Kiko Ishimoto / MyLibdd

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Fork of MyLib by gaku takasawa

Nunchuck/Nunchuck.cpp@4:ae9dc8d5c37e, 2017-05-11 (annotated)

Committer:
gaku_sigu
Date:
Thu May 11 07:34:44 2017 +0000
Revision:
4:ae9dc8d5c37e
Parent:
3:e7a900958f54
Child:
5:69e9c81e9490
remove?error

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gaku_sigu 0:a919993ff50f 1 #include "Nunchuck.h"
gaku_sigu 0:a919993ff50f 2
gaku_sigu 0:a919993ff50f 3
gaku_sigu 0:a919993ff50f 4 Nunchuck::Nunchuck(PinName SDA, PinName SCL) : I2C(SDA, SCL)
gaku_sigu 0:a919993ff50f 5 {
gaku_sigu 0:a919993ff50f 6 flag = 0;
gaku_sigu 0:a919993ff50f 7 for(int i = 0; i < 6; i++)
gaku_sigu 0:a919993ff50f 8 data[i] = 0;
gaku_sigu 0:a919993ff50f 9 init();
gaku_sigu 0:a919993ff50f 10 timer.start();
gaku_sigu 0:a919993ff50f 11 }
gaku_sigu 0:a919993ff50f 12
gaku_sigu 0:a919993ff50f 13 bool Nunchuck::init()
gaku_sigu 0:a919993ff50f 14 {
gaku_sigu 0:a919993ff50f 15 unsigned char cmd[] = {0x40, 0x00};
gaku_sigu 3:e7a900958f54 16 if (I2C::write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd)) == 0)
gaku_sigu 0:a919993ff50f 17 return 1;
gaku_sigu 0:a919993ff50f 18 else
gaku_sigu 0:a919993ff50f 19 return 0;
gaku_sigu 0:a919993ff50f 20 }
gaku_sigu 0:a919993ff50f 21
gaku_sigu 0:a919993ff50f 22 void Nunchuck::getdata()
gaku_sigu 0:a919993ff50f 23 {
gaku_sigu 0:a919993ff50f 24 if(timer.read_ms() < 50)
gaku_sigu 0:a919993ff50f 25 return;
gaku_sigu 0:a919993ff50f 26
gaku_sigu 0:a919993ff50f 27
gaku_sigu 0:a919993ff50f 28 if(flag) {
gaku_sigu 0:a919993ff50f 29 const unsigned char cmd[] = {0x00};
gaku_sigu 4:ae9dc8d5c37e 30 if (I2C::write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd)) == 0)
gaku_sigu 0:a919993ff50f 31 {
gaku_sigu 0:a919993ff50f 32 wait(0.01);
gaku_sigu 4:ae9dc8d5c37e 33 if (I2C::read(NUNCHUCK_ADDR, data, sizeof(data)) == 0)
gaku_sigu 0:a919993ff50f 34 {
gaku_sigu 2:7b7821addb45 35 for(int i = 0; i < 6; ++i)
gaku_sigu 0:a919993ff50f 36 data[i] = (data[i] ^ 0x17) + 0x17;
gaku_sigu 0:a919993ff50f 37 }
gaku_sigu 0:a919993ff50f 38 }
gaku_sigu 0:a919993ff50f 39 }
gaku_sigu 0:a919993ff50f 40 else
gaku_sigu 0:a919993ff50f 41 flag = init();
gaku_sigu 0:a919993ff50f 42
gaku_sigu 0:a919993ff50f 43 timer.reset();
gaku_sigu 0:a919993ff50f 44 }
gaku_sigu 0:a919993ff50f 45
gaku_sigu 0:a919993ff50f 46
gaku_sigu 0:a919993ff50f 47 int8_t Nunchuck::analogx()
gaku_sigu 0:a919993ff50f 48 {
gaku_sigu 0:a919993ff50f 49 getdata();
gaku_sigu 0:a919993ff50f 50 int8_t temp;
gaku_sigu 0:a919993ff50f 51 temp = data[0] - 128;
gaku_sigu 3:e7a900958f54 52 #if NUNCHUCK_ANALOGDATA
gaku_sigu 3:e7a900958f54 53 if(-1*(NUNCHUCK_DEADZONE) < temp && temp < NUNCHUCK_DEADZONE)
gaku_sigu 0:a919993ff50f 54 temp = 0;
gaku_sigu 0:a919993ff50f 55 #else
gaku_sigu 0:a919993ff50f 56 if(-50 < temp && temp < 50)
gaku_sigu 0:a919993ff50f 57 temp = 0;
gaku_sigu 0:a919993ff50f 58 else if(temp <= -50)
gaku_sigu 0:a919993ff50f 59 temp = -1;
gaku_sigu 0:a919993ff50f 60 else if(temp >= 50)
gaku_sigu 0:a919993ff50f 61 temp = 1;
gaku_sigu 0:a919993ff50f 62 #endif
