Shinichiro Nakamura / Mbed 2 deprecated StarBoardOrangeExample3

This is a example application for StarBoard Orange designed by @logic_star. This example can be drive a CHORO Q HYBRID.

Dependencies:   mbed

extlib/WiiNunchuck/WiiNunchuckReader.cpp@1:03c8bc666945, 2010-09-20 (annotated)

Committer:
shintamainjp
Date:
Mon Sep 20 02:09:54 2010 +0000
Revision:
1:03c8bc666945
Parent:
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/*





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* WiiNunchuckReader. A program allowing the output of one or two





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* Wii Nunchucks to be read via I2C and decoded for use, using the mbed





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* microcontroller and its associated libraries.





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*





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* Copyright (C) <2009> Petras Saduikis <petras@petras.co.uk>





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*





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* This file is part of WiiNunchuckReader.





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*





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* WiiNunchuckReader is free software: you can redistribute it and/or modify





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* it under the terms of the GNU General Public License as published by





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* the Free Software Foundation, either version 3 of the License, or





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* (at your option) any later version.





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*





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* WiiNunchuckReader is distributed in the hope that it will be useful,





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* but WITHOUT ANY WARRANTY; without even the implied warranty of





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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the





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* GNU General Public License for more details.





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*





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* You should have received a copy of the GNU General Public License





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* along with WiiNunchuckReader.  If not, see <http://www.gnu.org/licenses/>.





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*/





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#include "WiiNunchuckReader.h"





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// constructor





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WiiNunchuckReader::WiiNunchuckReader(PinName sda, PinName scl) :





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        joyX(0), joyY(0), accelX(0), accelY(0), accelZ(0),





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        buttonC(0), buttonZ(0), nunchuckInit(false),





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        nunchuckPort(sda, scl) {





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}





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void WiiNunchuckReader::RequestRead() {





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    // don't expect client to remember to send an init to the nunchuck





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    // so do it for them here





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    if (!nunchuckInit) {





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        nunchuckInit = NunchuckInit();





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    }





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    if (nunchuckInit) {  // don't start reading if init failed





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        if (NunchuckRead()) {





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            // only decode successful reads





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            NunchuckDecode();





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        }





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    }





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}





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bool WiiNunchuckReader::NunchuckInit() {





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    bool success = false;





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    const BYTE cmd[] = {NUNCHUCK_REGADDR, 0x00};





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    if (I2C_OK == nunchuckPort.write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd))) success = true;





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    return success;





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}





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bool WiiNunchuckReader::NunchuckRead() {





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    bool success = false;





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    // write the address we want to read from





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    const BYTE cmd[] = {0x00};





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    if (I2C_OK == nunchuckPort.write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd))) {





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        // the Wii Nunchuck is non-standard I2C





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        // and can't manage setting the read address and immediately supplying the data





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        // so wait a bit





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        wait(I2C_READ_DELAY);





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        if (I2C_OK == nunchuckPort.read(NUNCHUCK_ADDR, readBuf, sizeof(readBuf))) success = true;





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    }





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    return success;





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}





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void WiiNunchuckReader::NunchuckDecode() {





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    joyX = (int)readBuf[JOY_X];





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    joyY = (int)readBuf[JOY_Y];





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    // the accelerometer axis values are really 10 bit values





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    // so shift the 8 bit values read from the nunchuck





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    // 2 bits to the right





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    accelX = (int)readBuf[ACCEL_X] << 2;





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    accelY = (int)readBuf[ACCEL_Y] << 2;





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    accelZ = (int)readBuf[ACCEL_Z] << 2;





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    DecodeAdditional();





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}





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void WiiNunchuckReader::DecodeAdditional() {





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    // the nunchcuk buttons have their own idea of state





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    int buttonState = readBuf[ADDITIONAL] & MASK_CZ;





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    switch (buttonState) {





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        case 3:





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            buttonZ = 0;





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            buttonC = 0;





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            break;





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        case 2:





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            buttonZ = 1;





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            buttonC = 1;





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            break;





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        case 1:





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            buttonZ = 0;





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            buttonC = 1;





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            break;





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        case 0:





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            buttonZ = 1;





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            buttonC = 0;





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            break;





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    }





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    // and the accelerometer axis - for each axis value add bit 1 and bit 0





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    // as required





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    if (readBuf[ADDITIONAL] & MASK_ACCLX1) accelX += 2;





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    if (readBuf[ADDITIONAL] & MASK_ACCLX2) accelX += 1;





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    if (readBuf[ADDITIONAL] & MASK_ACCLY1) accelY += 2;





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    if (readBuf[ADDITIONAL] & MASK_ACCLY2) accelY += 1;





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    if (readBuf[ADDITIONAL] & MASK_ACCLZ1) accelZ += 2;





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    if (readBuf[ADDITIONAL] & MASK_ACCLZ2) accelZ += 1;





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}