joystick.hpp

00001 #ifndef __JOYSTICK_HPP__
00002 #define __JOYSTICK_HPP__
00003 
00004 #include <limits>
00005 
00006 #include "mbed.h"
00007 #include "rtos.h"
00008 
00009 #define JOYSTICK_SX_X 1
00010 #define JOYSTICK_SX_Y 0
00011 #define JOYSTICK_DX_X 2
00012 #define JOYSTICK_DX_Y 3
00013 
00014 class Joystick
00015 {
00016 
00017     AnalogIn* channels[4];
00018     float values[4];
00019     Mutex mutexes[4];
00020 
00021     struct RangeJoystichChannel {
00022         float maxV;
00023         float minV;
00024         float center;
00025         RangeJoystichChannel () {
00026             maxV = std::numeric_limits<float>::min();
00027             minV = std::numeric_limits<float>::max();
00028             center = 0.0;
00029         }
00030     };
00031 
00032     RangeJoystichChannel ranges[4];
00033 
00034     void update(int channel);
00035 
00036 public:
00037 
00038     Joystick (PinName pinSX_X, PinName pinSX_Y, PinName pinDX_X, PinName pinDX_Y) {
00039         channels[JOYSTICK_SX_X] = new AnalogIn(pinSX_X);
00040         channels[JOYSTICK_SX_Y] = new AnalogIn(pinSX_Y);
00041         channels[JOYSTICK_DX_X] = new AnalogIn(pinDX_X);
00042         channels[JOYSTICK_DX_Y] = new AnalogIn(pinDX_Y);
00043     }
00044 
00045     void tuneCentring (int nOfSamples, int channel);
00046     void tuneChannel (int nOfSamples, int channel);
00047     
00048     void update();
00049 
00050     float read(int channel);
00051 
00052     ~Joystick () {
00053         delete channels[JOYSTICK_SX_X];
00054         delete channels[JOYSTICK_SX_Y];
00055         delete channels[JOYSTICK_DX_X];
00056         delete channels[JOYSTICK_DX_Y];
00057     }
00058 };
00059 
00060 
00061 #endif //__JOYSTICK_HPP__