Diff: Joystick_skeleton/Joystick.cpp

Revision:

8:cc7eb86a4b2f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Joystick_skeleton/Joystick.cpp	Wed Oct 24 21:02:19 2018 +0000
@@ -0,0 +1,101 @@
+//Joystick (INCOMPLETE IMPLIMENTATION)
+//Author: Carter Sharer 
+//Date: 10/18/16
+
+#include "Joystick.h"
+#include "mbed.h"
+
+//Member function definitions including constructor
+Joystick::Joystick(PinName pinA, PinName pinB) : horiz(pinA), vert(pinB) {
+    //Wait 1 second for voltage to settle
+    wait(1); 
+    
+    //(1)Set Raw Center Values, this is where the joystick sits naturaly 
+    //set raw horizontal center to current value (average with 5 readings)
+    //set raw vertial center to current value (average with 5 readings) 
+    raw_hc = 0;
+    raw_vc = 0; 
+    
+    //(2)Initalize the Rax Max to some value less then the real max value.  
+    //We dont know what the max value will be until we read it, thats ok. 
+    //But we can assume it will be greater then 0.8 (center + 0.3) so lets 
+    //set it to that for now.  We will update this later if we see a larger value
+    //Now do the same for the the Raw Min
+    float delta = 0.3;
+    rawMinH = 0;
+    rawMaxH = 0;
+    rawMinV = 0;
+    rawMaxV = 0;
+}
+
+//Returns the scaled vertial value of joystick
+float Joystick::horizontal(void) {
+    //(3)Get average val (5 samples)
+    float avg = horiz.read();
+    
+    //(4)Watch for Max and Min Values, if we see a new max/min update Raw Max/Min
+    rawMaxH = avg;    
+    rawMinH = avg;
+    
+    //(5)Here we will calculate the total range (Travel) of the joystick 
+    //using the rawMax/rawMin values we have seen thus far
+    //Since the joystick is not symetrical we have to calculate two ranges
+    //Calculate the range from [center, max] and [center, min]
+    float range_pos = 0;
+    float range_neg = 0;
+    
+    //(6)Here we will calculate how much our current reading is in one 
+    //of the ranges, this will give us a percentage of our _max value we 
+    //set in setScale. Then we can apply the scale by multiplying it by our 
+    //scale (_max/_min). 
+    float val;
+    if(avg >= raw_hc) //Positive Range
+        val = 0; 
+    else  //Negative Range
+        val = 0; 
+         
+    //(7)Here we will apply a dead zone.  If the |value| is <= our deadzone then 
+    //set it to 0.  Otherwise we need to shift the value closer to 0 by dead zone
+    
+    
+    return horiz.read();
+}
+
+//(8) Impliment vertial the same as you did for horizontal
+//Returns the scaled horizontal value of joystick
+float Joystick::vertical(void) {
+    //Get average value (5 samples)
+    float avg = vert.read();
+    
+    //(4)Watch for Max and Min Values, if we see a new max/min update Raw Max/Min
+    rawMaxV = avg;
+    rawMinV = avg;
+    
+    //(5)Here we will calculate the total range (Travel) of the joystick 
+    //using the rawMax/rawMin values we have seen thus far
+    //Since the joystick is not symetrical we have to calculate two ranges
+    //Calculate the range from [center, max] and [center, min]
+    float range_pos = 0;
+    float range_neg = 0;
+    
+    //(6)Here we will calculate how much our current reading is in one 
+    //of the ranges, this will give us a percentage of our _max value we 
+    //set in setScale. Then we can apply the scale by multiplying it by our 
+    //scale (_max/_min).
+    float val;
+    if(avg >= raw_vc) //find scaled pot value
+        val = 0;
+    else 
+        val = 0;
+    
+    //(7)Here we will apply a dead zone.  If the |value| is <= our deadzone then 
+    //set it to 0.  Otherwise we need to shift the value closer to 0 by dead zone    
+    
+    return vert.read();
+}
+
+//Set the Min and Max Values of joystick ex: -100, +100
+void Joystick::setScale(float min, float max) {
+       _min = min-1; //Add 1 for round off error
+       _max = max+1; //Add 1 for round off error
+}
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