Peng Jingran / Mbed 2 deprecated Snake_copy

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Dependencies:   mbed FXOS8700Q

Gamepad/Gamepad.h@14:f898d37428b1, 2020-05-11 (annotated)

Committer:
pjr
Date:
Mon May 11 10:32:00 2020 +0000
Revision:
14:f898d37428b1
Parent:
12:5846e92948ad 
Classes

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VivianDu 12:5846e92948ad 1 /** Gamepad Class
VivianDu 2:b891a5841ee2 2 * @brief Does nothing useful
VivianDu 2:b891a5841ee2 3 * @author Du Xianjie
VivianDu 2:b891a5841ee2 4 * @date May, 2019
VivianDu 2:b891a5841ee2 5 */
VivianDu 0:bc1d36f5f772 6 #ifndef GAMEPAD_H
VivianDu 0:bc1d36f5f772 7 #define GAMEPAD_H
VivianDu 0:bc1d36f5f772 8
VivianDu 0:bc1d36f5f772 9 #include <bitset>
VivianDu 0:bc1d36f5f772 10
VivianDu 0:bc1d36f5f772 11 // Forward declaration of the classes that we use from the mbed library
VivianDu 0:bc1d36f5f772 12 // This avoids the need for us to include the huge mbed.h header inside our
VivianDu 0:bc1d36f5f772 13 // own library API
VivianDu 0:bc1d36f5f772 14 namespace mbed
VivianDu 0:bc1d36f5f772 15 {
VivianDu 0:bc1d36f5f772 16 class AnalogIn;
VivianDu 0:bc1d36f5f772 17 class InterruptIn;
VivianDu 0:bc1d36f5f772 18 class PwmOut;
VivianDu 0:bc1d36f5f772 19 class Timeout;
VivianDu 0:bc1d36f5f772 20 }
VivianDu 0:bc1d36f5f772 21
VivianDu 0:bc1d36f5f772 22 #define TOL 0.1f
VivianDu 0:bc1d36f5f772 23 #define RAD2DEG 57.2957795131f
VivianDu 0:bc1d36f5f772 24
VivianDu 0:bc1d36f5f772 25 /** Enum for direction */
VivianDu 0:bc1d36f5f772 26 enum Direction {
VivianDu 0:bc1d36f5f772 27 CENTRE, /**< joystick centred */
VivianDu 0:bc1d36f5f772 28 N, /**< pushed North (0)*/
VivianDu 0:bc1d36f5f772 29 NE, /**< pushed North-East (45) */
VivianDu 0:bc1d36f5f772 30 E, /**< pushed East (90) */
VivianDu 0:bc1d36f5f772 31 SE, /**< pushed South-East (135) */
VivianDu 0:bc1d36f5f772 32 S, /**< pushed South (180) */
VivianDu 0:bc1d36f5f772 33 SW, /**< pushed South-West (225) */
VivianDu 0:bc1d36f5f772 34 W, /**< pushed West (270) */
VivianDu 0:bc1d36f5f772 35 NW /**< pushed North-West (315) */
VivianDu 0:bc1d36f5f772 36 };
VivianDu 0:bc1d36f5f772 37
VivianDu 0:bc1d36f5f772 38 /** Vector 2D struct */
VivianDu 0:bc1d36f5f772 39 struct Vector2D {
VivianDu 0:bc1d36f5f772 40 float x; /**< float for x value */
VivianDu 0:bc1d36f5f772 41 float y; /**< float for y value */
VivianDu 0:bc1d36f5f772 42 };
VivianDu 0:bc1d36f5f772 43
VivianDu 0:bc1d36f5f772 44 /** Polar coordinate struct */
VivianDu 0:bc1d36f5f772 45 struct Polar {
VivianDu 0:bc1d36f5f772 46 float mag; /**< float for magnitude */
VivianDu 0:bc1d36f5f772 47 float angle; /**< float for angle (in degrees) */
VivianDu 0:bc1d36f5f772 48 };
VivianDu 0:bc1d36f5f772 49
VivianDu 0:bc1d36f5f772 50 /** Gamepad Class
VivianDu 0:bc1d36f5f772 51 @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
VivianDu 0:bc1d36f5f772 52 @author Dr Craig A. Evans
VivianDu 0:bc1d36f5f772 53 @author Dr Alex Valanvanis
VivianDu 0:bc1d36f5f772 54 @date Febraury 2017
VivianDu 0:bc1d36f5f772 55 */
VivianDu 0:bc1d36f5f772 56 class Gamepad
VivianDu 0:bc1d36f5f772 57 {
VivianDu 0:bc1d36f5f772 58 public:
VivianDu 0:bc1d36f5f772 59 /** Gamepad events
VivianDu 0:bc1d36f5f772 60 * @brief List of events that can be registered on the gamepad
VivianDu 0:bc1d36f5f772 61 */
VivianDu 0:bc1d36f5f772 62 enum GamepadEvent {
VivianDu 0:bc1d36f5f772 63 A_PRESSED, ///< Button A has been pressed
