knaka _
Dependents: HoverboardTest RobotArmControl
WiiNunchuck.cpp@2:9652195745e8, 2010-12-18 (annotated)
- Committer:
- knaka
- Date:
- Sat Dec 18 11:19:14 2010 +0000
- Revision:
- 2:9652195745e8
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| knaka | 2:9652195745e8 | 1 | #include "mbed.h" |
| knaka | 2:9652195745e8 | 2 | #include "WiiNunchuck.h" |
| knaka | 2:9652195745e8 | 3 | |
| knaka | 2:9652195745e8 | 4 | WiiNunchuck::WiiNunchuck(PinName p_sda, PinName p_scl):i2c(p_sda, p_scl) |
| knaka | 2:9652195745e8 | 5 | { |
| knaka | 2:9652195745e8 | 6 | WiiNunInitFlag = init(); |
| knaka | 2:9652195745e8 | 7 | timer.start(); |
| knaka | 2:9652195745e8 | 8 | } |
| knaka | 2:9652195745e8 | 9 | |
| knaka | 2:9652195745e8 | 10 | |
| knaka | 2:9652195745e8 | 11 | bool WiiNunchuck::init() |
| knaka | 2:9652195745e8 | 12 | { |
| knaka | 2:9652195745e8 | 13 | bool result = false; |
| knaka | 2:9652195745e8 | 14 | unsigned char cmd[] = {NUNCHUCK_REGADDR, 0x00}; |
| knaka | 2:9652195745e8 | 15 | if (i2c.write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd)) == I2C_ACK) { |
| knaka | 2:9652195745e8 | 16 | result = true; |
| knaka | 2:9652195745e8 | 17 | } |
| knaka | 2:9652195745e8 | 18 | return result; |
| knaka | 2:9652195745e8 | 19 | } |
| knaka | 2:9652195745e8 | 20 | |
| knaka | 2:9652195745e8 | 21 | |
| knaka | 2:9652195745e8 | 22 | void WiiNunchuck::read() |
| knaka | 2:9652195745e8 | 23 | { |
| knaka | 2:9652195745e8 | 24 | int i; |
| knaka | 2:9652195745e8 | 25 | |
| knaka | 2:9652195745e8 | 26 | if(timer.read_ms() < 50) return; |
| knaka | 2:9652195745e8 | 27 | |
| knaka | 2:9652195745e8 | 28 | if(!WiiNunInitFlag) { |
| knaka | 2:9652195745e8 | 29 | WiiNunInitFlag = init(); |
| knaka | 2:9652195745e8 | 30 | } |
| knaka | 2:9652195745e8 | 31 | |
| knaka | 2:9652195745e8 | 32 | if(WiiNunInitFlag) { |
| knaka | 2:9652195745e8 | 33 | const unsigned char cmd[] = {0x00}; |
| knaka | 2:9652195745e8 | 34 | if (i2c.write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd)) == I2C_ACK) { |
| knaka | 2:9652195745e8 | 35 | wait(I2C_READ_DELAY); |
| knaka | 2:9652195745e8 | 36 | if (i2c.read(NUNCHUCK_ADDR, readBuf, sizeof(readBuf)) == I2C_ACK) { |
| knaka | 2:9652195745e8 | 37 | for(i = 0; i < NUNCHUCK_READLEN; ++i) { |
| knaka | 2:9652195745e8 | 38 | readBuf[i] = (readBuf[i] ^ 0x17) + 0x17; |
| knaka | 2:9652195745e8 | 39 | } |
| knaka | 2:9652195745e8 | 40 | joyX = readBuf[Joy_X]; |
| knaka | 2:9652195745e8 | 41 | joyY = readBuf[Joy_Y]; |
| knaka | 2:9652195745e8 | 42 | accX = readBuf[Acc_X] << 2; |
| knaka | 2:9652195745e8 | 43 | accY = readBuf[Acc_Y] << 2; |
| knaka | 2:9652195745e8 | 44 | accZ = readBuf[Acc_Z] << 2; |
| knaka | 2:9652195745e8 | 45 | |
| knaka | 2:9652195745e8 | 46 | if(readBuf[Button] & 0x01) { |
| knaka | 2:9652195745e8 | 47 | buttonZ = 0; |
| knaka | 2:9652195745e8 | 48 | } else { |
| knaka | 2:9652195745e8 | 49 | buttonZ = 1; |
| knaka | 2:9652195745e8 | 50 | } |
