Hao zhang / Mbed 2 deprecated el17h3z

HaoZhang SID: 201199702

Dependencies:   mbed

Gamepad/Gamepad.h@2:867fdea920c1, 2020-05-14 (annotated)

Committer:
zh870524589
Date:
Thu May 14 17:45:05 2020 +0000
Revision:
2:867fdea920c1
Parent:
0:45ce241d316b 
final

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zh870524589 0:45ce241d316b 1 #ifndef GAMEPAD_H
zh870524589 0:45ce241d316b 2 #define GAMEPAD_H
zh870524589 0:45ce241d316b 3
zh870524589 0:45ce241d316b 4 #include <bitset>
zh870524589 0:45ce241d316b 5
zh870524589 0:45ce241d316b 6 // Forward declaration of the classes that we use from the mbed library
zh870524589 0:45ce241d316b 7 // This avoids the need for us to include the huge mbed.h header inside our
zh870524589 0:45ce241d316b 8 // own library API
zh870524589 0:45ce241d316b 9 namespace mbed
zh870524589 0:45ce241d316b 10 {
zh870524589 0:45ce241d316b 11 class AnalogIn;
zh870524589 0:45ce241d316b 12 class InterruptIn;
zh870524589 0:45ce241d316b 13 class PwmOut;
zh870524589 0:45ce241d316b 14 class Timeout;
zh870524589 0:45ce241d316b 15 }
zh870524589 0:45ce241d316b 16
zh870524589 0:45ce241d316b 17 #define TOL 0.1f
zh870524589 0:45ce241d316b 18 #define RAD2DEG 57.2957795131f
zh870524589 0:45ce241d316b 19
zh870524589 0:45ce241d316b 20 /** Enum for direction */
zh870524589 0:45ce241d316b 21 enum Direction {
zh870524589 0:45ce241d316b 22 CENTRE, /**< joystick centred */
zh870524589 0:45ce241d316b 23 N, /**< pushed North (0)*/
zh870524589 0:45ce241d316b 24 NE, /**< pushed North-East (45) */
zh870524589 0:45ce241d316b 25 E, /**< pushed East (90) */
zh870524589 0:45ce241d316b 26 SE, /**< pushed South-East (135) */
zh870524589 0:45ce241d316b 27 S, /**< pushed South (180) */
zh870524589 0:45ce241d316b 28 SW, /**< pushed South-West (225) */
zh870524589 0:45ce241d316b 29 W, /**< pushed West (270) */
zh870524589 0:45ce241d316b 30 NW /**< pushed North-West (315) */
zh870524589 0:45ce241d316b 31 };
zh870524589 0:45ce241d316b 32
zh870524589 0:45ce241d316b 33 /** Vector 2D struct */
zh870524589 0:45ce241d316b 34 struct Vector2D {
zh870524589 0:45ce241d316b 35 float x; /**< float for x value */
zh870524589 0:45ce241d316b 36 float y; /**< float for y value */
zh870524589 0:45ce241d316b 37 };
zh870524589 0:45ce241d316b 38
zh870524589 0:45ce241d316b 39 /** Polar coordinate struct */
zh870524589 0:45ce241d316b 40 struct Polar {
zh870524589 0:45ce241d316b 41 float mag; /**< float for magnitude */
zh870524589 0:45ce241d316b 42 float angle; /**< float for angle (in degrees) */
zh870524589 0:45ce241d316b 43 };
zh870524589 0:45ce241d316b 44
zh870524589 0:45ce241d316b 45 /** Gamepad Class
zh870524589 0:45ce241d316b 46 * @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
zh870524589 0:45ce241d316b 47 * @author Dr Craig A. Evans
zh870524589 0:45ce241d316b 48 * @author Dr Alex Valavanis
zh870524589 0:45ce241d316b 49 */
zh870524589 0:45ce241d316b 50 class Gamepad
zh870524589 0:45ce241d316b 51 {
zh870524589 0:45ce241d316b 52 public:
zh870524589 0:45ce241d316b 53 /** Gamepad events
zh870524589 0:45ce241d316b 54 * @brief List of events that can be registered on the gamepad
zh870524589 0:45ce241d316b 55 */
zh870524589 0:45ce241d316b 56 enum GamepadEvent {
zh870524589 0:45ce241d316b 57 A_PRESSED, ///< Button A has been pressed
zh870524589 0:45ce241d316b 58 B_PRESSED, ///< Button B has been pressed
zh870524589 0:45ce241d316b 59 X_PRESSED, ///< Button X has been pressed
zh870524589 0:45ce241d316b 60 Y_PRESSED, ///< Button Y has been pressed
zh870524589 0:45ce241d316b 61 L_PRESSED, ///< Button L has been pressed
zh870524589 0:45ce241d316b 62 R_PRESSED, ///< Button R has been pressed
zh870524589 0:45ce241d316b 63 BACK_PRESSED, ///< Button "Back" has been pressed
