zhenye yang
/
el17zy
Yang Zhenye 201199680
Diff: Gamepad/Gamepad.h
- Revision:
- 0:ac2868313b41
diff -r 000000000000 -r ac2868313b41 Gamepad/Gamepad.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Gamepad/Gamepad.h Fri Apr 24 06:58:33 2020 +0000 @@ -0,0 +1,193 @@ +#ifndef GAMEPAD_H +#define GAMEPAD_H + +#include <bitset> + +// Forward declaration of the classes that we use from the mbed library +// This avoids the need for us to include the huge mbed.h header inside our +// own library API +namespace mbed +{ +class AnalogIn; +class InterruptIn; +class PwmOut; +class Timeout; +} + +#define TOL 0.1f +#define RAD2DEG 57.2957795131f + +/** Enum for direction */ +enum Direction { + CENTRE, /**< joystick centred */ + N, /**< pushed North (0)*/ + NE, /**< pushed North-East (45) */ + E, /**< pushed East (90) */ + SE, /**< pushed South-East (135) */ + S, /**< pushed South (180) */ + SW, /**< pushed South-West (225) */ + W, /**< pushed West (270) */ + NW /**< pushed North-West (315) */ +}; + +/** Vector 2D struct */ +struct Vector2D { + float x; /**< float for x value */ + float y; /**< float for y value */ +}; + +/** Polar coordinate struct */ +struct Polar { + float mag; /**< float for magnitude */ + float angle; /**< float for angle (in degrees) */ +}; + +/** Gamepad Class +@brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds +@author Dr Craig A. Evans +@author Dr Alex Valanvanis +@date Febraury 2017 +*/ +class Gamepad +{ + public: + /** Gamepad events + * @brief List of events that can be registered on the gamepad + */ +enum GamepadEvent { + A_PRESSED, ///< Button A has been pressed + B_PRESSED, ///< Button B has been pressed + X_PRESSED, ///< Button X has been pressed + Y_PRESSED, ///< Button Y has been pressed + L_PRESSED, ///< Button L has been pressed + R_PRESSED, ///< Button R has been pressed + BACK_PRESSED, ///< Button "Back" has been pressed + START_PRESSED, ///< Button "Start" has been pressed + JOY_PRESSED, ///< Joystick button has been pressed + N_EVENTS ///< A dummy flag that marks the end of the list +}; +private: + mbed::PwmOut *_led1; + mbed::PwmOut *_led2; + mbed::PwmOut *_led3; + mbed::PwmOut *_led4; + mbed::PwmOut *_led5; + mbed::PwmOut *_led6; + + mbed::InterruptIn *_button_A; + mbed::InterruptIn *_button_B; + mbed::InterruptIn *_button_X; + mbed::InterruptIn *_button_Y; + mbed::InterruptIn *_button_L; + mbed::InterruptIn *_button_R; + mbed::InterruptIn *_button_back; + mbed::InterruptIn *_button_start; + mbed::InterruptIn *_button_joystick; + + mbed::AnalogIn *_vert; + mbed::AnalogIn *_horiz; + + mbed::PwmOut *_buzzer; + mbed::AnalogIn *_pot; + + mbed::Timeout *_timeout; + + std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed + + // centred x,y values + float _x0; + float _y0; + +public: + + /** Constructor */ + Gamepad(); + + /** Destructor */ + ~Gamepad(); + + /** Initialise all peripherals and configure interrupts */ + void init(); + + /** Turn all LEDs on */ + void leds_on(); + + /** Turn all LEDs off */ + void leds_off(); + + /** Set all LEDs to duty-cycle + *@param value in range 0.0 to 1.0 + */ + void leds(float val) const; + + /** Set LED to duty-cycle + *@param led number (0 to 5) + *@param value in range 0.0 to 1.0 + */ + void led(int n,float val) const; + + /** Read potentiometer + *@returns potentiometer value in range 0.0 to 1.0 + */ + float read_pot() const; + + /** Play tone on piezo + * @param frequency in Hz + * @param duration of tone in seconds + */ + void tone(float frequency, float duration); + + /** + * @brief Check whether an event flag has been set and clear it + * @param id[in] The ID of the event to test + * @return true if the event occurred + */ + bool check_event(GamepadEvent const id); + + /** Get magnitude of joystick movement + * @returns value in range 0.0 to 1.0 + */ + + float get_mag(); + + /** Get angle of joystick movement + * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central + */ + float get_angle(); + + /** Gets joystick direction + * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW, + */ + Direction get_direction(); // N,NE,E,SE etc. + + /** Gets raw cartesian co-ordinates of joystick + * @returns a struct with x,y members, each in the range 0.0 to 1.0 + */ + Vector2D get_coord(); // cartesian co-ordinates x,y + + /** Gets cartesian coordinates mapped to circular grid + * @returns a struct with x,y members, each in the range 0.0 to 1.0 + */ + Vector2D get_mapped_coord(); // x,y mapped to circle + + /** Gets polar coordinates of the joystick + * @returns a struct contains mag and angle + */ + Polar get_polar(); // mag and angle in struct form + +private: + void init_buttons(); + void tone_off(); + + void a_isr(); + void b_isr(); + void x_isr(); + void y_isr(); + void l_isr(); + void r_isr(); + void back_isr(); + void start_isr(); + void joy_isr(); +}; + +#endif \ No newline at end of file