main.cpp

00001 /* mbed USBJoystick Library Demo
00002  * Copyright (c) 2012, v01:  Initial version, WH,
00003  *                           Modified USBMouse code ARM Limited.
00004  *                           (c) 2010-2011 mbed.org, MIT License
00005  *               2016, v02:  Updated USBDevice Lib, Added waitForConnect, Updated 32 bits button
00006  *
00007  * Permission is hereby granted, free of charge, to any person obtaining a copy
00008  * of this software and associated documentation files (the "Software"), to deal
00009  * in the Software without restriction, inclumosig without limitation the rights
00010  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00011  * copies of the Software, and to permit persons to whom the Software is
00012  * furnished to do so, subject to the following conditions:
00013  *
00014  * The above copyright notice and this permission notice shall be included in
00015  * all copies or substantial portions of the Software.
00016  *
00017  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00018  * IMPLIED, INCLUmosiG BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00019  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00020  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00021  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00022  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00023  * THE SOFTWARE.
00024  */
00025  
00026  // Note: you must connect the usb cable to your computer before the program will proceed
00027  
00028 // USB parts from: https://developer.mbed.org/forum/helloworld/topic/3496/
00029 
00030 #include "mbed.h"
00031 #include "USBJoystick.h"
00032 
00033 //USBMouse mouse;
00034 USBJoystick joystick;
00035 
00036 // Variables for Heartbeat and Status monitoring
00037 PwmOut myled1(LED1);
00038 //PwmOut myled2(LED2);
00039 //PwmOut myled3(LED3);
00040 //DigitalOut heartbeatLED(LED4);
00041 
00042 AnalogIn joyXin(A0);
00043 AnalogIn joyYin(A1);
00044 AnalogIn joyZin(A2);
00045 AnalogIn joyRxin(A3);
00046 AnalogIn joyRyin(A4);
00047 AnalogIn joyRzin(A5);
00048 
00049 Ticker heartbeat;
00050 Serial pc(USBTX, USBRX); // tx, rx
00051 
00052 int16_t map(int32_t x, int32_t in_min, int32_t in_max, int32_t out_min, int32_t out_max) // found here: C:\Program Files (x86)\Arduino\hardware\arduino\avr\cores\arduino\WMath.cpp
00053 {
00054     return (int16_t)((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min);
00055 }
00056 
00057 float mapf(float x, float in_min, float in_max, float out_min, float out_max)
00058 {
00059     return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
00060 }
00061 
00062 // Heartbeat monitor
00063 //void pulse()
00064 //{
00065 //    heartbeatLED = !heartbeatLED;
00066 //}
00067 //
00068 //void heartbeat_start()
00069 //{
00070 //    heartbeatLED = 1;
00071 //    heartbeat.attach(&pulse, 0.5);
00072 //}
00073 //
00074 //void heartbeat_stop()
00075 //{
00076 //    heartbeat.detach();
00077 //}
00078 
00079 
00080 int main()
00081 {
00082     uint16_t i = 0;
00083     int16_t x = 0;
00084     int16_t y = 0;
00085     int16_t z = 0;
00086     int16_t rx = 0;
00087     int16_t ry = 0;
00088     int16_t rz = 0;
00089     uint8_t tmp = 0;
00090     uint32_t buttons = 0;
00091     uint8_t hat = 0;
00092 
00093     pc.printf("6 DOF Joystick\n\r");
00094 
00095 //    myled1 = 0;
00096 //    myled2 = 0;
00097 //    myled3 = 0;
00098 //    heartbeatLED = 0;
00099 //  heartbeat_start();
00100 
00101     while (1) {
00102         // 6DOF Joystick with buttons and a hat
00103 
00104 #if (BUTTONS4 == 1)
00105         buttons = (i >> 8) & 0x0F;   // value    0 ..  15, one bit per button
00106 #endif
00107 #if (BUTTONS8 == 1)
00108         buttons = (i >> 8) & 0xFF;   // value    0 .. 255, one bit per button
00109 #endif
00110 #if (BUTTONS32 == 1)
00111         tmp     = (i >> 8) & 0xFF;   // value    0 .. 255, one bit per button
00112         buttons =           (( tmp <<  0) & 0x000000FF);
00113         buttons = buttons | ((~tmp <<  8) & 0x0000FF00);
00114         buttons = buttons | (( tmp << 16) & 0x00FF0000);
00115         buttons = buttons | ((~tmp << 24) & 0xFF000000);
00116 #endif
00117 
00118 #if (HAT4 == 1)
00119         hat    = (i >> 8) & 0x03;   // value 0, 1, 2, 3 or 4 for neutral
00120 #endif
00121 #if (HAT8 == 1)
00122         hat    = (i >> 8) & 0x07;   // value 0..7 or 8 for neutral
00123 #endif
00124         i++;
00125 
00126 //    joystick.move(joyXin.read_u16(), joyYin.read_u16(), joyZin.read_u16(), joyRxin.read_u16(), joyRyin.read_u16(), joyRzin.read_u16());
00127 
00128         x = map(joyXin.read_u16(), 0, 65535, -32768, 32768);  // value -32768 .. 32767
00129         y = map(joyYin.read_u16(), 0, 65535, -32768, 32768);
00130         z = map(joyZin.read_u16(), 0, 65535, -32768, 32768);
00131         rx = map(joyRxin.read_u16(), 0, 65535, -32768, 32768);
00132         ry = map(joyRyin.read_u16(), 0, 65535, -32768, 32768);
00133         rz = map(joyRzin.read_u16(), 0, 65535, -32768, 32768);
00134 
00135         myled1 = mapf(x, -32768, 32768, 0, 1.0);
00136 
00137         pc.printf(" %d %d %d %d %d %d\r\n", x, y, z, rx, ry, rz);
00138 
00139         joystick.update(x, y, z, rx, ry, rz, buttons, hat);
00140         wait(0.005);
00141     }
00142 }