Aaron Goselin
Control library for the Sparkfun Entertainment Trackballer breakout board.
trackballer.cpp@10:9b35f63411ad, 2011-02-20 (annotated)
- Committer:
- Nakor
- Date:
- Sun Feb 20 16:38:29 2011 +0000
- Revision:
- 10:9b35f63411ad
- Parent:
- 9:4f8eafec5a7b
- Child:
- 11:35347e6474f9
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Nakor | 0:2743c73d648d | 1 | #include "mbed.h" |
| Nakor | 0:2743c73d648d | 2 | #include "trackballer.h" |
| Nakor | 0:2743c73d648d | 3 | |
| Nakor | 0:2743c73d648d | 4 | |
| Nakor | 0:2743c73d648d | 5 | |
| Nakor | 0:2743c73d648d | 6 | |
| Nakor | 6:c0ebd0f8f873 | 7 | trackballer::trackballer(PinName button, PinName right, PinName down, PinName left, PinName up, PinName red, PinName green, PinName blue, PinName white, char limits) |
| Nakor | 0:2743c73d648d | 8 | { |
| Nakor | 0:2743c73d648d | 9 | |
| Nakor | 6:c0ebd0f8f873 | 10 | _limits = limits; |
| Nakor | 6:c0ebd0f8f873 | 11 | |
| Nakor | 0:2743c73d648d | 12 | _buttonPin = new DigitalIn(button); |
| Nakor | 0:2743c73d648d | 13 | _rightPin = new DigitalIn(right); |
| Nakor | 0:2743c73d648d | 14 | _downPin = new DigitalIn(down); |
| Nakor | 0:2743c73d648d | 15 | _leftPin = new DigitalIn(left); |
| Nakor | 0:2743c73d648d | 16 | _upPin = new DigitalIn(up); |
| Nakor | 0:2743c73d648d | 17 | |
| Nakor | 0:2743c73d648d | 18 | _redLED = new PwmOut(red); |
| Nakor | 0:2743c73d648d | 19 | _greenLED = new PwmOut(green); |
| Nakor | 0:2743c73d648d | 20 | _blueLED = new PwmOut(blue); |
| Nakor | 0:2743c73d648d | 21 | _whiteLED = new PwmOut(white); |
| Nakor | 0:2743c73d648d | 22 | |
| Nakor | 0:2743c73d648d | 23 | |
| Nakor | 0:2743c73d648d | 24 | |
| Nakor | 0:2743c73d648d | 25 | _buttonPushCounter = 0; // counter for the number of button presses |
| Nakor | 0:2743c73d648d | 26 | |
| Nakor | 0:2743c73d648d | 27 | _buttonState = 0; // current state of the button |
| Nakor | 0:2743c73d648d | 28 | _lastButtonState = 0; // previous state of the button |
| Nakor | 0:2743c73d648d | 29 | |
| Nakor | 0:2743c73d648d | 30 | _upState = 0; |
| Nakor | 0:2743c73d648d | 31 | _downState = 0; |
| Nakor | 0:2743c73d648d | 32 | _leftState = 0; |
| Nakor | 0:2743c73d648d | 33 | _rightState = 0; |
| Nakor | 0:2743c73d648d | 34 | _lastUpState = 0; |
| Nakor | 0:2743c73d648d | 35 | _lastDownState = 0; |
| Nakor | 0:2743c73d648d | 36 | _lastLeftState = 0; |
| Nakor | 0:2743c73d648d | 37 | _lastRightState = 0; |
| Nakor | 0:2743c73d648d | 38 | |
| Nakor | 7:229fc175e05e | 39 | _xPosition = 0.5; |
| Nakor | 7:229fc175e05e | 40 | _yPosition = 0.5; |
| Nakor | 0:2743c73d648d | 41 | |
| Nakor | 0:2743c73d648d | 42 | |
| Nakor | 0:2743c73d648d | 43 | _buttonPin->mode(PullUp); |
| Nakor | 0:2743c73d648d | 44 | |
| Nakor | 0:2743c73d648d | 45 | _redLED->write(0.0); |
| Nakor | 0:2743c73d648d | 46 | _greenLED->write(0.0); |
