Gamepad.h

00001 /** Gamepad Class 
00002  * @brief Does nothing useful 
00003  * @author Du Xianjie
00004  * @date May, 2019
00005  */ 
00006 #ifndef GAMEPAD_H
00007 #define GAMEPAD_H
00008 
00009 #include <bitset>
00010 
00011 // Forward declaration of the classes that we use from the mbed library
00012 // This avoids the need for us to include the huge mbed.h header inside our
00013 // own library API
00014 namespace mbed
00015 {
00016 class AnalogIn;
00017 class InterruptIn;
00018 class PwmOut;
00019 class Timeout;
00020 }
00021 
00022 #define TOL 0.1f
00023 #define RAD2DEG 57.2957795131f
00024 
00025 /** Enum for direction */
00026 enum Direction {
00027     CENTRE,  /**< joystick centred */
00028     N,       /**< pushed North (0)*/
00029     NE,      /**< pushed North-East (45) */
00030     E,       /**< pushed East (90) */
00031     SE,      /**< pushed South-East (135) */
00032     S,       /**< pushed South (180) */
00033     SW,      /**< pushed South-West (225) */
00034     W,       /**< pushed West (270) */
00035     NW       /**< pushed North-West (315) */
00036 };
00037 
00038 /** Vector 2D struct */
00039 struct Vector2D {
00040     float x; /**< float for x value */
00041     float y; /**< float for y value */
00042 };
00043 
00044 /** Polar coordinate struct */
00045 struct Polar {
00046     float mag;  /**< float for magnitude */
00047     float angle; /**< float for angle (in degrees) */
00048 };
00049 
00050 /** Gamepad Class
00051 @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
00052 @author Dr Craig A. Evans
00053 @author Dr Alex Valanvanis
00054 @date Febraury 2017
00055 */
00056 class Gamepad
00057 {
00058     public:
00059     /** Gamepad events 
00060  * @brief List of events that can be registered on the gamepad
00061  */
00062 enum GamepadEvent {
00063     A_PRESSED,     ///< Button A has been pressed
00064     B_PRESSED,     ///< Button B has been pressed
00065     X_PRESSED,     ///< Button X has been pressed
00066     Y_PRESSED,     ///< Button Y has been pressed
00067     L_PRESSED,     ///< Button L has been pressed
00068     R_PRESSED,     ///< Button R has been pressed
00069     BACK_PRESSED,  ///< Button "Back" has been pressed
00070     START_PRESSED, ///< Button "Start" has been pressed
00071     JOY_PRESSED,   ///< Joystick button has been pressed
00072     N_EVENTS       ///< A dummy flag that marks the end of the list
00073 };
00074 private:
00075     mbed::PwmOut *_led1;
00076     mbed::PwmOut *_led2;
00077     mbed::PwmOut *_led3;
00078     mbed::PwmOut *_led4;
00079     mbed::PwmOut *_led5;
00080     mbed::PwmOut *_led6;
00081 
00082     mbed::InterruptIn *_button_A;
00083     mbed::InterruptIn *_button_B;
00084     mbed::InterruptIn *_button_X;
00085     mbed::InterruptIn *_button_Y;
00086     mbed::InterruptIn *_button_L;
00087     mbed::InterruptIn *_button_R;
00088     mbed::InterruptIn *_button_back;
00089     mbed::InterruptIn *_button_start;
00090     mbed::InterruptIn *_button_joystick;
00091 
00092     mbed::AnalogIn *_vert;
00093     mbed::AnalogIn *_horiz;
00094 
00095     mbed::PwmOut   *_buzzer;
00096     mbed::AnalogIn *_pot;
00097 
00098     mbed::Timeout *_timeout;
00099 
00100     std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
00101 
00102     // centred x,y values
00103     float _x0;
00104     float _y0;
00105 
00106 public:
00107 
00108     /** Constructor */
00109     Gamepad();
00110 
00111     /** Destructor */
00112     ~Gamepad();
00113 
00114     /** Initialise all peripherals and configure interrupts */
00115     void init();
00116 
00117     /** Turn all LEDs on */
00118     void leds_on();
00119 
00120     /** Turn all LEDs off */
00121     void leds_off();
00122 
00123     /** Set all LEDs to duty-cycle
00124     *@param value in range 0.0 to 1.0
00125     */
00126     void leds(float val) const;
00127 
00128     /** Set LED to duty-cycle
00129     *@param led number (0 to 5)
00130     *@param value in range 0.0 to 1.0
00131     */
00132     void led(int n,float val) const;
00133 
00134     /** Read potentiometer
00135     *@returns potentiometer value in range 0.0 to 1.0
00136     */
00137     float read_pot() const;
00138 
00139     /** Play tone on piezo
00140     * @param frequency in Hz
00141     * @param duration of tone in seconds
00142     */
00143     void tone(float frequency, float duration);
00144 
00145     /**
00146      * @brief Check whether an event flag has been set and clear it
00147      * @param id[in] The ID of the event to test
00148      * @return true if the event occurred
00149      */
00150     bool check_event(GamepadEvent const id);
00151 
00152     /** Get magnitude of joystick movement
00153     * @returns value in range 0.0 to 1.0
00154     */
00155 
00156     float get_mag();
00157 
00158     /** Get angle of joystick movement
00159     * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
00160     */
00161     float get_angle();
00162 
00163     /** Gets joystick direction
00164     * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
00165     */
00166     Direction get_direction();    // N,NE,E,SE etc.
00167 
00168     /** Gets raw cartesian co-ordinates of joystick
00169     * @returns a struct with x,y members, each in the range 0.0 to 1.0
00170     */
00171     Vector2D get_coord();         // cartesian co-ordinates x,y
00172 
00173     /** Gets cartesian coordinates mapped to circular grid
00174     * @returns a struct with x,y members, each in the range 0.0 to 1.0
00175     */
00176     Vector2D get_mapped_coord();  // x,y mapped to circle
00177 
00178     /** Gets polar coordinates of the joystick
00179     * @returns a struct contains mag and angle
00180     */
00181     Polar get_polar();            // mag and angle in struct form
00182 
00183 private:
00184     void init_buttons();
00185     void tone_off();
00186 
00187     void a_isr();
00188     void b_isr();
00189     void x_isr();
00190     void y_isr();
00191     void l_isr();
00192     void r_isr();
00193     void back_isr();
00194     void start_isr();
00195     void joy_isr();
00196 };
00197 
00198 #endif