Luke Cartwright / Mbed 2 deprecated ELEC2645_Project_el18loc_nearlythere

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Dependencies:   mbed

Gamepad2/Gamepad.cpp@4:9b7ea5528a5c, 2020-04-07 (annotated)

Committer:
lukeocarwright
Date:
Tue Apr 07 18:56:28 2020 +0000
Revision:
4:9b7ea5528a5c
Parent:
3:b7df72682b81
Child:
19:08862f49cd9e
Generates sine wave using pwm (tested upto 50hz on scope w.o filter)

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 4:9b7ea5528a5c 26
lukeocarwright 4:9b7ea5528a5c 27 //rca(new PwmOut(PTE25)),
lukeocarwright 1:766a293c9b07 28 dac(new AnalogOut(DAC0_OUT)),
lukeocarwright 1:766a293c9b07 29 ticker(new Ticker),
lukeocarwright 1:766a293c9b07 30 timeout(new Timeout),
lukeocarwright 1:766a293c9b07 31 note_timeout(new Timeout),
lukeocarwright 1:766a293c9b07 32
lukeocarwright 1:766a293c9b07 33 _x0(0),
lukeocarwright 1:766a293c9b07 34 _y0(0)
lukeocarwright 1:766a293c9b07 35 {}
lukeocarwright 1:766a293c9b07 36
lukeocarwright 1:766a293c9b07 37
lukeocarwright 1:766a293c9b07 38 ///////////////// public methods /////////////////
lukeocarwright 1:766a293c9b07 39
lukeocarwright 1:766a293c9b07 40 void Gamepad::init()
lukeocarwright 1:766a293c9b07 41 {
lukeocarwright 1:766a293c9b07 42 leds_off();
lukeocarwright 1:766a293c9b07 43
lukeocarwright 1:766a293c9b07 44 // read centred values of joystick
lukeocarwright 1:766a293c9b07 45 _x0 = _horiz->read();
lukeocarwright 1:766a293c9b07 46 _y0 = _vert->read();
lukeocarwright 1:766a293c9b07 47
lukeocarwright 1:766a293c9b07 48 // Set all buttons to PullUp
lukeocarwright 1:766a293c9b07 49 _button_A->mode(PullUp);
lukeocarwright 1:766a293c9b07 50 _button_B->mode(PullUp);
lukeocarwright 1:766a293c9b07 51 _button_X->mode(PullUp);
lukeocarwright 1:766a293c9b07 52 _button_Y->mode(PullUp);
lukeocarwright 1:766a293c9b07 53 _button_start->mode(PullUp);
lukeocarwright 1:766a293c9b07 54
lukeocarwright 1:766a293c9b07 55 // Set up interrupts for the fall of buttons
lukeocarwright 1:766a293c9b07 56 _button_A->fall(callback(this,&Gamepad::A_fall_interrupt));
lukeocarwright 1:766a293c9b07 57 _button_B->fall(callback(this,&Gamepad::B_fall_interrupt));
lukeocarwright 1:766a293c9b07 58 _button_X->fall(callback(this,&Gamepad::X_fall_interrupt));
lukeocarwright 1:766a293c9b07 59 _button_Y->fall(callback(this,&Gamepad::Y_fall_interrupt));
lukeocarwright 1:766a293c9b07 60 _button_start->fall(callback(this,&Gamepad::start_fall_interrupt));
lukeocarwright 1:766a293c9b07 61
lukeocarwright 1:766a293c9b07 62 // initalise button flags
lukeocarwright 1:766a293c9b07 63 reset_buttons();
lukeocarwright 1:766a293c9b07 64
lukeocarwright 1:766a293c9b07 65 // number of samples
lukeocarwright 1:766a293c9b07 66 _n = 16;
lukeocarwright 1:766a293c9b07 67 _sample_array = new float[_n];
lukeocarwright 1:766a293c9b07 68
lukeocarwright 1:766a293c9b07 69 // create sample array for one period between 0.0 and 1.0
