Diff: Peripherals/Gamepad/Gamepad.cpp

Revision:

60:44ddfb791e2b

Parent:

59:fd4669864b67

--- a/Peripherals/Gamepad/Gamepad.cpp	Thu May 09 14:49:27 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,391 +0,0 @@
-#include "Gamepad.h"
-
-#include "mbed.h"
-
-//////////// constructor/destructor ////////////
-Gamepad::Gamepad()
-    :
-    _led1(new PwmOut(PTA1)),
-    _led2(new PwmOut(PTA2)),
-    _led3(new PwmOut(PTC2)),
-    _led4(new PwmOut(PTC3)),
-    _led5(new PwmOut(PTC4)),
-    _led6(new PwmOut(PTD3)),
-
-    _button_A(new InterruptIn(PTB9)),
-    _button_B(new InterruptIn(PTD0)),
-    _button_X(new InterruptIn(PTC17)),
-    _button_Y(new InterruptIn(PTC12)),
-    _button_L(new InterruptIn(PTB18)),
-    _button_R(new InterruptIn(PTB3)),
-    _button_back(new InterruptIn(PTB19)),
-    _button_start(new InterruptIn(PTC5)),
-    _button_joystick(new InterruptIn(PTC16)),
-
-    _vert(new AnalogIn(PTB10)),
-    _horiz(new AnalogIn(PTB11)),
-
-    _buzzer(new PwmOut(PTC10)),
-    _pot(new AnalogIn(PTB2)),
-
-    _timeout(new Timeout()),
-
-    _event_state(0),
-
-    _x0(0),
-    _y0(0)
-{}
-
-Gamepad::~Gamepad()
-{
-    delete _led1,_led2,_led3,_led4,_led5,_led6;
-    delete _button_A,_button_B,_button_joystick,_vert,_horiz;
-    delete _button_X,_button_Y,_button_back,_button_start;
-    delete _button_L,_button_R, _buzzer, _pot, _timeout;
-}
-
-///////////////// public methods /////////////////
-
-void Gamepad::init()
-{
-    leds_off();
-    init_buttons();
-
-    // read centred values of joystick
-    _x0 = _horiz->read();
-    _y0 = _vert->read();
-
-    // clear all flags
-    _event_state = 0;
-}
-
-void Gamepad::leds_off()
-{
-    leds(0.0);
-}
-
-void Gamepad::leds_on()
-{
-    leds(1.0);
-}
-
-void Gamepad::leds(float val) const
-{
-    if (val < 0.0f) {
-        val = 0.0f;
-    }
-    if (val > 1.0f) {
-        val = 1.0f;
-    }
-
-    // leds are active-low, so subtract from 1.0
-    // 0.0 corresponds to fully-off, 1.0 to fully-on
-    val = 1.0f - val;
-
-    _led1->write(val);
-    _led2->write(val);
-    _led3->write(val);
-    _led4->write(val);
-    _led5->write(val);
-    _led6->write(val);
-}
-
-void Gamepad::led(int n,float val) const
-{
-    // ensure they are within vlaid range
-    if (val < 0.0f) {
-        val = 0.0f;
-    }
-    if (val > 1.0f) {
-        val = 1.0f;
-    }
-
-    switch (n) {
-
-        // check for valid LED number and set value
-
-        case 1:
-            _led1->write(1.0f-val);   // active-low so subtract from 1
-            break;
-        case 2:
-            _led2->write(1.0f-val);   // active-low so subtract from 1
-            break;
-        case 3:
-            _led3->write(1.0f-val);   // active-low so subtract from 1
-            break;
-        case 4:
-            _led4->write(1.0f-val);   // active-low so subtract from 1
-            break;
-        case 5:
-            _led5->write(1.0f-val);   // active-low so subtract from 1
-            break;
-        case 6:
-            _led6->write(1.0f-val);   // active-low so subtract from 1
-            break;
-
-    }
-}
-
-float Gamepad::read_pot() const
-{
-    return _pot->read();
-}
-
-void Gamepad::tone(float frequency, float duration)
-{
-    _buzzer->period(1.0f/frequency);
-    _buzzer->write(0.5);  // 50% duty cycle - square wave
-    _timeout->attach(callback(this, &Gamepad::tone_off), duration );
-}
-
-bool Gamepad::check_event(GamepadEvent const id)
-{
-    // Check whether event flag is set
-    if (_event_state[id]) {