| Nakor | 0:2743c73d648d | 47 | _blueLED->write(0.0); |
| Nakor | 0:2743c73d648d | 48 | _whiteLED->write(0.0); |
| Nakor | 0:2743c73d648d | 49 | |
| Nakor | 0:2743c73d648d | 50 | _direction = 0x00; |
| Nakor | 0:2743c73d648d | 51 | |
| Nakor | 0:2743c73d648d | 52 | _outputTimer.start(); |
| Nakor | 0:2743c73d648d | 53 | |
| Nakor | 0:2743c73d648d | 54 | } |
| Nakor | 0:2743c73d648d | 55 | |
| Nakor | 0:2743c73d648d | 56 | |
| Nakor | 0:2743c73d648d | 57 | |
| Nakor | 0:2743c73d648d | 58 | /******************/ |
| Nakor | 0:2743c73d648d | 59 | /* Public */ |
| Nakor | 0:2743c73d648d | 60 | /******************/ |
| Nakor | 0:2743c73d648d | 61 | |
| Nakor | 0:2743c73d648d | 62 | |
| Nakor | 5:0abcaea1fb07 | 63 | void trackballer::getState(float &xPosition, float &yPosition, char &button) |
| Nakor | 0:2743c73d648d | 64 | { |
| Nakor | 0:2743c73d648d | 65 | |
| Nakor | 0:2743c73d648d | 66 | _buttonState = _buttonPin->read(); |
| Nakor | 0:2743c73d648d | 67 | |
| Nakor | 0:2743c73d648d | 68 | // compare the _buttonState to its previous state |
| Nakor | 0:2743c73d648d | 69 | if (_buttonState != _lastButtonState) |
| Nakor | 0:2743c73d648d | 70 | { |
| Nakor | 0:2743c73d648d | 71 | // if the state has changed, increment the counter |
| Nakor | 0:2743c73d648d | 72 | if (_buttonState == 1) |
| Nakor | 0:2743c73d648d | 73 | { |
| Nakor | 0:2743c73d648d | 74 | // if the current state is 1 then the button |
| Nakor | 0:2743c73d648d | 75 | // went from off to on: |
| Nakor | 0:2743c73d648d | 76 | _buttonPushCounter++; |
| Nakor | 10:9b35f63411ad | 77 | button = 0x01; |
| Nakor | 10:9b35f63411ad | 78 | //printf("Number of button pushes: %i\n", _buttonPushCounter); |
| Nakor | 0:2743c73d648d | 79 | } |
| Nakor | 0:2743c73d648d | 80 | } |
| Nakor | 10:9b35f63411ad | 81 | else |
| Nakor | 10:9b35f63411ad | 82 | { |
| Nakor | 10:9b35f63411ad | 83 | button = 0x00; |
| Nakor | 10:9b35f63411ad | 84 | } |
| Nakor | 0:2743c73d648d | 85 | _lastButtonState = _buttonState; |
| Nakor | 10:9b35f63411ad | 86 | //button = !_buttonState; |
| Nakor | 0:2743c73d648d | 87 | |
| Nakor | 0:2743c73d648d | 88 | |
| Nakor | 0:2743c73d648d | 89 | if (_buttonPushCounter % 2 == 0) |
| Nakor | 0:2743c73d648d | 90 | { |
| Nakor | 0:2743c73d648d | 91 | _redLED->write(1); |
| Nakor | 8:2602108edf40 | 92 | //button = 0x01; |
| Nakor | 0:2743c73d648d | 93 | } |
| Nakor | 0:2743c73d648d | 94 | else |
| Nakor | 0:2743c73d648d | 95 | { |
| Nakor | 0:2743c73d648d | 96 | _redLED->write(0); |
| Nakor | 8:2602108edf40 | 97 | //button = 0x00; |
| Nakor | 0:2743c73d648d | 98 | } |
| Nakor | 0:2743c73d648d | 99 | |
| Nakor | 0:2743c73d648d | 100 | _upState = _upPin->read(); |
| Nakor | 0:2743c73d648d | 101 | |
| Nakor | 0:2743c73d648d | 102 | if (_upState != _lastUpState) |
| Nakor | 0:2743c73d648d | 103 | { |
| Nakor | 0:2743c73d648d | 104 | if (_upState == 1) |