lukeocarwright 1:766a293c9b07 70 for (int i = 0; i < _n ; i++) {
lukeocarwright 1:766a293c9b07 71 _sample_array[i] = 0.5f + 0.5f*sin(i*2*PI/_n);
lukeocarwright 1:766a293c9b07 72 //printf("y[%i] = %f\n",i,_sample_array[i]);
lukeocarwright 1:766a293c9b07 73 }
lukeocarwright 1:766a293c9b07 74
lukeocarwright 1:766a293c9b07 75 }
lukeocarwright 1:766a293c9b07 76
lukeocarwright 1:766a293c9b07 77 void Gamepad::leds_off()
lukeocarwright 1:766a293c9b07 78 {
lukeocarwright 1:766a293c9b07 79 leds(0.0);
lukeocarwright 1:766a293c9b07 80 }
lukeocarwright 1:766a293c9b07 81
lukeocarwright 1:766a293c9b07 82 void Gamepad::leds_on()
lukeocarwright 1:766a293c9b07 83 {
lukeocarwright 1:766a293c9b07 84 leds(1.0);
lukeocarwright 1:766a293c9b07 85 }
lukeocarwright 1:766a293c9b07 86
lukeocarwright 1:766a293c9b07 87 void Gamepad::leds(float val) const
lukeocarwright 1:766a293c9b07 88 {
lukeocarwright 1:766a293c9b07 89 if (val < 0.0f) {
lukeocarwright 1:766a293c9b07 90 val = 0.0f;
lukeocarwright 1:766a293c9b07 91 }
lukeocarwright 1:766a293c9b07 92 if (val > 1.0f) {
lukeocarwright 1:766a293c9b07 93 val = 1.0f;
lukeocarwright 1:766a293c9b07 94 }
lukeocarwright 1:766a293c9b07 95
lukeocarwright 1:766a293c9b07 96 // leds are active-low, so subtract from 1.0
lukeocarwright 1:766a293c9b07 97 // 0.0 corresponds to fully-off, 1.0 to fully-on
lukeocarwright 1:766a293c9b07 98 val = 1.0f - val;
lukeocarwright 1:766a293c9b07 99
lukeocarwright 1:766a293c9b07 100 _led1->write(val);
lukeocarwright 1:766a293c9b07 101 _led2->write(val);
lukeocarwright 1:766a293c9b07 102 _led3->write(val);
lukeocarwright 1:766a293c9b07 103 _led4->write(val);
lukeocarwright 1:766a293c9b07 104 _led5->write(val);
lukeocarwright 1:766a293c9b07 105 _led6->write(val);
lukeocarwright 1:766a293c9b07 106 }
lukeocarwright 1:766a293c9b07 107
lukeocarwright 1:766a293c9b07 108 void Gamepad::led(int n,float val) const
lukeocarwright 1:766a293c9b07 109 {
lukeocarwright 1:766a293c9b07 110 // ensure they are within valid range
lukeocarwright 1:766a293c9b07 111 if (val < 0.0f) {
lukeocarwright 1:766a293c9b07 112 val = 0.0f;
lukeocarwright 1:766a293c9b07 113 }
lukeocarwright 1:766a293c9b07 114 if (val > 1.0f) {
lukeocarwright 1:766a293c9b07 115 val = 1.0f;
lukeocarwright 1:766a293c9b07 116 }
lukeocarwright 1:766a293c9b07 117
lukeocarwright 1:766a293c9b07 118 switch (n) {
lukeocarwright 1:766a293c9b07 119
lukeocarwright 1:766a293c9b07 120 // check for valid LED number and set value
lukeocarwright 1:766a293c9b07 121
lukeocarwright 1:766a293c9b07 122 case 1:
lukeocarwright 1:766a293c9b07 123 _led1->write(1.0f-val); // active-low so subtract from 1
lukeocarwright 1:766a293c9b07 124 break;
lukeocarwright 1:766a293c9b07 125 case 2:
lukeocarwright 1:766a293c9b07 126 _led2->write(1.0f-val); // active-low so subtract from 1
lukeocarwright 1:766a293c9b07 127 break;
lukeocarwright 1:766a293c9b07 128 case 3:
