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Dependencies:   mbed

Gamepad2/Gamepad.cpp@1:766a293c9b07, 2020-02-06 (annotated)

Committer:
lukeocarwright
Date:
Thu Feb 06 12:59:16 2020 +0000
Revision:
1:766a293c9b07
Child:
2:07cef563acdf
intital commit 06/02/19;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lukeocarwright 1:766a293c9b07 1 #include "Gamepad.h"
lukeocarwright 1:766a293c9b07 2
lukeocarwright 1:766a293c9b07 3 #include "mbed.h"
lukeocarwright 1:766a293c9b07 4
lukeocarwright 1:766a293c9b07 5 //////////// constructor/destructor ////////////
lukeocarwright 1:766a293c9b07 6 Gamepad::Gamepad()
lukeocarwright 1:766a293c9b07 7 :
lukeocarwright 1:766a293c9b07 8 _led1(new PwmOut(PTA2)),
lukeocarwright 1:766a293c9b07 9 _led2(new PwmOut(PTC2)),
lukeocarwright 1:766a293c9b07 10 _led3(new PwmOut(PTC3)),
lukeocarwright 1:766a293c9b07 11 _led4(new PwmOut(PTA1)),
lukeocarwright 1:766a293c9b07 12 _led5(new PwmOut(PTC10)),
lukeocarwright 1:766a293c9b07 13 _led6(new PwmOut(PTC11)),
lukeocarwright 1:766a293c9b07 14
lukeocarwright 1:766a293c9b07 15 _button_A(new InterruptIn(PTC7)),
lukeocarwright 1:766a293c9b07 16 _button_B(new InterruptIn(PTC9)),
lukeocarwright 1:766a293c9b07 17 _button_X(new InterruptIn(PTC5)),
lukeocarwright 1:766a293c9b07 18 _button_Y(new InterruptIn(PTC0)),
lukeocarwright 1:766a293c9b07 19 _button_start(new InterruptIn(PTC8)),
lukeocarwright 1:766a293c9b07 20
lukeocarwright 1:766a293c9b07 21 _vert(new AnalogIn(PTB11)),
lukeocarwright 1:766a293c9b07 22 _horiz(new AnalogIn(PTB10)),
lukeocarwright 1:766a293c9b07 23
lukeocarwright 1:766a293c9b07 24 _pot1(new AnalogIn(PTB2)),
lukeocarwright 1:766a293c9b07 25 _pot2(new AnalogIn(PTB3)),
lukeocarwright 1:766a293c9b07 26
lukeocarwright 1:766a293c9b07 27 dac(new AnalogOut(DAC0_OUT)),
lukeocarwright 1:766a293c9b07 28 ticker(new Ticker),
lukeocarwright 1:766a293c9b07 29 timeout(new Timeout),
lukeocarwright 1:766a293c9b07 30 note_timeout(new Timeout),
lukeocarwright 1:766a293c9b07 31
lukeocarwright 1:766a293c9b07 32 _x0(0),
lukeocarwright 1:766a293c9b07 33 _y0(0)
lukeocarwright 1:766a293c9b07 34 {}
lukeocarwright 1:766a293c9b07 35
lukeocarwright 1:766a293c9b07 36
lukeocarwright 1:766a293c9b07 37 ///////////////// public methods /////////////////
lukeocarwright 1:766a293c9b07 38
lukeocarwright 1:766a293c9b07 39 void Gamepad::init()
lukeocarwright 1:766a293c9b07 40 {
lukeocarwright 1:766a293c9b07 41 leds_off();
lukeocarwright 1:766a293c9b07 42
lukeocarwright 1:766a293c9b07 43 // read centred values of joystick
lukeocarwright 1:766a293c9b07 44 _x0 = _horiz->read();
lukeocarwright 1:766a293c9b07 45 _y0 = _vert->read();
lukeocarwright 1:766a293c9b07 46
lukeocarwright 1:766a293c9b07 47 // Set all buttons to PullUp
lukeocarwright 1:766a293c9b07 48 _button_A->mode(PullUp);
lukeocarwright 1:766a293c9b07 49 _button_B->mode(PullUp);
lukeocarwright 1:766a293c9b07 50 _button_X->mode(PullUp);
lukeocarwright 1:766a293c9b07 51 _button_Y->mode(PullUp);
lukeocarwright 1:766a293c9b07 52 _button_start->mode(PullUp);
lukeocarwright 1:766a293c9b07 53
lukeocarwright 1:766a293c9b07 54 // Set up interrupts for the fall of buttons
