc71c224 | 45 | float angle; /**< float for angle (in degrees) */ |
el15mh | 9:960dfc71c224 | 46 | }; |
el15mh | 9:960dfc71c224 | 47 | |
el15mh | 9:960dfc71c224 | 48 | /** Gamepad Class |
el15mh | 9:960dfc71c224 | 49 | * @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds |
el15mh | 9:960dfc71c224 | 50 | * @author Dr Craig A. Evans |
el15mh | 9:960dfc71c224 | 51 | * @author Dr Alex Valavanis |
el15mh | 9:960dfc71c224 | 52 | */ |
el15mh | 9:960dfc71c224 | 53 | class Gamepad |
el15mh | 9:960dfc71c224 | 54 | { |
el15mh | 9:960dfc71c224 | 55 | public: |
el15mh | 9:960dfc71c224 | 56 | /** Gamepad events |
el15mh | 9:960dfc71c224 | 57 | * @brief List of events that can be registered on the gamepad |
el15mh | 9:960dfc71c224 | 58 | */ |
el15mh | 9:960dfc71c224 | 59 | enum GamepadEvent { |
el15mh | 9:960dfc71c224 | 60 | A_PRESSED, ///< Button A has been pressed |
el15mh | 9:960dfc71c224 | 61 | B_PRESSED, ///< Button B has been pressed |
el15mh | 9:960dfc71c224 | 62 | X_PRESSED, ///< Button X has been pressed |
el15mh | 9:960dfc71c224 | 63 | Y_PRESSED, ///< Button Y has been pressed |
el15mh | 9:960dfc71c224 | 64 | L_PRESSED, ///< Button L has been pressed |
el15mh | 9:960dfc71c224 | 65 | R_PRESSED, ///< Button R has been pressed |
el15mh | 9:960dfc71c224 | 66 | BACK_PRESSED, ///< Button "Back" has been pressed |
el15mh | 9:960dfc71c224 | 67 | START_PRESSED, ///< Button "Start" has been pressed |
el15mh | 9:960dfc71c224 | 68 | JOY_PRESSED, ///< Joystick button has been pressed |
el15mh | 9:960dfc71c224 | 69 | N_EVENTS ///< A dummy flag that marks the end of the list |
el15mh | 9:960dfc71c224 | 70 | }; |
el15mh | 9:960dfc71c224 | 71 | |
el15mh | 9:960dfc71c224 | 72 | private: |
el15mh | 9:960dfc71c224 | 73 | mbed::PwmOut *_led1; |
el15mh | 9:960dfc71c224 | 74 | mbed::PwmOut *_led2; |
el15mh | 9:960dfc71c224 | 75 | mbed::PwmOut *_led3; |
el15mh | 9:960dfc71c224 | 76 | mbed::PwmOut *_led4; |
el15mh | 9:960dfc71c224 | 77 | mbed::PwmOut *_led5; |
el15mh | 9:960dfc71c224 | 78 | mbed::PwmOut *_led6; |
el15mh | 9:960dfc71c224 | 79 | |
el15mh | 9:960dfc71c224 | 80 | mbed::InterruptIn *_button_A; |
el15mh | 9:960dfc71c224 | 81 | mbed::InterruptIn *_button_B; |
el15mh | 9:960dfc71c224 | 82 | mbed::InterruptIn *_button_X; |
el15mh | 9:960dfc71c224 | 83 | mbed::InterruptIn *_button_Y; |
el15mh | 9:960dfc71c224 | 84 | mbed::InterruptIn *_button_L; |
el15mh | 9:960dfc71c224 | 85 | mbed::InterruptIn *_button_R; |
el15mh | 9:960dfc71c224 | 86 | mbed::InterruptIn *_button_back; |
el15mh | 9:960dfc71c224 | 87 | mbed::InterruptIn *_button_start; |
el15mh | 9:960dfc71c224 | 88 | mbed::InterruptIn *_button_joystick; |
el15mh | 9:960dfc71c224 | 89 | |
el15mh | 9:960dfc71c224 | 90 | mbed::AnalogIn *_vert; |
el15mh | 9:960dfc71c224 | 91 | mbed::AnalogIn *_horiz; |
el15mh | 9:960dfc71c224 | 92 | |
el15mh | 9:960dfc71c224 | 93 | mbed::PwmOut *_buzzer; |
el15mh | 9:960dfc71c224 | 94 | mbed::AnalogIn *_pot; |
el15mh | 9:960dfc71c224 | 95 | |
el15mh | 9:960dfc71c224 | 96 | mbed::Timeout *_timeout; |
el15mh | 9:960dfc71c224 | 97 | |