-//        _event_state.reset(id);  // clear flag
-        return true;
-    } else {
-        return false;
-    }
-}
-
-// this method gets the magnitude of the joystick movement
-float Gamepad::get_mag()
-{
-    Polar p = get_polar();
-    return p.mag;
-}
-
-// this method gets the angle of joystick movement (0 to 360, 0 North)
-float Gamepad::get_angle()
-{
-    Polar p = get_polar();
-    return p.angle;
-}
-
-Direction Gamepad::get_direction()
-{
-    float angle = get_angle();  // 0 to 360, -1 for centred
-
-    Direction d;
-    // partition 360 into segments and check which segment the angle is in
-    if (angle < 0.0f) {
-        d = CENTRE;   // check for -1.0 angle
-    } else if (angle < 22.5f) {  // then keep going in 45 degree increments
-        d = N;
-    } else if (angle < 67.5f) {
-        d = NE;
-    } else if (angle < 112.5f) {
-        d = E;
-    } else if (angle < 157.5f) {
-        d = SE;
-    } else if (angle < 202.5f) {
-        d = S;
-    } else if (angle < 247.5f) {
-        d = SW;
-    } else if (angle < 292.5f) {
-        d = W;
-    } else if (angle < 337.5f) {
-        d = NW;
-    } else {
-        d = N;
-    }
-
-    return d;
-}
-
-///////////////////// private methods ////////////////////////
-
-void Gamepad::tone_off()
-{
-    // called after timeout
-    _buzzer->write(0.0);
-}
-
-void Gamepad::init_buttons()
-{
-    // turn on pull-downs as other side of button is connected to 3V3
-    // button is 0 when not pressed and 1 when pressed
-    _button_A->mode(PullDown);
-    _button_B->mode(PullDown);
-    _button_X->mode(PullDown);
-    _button_Y->mode(PullDown);
-    _button_back->mode(PullDown);
-    _button_start->mode(PullDown);
-    _button_L->mode(PullDown);
-    _button_R->mode(PullDown);
-    _button_joystick->mode(PullDown);
-    // therefore setup rising edge interrupts
-    _button_A->rise(callback(this,&Gamepad::a_isr));
-    _button_B->rise(callback(this,&Gamepad::b_isr));
-    _button_X->rise(callback(this,&Gamepad::x_isr));
-    _button_Y->rise(callback(this,&Gamepad::y_isr));
-    _button_L->rise(callback(this,&Gamepad::l_isr));
-    _button_R->rise(callback(this,&Gamepad::r_isr));
-    _button_start->rise(callback(this,&Gamepad::start_isr));
-    _button_back->rise(callback(this,&Gamepad::back_isr));
-    _button_joystick->rise(callback(this,&Gamepad::joy_isr));
-    // therefore setup falling edge interrupts
-    _button_A->fall(callback(this,&Gamepad::a_reset_isr));
-    _button_B->fall(callback(this,&Gamepad::b_reset_isr));
-    _button_X->fall(callback(this,&Gamepad::x_reset_isr));
-    _button_Y->fall(callback(this,&Gamepad::y_reset_isr));
-    _button_L->fall(callback(this,&Gamepad::l_reset_isr));
-    _button_R->fall(callback(this,&Gamepad::r_reset_isr));
-    _button_start->fall(callback(this,&Gamepad::start_reset_isr));
-    _button_back->fall(callback(this,&Gamepad::back_reset_isr));
-    _button_joystick->fall(callback(this,&Gamepad::joy_reset_isr));
-}
-
-// button interrupts ISRs
-// Each of these simply sets the appropriate event bit in the _event_state
-// variable
-void Gamepad::a_isr()
-{
-    _event_state.set(A_PRESSED);
-}
-void Gamepad::b_isr()
-{
-    _event_state.set(B_PRESSED);
-}
-void Gamepad::x_isr()
-{
-    _event_state.set(X_PRESSED);
-}
-void Gamepad::y_isr()
-{
-    _event_state.set(Y_PRESSED);
-}
-void Gamepad::l_isr()
-{
-    _event_state.set(L_PRESSED);
-}
-void Gamepad::r_isr()
-{
-    _event_state.set(R_PRESSED);
-}
-void Gamepad::back_isr()
-{