lukeocarwright 1:766a293c9b07 55 _button_A->fall(callback(this,&Gamepad::A_fall_interrupt));
lukeocarwright 1:766a293c9b07 56 _button_B->fall(callback(this,&Gamepad::B_fall_interrupt));
lukeocarwright 1:766a293c9b07 57 _button_X->fall(callback(this,&Gamepad::X_fall_interrupt));
lukeocarwright 1:766a293c9b07 58 _button_Y->fall(callback(this,&Gamepad::Y_fall_interrupt));
lukeocarwright 1:766a293c9b07 59 _button_start->fall(callback(this,&Gamepad::start_fall_interrupt));
lukeocarwright 1:766a293c9b07 60
lukeocarwright 1:766a293c9b07 61 // initalise button flags
lukeocarwright 1:766a293c9b07 62 reset_buttons();
lukeocarwright 1:766a293c9b07 63
lukeocarwright 1:766a293c9b07 64 // number of samples
lukeocarwright 1:766a293c9b07 65 _n = 16;
lukeocarwright 1:766a293c9b07 66 _sample_array = new float[_n];
lukeocarwright 1:766a293c9b07 67
lukeocarwright 1:766a293c9b07 68 // create sample array for one period between 0.0 and 1.0
lukeocarwright 1:766a293c9b07 69 for (int i = 0; i < _n ; i++) {
lukeocarwright 1:766a293c9b07 70 _sample_array[i] = 0.5f + 0.5f*sin(i*2*PI/_n);
lukeocarwright 1:766a293c9b07 71 //printf("y[%i] = %f\n",i,_sample_array[i]);
lukeocarwright 1:766a293c9b07 72 }
lukeocarwright 1:766a293c9b07 73
lukeocarwright 1:766a293c9b07 74 }
lukeocarwright 1:766a293c9b07 75
lukeocarwright 1:766a293c9b07 76 void Gamepad::leds_off()
lukeocarwright 1:766a293c9b07 77 {
lukeocarwright 1:766a293c9b07 78 leds(0.0);
lukeocarwright 1:766a293c9b07 79 }
lukeocarwright 1:766a293c9b07 80
lukeocarwright 1:766a293c9b07 81 void Gamepad::leds_on()
lukeocarwright 1:766a293c9b07 82 {
lukeocarwright 1:766a293c9b07 83 leds(1.0);
lukeocarwright 1:766a293c9b07 84 }
lukeocarwright 1:766a293c9b07 85
lukeocarwright 1:766a293c9b07 86 void Gamepad::leds(float val) const
lukeocarwright 1:766a293c9b07 87 {
lukeocarwright 1:766a293c9b07 88 if (val < 0.0f) {
lukeocarwright 1:766a293c9b07 89 val = 0.0f;
lukeocarwright 1:766a293c9b07 90 }
lukeocarwright 1:766a293c9b07 91 if (val > 1.0f) {
lukeocarwright 1:766a293c9b07 92 val = 1.0f;
lukeocarwright 1:766a293c9b07 93 }
lukeocarwright 1:766a293c9b07 94
lukeocarwright 1:766a293c9b07 95 // leds are active-low, so subtract from 1.0
lukeocarwright 1:766a293c9b07 96 // 0.0 corresponds to fully-off, 1.0 to fully-on
lukeocarwright 1:766a293c9b07 97 val = 1.0f - val;
lukeocarwright 1:766a293c9b07 98
lukeocarwright 1:766a293c9b07 99 _led1->write(val);
lukeocarwright 1:766a293c9b07 100 _led2->write(val);
lukeocarwright 1:766a293c9b07 101 _led3->write(val);
lukeocarwright 1:766a293c9b07 102 _led4->write(val);
lukeocarwright 1:766a293c9b07 103 _led5->write(val);
lukeocarwright 1:766a293c9b07 104 _led6->write(val);
lukeocarwright 1:766a293c9b07 105 }
lukeocarwright 1:766a293c9b07 106
lukeocarwright 1:766a293c9b07 107 void Gamepad::led(int n,float val) const
lukeocarwright 1:766a293c9b07 108 {
lukeocarwright 1:766a293c9b07 109 // ensure they are within valid range
lukeocarwright 1:766a293c9b07 110 if (val < 0.0f) {
lukeocarwright 1:766a293c9b07 111 val = 0.0f;
lukeocarwright 1:766a293c9b07 112 }
lukeocarwright 1:766a293c9b07 113 if (val > 1.0f) {