| Nakor | 0:2743c73d648d | 105 | { |
| Nakor | 0:2743c73d648d | 106 | // if the current state is 1 then the button |
| Nakor | 0:2743c73d648d | 107 | // went from off to on: |
| Nakor | 0:2743c73d648d | 108 | _yPosition-=TRACK_INC; |
| Nakor | 6:c0ebd0f8f873 | 109 | if(_limits) |
| Nakor | 0:2743c73d648d | 110 | { |
| Nakor | 6:c0ebd0f8f873 | 111 | if (_yPosition < 0.0) |
| Nakor | 6:c0ebd0f8f873 | 112 | { |
| Nakor | 6:c0ebd0f8f873 | 113 | _yPosition = 0.0; |
| Nakor | 6:c0ebd0f8f873 | 114 | } |
| Nakor | 0:2743c73d648d | 115 | } |
| Nakor | 0:2743c73d648d | 116 | } |
| Nakor | 0:2743c73d648d | 117 | } |
| Nakor | 0:2743c73d648d | 118 | _lastUpState = _upState; |
| Nakor | 0:2743c73d648d | 119 | |
| Nakor | 0:2743c73d648d | 120 | |
| Nakor | 0:2743c73d648d | 121 | _downState = _downPin->read(); |
| Nakor | 0:2743c73d648d | 122 | |
| Nakor | 0:2743c73d648d | 123 | // compare the _buttonState to its previous state |
| Nakor | 0:2743c73d648d | 124 | if (_downState != _lastDownState) |
| Nakor | 0:2743c73d648d | 125 | { |
| Nakor | 0:2743c73d648d | 126 | // if the state has changed, increment the counter |
| Nakor | 0:2743c73d648d | 127 | if (_downState == 1) |
| Nakor | 0:2743c73d648d | 128 | { |
| Nakor | 0:2743c73d648d | 129 | // if the current state is 1 then the button |
| Nakor | 0:2743c73d648d | 130 | // went from off to on: |
| Nakor | 0:2743c73d648d | 131 | _yPosition+=TRACK_INC; |
| Nakor | 6:c0ebd0f8f873 | 132 | if(_limits) |
| Nakor | 0:2743c73d648d | 133 | { |
| Nakor | 6:c0ebd0f8f873 | 134 | if (_yPosition > 1.0) |
| Nakor | 6:c0ebd0f8f873 | 135 | { |
| Nakor | 6:c0ebd0f8f873 | 136 | _yPosition = 1.0; |
| Nakor | 6:c0ebd0f8f873 | 137 | } |
| Nakor | 0:2743c73d648d | 138 | } |
| Nakor | 0:2743c73d648d | 139 | } |
| Nakor | 0:2743c73d648d | 140 | } |
| Nakor | 0:2743c73d648d | 141 | _lastDownState = _downState; |
| Nakor | 0:2743c73d648d | 142 | |
| Nakor | 0:2743c73d648d | 143 | |
| Nakor | 0:2743c73d648d | 144 | _leftState = _leftPin->read(); |
| Nakor | 0:2743c73d648d | 145 | |
| Nakor | 0:2743c73d648d | 146 | // compare the _buttonState to its previous state |
| Nakor | 0:2743c73d648d | 147 | if (_leftState != _lastLeftState) |
| Nakor | 0:2743c73d648d | 148 | { |
| Nakor | 0:2743c73d648d | 149 | // if the state has changed, increment the counter |
| Nakor | 0:2743c73d648d | 150 | if (_leftState == 1) |
| Nakor | 0:2743c73d648d | 151 | { |
| Nakor | 0:2743c73d648d | 152 | // if the current state is 1 then the button |
| Nakor | 0:2743c73d648d | 153 | // went from off to on: |
| Nakor | 0:2743c73d648d | 154 | _xPosition-=TRACK_INC; |
| Nakor | 6:c0ebd0f8f873 | 155 | if(_limits) |
| Nakor | 0:2743c73d648d | 156 | { |
| Nakor | 6:c0ebd0f8f873 | 157 | if (_xPosition < 0.0) |
| Nakor | 6:c0ebd0f8f873 | 158 | { |
| Nakor | 6:c0ebd0f8f873 | 159 | _xPosition = 0.0; |