zh870524589 0:45ce241d316b 64 START_PRESSED, ///< Button "Start" has been pressed
zh870524589 0:45ce241d316b 65 JOY_PRESSED, ///< Joystick button has been pressed
zh870524589 0:45ce241d316b 66 N_EVENTS ///< A dummy flag that marks the end of the list
zh870524589 0:45ce241d316b 67 };
zh870524589 0:45ce241d316b 68
zh870524589 0:45ce241d316b 69 private:
zh870524589 0:45ce241d316b 70 mbed::PwmOut *_led1;
zh870524589 0:45ce241d316b 71 mbed::PwmOut *_led2;
zh870524589 0:45ce241d316b 72 mbed::PwmOut *_led3;
zh870524589 0:45ce241d316b 73 mbed::PwmOut *_led4;
zh870524589 0:45ce241d316b 74 mbed::PwmOut *_led5;
zh870524589 0:45ce241d316b 75 mbed::PwmOut *_led6;
zh870524589 0:45ce241d316b 76
zh870524589 0:45ce241d316b 77 mbed::InterruptIn *_button_A;
zh870524589 0:45ce241d316b 78 mbed::InterruptIn *_button_B;
zh870524589 0:45ce241d316b 79 mbed::InterruptIn *_button_X;
zh870524589 0:45ce241d316b 80 mbed::InterruptIn *_button_Y;
zh870524589 0:45ce241d316b 81 mbed::InterruptIn *_button_L;
zh870524589 0:45ce241d316b 82 mbed::InterruptIn *_button_R;
zh870524589 0:45ce241d316b 83 mbed::InterruptIn *_button_back;
zh870524589 0:45ce241d316b 84 mbed::InterruptIn *_button_start;
zh870524589 0:45ce241d316b 85 mbed::InterruptIn *_button_joystick;
zh870524589 0:45ce241d316b 86
zh870524589 0:45ce241d316b 87 mbed::AnalogIn *_vert;
zh870524589 0:45ce241d316b 88 mbed::AnalogIn *_horiz;
zh870524589 0:45ce241d316b 89
zh870524589 0:45ce241d316b 90 mbed::PwmOut *_buzzer;
zh870524589 0:45ce241d316b 91 mbed::AnalogIn *_pot;
zh870524589 0:45ce241d316b 92
zh870524589 0:45ce241d316b 93 mbed::Timeout *_timeout;
zh870524589 0:45ce241d316b 94
zh870524589 0:45ce241d316b 95 std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
zh870524589 0:45ce241d316b 96
zh870524589 0:45ce241d316b 97 // centred x,y values
zh870524589 0:45ce241d316b 98 float _x0;
zh870524589 0:45ce241d316b 99 float _y0;
zh870524589 0:45ce241d316b 100
zh870524589 0:45ce241d316b 101 public:
zh870524589 0:45ce241d316b 102 /** Constructor */
zh870524589 0:45ce241d316b 103 Gamepad();
zh870524589 0:45ce241d316b 104
zh870524589 0:45ce241d316b 105 /** Destructor */
zh870524589 0:45ce241d316b 106 ~Gamepad();
zh870524589 0:45ce241d316b 107
zh870524589 0:45ce241d316b 108 /** Initialise all peripherals and configure interrupts */
zh870524589 0:45ce241d316b 109 void init();
zh870524589 0:45ce241d316b 110
zh870524589 0:45ce241d316b 111 /** Turn all LEDs on */
zh870524589 0:45ce241d316b 112 void leds_on();
zh870524589 0:45ce241d316b 113
zh870524589 0:45ce241d316b 114 /** Turn all LEDs off */
zh870524589 0:45ce241d316b 115 void leds_off();
zh870524589 0:45ce241d316b 116
zh870524589 0:45ce241d316b 117 /** Set all LEDs to duty-cycle
zh870524589 0:45ce241d316b 118 *@param value in range 0.0 to 1.0
zh870524589 0:45ce241d316b 119 */
zh870524589 0:45ce241d316b 120 void leds(float val) const;
zh870524589 0:45ce241d316b 121
zh870524589 0:45ce241d316b 122 /** Set LED to duty-cycle
zh870524589 0:45ce241d316b 123 *@param led number (0 to 5)
zh870524589 0:45ce241d316b 124 *@param value in range 0.0 to 1.0
zh870524589 0:45ce241d316b 125 */
zh870524589 0:45ce241d316b 126 void led(int n,float val) const;
zh870524589 0:45ce241d316b 127
zh870524589 0:45ce241d316b 128 /** Read potentiometer
zh870524589 0:45ce241d316b 129 *@returns potentiometer value in range 0.0 to 1.0
zh870524589 0:45ce241d316b 130 */
zh870524589 0:45ce241d316b 131 float read_pot() const;
zh870524589 0:45ce241d316b 132
zh870524589 0:45ce241d316b 133 /** Play tone on piezo
zh870524589 0:45ce241d316b 134 * @param frequency in Hz
zh870524589 0:45ce241d316b 135 * @param duration of tone in seconds
zh870524589 0:45ce241d316b 136 */
zh870524589 0:45ce241d316b 137 void tone(float frequency, float duration);
zh870524589 0:45ce241d316b 138