lukeocarwright 1:766a293c9b07 114 val = 1.0f;
lukeocarwright 1:766a293c9b07 115 }
lukeocarwright 1:766a293c9b07 116
lukeocarwright 1:766a293c9b07 117 switch (n) {
lukeocarwright 1:766a293c9b07 118
lukeocarwright 1:766a293c9b07 119 // check for valid LED number and set value
lukeocarwright 1:766a293c9b07 120
lukeocarwright 1:766a293c9b07 121 case 1:
lukeocarwright 1:766a293c9b07 122 _led1->write(1.0f-val); // active-low so subtract from 1
lukeocarwright 1:766a293c9b07 123 break;
lukeocarwright 1:766a293c9b07 124 case 2:
lukeocarwright 1:766a293c9b07 125 _led2->write(1.0f-val); // active-low so subtract from 1
lukeocarwright 1:766a293c9b07 126 break;
lukeocarwright 1:766a293c9b07 127 case 3:
lukeocarwright 1:766a293c9b07 128 _led3->write(1.0f-val); // active-low so subtract from 1
lukeocarwright 1:766a293c9b07 129 break;
lukeocarwright 1:766a293c9b07 130 case 4:
lukeocarwright 1:766a293c9b07 131 _led4->write(1.0f-val); // active-low so subtract from 1
lukeocarwright 1:766a293c9b07 132 break;
lukeocarwright 1:766a293c9b07 133 case 5:
lukeocarwright 1:766a293c9b07 134 _led5->write(1.0f-val); // active-low so subtract from 1
lukeocarwright 1:766a293c9b07 135 break;
lukeocarwright 1:766a293c9b07 136 case 6:
lukeocarwright 1:766a293c9b07 137 _led6->write(1.0f-val); // active-low so subtract from 1
lukeocarwright 1:766a293c9b07 138 break;
lukeocarwright 1:766a293c9b07 139
lukeocarwright 1:766a293c9b07 140 }
lukeocarwright 1:766a293c9b07 141 }
lukeocarwright 1:766a293c9b07 142
lukeocarwright 1:766a293c9b07 143 float Gamepad::read_pot1() const
lukeocarwright 1:766a293c9b07 144 {
lukeocarwright 1:766a293c9b07 145 return _pot1->read();
lukeocarwright 1:766a293c9b07 146 }
lukeocarwright 1:766a293c9b07 147
lukeocarwright 1:766a293c9b07 148 float Gamepad::read_pot2() const
lukeocarwright 1:766a293c9b07 149 {
lukeocarwright 1:766a293c9b07 150 return _pot2->read();
lukeocarwright 1:766a293c9b07 151 }
lukeocarwright 1:766a293c9b07 152
lukeocarwright 1:766a293c9b07 153
lukeocarwright 1:766a293c9b07 154 // this method gets the magnitude of the joystick movement
lukeocarwright 1:766a293c9b07 155 float Gamepad::get_mag()
lukeocarwright 1:766a293c9b07 156 {
lukeocarwright 1:766a293c9b07 157 Polar p = get_polar();
lukeocarwright 1:766a293c9b07 158 return p.mag;
lukeocarwright 1:766a293c9b07 159 }
lukeocarwright 1:766a293c9b07 160
lukeocarwright 1:766a293c9b07 161 // this method gets the angle of joystick movement (0 to 360, 0 North)
lukeocarwright 1:766a293c9b07 162 float Gamepad::get_angle()
lukeocarwright 1:766a293c9b07 163 {
lukeocarwright 1:766a293c9b07 164 Polar p = get_polar();
lukeocarwright 1:766a293c9b07 165 return p.angle;
lukeocarwright 1:766a293c9b07 166 }
lukeocarwright 1:766a293c9b07 167
lukeocarwright 1:766a293c9b07 168 Direction Gamepad::get_direction()
lukeocarwright 1:766a293c9b07 169 {
lukeocarwright 1:766a293c9b07 170 float angle = get_angle(); // 0 to 360, -1 for centred
lukeocarwright 1:766a293c9b07 171
lukeocarwright 1:766a293c9b07 172 Direction d;
lukeocarwright 1:766a293c9b07 173 // partition 360 into segments and check which segment the angle is in
lukeocarwright 1:766a293c9b07 174 if (angle < 0.0f) {
