Diff: main.cpp

Revision:

3:5edd4d529cfd

Parent:

2:712ceeae4f56

--- a/main.cpp	Tue Nov 12 07:17:38 2019 +0000
+++ b/main.cpp	Wed Nov 13 16:15:44 2019 +0000
@@ -38,11 +38,14 @@
 DigitalOut myled3(LED3);
 DigitalOut heartbeatLED(LED4);
 
+InterruptIn button(USER_BUTTON);
+volatile bool send=true;
+
 Ticker heartbeat;
 Serial pc(USBTX, USBRX); // tx, rx
 
 //Use X4 encoding.
-QEI wheel(PA_6, PA_7, NC, 30, QEI::X4_ENCODING);
+QEI wheel(PA_6, PA_7, NC, 1000, QEI::X4_ENCODING);
 
 // Heartbeat monitor
 void pulse() {
@@ -58,6 +61,11 @@
   heartbeat.detach();
 }
 
+void handlerbutton()
+{
+    send=!send;
+}
+
 
 int main() {
   uint16_t i = 0;
@@ -70,44 +78,56 @@
   uint8_t tmp = 0;
   uint32_t buttons = 0;    
   uint8_t hat = 0;    
+  int16_t k = 0;
     
   pc.printf("Hello World from Joystick!\n\r");
 
   heartbeat_start();
+  button.rise(&handlerbutton);
 
   while (1) {
     // Basic Joystick
-    throttle = (i >> 8) & 0xFF; // value -127 .. 128
-    rudder = (i >> 8) & 0xFF;   // value -127 .. 128        
+    //throttle = (i >> 8) & 0xFF; // value -127 .. 128
+    //rudder = (i >> 8) & 0xFF;   // value -127 .. 128
+    if(send == true){
+        i = 0;
+        k = (i >> 8) & 0x0F;
+        pc.printf("OK TRUE!  %d \n\r",k);
+    }
+    else{
+        i = 256;
+        k = (i >> 8) & 0x0F;
+        pc.printf("OK FAUSE! %d \n\r",k);
+    }
 
 #if (BUTTONS4 == 1)        
     buttons = (i >> 8) & 0x0F;   // value    0 ..  15, one bit per button     
 #endif        
 #if (BUTTONS8 == 1)        
-    buttons = (i >> 8) & 0xFF;   // value    0 .. 255, one bit per button     
+    //buttons = (i >> 8) & 0xFF;   // value    0 .. 255, one bit per button     
 #endif        
 #if (BUTTONS32 == 1)        
-    tmp     = (i >> 8) & 0xFF;   // value    0 .. 255, one bit per button     
-    buttons =           (( tmp <<  0) & 0x000000FF);
-    buttons = buttons | ((~tmp <<  8) & 0x0000FF00);
-    buttons = buttons | (( tmp << 16) & 0x00FF0000);
-    buttons = buttons | ((~tmp << 24) & 0xFF000000);
+    //tmp     = (i >> 8) & 0xFF;   // value    0 .. 255, one bit per button     
+    //buttons =           (( tmp <<  0) & 0x000000FF);
+    //buttons = buttons | ((~tmp <<  8) & 0x0000FF00);
+    //buttons = buttons | (( tmp << 16) & 0x00FF0000);
+    //buttons = buttons | ((~tmp << 24) & 0xFF000000);
 #endif        
 
 #if (HAT4 == 1)        
-    hat    = (i >> 8) & 0x03;   // value 0, 1, 2, 3 or 4 for neutral 
+    //hat    = (i >> 8) & 0x03;   // value 0, 1, 2, 3 or 4 for neutral 
 #endif
 #if (HAT8 == 1)
-    hat    = (i >> 8) & 0x07;   // value 0..7 or 8 for neutral
+    //hat    = (i >> 8) & 0x07;   // value 0..7 or 8 for neutral
 #endif        
-    i++;        
+    //i++;        
         
     //x = cos((double)angle*3.14/180.0)*radius;  // value -127 .. 128
     //y = sin((double)angle*3.14/180.0)*radius;  // value -127 .. 128
     //angle += 3;
     x = wheel.getPulses();
-
-    joystick.update(throttle, rudder, x, y, buttons, hat);
+    x = x/4;
+    joystick.update(throttle, rudder, -x, y, buttons, hat);
     wait(0.001);
   }