| Nakor | 6:c0ebd0f8f873 | 160 | } |
| Nakor | 0:2743c73d648d | 161 | } |
| Nakor | 0:2743c73d648d | 162 | } |
| Nakor | 0:2743c73d648d | 163 | } |
| Nakor | 0:2743c73d648d | 164 | _lastLeftState = _leftState; |
| Nakor | 0:2743c73d648d | 165 | |
| Nakor | 0:2743c73d648d | 166 | _rightState = _rightPin->read(); |
| Nakor | 0:2743c73d648d | 167 | |
| Nakor | 0:2743c73d648d | 168 | // compare the _buttonState to its previous state |
| Nakor | 0:2743c73d648d | 169 | if (_rightState != _lastRightState) |
| Nakor | 0:2743c73d648d | 170 | { |
| Nakor | 0:2743c73d648d | 171 | // if the state has changed, increment the counter |
| Nakor | 0:2743c73d648d | 172 | if (_rightState == 1) |
| Nakor | 0:2743c73d648d | 173 | { |
| Nakor | 0:2743c73d648d | 174 | // if the current state is 1 then the button |
| Nakor | 0:2743c73d648d | 175 | // went from off to on: |
| Nakor | 0:2743c73d648d | 176 | _xPosition+=TRACK_INC; |
| Nakor | 6:c0ebd0f8f873 | 177 | if(_limits) |
| Nakor | 0:2743c73d648d | 178 | { |
| Nakor | 6:c0ebd0f8f873 | 179 | if (_xPosition > 1.0) |
| Nakor | 6:c0ebd0f8f873 | 180 | { |
| Nakor | 6:c0ebd0f8f873 | 181 | _xPosition = 1.0; |
| Nakor | 6:c0ebd0f8f873 | 182 | } |
| Nakor | 0:2743c73d648d | 183 | } |
| Nakor | 0:2743c73d648d | 184 | } |
| Nakor | 0:2743c73d648d | 185 | } |
| Nakor | 0:2743c73d648d | 186 | _lastRightState = _rightState; |
| Nakor | 0:2743c73d648d | 187 | |
| Nakor | 0:2743c73d648d | 188 | _blueLED->write(_xPosition); |
| Nakor | 0:2743c73d648d | 189 | _greenLED->write(_yPosition); |
| Nakor | 0:2743c73d648d | 190 | |
| Nakor | 0:2743c73d648d | 191 | xPosition = _xPosition; |
| Nakor | 0:2743c73d648d | 192 | yPosition = _yPosition; |
| Nakor | 0:2743c73d648d | 193 | |
| Nakor | 0:2743c73d648d | 194 | |
| Nakor | 6:c0ebd0f8f873 | 195 | |
| Nakor | 6:c0ebd0f8f873 | 196 | #if DEBUG_POSITION |
| Nakor | 4:3d1791d6608a | 197 | int ixPosition = _xPosition * 95; |
| Nakor | 4:3d1791d6608a | 198 | int iyPosition = _yPosition * 63; |
| Nakor | 4:3d1791d6608a | 199 | |
| Nakor | 6:c0ebd0f8f873 | 200 | |
| Nakor | 6:c0ebd0f8f873 | 201 | |
| Nakor | 0:2743c73d648d | 202 | if (_outputTimer.read_ms() > 1000) |
| Nakor | 0:2743c73d648d | 203 | { |
| Nakor | 4:3d1791d6608a | 204 | printf("Position: (x%i, y%i)\n", ixPosition, iyPosition); |
| Nakor | 0:2743c73d648d | 205 | |
| Nakor | 0:2743c73d648d | 206 | _outputTimer.reset(); |
| Nakor | 0:2743c73d648d | 207 | |
| Nakor | 0:2743c73d648d | 208 | } |
| Nakor | 6:c0ebd0f8f873 | 209 | #endif |
| Nakor | 0:2743c73d648d | 210 | |
| Nakor | 7:229fc175e05e | 211 | } |
| Nakor | 7:229fc175e05e | 212 | |
| Nakor | 7:229fc175e05e | 213 | void trackballer::reset() |
| Nakor | 7:229fc175e05e | 214 | { |
| Nakor | 7:229fc175e05e | 215 | _xPosition = 0.5; |
| Nakor | 7:229fc175e05e | 216 | _yPosition = 0.5; |
| Nakor | 0:2743c73d648d | 217 | } |