lukeocarwright 1:766a293c9b07 175 d = CENTRE; // check for -1.0 angle
lukeocarwright 1:766a293c9b07 176 } else if (angle < 22.5f) { // then keep going in 45 degree increments
lukeocarwright 1:766a293c9b07 177 d = N;
lukeocarwright 1:766a293c9b07 178 } else if (angle < 67.5f) {
lukeocarwright 1:766a293c9b07 179 d = NE;
lukeocarwright 1:766a293c9b07 180 } else if (angle < 112.5f) {
lukeocarwright 1:766a293c9b07 181 d = E;
lukeocarwright 1:766a293c9b07 182 } else if (angle < 157.5f) {
lukeocarwright 1:766a293c9b07 183 d = SE;
lukeocarwright 1:766a293c9b07 184 } else if (angle < 202.5f) {
lukeocarwright 1:766a293c9b07 185 d = S;
lukeocarwright 1:766a293c9b07 186 } else if (angle < 247.5f) {
lukeocarwright 1:766a293c9b07 187 d = SW;
lukeocarwright 1:766a293c9b07 188 } else if (angle < 292.5f) {
lukeocarwright 1:766a293c9b07 189 d = W;
lukeocarwright 1:766a293c9b07 190 } else if (angle < 337.5f) {
lukeocarwright 1:766a293c9b07 191 d = NW;
lukeocarwright 1:766a293c9b07 192 } else {
lukeocarwright 1:766a293c9b07 193 d = N;
lukeocarwright 1:766a293c9b07 194 }
lukeocarwright 1:766a293c9b07 195
lukeocarwright 1:766a293c9b07 196 return d;
lukeocarwright 1:766a293c9b07 197 }
lukeocarwright 1:766a293c9b07 198
lukeocarwright 1:766a293c9b07 199 void Gamepad::reset_buttons()
lukeocarwright 1:766a293c9b07 200 {
lukeocarwright 1:766a293c9b07 201 A_fall = B_fall = X_fall = Y_fall = start_fall = false;
lukeocarwright 1:766a293c9b07 202 }
lukeocarwright 1:766a293c9b07 203
lukeocarwright 1:766a293c9b07 204 bool Gamepad::A_pressed()
lukeocarwright 1:766a293c9b07 205 {
lukeocarwright 1:766a293c9b07 206 if (A_fall) {
lukeocarwright 1:766a293c9b07 207 A_fall = false;
lukeocarwright 1:766a293c9b07 208 return true;
lukeocarwright 1:766a293c9b07 209 } else {
lukeocarwright 1:766a293c9b07 210 return false;
lukeocarwright 1:766a293c9b07 211 }
lukeocarwright 1:766a293c9b07 212 }
lukeocarwright 1:766a293c9b07 213
lukeocarwright 1:766a293c9b07 214 bool Gamepad::B_pressed()
lukeocarwright 1:766a293c9b07 215 {
lukeocarwright 1:766a293c9b07 216 if (B_fall) {
lukeocarwright 1:766a293c9b07 217 B_fall = false;
lukeocarwright 1:766a293c9b07 218 return true;
lukeocarwright 1:766a293c9b07 219 } else {
lukeocarwright 1:766a293c9b07 220 return false;
lukeocarwright 1:766a293c9b07 221 }
lukeocarwright 1:766a293c9b07 222 }
lukeocarwright 1:766a293c9b07 223
lukeocarwright 1:766a293c9b07 224 bool Gamepad::X_pressed()
lukeocarwright 1:766a293c9b07 225 {
lukeocarwright 1:766a293c9b07 226 if (X_fall) {
lukeocarwright 1:766a293c9b07 227 X_fall = false;
lukeocarwright 1:766a293c9b07 228 return true;
lukeocarwright 1:766a293c9b07 229 } else {
lukeocarwright 1:766a293c9b07 230 return false;
lukeocarwright 1:766a293c9b07 231 }
lukeocarwright 1:766a293c9b07 232 }
lukeocarwright 1:766a293c9b07 233
lukeocarwright 1:766a293c9b07 234 bool Gamepad::Y_pressed()
lukeocarwright 1:766a293c9b07 235 {
lukeocarwright 1:766a293c9b07 236 if (Y_fall) {
lukeocarwright 1:766a293c9b07 237 Y_fall = false;
lukeocarwright 1:766a293c9b07 238 return true;
lukeocarwright 1:766a293c9b07 239 } else {
lukeocarwright 1:766a293c9b07 240 return false;