lukeocarwright 1:766a293c9b07 129 _led3->write(1.0f-val); // active-low so subtract from 1
lukeocarwright 1:766a293c9b07 130 break;
lukeocarwright 1:766a293c9b07 131 case 4:
lukeocarwright 1:766a293c9b07 132 _led4->write(1.0f-val); // active-low so subtract from 1
lukeocarwright 1:766a293c9b07 133 break;
lukeocarwright 1:766a293c9b07 134 case 5:
lukeocarwright 1:766a293c9b07 135 _led5->write(1.0f-val); // active-low so subtract from 1
lukeocarwright 1:766a293c9b07 136 break;
lukeocarwright 1:766a293c9b07 137 case 6:
lukeocarwright 1:766a293c9b07 138 _led6->write(1.0f-val); // active-low so subtract from 1
lukeocarwright 1:766a293c9b07 139 break;
lukeocarwright 1:766a293c9b07 140
lukeocarwright 1:766a293c9b07 141 }
lukeocarwright 1:766a293c9b07 142 }
lukeocarwright 1:766a293c9b07 143
lukeocarwright 1:766a293c9b07 144 float Gamepad::read_pot1() const
lukeocarwright 1:766a293c9b07 145 {
lukeocarwright 1:766a293c9b07 146 return _pot1->read();
lukeocarwright 1:766a293c9b07 147 }
lukeocarwright 1:766a293c9b07 148
lukeocarwright 1:766a293c9b07 149 float Gamepad::read_pot2() const
lukeocarwright 1:766a293c9b07 150 {
lukeocarwright 1:766a293c9b07 151 return _pot2->read();
lukeocarwright 1:766a293c9b07 152 }
lukeocarwright 1:766a293c9b07 153
lukeocarwright 1:766a293c9b07 154
lukeocarwright 1:766a293c9b07 155 // this method gets the magnitude of the joystick movement
lukeocarwright 1:766a293c9b07 156 float Gamepad::get_mag()
lukeocarwright 1:766a293c9b07 157 {
lukeocarwright 1:766a293c9b07 158 Polar p = get_polar();
lukeocarwright 1:766a293c9b07 159 return p.mag;
lukeocarwright 1:766a293c9b07 160 }
lukeocarwright 1:766a293c9b07 161
lukeocarwright 1:766a293c9b07 162 // this method gets the angle of joystick movement (0 to 360, 0 North)
lukeocarwright 1:766a293c9b07 163 float Gamepad::get_angle()
lukeocarwright 1:766a293c9b07 164 {
lukeocarwright 1:766a293c9b07 165 Polar p = get_polar();
lukeocarwright 1:766a293c9b07 166 return p.angle;
lukeocarwright 1:766a293c9b07 167 }
lukeocarwright 1:766a293c9b07 168
lukeocarwright 1:766a293c9b07 169 Direction Gamepad::get_direction()
lukeocarwright 1:766a293c9b07 170 {
lukeocarwright 1:766a293c9b07 171 float angle = get_angle(); // 0 to 360, -1 for centred
lukeocarwright 1:766a293c9b07 172
lukeocarwright 1:766a293c9b07 173 Direction d;
lukeocarwright 1:766a293c9b07 174 // partition 360 into segments and check which segment the angle is in
lukeocarwright 1:766a293c9b07 175 if (angle < 0.0f) {
lukeocarwright 1:766a293c9b07 176 d = CENTRE; // check for -1.0 angle
lukeocarwright 1:766a293c9b07 177 } else if (angle < 22.5f) { // then keep going in 45 degree increments
lukeocarwright 1:766a293c9b07 178 d = N;
lukeocarwright 1:766a293c9b07 179 } else if (angle < 67.5f) {
lukeocarwright 1:766a293c9b07 180 d = NE;
lukeocarwright 1:766a293c9b07 181 } else if (angle < 112.5f) {
lukeocarwright 1:766a293c9b07 182 d = E;