el15mh | 9:960dfc71c224 | 98 | std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed |
el15mh | 9:960dfc71c224 | 99 | |
el15mh | 9:960dfc71c224 | 100 | // centred x,y values |
el15mh | 9:960dfc71c224 | 101 | float _x0; |
el15mh | 9:960dfc71c224 | 102 | float _y0; |
el15mh | 9:960dfc71c224 | 103 | |
el15mh | 9:960dfc71c224 | 104 | public: |
el15mh | 9:960dfc71c224 | 105 | /** Constructor */ |
el15mh | 9:960dfc71c224 | 106 | Gamepad(); |
el15mh | 9:960dfc71c224 | 107 | |
el15mh | 9:960dfc71c224 | 108 | /** Destructor */ |
el15mh | 9:960dfc71c224 | 109 | ~Gamepad(); |
el15mh | 9:960dfc71c224 | 110 | |
el15mh | 9:960dfc71c224 | 111 | /** Initialise all peripherals and configure interrupts */ |
el15mh | 9:960dfc71c224 | 112 | void init(); |
el15mh | 9:960dfc71c224 | 113 | |
el15mh | 9:960dfc71c224 | 114 | /** Turn all LEDs on */ |
el15mh | 9:960dfc71c224 | 115 | void leds_on(); |
el15mh | 9:960dfc71c224 | 116 | |
el15mh | 9:960dfc71c224 | 117 | /** Turn all LEDs off */ |
el15mh | 9:960dfc71c224 | 118 | void leds_off(); |
el15mh | 9:960dfc71c224 | 119 | |
el15mh | 9:960dfc71c224 | 120 | /** Set all LEDs to duty-cycle |
el15mh | 9:960dfc71c224 | 121 | *@param value in range 0.0 to 1.0 |
el15mh | 9:960dfc71c224 | 122 | */ |
el15mh | 9:960dfc71c224 | 123 | void leds(float val) const; |
el15mh | 9:960dfc71c224 | 124 | |
el15mh | 9:960dfc71c224 | 125 | /** Set LED to duty-cycle |
el15mh | 9:960dfc71c224 | 126 | *@param led number (0 to 5) |
el15mh | 9:960dfc71c224 | 127 | *@param value in range 0.0 to 1.0 |
el15mh | 9:960dfc71c224 | 128 | */ |
el15mh | 9:960dfc71c224 | 129 | void led(int n,float val) const; |
el15mh | 9:960dfc71c224 | 130 | |
el15mh | 9:960dfc71c224 | 131 | /** Read potentiometer |
el15mh | 9:960dfc71c224 | 132 | *@returns potentiometer value in range 0.0 to 1.0 |
el15mh | 9:960dfc71c224 | 133 | */ |
el15mh | 9:960dfc71c224 | 134 | float read_pot() const; |
el15mh | 9:960dfc71c224 | 135 | |
el15mh | 9:960dfc71c224 | 136 | /** Play tone on piezo |
el15mh | 9:960dfc71c224 | 137 | * @param frequency in Hz |
el15mh | 9:960dfc71c224 | 138 | * @param duration of tone in seconds |
el15mh | 9:960dfc71c224 | 139 | */ |
el15mh | 9:960dfc71c224 | 140 | void tone(float frequency, float duration); |
el15mh | 9:960dfc71c224 | 141 | |
el15mh | 9:960dfc71c224 | 142 | /** |
el15mh | 9:960dfc71c224 | 143 | * @brief Check whether an event flag has been set and clear it |
el15mh | 9:960dfc71c224 | 144 | * @param id[in] The ID of the event to test |
el15mh | 9:960dfc71c224 | 145 | * @return true if the event occurred |
el15mh | 9:960dfc71c224 | 146 | */ |
el15mh | 9:960dfc71c224 | 147 | bool check_event(GamepadEvent const id); |
el15mh | 9:960dfc71c224 | 148 | |
el15mh | 9:960dfc71c224 | 149 | /** |
el15mh | 9:960dfc71c224 | 150 | * @brief Get the raw binary event state |
el15mh | 9:960dfc71c224 | 151 | * @return The event state as a binary code |
el15mh | 9:960dfc71c224 | 152 | * @details The check_event() function is likely to be more useful than |
el15mh | 9:960dfc71c224 | 153 | * this, for testing whether a given event has occurred. It can be |