lukeocarwright 1:766a293c9b07 241 }
lukeocarwright 1:766a293c9b07 242 }
lukeocarwright 1:766a293c9b07 243
lukeocarwright 1:766a293c9b07 244 bool Gamepad::start_pressed()
lukeocarwright 1:766a293c9b07 245 {
lukeocarwright 1:766a293c9b07 246 if (start_fall) {
lukeocarwright 1:766a293c9b07 247 start_fall = false;
lukeocarwright 1:766a293c9b07 248 return true;
lukeocarwright 1:766a293c9b07 249 } else {
lukeocarwright 1:766a293c9b07 250 return false;
lukeocarwright 1:766a293c9b07 251 }
lukeocarwright 1:766a293c9b07 252 }
lukeocarwright 1:766a293c9b07 253
lukeocarwright 1:766a293c9b07 254 bool Gamepad::A_held()
lukeocarwright 1:766a293c9b07 255 {
lukeocarwright 1:766a293c9b07 256 // Buttons are configured as PullUp hence the not
lukeocarwright 1:766a293c9b07 257 return !_button_A->read();
lukeocarwright 1:766a293c9b07 258 }
lukeocarwright 1:766a293c9b07 259
lukeocarwright 1:766a293c9b07 260 bool Gamepad::B_held()
lukeocarwright 1:766a293c9b07 261 {
lukeocarwright 1:766a293c9b07 262 return !_button_B->read();
lukeocarwright 1:766a293c9b07 263 }
lukeocarwright 1:766a293c9b07 264
lukeocarwright 1:766a293c9b07 265 bool Gamepad::X_held()
lukeocarwright 1:766a293c9b07 266 {
lukeocarwright 1:766a293c9b07 267 return !_button_X->read();
lukeocarwright 1:766a293c9b07 268 }
lukeocarwright 1:766a293c9b07 269
lukeocarwright 1:766a293c9b07 270 bool Gamepad::Y_held()
lukeocarwright 1:766a293c9b07 271 {
lukeocarwright 1:766a293c9b07 272 return !_button_Y->read();
lukeocarwright 1:766a293c9b07 273 }
lukeocarwright 1:766a293c9b07 274
lukeocarwright 1:766a293c9b07 275 bool Gamepad::start_held()
lukeocarwright 1:766a293c9b07 276 {
lukeocarwright 1:766a293c9b07 277 return !_button_start->read();
lukeocarwright 1:766a293c9b07 278 }
lukeocarwright 1:766a293c9b07 279
lukeocarwright 1:766a293c9b07 280 ///////////////////// private methods ////////////////////////
lukeocarwright 1:766a293c9b07 281
lukeocarwright 1:766a293c9b07 282 // get raw joystick coordinate in range -1 to 1
lukeocarwright 1:766a293c9b07 283 // Direction (x,y)
lukeocarwright 1:766a293c9b07 284 // North (0,1)
lukeocarwright 1:766a293c9b07 285 // East (1,0)
lukeocarwright 1:766a293c9b07 286 // South (0,-1)
lukeocarwright 1:766a293c9b07 287 // West (-1,0)
lukeocarwright 1:766a293c9b07 288 Vector2D Gamepad::get_coord()
lukeocarwright 1:766a293c9b07 289 {
lukeocarwright 1:766a293c9b07 290 // read() returns value in range 0.0 to 1.0 so is scaled and centre value
lukeocarwright 1:766a293c9b07 291 // substracted to get values in the range -1.0 to 1.0
lukeocarwright 1:766a293c9b07 292 float x = 2.0f*( _horiz->read() - _x0 );
lukeocarwright 1:766a293c9b07 293 float y = 2.0f*( _vert->read() - _y0 );
lukeocarwright 1:766a293c9b07 294
lukeocarwright 1:766a293c9b07 295 // Note: the y value here is inverted to ensure the positive y is up
lukeocarwright 1:766a293c9b07 296
lukeocarwright 1:766a293c9b07 297 Vector2D coord = {x,-y};
lukeocarwright 1:766a293c9b07 298 return coord;
lukeocarwright 1:766a293c9b07 299 }
lukeocarwright 1:766a293c9b07 300
lukeocarwright 1:766a293c9b07 301 // This maps the raw x,y coord onto a circular grid.