lukeocarwright 1:766a293c9b07 183 } else if (angle < 157.5f) {
lukeocarwright 1:766a293c9b07 184 d = SE;
lukeocarwright 1:766a293c9b07 185 } else if (angle < 202.5f) {
lukeocarwright 1:766a293c9b07 186 d = S;
lukeocarwright 1:766a293c9b07 187 } else if (angle < 247.5f) {
lukeocarwright 1:766a293c9b07 188 d = SW;
lukeocarwright 1:766a293c9b07 189 } else if (angle < 292.5f) {
lukeocarwright 1:766a293c9b07 190 d = W;
lukeocarwright 1:766a293c9b07 191 } else if (angle < 337.5f) {
lukeocarwright 1:766a293c9b07 192 d = NW;
lukeocarwright 1:766a293c9b07 193 } else {
lukeocarwright 1:766a293c9b07 194 d = N;
lukeocarwright 1:766a293c9b07 195 }
lukeocarwright 1:766a293c9b07 196
lukeocarwright 1:766a293c9b07 197 return d;
lukeocarwright 1:766a293c9b07 198 }
lukeocarwright 1:766a293c9b07 199
lukeocarwright 1:766a293c9b07 200 void Gamepad::reset_buttons()
lukeocarwright 1:766a293c9b07 201 {
lukeocarwright 1:766a293c9b07 202 A_fall = B_fall = X_fall = Y_fall = start_fall = false;
lukeocarwright 1:766a293c9b07 203 }
lukeocarwright 1:766a293c9b07 204
lukeocarwright 1:766a293c9b07 205 bool Gamepad::A_pressed()
lukeocarwright 1:766a293c9b07 206 {
lukeocarwright 1:766a293c9b07 207 if (A_fall) {
lukeocarwright 1:766a293c9b07 208 A_fall = false;
lukeocarwright 1:766a293c9b07 209 return true;
lukeocarwright 1:766a293c9b07 210 } else {
lukeocarwright 1:766a293c9b07 211 return false;
lukeocarwright 1:766a293c9b07 212 }
lukeocarwright 1:766a293c9b07 213 }
lukeocarwright 1:766a293c9b07 214
lukeocarwright 1:766a293c9b07 215 bool Gamepad::B_pressed()
lukeocarwright 1:766a293c9b07 216 {
lukeocarwright 1:766a293c9b07 217 if (B_fall) {
lukeocarwright 1:766a293c9b07 218 B_fall = false;
lukeocarwright 1:766a293c9b07 219 return true;
lukeocarwright 1:766a293c9b07 220 } else {
lukeocarwright 1:766a293c9b07 221 return false;
lukeocarwright 1:766a293c9b07 222 }
lukeocarwright 1:766a293c9b07 223 }
lukeocarwright 1:766a293c9b07 224
lukeocarwright 1:766a293c9b07 225 bool Gamepad::X_pressed()
lukeocarwright 1:766a293c9b07 226 {
lukeocarwright 1:766a293c9b07 227 if (X_fall) {
lukeocarwright 1:766a293c9b07 228 X_fall = false;
lukeocarwright 1:766a293c9b07 229 return true;
lukeocarwright 1:766a293c9b07 230 } else {
lukeocarwright 1:766a293c9b07 231 return false;
lukeocarwright 1:766a293c9b07 232 }
lukeocarwright 1:766a293c9b07 233 }
lukeocarwright 1:766a293c9b07 234
lukeocarwright 1:766a293c9b07 235 bool Gamepad::Y_pressed()
lukeocarwright 1:766a293c9b07 236 {
lukeocarwright 1:766a293c9b07 237 if (Y_fall) {
lukeocarwright 1:766a293c9b07 238 Y_fall = false;
lukeocarwright 1:766a293c9b07 239 return true;
lukeocarwright 1:766a293c9b07 240 } else {
lukeocarwright 1:766a293c9b07 241 return false;
lukeocarwright 1:766a293c9b07 242 }
lukeocarwright 1:766a293c9b07 243 }
lukeocarwright 1:766a293c9b07 244
lukeocarwright 1:766a293c9b07 245 bool Gamepad::start_pressed()
lukeocarwright 1:766a293c9b07 246 {