gaku_sigu 0:a919993ff50f 63 return temp;
gaku_sigu 0:a919993ff50f 64 }
gaku_sigu 0:a919993ff50f 65
gaku_sigu 0:a919993ff50f 66
gaku_sigu 0:a919993ff50f 67 int8_t Nunchuck::analogy()
gaku_sigu 0:a919993ff50f 68 {
gaku_sigu 0:a919993ff50f 69 getdata();
gaku_sigu 0:a919993ff50f 70 int8_t temp;
gaku_sigu 0:a919993ff50f 71 temp = data[1] - 128;
gaku_sigu 3:e7a900958f54 72 #if NUNCHUCK_ANALOGDATA
gaku_sigu 3:e7a900958f54 73 if(-1*(NUNCHUCK_DEADZONE) < temp && temp < NUNCHUCK_DEADZONE)
gaku_sigu 0:a919993ff50f 74 temp = 0;
gaku_sigu 0:a919993ff50f 75 #else
gaku_sigu 0:a919993ff50f 76 if(-50 < temp && temp < 50)
gaku_sigu 0:a919993ff50f 77 temp = 0;
gaku_sigu 0:a919993ff50f 78 else if(temp <= -50)
gaku_sigu 0:a919993ff50f 79 temp = -1;
gaku_sigu 0:a919993ff50f 80 else if(temp >= 50)
gaku_sigu 0:a919993ff50f 81 temp = 1;
gaku_sigu 0:a919993ff50f 82 #endif
gaku_sigu 0:a919993ff50f 83 return temp;
gaku_sigu 0:a919993ff50f 84 }
gaku_sigu 0:a919993ff50f 85
gaku_sigu 0:a919993ff50f 86
gaku_sigu 3:e7a900958f54 87 double Nunchuck::analograd()
gaku_sigu 3:e7a900958f54 88 {
gaku_sigu 3:e7a900958f54 89 double x = analogx();
gaku_sigu 3:e7a900958f54 90 double y = analogy();
gaku_sigu 3:e7a900958f54 91
gaku_sigu 3:e7a900958f54 92 return atan2(y,x);
gaku_sigu 3:e7a900958f54 93 }
gaku_sigu 3:e7a900958f54 94
gaku_sigu 0:a919993ff50f 95 int Nunchuck::accx()
gaku_sigu 0:a919993ff50f 96 {
gaku_sigu 0:a919993ff50f 97 getdata();
gaku_sigu 0:a919993ff50f 98 int temp = data[2] << 2;
gaku_sigu 0:a919993ff50f 99 if ((data[5] >> 2) & 1) temp += 2;
gaku_sigu 0:a919993ff50f 100 if ((data[5] >> 3) & 1) temp += 1;
gaku_sigu 0:a919993ff50f 101 return data[2];
gaku_sigu 0:a919993ff50f 102 }
gaku_sigu 0:a919993ff50f 103
gaku_sigu 0:a919993ff50f 104
gaku_sigu 0:a919993ff50f 105 int Nunchuck::accy()
gaku_sigu 0:a919993ff50f 106 {
gaku_sigu 0:a919993ff50f 107 getdata();
gaku_sigu 0:a919993ff50f 108 int temp = data[3] << 2;
gaku_sigu 0:a919993ff50f 109 if ((data[5] >> 4) & 1) temp += 2;
gaku_sigu 0:a919993ff50f 110 if ((data[5] >> 5) & 1) temp += 1;
gaku_sigu 0:a919993ff50f 111 return data[3];
gaku_sigu 0:a919993ff50f 112 }
gaku_sigu 0:a919993ff50f 113
gaku_sigu 0:a919993ff50f 114
gaku_sigu 0:a919993ff50f 115 int Nunchuck::accz()
gaku_sigu 0:a919993ff50f 116 {
gaku_sigu 0:a919993ff50f 117 getdata();
gaku_sigu 0:a919993ff50f 118 int temp = data[4] << 2;
gaku_sigu 0:a919993ff50f 119 if ((data[5] >> 6) & 1) temp += 2;
gaku_sigu 0:a919993ff50f 120 if ((data[5] >> 7) & 1) temp += 1;
gaku_sigu 0:a919993ff50f 121 return data[4];
gaku_sigu 0:a919993ff50f 122 }
gaku_sigu 0:a919993ff50f 123
gaku_sigu 0:a919993ff50f 124
gaku_sigu 0:a919993ff50f 125 bool Nunchuck::buttonz()
gaku_sigu 0:a919993ff50f 126 {
gaku_sigu 0:a919993ff50f 127 getdata();
gaku_sigu 0:a919993ff50f 128 return !(data[5] & 0x01);
gaku_sigu 0:a919993ff50f 129 }
gaku_sigu 0:a919993ff50f 130
gaku_sigu 0:a919993ff50f 131
gaku_sigu 0:a919993ff50f 132 bool Nunchuck::buttonc()
gaku_sigu 0:a919993ff50f 133 {
gaku_sigu 0:a919993ff50f 134 getdata();
gaku_sigu 0:a919993ff50f 135 return !(data[5] & 0x02);
gaku_sigu 0:a919993ff50f 136 }