lukeocarwright 1:766a293c9b07 302 // See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html
lukeocarwright 1:766a293c9b07 303 Vector2D Gamepad::get_mapped_coord()
lukeocarwright 1:766a293c9b07 304 {
lukeocarwright 1:766a293c9b07 305 Vector2D coord = get_coord();
lukeocarwright 1:766a293c9b07 306
lukeocarwright 1:766a293c9b07 307 // do the transformation
lukeocarwright 1:766a293c9b07 308 float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f);
lukeocarwright 1:766a293c9b07 309 float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f);
lukeocarwright 1:766a293c9b07 310
lukeocarwright 1:766a293c9b07 311 Vector2D mapped_coord = {x,y};
lukeocarwright 1:766a293c9b07 312 return mapped_coord;
lukeocarwright 1:766a293c9b07 313 }
lukeocarwright 1:766a293c9b07 314
lukeocarwright 1:766a293c9b07 315 // this function converts the mapped coordinates into polar form
lukeocarwright 1:766a293c9b07 316 Polar Gamepad::get_polar()
lukeocarwright 1:766a293c9b07 317 {
lukeocarwright 1:766a293c9b07 318 // get the mapped coordinate
lukeocarwright 1:766a293c9b07 319 Vector2D coord = get_mapped_coord();
lukeocarwright 1:766a293c9b07 320
lukeocarwright 1:766a293c9b07 321 // at this point, 0 degrees (i.e. x-axis) will be defined to the East.
lukeocarwright 1:766a293c9b07 322 // We want 0 degrees to correspond to North and increase clockwise to 359
lukeocarwright 1:766a293c9b07 323 // like a compass heading, so we need to swap the axis and invert y
lukeocarwright 1:766a293c9b07 324 float x = coord.y;
lukeocarwright 1:766a293c9b07 325 float y = coord.x;
lukeocarwright 1:766a293c9b07 326
lukeocarwright 1:766a293c9b07 327 float mag = sqrt(x*x+y*y); // pythagoras
lukeocarwright 1:766a293c9b07 328 float angle = RAD2DEG*atan2(y,x);
lukeocarwright 1:766a293c9b07 329 // angle will be in range -180 to 180, so add 360 to negative angles to
lukeocarwright 1:766a293c9b07 330 // move to 0 to 360 range
lukeocarwright 1:766a293c9b07 331 if (angle < 0.0f) {
lukeocarwright 1:766a293c9b07 332 angle+=360.0f;
lukeocarwright 1:766a293c9b07 333 }
lukeocarwright 1:766a293c9b07 334
lukeocarwright 1:766a293c9b07 335 // the noise on the ADC causes the values of x and y to fluctuate slightly
lukeocarwright 1:766a293c9b07 336 // around the centred values. This causes the random angle values to get
lukeocarwright 1:766a293c9b07 337 // calculated when the joystick is centred and untouched. This is also when
lukeocarwright 1:766a293c9b07 338 // the magnitude is very small, so we can check for a small magnitude and then
lukeocarwright 1:766a293c9b07 339 // set the angle to -1. This will inform us when the angle is invalid and the
lukeocarwright 1:766a293c9b07 340 // joystick is centred
lukeocarwright 1:766a293c9b07 341
lukeocarwright 1:766a293c9b07 342 if (mag < TOL) {
lukeocarwright 1:766a293c9b07 343 mag = 0.0f;
lukeocarwright 1:766a293c9b07 344 angle = -1.0f;
lukeocarwright 1:766a293c9b07 345 }
lukeocarwright 1:766a293c9b07 346
lukeocarwright 1:766a293c9b07 347 Polar p = {mag,angle};
lukeocarwright 1:766a293c9b07 348 return p;
lukeocarwright 1:766a293c9b07 349 }
lukeocarwright 1:766a293c9b07 350
lukeocarwright 1:766a293c9b07 351 // ISRs for buttons