lukeocarwright 1:766a293c9b07 247 if (start_fall) {
lukeocarwright 1:766a293c9b07 248 start_fall = false;
lukeocarwright 1:766a293c9b07 249 return true;
lukeocarwright 1:766a293c9b07 250 } else {
lukeocarwright 1:766a293c9b07 251 return false;
lukeocarwright 1:766a293c9b07 252 }
lukeocarwright 1:766a293c9b07 253 }
lukeocarwright 1:766a293c9b07 254
lukeocarwright 1:766a293c9b07 255 bool Gamepad::A_held()
lukeocarwright 1:766a293c9b07 256 {
lukeocarwright 1:766a293c9b07 257 // Buttons are configured as PullUp hence the not
lukeocarwright 1:766a293c9b07 258 return !_button_A->read();
lukeocarwright 1:766a293c9b07 259 }
lukeocarwright 1:766a293c9b07 260
lukeocarwright 1:766a293c9b07 261 bool Gamepad::B_held()
lukeocarwright 1:766a293c9b07 262 {
lukeocarwright 1:766a293c9b07 263 return !_button_B->read();
lukeocarwright 1:766a293c9b07 264 }
lukeocarwright 1:766a293c9b07 265
lukeocarwright 1:766a293c9b07 266 bool Gamepad::X_held()
lukeocarwright 1:766a293c9b07 267 {
lukeocarwright 1:766a293c9b07 268 return !_button_X->read();
lukeocarwright 1:766a293c9b07 269 }
lukeocarwright 1:766a293c9b07 270
lukeocarwright 1:766a293c9b07 271 bool Gamepad::Y_held()
lukeocarwright 1:766a293c9b07 272 {
lukeocarwright 1:766a293c9b07 273 return !_button_Y->read();
lukeocarwright 1:766a293c9b07 274 }
lukeocarwright 1:766a293c9b07 275
lukeocarwright 1:766a293c9b07 276 bool Gamepad::start_held()
lukeocarwright 1:766a293c9b07 277 {
lukeocarwright 1:766a293c9b07 278 return !_button_start->read();
lukeocarwright 1:766a293c9b07 279 }
lukeocarwright 1:766a293c9b07 280
lukeocarwright 1:766a293c9b07 281 ///////////////////// private methods ////////////////////////
lukeocarwright 1:766a293c9b07 282
lukeocarwright 1:766a293c9b07 283 // get raw joystick coordinate in range -1 to 1
lukeocarwright 1:766a293c9b07 284 // Direction (x,y)
lukeocarwright 1:766a293c9b07 285 // North (0,1)
lukeocarwright 1:766a293c9b07 286 // East (1,0)
lukeocarwright 1:766a293c9b07 287 // South (0,-1)
lukeocarwright 1:766a293c9b07 288 // West (-1,0)
lukeocarwright 1:766a293c9b07 289 Vector2D Gamepad::get_coord()
lukeocarwright 1:766a293c9b07 290 {
lukeocarwright 1:766a293c9b07 291 // read() returns value in range 0.0 to 1.0 so is scaled and centre value
lukeocarwright 1:766a293c9b07 292 // substracted to get values in the range -1.0 to 1.0
lukeocarwright 1:766a293c9b07 293 float x = 2.0f*( _horiz->read() - _x0 );
lukeocarwright 1:766a293c9b07 294 float y = 2.0f*( _vert->read() - _y0 );
lukeocarwright 1:766a293c9b07 295
lukeocarwright 1:766a293c9b07 296 // Note: the y value here is inverted to ensure the positive y is up
lukeocarwright 1:766a293c9b07 297
lukeocarwright 1:766a293c9b07 298 Vector2D coord = {x,-y};
lukeocarwright 1:766a293c9b07 299 return coord;
lukeocarwright 1:766a293c9b07 300 }
lukeocarwright 1:766a293c9b07 301
lukeocarwright 1:766a293c9b07 302 // This maps the raw x,y coord onto a circular grid.