VivianDu 0:bc1d36f5f772 64 B_PRESSED, ///< Button B has been pressed
VivianDu 0:bc1d36f5f772 65 X_PRESSED, ///< Button X has been pressed
VivianDu 0:bc1d36f5f772 66 Y_PRESSED, ///< Button Y has been pressed
VivianDu 0:bc1d36f5f772 67 L_PRESSED, ///< Button L has been pressed
VivianDu 0:bc1d36f5f772 68 R_PRESSED, ///< Button R has been pressed
VivianDu 0:bc1d36f5f772 69 BACK_PRESSED, ///< Button "Back" has been pressed
VivianDu 0:bc1d36f5f772 70 START_PRESSED, ///< Button "Start" has been pressed
VivianDu 0:bc1d36f5f772 71 JOY_PRESSED, ///< Joystick button has been pressed
VivianDu 0:bc1d36f5f772 72 N_EVENTS ///< A dummy flag that marks the end of the list
VivianDu 0:bc1d36f5f772 73 };
VivianDu 0:bc1d36f5f772 74 private:
VivianDu 0:bc1d36f5f772 75 mbed::PwmOut *_led1;
VivianDu 0:bc1d36f5f772 76 mbed::PwmOut *_led2;
VivianDu 0:bc1d36f5f772 77 mbed::PwmOut *_led3;
VivianDu 0:bc1d36f5f772 78 mbed::PwmOut *_led4;
VivianDu 0:bc1d36f5f772 79 mbed::PwmOut *_led5;
VivianDu 0:bc1d36f5f772 80 mbed::PwmOut *_led6;
VivianDu 0:bc1d36f5f772 81
VivianDu 0:bc1d36f5f772 82 mbed::InterruptIn *_button_A;
VivianDu 0:bc1d36f5f772 83 mbed::InterruptIn *_button_B;
VivianDu 0:bc1d36f5f772 84 mbed::InterruptIn *_button_X;
VivianDu 0:bc1d36f5f772 85 mbed::InterruptIn *_button_Y;
VivianDu 0:bc1d36f5f772 86 mbed::InterruptIn *_button_L;
VivianDu 0:bc1d36f5f772 87 mbed::InterruptIn *_button_R;
VivianDu 0:bc1d36f5f772 88 mbed::InterruptIn *_button_back;
VivianDu 0:bc1d36f5f772 89 mbed::InterruptIn *_button_start;
VivianDu 0:bc1d36f5f772 90 mbed::InterruptIn *_button_joystick;
VivianDu 0:bc1d36f5f772 91
VivianDu 0:bc1d36f5f772 92 mbed::AnalogIn *_vert;
VivianDu 0:bc1d36f5f772 93 mbed::AnalogIn *_horiz;
VivianDu 0:bc1d36f5f772 94
VivianDu 0:bc1d36f5f772 95 mbed::PwmOut *_buzzer;
VivianDu 0:bc1d36f5f772 96 mbed::AnalogIn *_pot;
VivianDu 0:bc1d36f5f772 97
VivianDu 0:bc1d36f5f772 98 mbed::Timeout *_timeout;
VivianDu 0:bc1d36f5f772 99
VivianDu 0:bc1d36f5f772 100 std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
VivianDu 0:bc1d36f5f772 101
VivianDu 0:bc1d36f5f772 102 // centred x,y values
VivianDu 0:bc1d36f5f772 103 float _x0;
VivianDu 0:bc1d36f5f772 104 float _y0;
VivianDu 0:bc1d36f5f772 105
VivianDu 0:bc1d36f5f772 106 public:
VivianDu 0:bc1d36f5f772 107
VivianDu 0:bc1d36f5f772 108 /** Constructor */
VivianDu 0:bc1d36f5f772 109 Gamepad();
VivianDu 0:bc1d36f5f772 110
VivianDu 0:bc1d36f5f772 111 /** Destructor */
VivianDu 0:bc1d36f5f772 112 ~Gamepad();
VivianDu 0:bc1d36f5f772 113
VivianDu 0:bc1d36f5f772 114 /** Initialise all peripherals and configure interrupts */
VivianDu 0:bc1d36f5f772 115 void init();
VivianDu 0:bc1d36f5f772 116
VivianDu 0:bc1d36f5f772 117 /** Turn all LEDs on */
VivianDu 0:bc1d36f5f772 118 void leds_on();
VivianDu 0:bc1d36f5f772 119
VivianDu 0:bc1d36f5f772 120 /** Turn all LEDs off */
VivianDu 0:bc1d36f5f772 121 void leds_off();
VivianDu 0:bc1d36f5f772 122
VivianDu 0:bc1d36f5f772 123 /** Set all LEDs to duty-cycle
VivianDu 0:bc1d36f5f772 124 *@param value in range 0.0 to 1.0
VivianDu 0:bc1d36f5f772 125 */
VivianDu 0:bc1d36f5f772 126 void leds(float val) const;
VivianDu 0:bc1d36f5f772 127
VivianDu 0:bc1d36f5f772 128 /** Set LED to duty-cycle
VivianDu 0:bc1d36f5f772 129 *@param led number (0 to 5)
VivianDu 0:bc1d36f5f772 130 *@param value in range 0.0 to 1.0
VivianDu 0:bc1d36f5f772 131 */