el15mh | 9:960dfc71c224 | 154 | * useful for debugging via the terminal, however, for example: |
el15mh | 9:960dfc71c224 | 155 | * @code |
el15mh | 9:960dfc71c224 | 156 | * std::cout << gamepad.get_raw_event_state() << std::endl; |
el15mh | 9:960dfc71c224 | 157 | * @endcode |
el15mh | 9:960dfc71c224 | 158 | */ |
el15mh | 9:960dfc71c224 | 159 | inline std::bitset<N_EVENTS> get_raw_event_state() const { |
el15mh | 9:960dfc71c224 | 160 | return _event_state; |
el15mh | 9:960dfc71c224 | 161 | } |
el15mh | 9:960dfc71c224 | 162 | |
el15mh | 9:960dfc71c224 | 163 | /** Get magnitude of joystick movement |
el15mh | 9:960dfc71c224 | 164 | * @returns value in range 0.0 to 1.0 |
el15mh | 9:960dfc71c224 | 165 | */ |
el15mh | 9:960dfc71c224 | 166 | float get_mag(); |
el15mh | 9:960dfc71c224 | 167 | |
el15mh | 9:960dfc71c224 | 168 | /** Get angle of joystick movement |
el15mh | 9:960dfc71c224 | 169 | * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central |
el15mh | 9:960dfc71c224 | 170 | */ |
el15mh | 9:960dfc71c224 | 171 | float get_angle(); |
el15mh | 9:960dfc71c224 | 172 | |
el15mh | 9:960dfc71c224 | 173 | /** Gets joystick direction |
el15mh | 9:960dfc71c224 | 174 | * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW, |
el15mh | 9:960dfc71c224 | 175 | */ |
el15mh | 9:960dfc71c224 | 176 | Direction get_direction(); // N,NE,E,SE etc. |
el15mh | 9:960dfc71c224 | 177 | |
el15mh | 9:960dfc71c224 | 178 | /** Gets raw cartesian co-ordinates of joystick |
el15mh | 9:960dfc71c224 | 179 | * @returns a struct with x,y members, each in the range 0.0 to 1.0 |
el15mh | 9:960dfc71c224 | 180 | */ |
el15mh | 9:960dfc71c224 | 181 | Vector2D get_coord(); // cartesian co-ordinates x,y |
el15mh | 9:960dfc71c224 | 182 | |
el15mh | 9:960dfc71c224 | 183 | /** Gets cartesian coordinates mapped to circular grid |
el15mh | 9:960dfc71c224 | 184 | * @returns a struct with x,y members, each in the range 0.0 to 1.0 |
el15mh | 9:960dfc71c224 | 185 | */ |
el15mh | 9:960dfc71c224 | 186 | Vector2D get_mapped_coord(); // x,y mapped to circle |
el15mh | 9:960dfc71c224 | 187 | |
el15mh | 9:960dfc71c224 | 188 | /** Gets polar coordinates of the joystick |
el15mh | 9:960dfc71c224 | 189 | * @returns a struct contains mag and angle |
el15mh | 9:960dfc71c224 | 190 | */ |
el15mh | 9:960dfc71c224 | 191 | Polar get_polar(); // mag and angle in struct form |
el15mh | 9:960dfc71c224 | 192 | |
el15mh | 9:960dfc71c224 | 193 | private: |
el15mh | 9:960dfc71c224 | 194 | void init_buttons(); |
el15mh | 9:960dfc71c224 | 195 | void tone_off(); |
el15mh | 9:960dfc71c224 | 196 | |
el15mh | 9:960dfc71c224 | 197 | void a_isr(); |
el15mh | 9:960dfc71c224 | 198 | void b_isr(); |
el15mh | 9:960dfc71c224 | 199 | void x_isr(); |
el15mh | 9:960dfc71c224 | 200 | void y_isr(); |
el15mh | 9:960dfc71c224 | 201 | void l_isr(); |
el15mh | 9:960dfc71c224 | 202 | void r_isr(); |
el15mh | 9:960dfc71c224 | 203 | void back_isr(); |
el15mh | 9:960dfc71c224 | 204 | void start_isr(); |
el15mh | 9:960dfc71c224 | 205 | void joy_isr(); |
el15mh | 9:960dfc71c224 | 206 | }; |
el15mh | 9:960dfc71c224 | 207 | |
el15mh | 9:960dfc71c224 | 208 | #endif |