Aaron Goselin / trackballer

Control library for the Sparkfun Entertainment Trackballer breakout board.

trackballer.cpp@0:2743c73d648d, 2011-02-19 (annotated)

Committer:
Nakor
Date:
Sat Feb 19 19:14:01 2011 +0000
Revision:
0:2743c73d648d
Child:
2:3c680dd598b7
First commit.

Who changed what in which revision?

UserRevisionLine numberNew 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 0:2743c73d648d 7 trackballer::trackballer(PinName button, PinName right, PinName down, PinName left, PinName up, PinName red, PinName green, PinName blue, PinName white)
Nakor 0:2743c73d648d 8 {
Nakor 0:2743c73d648d 9
Nakor 0:2743c73d648d 10 _buttonPin = new DigitalIn(button);
Nakor 0:2743c73d648d 11 _rightPin = new DigitalIn(right);
Nakor 0:2743c73d648d 12 _downPin = new DigitalIn(down);
Nakor 0:2743c73d648d 13 _leftPin = new DigitalIn(left);
Nakor 0:2743c73d648d 14 _upPin = new DigitalIn(up);
Nakor 0:2743c73d648d 15
Nakor 0:2743c73d648d 16 _redLED = new PwmOut(red);
Nakor 0:2743c73d648d 17 _greenLED = new PwmOut(green);
Nakor 0:2743c73d648d 18 _blueLED = new PwmOut(blue);
Nakor 0:2743c73d648d 19 _whiteLED = new PwmOut(white);
Nakor 0:2743c73d648d 20
Nakor 0:2743c73d648d 21
Nakor 0:2743c73d648d 22
Nakor 0:2743c73d648d 23 _buttonPushCounter = 0; // counter for the number of button presses
Nakor 0:2743c73d648d 24
Nakor 0:2743c73d648d 25 _buttonState = 0; // current state of the button
Nakor 0:2743c73d648d 26 _lastButtonState = 0; // previous state of the button
Nakor 0:2743c73d648d 27
Nakor 0:2743c73d648d 28 _upState = 0;
Nakor 0:2743c73d648d 29 _downState = 0;
Nakor 0:2743c73d648d 30 _leftState = 0;
Nakor 0:2743c73d648d 31 _rightState = 0;
Nakor 0:2743c73d648d 32 _lastUpState = 0;
Nakor 0:2743c73d648d 33 _lastDownState = 0;
Nakor 0:2743c73d648d 34 _lastLeftState = 0;
Nakor 0:2743c73d648d 35 _lastRightState = 0;
Nakor 0:2743c73d648d 36
Nakor 0:2743c73d648d 37 _xPosition = 0.0;
Nakor 0:2743c73d648d 38 _yPosition = 0.0;
Nakor 0:2743c73d648d 39
Nakor 0:2743c73d648d 40
Nakor 0:2743c73d648d 41 _buttonPin->mode(PullUp);
Nakor 0:2743c73d648d 42
Nakor 0:2743c73d648d 43 _redLED->write(0.0);
Nakor 0:2743c73d648d 44 _greenLED->write(0.0);
Nakor 0:2743c73d648d 45 _blueLED->write(0.0);
Nakor 0:2743c73d648d 46 _whiteLED->write(0.0);
Nakor 0:2743c73d648d 47
Nakor 0:2743c73d648d 48 _direction = 0x00;
Nakor 0:2743c73d648d 49
Nakor 0:2743c73d648d 50 _outputTimer.start();
Nakor 0:2743c73d648d 51
Nakor 0:2743c73d648d 52 }
Nakor 0:2743c73d648d 53
Nakor 0:2743c73d648d 54
Nakor 0:2743c73d648d 55
Nakor 0:2743c73d648d 56 /******************/
Nakor 0:2743c73d648d 57 /* Public */
Nakor 0:2743c73d648d 58 /******************/
Nakor 0:2743c73d648d 59
Nakor 0:2743c73d648d 60
Nakor 0:2743c73d648d 61 void trackballer::getDirection(float &xPosition, float &yPosition)
Nakor 0:2743c73d648d 62 {
Nakor 0:2743c73d648d 63
Nakor 0:2743c73d648d 64 _buttonState = _buttonPin->read();
Nakor 0:2743c73d648d 65
Nakor 0:2743c73d648d 66 // compare the _buttonState to its previous state
Nakor 0:2743c73d648d 67 if (_buttonState != _lastButtonState)
Nakor 0:2743c73d648d 68 {
Nakor 0:2743c73d648d 69 // if the state has changed, increment the counter
Nakor 0:2743c73d648d 70 if (_buttonState == 1)
Nakor 0:2743c73d648d 71 {
Nakor 0:2743c73d648d 72 // if the current state is 1 then the button
Nakor 0:2743c73d648d 73 // went from off to on:
Nakor 0:2743c73d648d 74 _buttonPushCounter++;
Nakor 0:2743c73d648d 75 printf("Number of button pushes: %i\n", _buttonPushCounter);
Nakor 0:2743c73d648d 76 }
Nakor 0:2743c73d648d 77 }
Nakor 0:2743c73d648d 78 _lastButtonState = _buttonState;
Nakor 0:2743c73d648d 79
Nakor 0:2743c73d648d 80
Nakor 0:2743c73d648d 81 if (_buttonPushCounter % 2 == 0)
Nakor 0:2743c73d648d 82 {
Nakor 0:2743c73d648d 83 _redLED->write(1);
Nakor 0:2743c73d648d 84 }
Nakor 0:2743c73d648d 85 else
Nakor 0:2743c73d648d 86 {
Nakor 0:2743c73d648d 87 _redLED->write(0);
Nakor 0:2743c73d648d 88 }