VivianDu 0:bc1d36f5f772 132 void led(int n,float val) const;
VivianDu 0:bc1d36f5f772 133
VivianDu 0:bc1d36f5f772 134 /** Read potentiometer
VivianDu 0:bc1d36f5f772 135 *@returns potentiometer value in range 0.0 to 1.0
VivianDu 0:bc1d36f5f772 136 */
VivianDu 0:bc1d36f5f772 137 float read_pot() const;
VivianDu 0:bc1d36f5f772 138
VivianDu 0:bc1d36f5f772 139 /** Play tone on piezo
VivianDu 0:bc1d36f5f772 140 * @param frequency in Hz
VivianDu 0:bc1d36f5f772 141 * @param duration of tone in seconds
VivianDu 0:bc1d36f5f772 142 */
VivianDu 0:bc1d36f5f772 143 void tone(float frequency, float duration);
VivianDu 0:bc1d36f5f772 144
VivianDu 0:bc1d36f5f772 145 /**
VivianDu 0:bc1d36f5f772 146 * @brief Check whether an event flag has been set and clear it
VivianDu 0:bc1d36f5f772 147 * @param id[in] The ID of the event to test
VivianDu 0:bc1d36f5f772 148 * @return true if the event occurred
VivianDu 0:bc1d36f5f772 149 */
VivianDu 0:bc1d36f5f772 150 bool check_event(GamepadEvent const id);
VivianDu 0:bc1d36f5f772 151
VivianDu 0:bc1d36f5f772 152 /** Get magnitude of joystick movement
VivianDu 0:bc1d36f5f772 153 * @returns value in range 0.0 to 1.0
VivianDu 0:bc1d36f5f772 154 */
VivianDu 0:bc1d36f5f772 155
VivianDu 0:bc1d36f5f772 156 float get_mag();
VivianDu 0:bc1d36f5f772 157
VivianDu 0:bc1d36f5f772 158 /** Get angle of joystick movement
VivianDu 0:bc1d36f5f772 159 * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
VivianDu 0:bc1d36f5f772 160 */
VivianDu 0:bc1d36f5f772 161 float get_angle();
VivianDu 0:bc1d36f5f772 162
VivianDu 0:bc1d36f5f772 163 /** Gets joystick direction
VivianDu 0:bc1d36f5f772 164 * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
VivianDu 0:bc1d36f5f772 165 */
VivianDu 0:bc1d36f5f772 166 Direction get_direction(); // N,NE,E,SE etc.
VivianDu 0:bc1d36f5f772 167
VivianDu 0:bc1d36f5f772 168 /** Gets raw cartesian co-ordinates of joystick
VivianDu 0:bc1d36f5f772 169 * @returns a struct with x,y members, each in the range 0.0 to 1.0
VivianDu 0:bc1d36f5f772 170 */
VivianDu 0:bc1d36f5f772 171 Vector2D get_coord(); // cartesian co-ordinates x,y
VivianDu 0:bc1d36f5f772 172
VivianDu 0:bc1d36f5f772 173 /** Gets cartesian coordinates mapped to circular grid
VivianDu 0:bc1d36f5f772 174 * @returns a struct with x,y members, each in the range 0.0 to 1.0
VivianDu 0:bc1d36f5f772 175 */
VivianDu 0:bc1d36f5f772 176 Vector2D get_mapped_coord(); // x,y mapped to circle
VivianDu 0:bc1d36f5f772 177
VivianDu 0:bc1d36f5f772 178 /** Gets polar coordinates of the joystick
VivianDu 0:bc1d36f5f772 179 * @returns a struct contains mag and angle
VivianDu 0:bc1d36f5f772 180 */
VivianDu 0:bc1d36f5f772 181 Polar get_polar(); // mag and angle in struct form
VivianDu 0:bc1d36f5f772 182
VivianDu 0:bc1d36f5f772 183 private:
VivianDu 0:bc1d36f5f772 184 void init_buttons();
VivianDu 0:bc1d36f5f772 185 void tone_off();
VivianDu 0:bc1d36f5f772 186
VivianDu 0:bc1d36f5f772 187 void a_isr();
VivianDu 0:bc1d36f5f772 188 void b_isr();
VivianDu 0:bc1d36f5f772 189 void x_isr();
VivianDu 0:bc1d36f5f772 190 void y_isr();
VivianDu 0:bc1d36f5f772 191 void l_isr();
VivianDu 0:bc1d36f5f772 192 void r_isr();
VivianDu 0:bc1d36f5f772 193 void back_isr();
VivianDu 0:bc1d36f5f772 194 void start_isr();
VivianDu 0:bc1d36f5f772 195 void joy_isr();
VivianDu 0:bc1d36f5f772 196 };
VivianDu 0:bc1d36f5f772 197
VivianDu 0:bc1d36f5f772 198 #endif