zh870524589 0:45ce241d316b 139 /**
zh870524589 0:45ce241d316b 140 * @brief Check whether an event flag has been set and clear it
zh870524589 0:45ce241d316b 141 * @param id[in] The ID of the event to test
zh870524589 0:45ce241d316b 142 * @return true if the event occurred
zh870524589 0:45ce241d316b 143 */
zh870524589 0:45ce241d316b 144 bool check_event(GamepadEvent const id);
zh870524589 0:45ce241d316b 145
zh870524589 0:45ce241d316b 146 /**
zh870524589 0:45ce241d316b 147 * @brief Get the raw binary event state
zh870524589 0:45ce241d316b 148 * @return The event state as a binary code
zh870524589 0:45ce241d316b 149 * @details The check_event() function is likely to be more useful than
zh870524589 0:45ce241d316b 150 * this, for testing whether a given event has occurred. It can be
zh870524589 0:45ce241d316b 151 * useful for debugging via the terminal, however, for example:
zh870524589 0:45ce241d316b 152 * @code
zh870524589 0:45ce241d316b 153 * std::cout << gamepad.get_raw_event_state() << std::endl;
zh870524589 0:45ce241d316b 154 * @endcode
zh870524589 0:45ce241d316b 155 */
zh870524589 0:45ce241d316b 156 inline std::bitset<N_EVENTS> get_raw_event_state() const {
zh870524589 0:45ce241d316b 157 return _event_state;
zh870524589 0:45ce241d316b 158 }
zh870524589 0:45ce241d316b 159
zh870524589 0:45ce241d316b 160 /** Get magnitude of joystick movement
zh870524589 0:45ce241d316b 161 * @returns value in range 0.0 to 1.0
zh870524589 0:45ce241d316b 162 */
zh870524589 0:45ce241d316b 163 float get_mag();
zh870524589 0:45ce241d316b 164
zh870524589 0:45ce241d316b 165 /** Get angle of joystick movement
zh870524589 0:45ce241d316b 166 * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
zh870524589 0:45ce241d316b 167 */
zh870524589 0:45ce241d316b 168 float get_angle();
zh870524589 0:45ce241d316b 169
zh870524589 0:45ce241d316b 170 /** Gets joystick direction
zh870524589 0:45ce241d316b 171 * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
zh870524589 0:45ce241d316b 172 */
zh870524589 0:45ce241d316b 173 Direction get_direction(); // N,NE,E,SE etc.
zh870524589 0:45ce241d316b 174
zh870524589 0:45ce241d316b 175 /** Gets raw cartesian co-ordinates of joystick
zh870524589 0:45ce241d316b 176 * @returns a struct with x,y members, each in the range 0.0 to 1.0
zh870524589 0:45ce241d316b 177 */
zh870524589 0:45ce241d316b 178 Vector2D get_coord(); // cartesian co-ordinates x,y
zh870524589 0:45ce241d316b 179
zh870524589 0:45ce241d316b 180 /** Gets cartesian coordinates mapped to circular grid
zh870524589 0:45ce241d316b 181 * @returns a struct with x,y members, each in the range 0.0 to 1.0
zh870524589 0:45ce241d316b 182 */
zh870524589 0:45ce241d316b 183 Vector2D get_mapped_coord(); // x,y mapped to circle
zh870524589 0:45ce241d316b 184
zh870524589 0:45ce241d316b 185 /** Gets polar coordinates of the joystick
zh870524589 0:45ce241d316b 186 * @returns a struct contains mag and angle
zh870524589 0:45ce241d316b 187 */
zh870524589 0:45ce241d316b 188 Polar get_polar(); // mag and angle in struct form
zh870524589 0:45ce241d316b 189
zh870524589 0:45ce241d316b 190 private:
zh870524589 0:45ce241d316b 191 void init_buttons();
zh870524589 0:45ce241d316b 192 void tone_off();
zh870524589 0:45ce241d316b 193
zh870524589 0:45ce241d316b 194 void a_isr();
zh870524589 0:45ce241d316b 195 void b_isr();
zh870524589 0:45ce241d316b 196 void x_isr();
zh870524589 0:45ce241d316b 197 void y_isr();
zh870524589 0:45ce241d316b 198 void l_isr();
zh870524589 0:45ce241d316b 199 void r_isr();
zh870524589 0:45ce241d316b 200 void back_isr();
zh870524589 0:45ce241d316b 201 void start_isr();
zh870524589 0:45ce241d316b 202 void joy_isr();
zh870524589 0:45ce241d316b 203 };
zh870524589 0:45ce241d316b 204
zh870524589 0:45ce241d316b 205 #endif