Nakor 0:2743c73d648d 89
Nakor 0:2743c73d648d 90 _upState = _upPin->read();
Nakor 0:2743c73d648d 91
Nakor 0:2743c73d648d 92 if (_upState != _lastUpState)
Nakor 0:2743c73d648d 93 {
Nakor 0:2743c73d648d 94 if (_upState == 1)
Nakor 0:2743c73d648d 95 {
Nakor 0:2743c73d648d 96 // if the current state is 1 then the button
Nakor 0:2743c73d648d 97 // went from off to on:
Nakor 0:2743c73d648d 98 _yPosition-=TRACK_INC;
Nakor 0:2743c73d648d 99 if (_yPosition < 0.0)
Nakor 0:2743c73d648d 100 {
Nakor 0:2743c73d648d 101 _yPosition = 0.0;
Nakor 0:2743c73d648d 102 }
Nakor 0:2743c73d648d 103 }
Nakor 0:2743c73d648d 104 }
Nakor 0:2743c73d648d 105 _lastUpState = _upState;
Nakor 0:2743c73d648d 106
Nakor 0:2743c73d648d 107
Nakor 0:2743c73d648d 108 _downState = _downPin->read();
Nakor 0:2743c73d648d 109
Nakor 0:2743c73d648d 110 // compare the _buttonState to its previous state
Nakor 0:2743c73d648d 111 if (_downState != _lastDownState)
Nakor 0:2743c73d648d 112 {
Nakor 0:2743c73d648d 113 // if the state has changed, increment the counter
Nakor 0:2743c73d648d 114 if (_downState == 1)
Nakor 0:2743c73d648d 115 {
Nakor 0:2743c73d648d 116 // if the current state is 1 then the button
Nakor 0:2743c73d648d 117 // went from off to on:
Nakor 0:2743c73d648d 118 _yPosition+=TRACK_INC;
Nakor 0:2743c73d648d 119 if (_yPosition > 1.0)
Nakor 0:2743c73d648d 120 {
Nakor 0:2743c73d648d 121 _yPosition = 1.0;
Nakor 0:2743c73d648d 122 }
Nakor 0:2743c73d648d 123 }
Nakor 0:2743c73d648d 124 }
Nakor 0:2743c73d648d 125 _lastDownState = _downState;
Nakor 0:2743c73d648d 126
Nakor 0:2743c73d648d 127
Nakor 0:2743c73d648d 128 _leftState = _leftPin->read();
Nakor 0:2743c73d648d 129
Nakor 0:2743c73d648d 130 // compare the _buttonState to its previous state
Nakor 0:2743c73d648d 131 if (_leftState != _lastLeftState)
Nakor 0:2743c73d648d 132 {
Nakor 0:2743c73d648d 133 // if the state has changed, increment the counter
Nakor 0:2743c73d648d 134 if (_leftState == 1)
Nakor 0:2743c73d648d 135 {
Nakor 0:2743c73d648d 136 // if the current state is 1 then the button
Nakor 0:2743c73d648d 137 // went from off to on:
Nakor 0:2743c73d648d 138 _xPosition-=TRACK_INC;
Nakor 0:2743c73d648d 139 if (_xPosition < 0.0)
Nakor 0:2743c73d648d 140 {
Nakor 0:2743c73d648d 141 _xPosition = 0.0;
Nakor 0:2743c73d648d 142 }
Nakor 0:2743c73d648d 143 }
Nakor 0:2743c73d648d 144 }
Nakor 0:2743c73d648d 145 _lastLeftState = _leftState;
Nakor 0:2743c73d648d 146
Nakor 0:2743c73d648d 147 _rightState = _rightPin->read();
Nakor 0:2743c73d648d 148
Nakor 0:2743c73d648d 149 // compare the _buttonState to its previous state
Nakor 0:2743c73d648d 150 if (_rightState != _lastRightState)
Nakor 0:2743c73d648d 151 {
Nakor 0:2743c73d648d 152 // if the state has changed, increment the counter
Nakor 0:2743c73d648d 153 if (_rightState == 1)
Nakor 0:2743c73d648d 154 {
Nakor 0:2743c73d648d 155 // if the current state is 1 then the button
Nakor 0:2743c73d648d 156 // went from off to on:
Nakor 0:2743c73d648d 157 _xPosition+=TRACK_INC;
Nakor 0:2743c73d648d 158 if (_xPosition > 1.0)
Nakor 0:2743c73d648d 159 {
Nakor 0:2743c73d648d 160 _xPosition = 1.0;
Nakor 0:2743c73d648d 161 }
Nakor 0:2743c73d648d 162 }
Nakor 0:2743c73d648d 163 }
Nakor 0:2743c73d648d 164 _lastRightState = _rightState;
Nakor 0:2743c73d648d 165
Nakor 0:2743c73d648d 166 _blueLED->write(_xPosition);
Nakor 0:2743c73d648d 167 _greenLED->write(_yPosition);
Nakor 0:2743c73d648d 168
Nakor 0:2743c73d648d 169 xPosition = _xPosition;
Nakor 0:2743c73d648d 170 yPosition = _yPosition;
Nakor 0:2743c73d648d 171
Nakor 0:2743c73d648d 172
Nakor 0:2743c73d648d 173
Nakor 0:2743c73d648d 174 if (_outputTimer.read_ms() > 1000)
Nakor 0:2743c73d648d 175 {
Nakor 0:2743c73d648d 176 printf("Position: (x%f, y%f)\n", _xPosition, _yPosition);
Nakor 0:2743c73d648d 177
Nakor 0:2743c73d648d 178 _outputTimer.reset();
Nakor 0:2743c73d648d 179
Nakor 0:2743c73d648d 180 }
Nakor 0:2743c73d648d 181
Nakor 0:2743c73d648d 182 }