Mario Bambagini / Mbed 2 deprecated rover_pc

This project aims at hacking a remote controlled car by replacing the tx/rx and navigation systems. This project implements the pc side.

Dependencies:   mbed-rtos mbed ssWi

For the related information, consult the wiki documentation at:

Import programrover_car

This project aims at hacking a remote controlled car by replacing the tx/rx and navigation systems. This project implements the car side.

Last commit 12 Mar 2013 by Mario Bambagini

Diff: joystick/joystick.cpp

Revision:
0:1b4c3bbaf102
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/joystick/joystick.cpp	Tue Mar 12 07:39:13 2013 +0000
@@ -0,0 +1,65 @@
+#include "joystick.hpp"
+
+
+void Joystick::tuneChannel (int nOfSamples, int channel)
+{
+    if (channel<0 || channel>3)
+        return;
+    ranges[channel].maxV = std::numeric_limits<float>::min();
+    ranges[channel].minV = std::numeric_limits<float>::max();
+    for (int i=0; i<nOfSamples; i++) {
+        float val = channels[channel]->read();
+        if (val>ranges[channel].maxV)
+            ranges[channel].maxV = val;
+        else if (val<ranges[channel].minV)
+            ranges[channel].minV = val;
+        wait(0.1);
+    }
+}
+
+void Joystick::tuneCentring (int nOfSamples, int channel)
+{
+    if (channel<0 || channel>3)
+        return;
+    ranges[channel].center = 0.0;
+    for (int i=0; i<nOfSamples; i++) {
+        float val = channels[channel]->read();
+        ranges[channel].center += val;
+        wait(0.1);
+    }
+    ranges[channel].center /= nOfSamples;
+}
+
+
+
+float Joystick::read(int channel)
+{
+    if (channel<0 || channel>3)
+        return std::numeric_limits<float>::min();
+    mutexes[channel].lock();
+    float val = values[channel];
+    mutexes[channel].unlock();
+    return val;
+}
+
+
+void Joystick::update (int channel)
+{
+    mutexes[channel].lock();
+    float val = channels[channel]->read();
+    mutexes[channel].unlock();
+    if (val>ranges[channel].center)
+        values[channel] = -(val-ranges[channel].center)/
+                (ranges[channel].maxV-ranges[channel].center);
+    else
+        values[channel] = (ranges[channel].center-val)/
+                (ranges[channel].center-ranges[channel].minV);
+}
+
+void Joystick::update ()
+{
+    update(JOYSTICK_SX_X);
+    update(JOYSTICK_SX_Y);
+    update(JOYSTICK_DX_X);
+    update(JOYSTICK_DX_Y);
+}