-    _event_state.set(BACK_PRESSED);
-}
-void Gamepad::start_isr()
-{
-    _event_state.set(START_PRESSED);
-}
-void Gamepad::joy_isr()
-{
-    _event_state.set(JOY_PRESSED);
-}
-
-// button interrupts ISRs
-// Each of these simply resets the appropriate event bit in the _event_state
-// variable
-void Gamepad::a_reset_isr()
-{
-    _event_state.reset(A_PRESSED);
-}
-void Gamepad::b_reset_isr()
-{
-    _event_state.reset(B_PRESSED);
-}
-void Gamepad::x_reset_isr()
-{
-    _event_state.reset(X_PRESSED);
-}
-void Gamepad::y_reset_isr()
-{
-    _event_state.reset(Y_PRESSED);
-}
-void Gamepad::l_reset_isr()
-{
-    _event_state.reset(L_PRESSED);
-}
-void Gamepad::r_reset_isr()
-{
-    _event_state.reset(R_PRESSED);
-}
-void Gamepad::back_reset_isr()
-{
-    _event_state.reset(BACK_PRESSED);
-}
-void Gamepad::start_reset_isr()
-{
-    _event_state.reset(START_PRESSED);
-}
-void Gamepad::joy_reset_isr()
-{
-    _event_state.reset(JOY_PRESSED);
-}
-
-// get raw joystick coordinate in range -1 to 1
-// Direction (x,y)
-// North     (0,1)
-// East      (1,0)
-// South     (0,-1)
-// West      (-1,0)
-Vector2D Gamepad::get_coord()
-{
-    // read() returns value in range 0.0 to 1.0 so is scaled and centre value
-    // substracted to get values in the range -1.0 to 1.0
-    float x = 2.0f*( _horiz->read() - _x0 );
-    float y = 2.0f*( _vert->read()  - _y0 );
-
-    // Note: the x value here is inverted to ensure the positive x is to the
-    // right. This is simply due to how the potentiometer on the joystick
-    // I was using was connected up. It could have been corrected in hardware
-    // by swapping the power supply pins. Instead it is done in software so may
-    // need to be changed depending on your wiring setup
-
-    Vector2D coord = {-x,y};
-    return coord;
-}
-
-// This maps the raw x,y coord onto a circular grid.
-// See:  http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html
-Vector2D Gamepad::get_mapped_coord()
-{
-    Vector2D coord = get_coord();
-
-    // do the transformation
-    float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f);
-    float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f);
-
-    Vector2D mapped_coord = {x,y};
-    return mapped_coord;
-}
-
-// this function converts the mapped coordinates into polar form
-Polar Gamepad::get_polar()
-{
-    // get the mapped coordinate
-    Vector2D coord = get_mapped_coord();
-
-    // at this point, 0 degrees (i.e. x-axis) will be defined to the East.
-    // We want 0 degrees to correspond to North and increase clockwise to 359
-    // like a compass heading, so we need to swap the axis and invert y
-    float x = coord.y;
-    float y = coord.x;
-
-    float mag = sqrt(x*x+y*y);  // pythagoras
-    float angle = RAD2DEG*atan2(y,x);
-    // angle will be in range -180 to 180, so add 360 to negative angles to
-    // move to 0 to 360 range
-    if (angle < 0.0f) {
-        angle+=360.0f;
-    }
-
-    // the noise on the ADC causes the values of x and y to fluctuate slightly
-    // around the centred values. This causes the random angle values to get
-    // calculated when the joystick is centred and untouched. This is also when
-    // the magnitude is very small, so we can check for a small magnitude and then
-    // set the angle to -1. This will inform us when the angle is invalid and the
-    // joystick is centred
-
-    if (mag < TOL) {
-        mag = 0.0f;
-        angle = -1.0f;
-    }
-
-    Polar p = {mag,angle};
-    return p;
-}
\ No newline at end of file