lukeocarwright 1:766a293c9b07 303 // See: http://mathproofs.blogspot.co.uk/2005/07/mapping-square-to-circle.html
lukeocarwright 1:766a293c9b07 304 Vector2D Gamepad::get_mapped_coord()
lukeocarwright 1:766a293c9b07 305 {
lukeocarwright 1:766a293c9b07 306 Vector2D coord = get_coord();
lukeocarwright 1:766a293c9b07 307
lukeocarwright 1:766a293c9b07 308 // do the transformation
lukeocarwright 1:766a293c9b07 309 float x = coord.x*sqrt(1.0f-pow(coord.y,2.0f)/2.0f);
lukeocarwright 1:766a293c9b07 310 float y = coord.y*sqrt(1.0f-pow(coord.x,2.0f)/2.0f);
lukeocarwright 1:766a293c9b07 311
lukeocarwright 1:766a293c9b07 312 Vector2D mapped_coord = {x,y};
lukeocarwright 1:766a293c9b07 313 return mapped_coord;
lukeocarwright 1:766a293c9b07 314 }
lukeocarwright 1:766a293c9b07 315
lukeocarwright 1:766a293c9b07 316 // this function converts the mapped coordinates into polar form
lukeocarwright 1:766a293c9b07 317 Polar Gamepad::get_polar()
lukeocarwright 1:766a293c9b07 318 {
lukeocarwright 1:766a293c9b07 319 // get the mapped coordinate
lukeocarwright 1:766a293c9b07 320 Vector2D coord = get_mapped_coord();
lukeocarwright 1:766a293c9b07 321
lukeocarwright 1:766a293c9b07 322 // at this point, 0 degrees (i.e. x-axis) will be defined to the East.
lukeocarwright 1:766a293c9b07 323 // We want 0 degrees to correspond to North and increase clockwise to 359
lukeocarwright 1:766a293c9b07 324 // like a compass heading, so we need to swap the axis and invert y
lukeocarwright 1:766a293c9b07 325 float x = coord.y;
lukeocarwright 1:766a293c9b07 326 float y = coord.x;
lukeocarwright 1:766a293c9b07 327
lukeocarwright 1:766a293c9b07 328 float mag = sqrt(x*x+y*y); // pythagoras
lukeocarwright 1:766a293c9b07 329 float angle = RAD2DEG*atan2(y,x);
lukeocarwright 1:766a293c9b07 330 // angle will be in range -180 to 180, so add 360 to negative angles to
lukeocarwright 1:766a293c9b07 331 // move to 0 to 360 range
lukeocarwright 1:766a293c9b07 332 if (angle < 0.0f) {
lukeocarwright 1:766a293c9b07 333 angle+=360.0f;
lukeocarwright 1:766a293c9b07 334 }
lukeocarwright 1:766a293c9b07 335
lukeocarwright 1:766a293c9b07 336 // the noise on the ADC causes the values of x and y to fluctuate slightly
lukeocarwright 1:766a293c9b07 337 // around the centred values. This causes the random angle values to get
lukeocarwright 1:766a293c9b07 338 // calculated when the joystick is centred and untouched. This is also when
lukeocarwright 1:766a293c9b07 339 // the magnitude is very small, so we can check for a small magnitude and then
lukeocarwright 1:766a293c9b07 340 // set the angle to -1. This will inform us when the angle is invalid and the
lukeocarwright 1:766a293c9b07 341 // joystick is centred
lukeocarwright 1:766a293c9b07 342
lukeocarwright 1:766a293c9b07 343 if (mag < TOL) {
lukeocarwright 1:766a293c9b07 344 mag = 0.0f;
lukeocarwright 1:766a293c9b07 345 angle = -1.0f;
lukeocarwright 1:766a293c9b07 346 }
lukeocarwright 1:766a293c9b07 347
lukeocarwright 1:766a293c9b07 348 Polar p = {mag,angle};
lukeocarwright 1:766a293c9b07 349 return p;
lukeocarwright 1:766a293c9b07 350 }
lukeocarwright 1:766a293c9b07 351
lukeocarwright 1:766a293c9b07 352 // ISRs for buttons
lukeocarwright 1:766a293c9b07 353 void Gamepad::A_fall_interrupt()
lukeocarwright 1:766a293c9b07 354 {
lukeocarwright 1:766a293c9b07 355 A_fall = true;