lukeocarwright 1:766a293c9b07 352 void Gamepad::A_fall_interrupt()
lukeocarwright 1:766a293c9b07 353 {
lukeocarwright 1:766a293c9b07 354 A_fall = true;
lukeocarwright 1:766a293c9b07 355 }
lukeocarwright 1:766a293c9b07 356 void Gamepad::B_fall_interrupt()
lukeocarwright 1:766a293c9b07 357 {
lukeocarwright 1:766a293c9b07 358 B_fall = true;
lukeocarwright 1:766a293c9b07 359 }
lukeocarwright 1:766a293c9b07 360 void Gamepad::X_fall_interrupt()
lukeocarwright 1:766a293c9b07 361 {
lukeocarwright 1:766a293c9b07 362 X_fall = true;
lukeocarwright 1:766a293c9b07 363 }
lukeocarwright 1:766a293c9b07 364 void Gamepad::Y_fall_interrupt()
lukeocarwright 1:766a293c9b07 365 {
lukeocarwright 1:766a293c9b07 366 Y_fall = true;
lukeocarwright 1:766a293c9b07 367 }
lukeocarwright 1:766a293c9b07 368 void Gamepad::start_fall_interrupt()
lukeocarwright 1:766a293c9b07 369 {
lukeocarwright 1:766a293c9b07 370 start_fall = true;
lukeocarwright 1:766a293c9b07 371 }
lukeocarwright 1:766a293c9b07 372
lukeocarwright 1:766a293c9b07 373 void Gamepad::set_bpm(float bpm)
lukeocarwright 1:766a293c9b07 374 {
lukeocarwright 1:766a293c9b07 375 _bpm = bpm;
lukeocarwright 1:766a293c9b07 376 }
lukeocarwright 1:766a293c9b07 377
lukeocarwright 1:766a293c9b07 378 void Gamepad::tone(float frequency,float duration)
lukeocarwright 1:766a293c9b07 379 {
lukeocarwright 1:766a293c9b07 380 // calculate time step between samples
lukeocarwright 1:766a293c9b07 381 float dt = 1.0f/(frequency*_n);
lukeocarwright 1:766a293c9b07 382 // start from beginning of LUT
lukeocarwright 1:766a293c9b07 383 _sample = 0;
lukeocarwright 1:766a293c9b07 384
lukeocarwright 1:766a293c9b07 385 // setup ticker and timeout to stop ticker
lukeocarwright 1:766a293c9b07 386
lukeocarwright 1:766a293c9b07 387 // the ticker repeats every dt to plat each sample in turn
lukeocarwright 1:766a293c9b07 388 ticker->attach(callback(this, &Gamepad::ticker_isr), dt);
lukeocarwright 1:766a293c9b07 389 // the timeout stops the ticker after the required duration
lukeocarwright 1:766a293c9b07 390 timeout->attach(callback(this, &Gamepad::timeout_isr), duration );
lukeocarwright 1:766a293c9b07 391 }
lukeocarwright 1:766a293c9b07 392
lukeocarwright 1:766a293c9b07 393 void Gamepad::play_melody(int length,const int *notes,const int *durations,float bpm,bool repeat)
lukeocarwright 1:766a293c9b07 394 {
lukeocarwright 1:766a293c9b07 395 // copy arguments to member variables
lukeocarwright 1:766a293c9b07 396 _bpm = bpm;
lukeocarwright 1:766a293c9b07 397 _notes = notes; // pointer for array
lukeocarwright 1:766a293c9b07 398 _durations = durations; // pointer for array
lukeocarwright 1:766a293c9b07 399 _melody_length = length;
lukeocarwright 1:766a293c9b07 400 _repeat = repeat;
lukeocarwright 1:766a293c9b07 401
lukeocarwright 1:766a293c9b07 402 _note = 0; // start from first note
lukeocarwright 1:766a293c9b07 403
lukeocarwright 1:766a293c9b07 404 play_next_note(); // play the next note in the melody
lukeocarwright 1:766a293c9b07 405 }
lukeocarwright 1:766a293c9b07 406
lukeocarwright 1:766a293c9b07 407 void Gamepad::write_dac(float val)
lukeocarwright 1:766a293c9b07 408 {
lukeocarwright 1:766a293c9b07 409 if (val < 0.0f) {