| knaka | 2:9652195745e8 | 51 | if(readBuf[Button] & 0x02) { |
| knaka | 2:9652195745e8 | 52 | buttonC = 0; |
| knaka | 2:9652195745e8 | 53 | } else { |
| knaka | 2:9652195745e8 | 54 | buttonC = 1; |
| knaka | 2:9652195745e8 | 55 | } |
| knaka | 2:9652195745e8 | 56 | if(readBuf[Button] & 0x04) accX += 1; |
| knaka | 2:9652195745e8 | 57 | if(readBuf[Button] & 0x08) accX += 2; |
| knaka | 2:9652195745e8 | 58 | if(readBuf[Button] & 0x10) accY += 1; |
| knaka | 2:9652195745e8 | 59 | if(readBuf[Button] & 0x20) accY += 2; |
| knaka | 2:9652195745e8 | 60 | if(readBuf[Button] & 0x40) accZ += 1; |
| knaka | 2:9652195745e8 | 61 | if(readBuf[Button] & 0x80) accZ += 2; |
| knaka | 2:9652195745e8 | 62 | } |
| knaka | 2:9652195745e8 | 63 | } |
| knaka | 2:9652195745e8 | 64 | } |
| knaka | 2:9652195745e8 | 65 | timer.reset(); |
| knaka | 2:9652195745e8 | 66 | } |
| knaka | 2:9652195745e8 | 67 | |
| knaka | 2:9652195745e8 | 68 | |
| knaka | 2:9652195745e8 | 69 | unsigned char WiiNunchuck::joyx() |
| knaka | 2:9652195745e8 | 70 | { |
| knaka | 2:9652195745e8 | 71 | read(); |
| knaka | 2:9652195745e8 | 72 | return joyX; |
| knaka | 2:9652195745e8 | 73 | } |
| knaka | 2:9652195745e8 | 74 | |
| knaka | 2:9652195745e8 | 75 | |
| knaka | 2:9652195745e8 | 76 | unsigned char WiiNunchuck::joyy() |
| knaka | 2:9652195745e8 | 77 | { |
| knaka | 2:9652195745e8 | 78 | read(); |
| knaka | 2:9652195745e8 | 79 | return joyY; |
| knaka | 2:9652195745e8 | 80 | } |
| knaka | 2:9652195745e8 | 81 | |
| knaka | 2:9652195745e8 | 82 | |
| knaka | 2:9652195745e8 | 83 | int WiiNunchuck::accx() |
| knaka | 2:9652195745e8 | 84 | { |
| knaka | 2:9652195745e8 | 85 | read(); |
| knaka | 2:9652195745e8 | 86 | return accX; |
| knaka | 2:9652195745e8 | 87 | } |
| knaka | 2:9652195745e8 | 88 | |
| knaka | 2:9652195745e8 | 89 | |
| knaka | 2:9652195745e8 | 90 | int WiiNunchuck::accy() |
| knaka | 2:9652195745e8 | 91 | { |
| knaka | 2:9652195745e8 | 92 | read(); |
| knaka | 2:9652195745e8 | 93 | return accY; |
| knaka | 2:9652195745e8 | 94 | } |
| knaka | 2:9652195745e8 | 95 | |
| knaka | 2:9652195745e8 | 96 | |
| knaka | 2:9652195745e8 | 97 | int WiiNunchuck::accz() |
| knaka | 2:9652195745e8 | 98 | { |
| knaka | 2:9652195745e8 | 99 | read(); |
| knaka | 2:9652195745e8 | 100 | return accZ; |
| knaka | 2:9652195745e8 | 101 | } |
| knaka | 2:9652195745e8 | 102 | |
| knaka | 2:9652195745e8 | 103 | |
| knaka | 2:9652195745e8 | 104 | bool WiiNunchuck::buttonc() |
| knaka | 2:9652195745e8 | 105 | { |
| knaka | 2:9652195745e8 | 106 | read(); |
| knaka | 2:9652195745e8 | 107 | return buttonC; |
| knaka | 2:9652195745e8 | 108 | } |
| knaka | 2:9652195745e8 | 109 | |
| knaka | 2:9652195745e8 | 110 | |
| knaka | 2:9652195745e8 | 111 | bool WiiNunchuck::buttonz() |
| knaka | 2:9652195745e8 | 112 | { |
| knaka | 2:9652195745e8 | 113 | read(); |
| knaka | 2:9652195745e8 | 114 | return buttonZ; |
| knaka | 2:9652195745e8 | 115 | } |