lukeocarwright 1:766a293c9b07 356 }
lukeocarwright 1:766a293c9b07 357 void Gamepad::B_fall_interrupt()
lukeocarwright 1:766a293c9b07 358 {
lukeocarwright 1:766a293c9b07 359 B_fall = true;
lukeocarwright 1:766a293c9b07 360 }
lukeocarwright 1:766a293c9b07 361 void Gamepad::X_fall_interrupt()
lukeocarwright 1:766a293c9b07 362 {
lukeocarwright 1:766a293c9b07 363 X_fall = true;
lukeocarwright 1:766a293c9b07 364 }
lukeocarwright 1:766a293c9b07 365 void Gamepad::Y_fall_interrupt()
lukeocarwright 1:766a293c9b07 366 {
lukeocarwright 1:766a293c9b07 367 Y_fall = true;
lukeocarwright 1:766a293c9b07 368 }
lukeocarwright 1:766a293c9b07 369 void Gamepad::start_fall_interrupt()
lukeocarwright 1:766a293c9b07 370 {
lukeocarwright 1:766a293c9b07 371 start_fall = true;
lukeocarwright 1:766a293c9b07 372 }
lukeocarwright 1:766a293c9b07 373
lukeocarwright 4:9b7ea5528a5c 374
lukeocarwright 1:766a293c9b07 375 void Gamepad::set_bpm(float bpm)
lukeocarwright 1:766a293c9b07 376 {
lukeocarwright 1:766a293c9b07 377 _bpm = bpm;
lukeocarwright 1:766a293c9b07 378 }
lukeocarwright 1:766a293c9b07 379
lukeocarwright 1:766a293c9b07 380 void Gamepad::tone(float frequency,float duration)
lukeocarwright 1:766a293c9b07 381 {
lukeocarwright 1:766a293c9b07 382 // calculate time step between samples
lukeocarwright 1:766a293c9b07 383 float dt = 1.0f/(frequency*_n);
lukeocarwright 1:766a293c9b07 384 // start from beginning of LUT
lukeocarwright 1:766a293c9b07 385 _sample = 0;
lukeocarwright 1:766a293c9b07 386
lukeocarwright 1:766a293c9b07 387 // setup ticker and timeout to stop ticker
lukeocarwright 1:766a293c9b07 388
lukeocarwright 1:766a293c9b07 389 // the ticker repeats every dt to plat each sample in turn
lukeocarwright 1:766a293c9b07 390 ticker->attach(callback(this, &Gamepad::ticker_isr), dt);
lukeocarwright 1:766a293c9b07 391 // the timeout stops the ticker after the required duration
lukeocarwright 1:766a293c9b07 392 timeout->attach(callback(this, &Gamepad::timeout_isr), duration );
lukeocarwright 1:766a293c9b07 393 }
lukeocarwright 1:766a293c9b07 394
lukeocarwright 1:766a293c9b07 395 void Gamepad::play_melody(int length,const int *notes,const int *durations,float bpm,bool repeat)
lukeocarwright 1:766a293c9b07 396 {
lukeocarwright 1:766a293c9b07 397 // copy arguments to member variables
lukeocarwright 1:766a293c9b07 398 _bpm = bpm;
lukeocarwright 1:766a293c9b07 399 _notes = notes; // pointer for array
lukeocarwright 1:766a293c9b07 400 _durations = durations; // pointer for array
lukeocarwright 1:766a293c9b07 401 _melody_length = length;
lukeocarwright 1:766a293c9b07 402 _repeat = repeat;
lukeocarwright 1:766a293c9b07 403
lukeocarwright 1:766a293c9b07 404 _note = 0; // start from first note
lukeocarwright 1:766a293c9b07 405
lukeocarwright 1:766a293c9b07 406 play_next_note(); // play the next note in the melody
lukeocarwright 1:766a293c9b07 407 }
lukeocarwright 1:766a293c9b07 408
lukeocarwright 1:766a293c9b07 409 void Gamepad::write_dac(float val)
lukeocarwright 1:766a293c9b07 410 {
lukeocarwright 1:766a293c9b07 411 if (val < 0.0f) {
lukeocarwright 1:766a293c9b07 412 val = 0.0f;
lukeocarwright 1:766a293c9b07 413 } else if (val > 1.0f) {
lukeocarwright 1:766a293c9b07 414 val = 1.0f;
lukeocarwright 1:766a293c9b07 415 }
lukeocarwright 1:766a293c9b07 416 dac->write(val);
lukeocarwright 1:766a293c9b07 417 }