lukeocarwright 1:766a293c9b07 410 val = 0.0f;
lukeocarwright 1:766a293c9b07 411 } else if (val > 1.0f) {
lukeocarwright 1:766a293c9b07 412 val = 1.0f;
lukeocarwright 1:766a293c9b07 413 }
lukeocarwright 1:766a293c9b07 414 dac->write(val);
lukeocarwright 1:766a293c9b07 415 }
lukeocarwright 1:766a293c9b07 416
lukeocarwright 1:766a293c9b07 417
lukeocarwright 1:766a293c9b07 418 void Gamepad::play_next_note()
lukeocarwright 1:766a293c9b07 419 {
lukeocarwright 1:766a293c9b07 420 // _note is the note index to play
lukeocarwright 1:766a293c9b07 421
lukeocarwright 1:766a293c9b07 422 // calculate the duration and frequency of the note
lukeocarwright 1:766a293c9b07 423 float duration = 60.0f/(_bpm*_durations[_note]);
lukeocarwright 1:766a293c9b07 424 float frequency = float(_notes[_note]);
lukeocarwright 1:766a293c9b07 425 //printf("[%i] f = %f d = %f\n",_note,frequency,duration);
lukeocarwright 1:766a293c9b07 426
lukeocarwright 1:766a293c9b07 427 // check if the note is not a space and if not then play the note
lukeocarwright 1:766a293c9b07 428 if (frequency > 0) {
lukeocarwright 1:766a293c9b07 429 tone(frequency,duration);
lukeocarwright 1:766a293c9b07 430 }
lukeocarwright 1:766a293c9b07 431
lukeocarwright 1:766a293c9b07 432 // the timeout goes to the next note in the melody
lukeocarwright 1:766a293c9b07 433 // double the duration to leave a bit of a gap in between notes to be better
lukeocarwright 1:766a293c9b07 434 // able to distinguish them
lukeocarwright 1:766a293c9b07 435 note_timeout->attach(callback(this, &Gamepad::note_timeout_isr), duration*2.0f );
lukeocarwright 1:766a293c9b07 436 }
lukeocarwright 1:766a293c9b07 437
lukeocarwright 1:766a293c9b07 438 // called when the next note needs playing
lukeocarwright 1:766a293c9b07 439 void Gamepad::note_timeout_isr()
lukeocarwright 1:766a293c9b07 440 {
lukeocarwright 1:766a293c9b07 441 _note++; // go onto next note
lukeocarwright 1:766a293c9b07 442
lukeocarwright 1:766a293c9b07 443 // if in repeat mode then reset the note counter when get to end of melody
lukeocarwright 1:766a293c9b07 444 if (_repeat && _note == _melody_length) {
lukeocarwright 1:766a293c9b07 445 _note=0;
lukeocarwright 1:766a293c9b07 446 }
lukeocarwright 1:766a293c9b07 447
lukeocarwright 1:766a293c9b07 448 // check if note is within the melody
lukeocarwright 1:766a293c9b07 449 if (_note < _melody_length) {
lukeocarwright 1:766a293c9b07 450 play_next_note();
lukeocarwright 1:766a293c9b07 451 }
lukeocarwright 1:766a293c9b07 452 }
lukeocarwright 1:766a293c9b07 453
lukeocarwright 1:766a293c9b07 454 void Gamepad::ticker_isr()
lukeocarwright 1:766a293c9b07 455 {
lukeocarwright 1:766a293c9b07 456 dac->write(_sample_array[_sample%_n]); // use modulo to get index to play
lukeocarwright 1:766a293c9b07 457 _sample++; // increment the sample ready for next time
lukeocarwright 1:766a293c9b07 458 }
lukeocarwright 1:766a293c9b07 459
lukeocarwright 1:766a293c9b07 460 void Gamepad::timeout_isr()
lukeocarwright 1:766a293c9b07 461 {
lukeocarwright 1:766a293c9b07 462 // stops the ticker to end the note
lukeocarwright 1:766a293c9b07 463 ticker->detach();
lukeocarwright 1:766a293c9b07 464 }