lukeocarwright 1:766a293c9b07 418
lukeocarwright 3:b7df72682b81 419 //writes DAC value in uint format
lukeocarwright 3:b7df72682b81 420 void Gamepad::write_u16(unsigned short val)
lukeocarwright 2:07cef563acdf 421 {
lukeocarwright 3:b7df72682b81 422 if (val > 65535) {
lukeocarwright 2:07cef563acdf 423 val = 65535;
lukeocarwright 2:07cef563acdf 424 }
lukeocarwright 2:07cef563acdf 425 dac->write_u16(val);
lukeocarwright 2:07cef563acdf 426 }
lukeocarwright 2:07cef563acdf 427
lukeocarwright 1:766a293c9b07 428
lukeocarwright 4:9b7ea5528a5c 429
lukeocarwright 1:766a293c9b07 430 void Gamepad::play_next_note()
lukeocarwright 1:766a293c9b07 431 {
lukeocarwright 1:766a293c9b07 432 // _note is the note index to play
lukeocarwright 1:766a293c9b07 433
lukeocarwright 1:766a293c9b07 434 // calculate the duration and frequency of the note
lukeocarwright 1:766a293c9b07 435 float duration = 60.0f/(_bpm*_durations[_note]);
lukeocarwright 1:766a293c9b07 436 float frequency = float(_notes[_note]);
lukeocarwright 1:766a293c9b07 437 //printf("[%i] f = %f d = %f\n",_note,frequency,duration);
lukeocarwright 1:766a293c9b07 438
lukeocarwright 1:766a293c9b07 439 // check if the note is not a space and if not then play the note
lukeocarwright 1:766a293c9b07 440 if (frequency > 0) {
lukeocarwright 1:766a293c9b07 441 tone(frequency,duration);
lukeocarwright 1:766a293c9b07 442 }
lukeocarwright 1:766a293c9b07 443
lukeocarwright 1:766a293c9b07 444 // the timeout goes to the next note in the melody
lukeocarwright 1:766a293c9b07 445 // double the duration to leave a bit of a gap in between notes to be better
lukeocarwright 1:766a293c9b07 446 // able to distinguish them
lukeocarwright 1:766a293c9b07 447 note_timeout->attach(callback(this, &Gamepad::note_timeout_isr), duration*2.0f );
lukeocarwright 1:766a293c9b07 448 }
lukeocarwright 1:766a293c9b07 449
lukeocarwright 1:766a293c9b07 450 // called when the next note needs playing
lukeocarwright 1:766a293c9b07 451 void Gamepad::note_timeout_isr()
lukeocarwright 1:766a293c9b07 452 {
lukeocarwright 1:766a293c9b07 453 _note++; // go onto next note
lukeocarwright 1:766a293c9b07 454
lukeocarwright 1:766a293c9b07 455 // if in repeat mode then reset the note counter when get to end of melody
lukeocarwright 1:766a293c9b07 456 if (_repeat && _note == _melody_length) {
lukeocarwright 1:766a293c9b07 457 _note=0;
lukeocarwright 1:766a293c9b07 458 }
lukeocarwright 1:766a293c9b07 459
lukeocarwright 1:766a293c9b07 460 // check if note is within the melody
lukeocarwright 1:766a293c9b07 461 if (_note < _melody_length) {
lukeocarwright 1:766a293c9b07 462 play_next_note();
lukeocarwright 1:766a293c9b07 463 }
lukeocarwright 1:766a293c9b07 464 }
lukeocarwright 1:766a293c9b07 465
lukeocarwright 1:766a293c9b07 466 void Gamepad::ticker_isr()
lukeocarwright 1:766a293c9b07 467 {
lukeocarwright 1:766a293c9b07 468 dac->write(_sample_array[_sample%_n]); // use modulo to get index to play
lukeocarwright 1:766a293c9b07 469 _sample++; // increment the sample ready for next time
lukeocarwright 1:766a293c9b07 470 }
lukeocarwright 1:766a293c9b07 471
lukeocarwright 1:766a293c9b07 472 void Gamepad::timeout_isr()
lukeocarwright 1:766a293c9b07 473 {
lukeocarwright 1:766a293c9b07 474 // stops the ticker to end the note
lukeocarwright 1:766a293c9b07 475 ticker->detach();
lukeocarwright 4:9b7ea5528a5c 476 }