root / demos / joystick / src / joystick / discrete_control / joystick.c @ 1741
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1 | 864 | gtress | #include <dragonfly_lib.h> |
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2 | #include <wireless.h> |
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3 | #include <wl_defs.h> |
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4 | 1741 | emullini | #include "../../common/colonet_defs.h" |
5 | 864 | gtress | #include <serial.h> |
6 | #include <stdio.h> |
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7 | |||
8 | /* Current state codes */
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9 | #define TRIGGER_DOWN 1 |
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10 | #define TRIGGER_UP (1<<1) |
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11 | #define BUTTON_DOWN (1<<2) |
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12 | #define BUTTON_UP (1<<3) |
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13 | #define X_LEFT (1<<4) |
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14 | #define X_CENTER (1<<5) |
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15 | #define X_RIGHT (1<<6) |
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16 | #define Y_UP (1<<7) |
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17 | #define Y_CENTER (1<<8) |
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18 | #define Y_DOWN (1<<9) |
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19 | |||
20 | /* State change codes */
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21 | #define TRIGGER_PRESSED 1 |
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22 | #define TRIGGER_RELEASED (1<<1) |
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23 | #define BUTTON_PRESSED (1<<2) |
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24 | #define BUTTON_RELEASED (1<<3) |
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25 | #define MOVED_LEFT (1<<4) |
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26 | #define MOVED_X_CENTER (1<<5) |
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27 | #define MOVED_RIGHT (1<<6) |
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28 | #define MOVED_UP (1<<7) |
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29 | #define MOVED_Y_CENTER (1<<8) |
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30 | #define MOVED_DOWN (1<<9) |
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31 | |||
32 | 1354 | cmar | /* Command Types */
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33 | #define CNTL_FORWARD 'f' |
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34 | #define CNTL_STOP 's' |
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35 | #define CNTL_BACK 'b' |
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36 | #define CNTL_LEFT 'l' |
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37 | #define CNTL_RIGHT 'r' |
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38 | #define CNTL_BUZZ0 't' |
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39 | #define CNTL_BUZZ1 'u' |
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40 | |||
41 | #define WL_CNTL_GROUP 4 |
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42 | |||
43 | 864 | gtress | int joystick_status (void); |
44 | int joystick_change (int old, int new); |
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45 | |||
46 | 1354 | cmar | PacketGroupHandler cntlHandler = {WL_CNTL_GROUP, NULL, NULL, NULL, NULL}; |
47 | 1349 | cmar | |
48 | 864 | gtress | int main (void) { |
49 | 1354 | cmar | dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG); |
50 | 864 | gtress | ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0); |
51 | 1354 | cmar | wl_init(); |
52 | wl_register_packet_group(&cntlHandler); |
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53 | 864 | gtress | |
54 | 1354 | cmar | orb_set_color(BLUE); |
55 | 864 | gtress | |
56 | 1354 | cmar | int change;
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57 | int last_status = 0; |
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58 | int cur_status = 0; |
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59 | 864 | gtress | |
60 | 1354 | cmar | while (1) { |
61 | last_status = cur_status; |
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62 | cur_status = joystick_status(); |
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63 | change = joystick_change(last_status, cur_status); |
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64 | |||
65 | if (change & MOVED_UP) {
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66 | orb_set_color(GREEN); |
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67 | wl_send_global_packet(4, CNTL_FORWARD, NULL, 0, 0); |
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68 | } |
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69 | if (change & MOVED_Y_CENTER) {
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70 | orb_set_color(RED); |
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71 | wl_send_global_packet(4, CNTL_STOP, NULL, 0, 0); |
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72 | } |
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73 | if (change & MOVED_DOWN) {
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74 | orb_set_color(BLUE); |
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75 | wl_send_global_packet(4, CNTL_BACK, NULL, 0, 0); |
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76 | } |
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77 | if (change & MOVED_LEFT) {
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78 | orb_set_color(ORANGE); |
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79 | wl_send_global_packet(4, CNTL_LEFT, NULL, 0, 0); |
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80 | } |
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81 | if (change & MOVED_X_CENTER) {
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82 | orb_set_color(RED); |
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83 | wl_send_global_packet(4, CNTL_STOP, NULL, 0, 0); |
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84 | } |
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85 | if (change & MOVED_RIGHT) {
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86 | orb_set_color(YELLOW); |
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87 | wl_send_global_packet(4, CNTL_RIGHT, NULL, 0, 0); |
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88 | } |
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89 | if (change & TRIGGER_PRESSED) {
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90 | orb_set_color(PURPLE); |
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91 | wl_send_global_packet(4, CNTL_BUZZ0, NULL, 0, 0); |
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92 | } |
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93 | if (change & BUTTON_PRESSED) {
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94 | orb_set_color(YELLOW); |
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95 | wl_send_global_packet(4, CNTL_STOP, NULL, 0, 0); |
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96 | } |
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97 | delay_ms(100);
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98 | } |
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99 | 864 | gtress | |
100 | } |
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101 | |||
102 | int joystick_change (int old, int new) { |
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103 | 1354 | cmar | int trigger_change = 0; |
104 | int button_change = 0; |
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105 | int x_change = 0; |
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106 | int y_change = 0; |
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107 | /* Check for trigger change */
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108 | if ((old & TRIGGER_DOWN) && (new & TRIGGER_UP))
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109 | trigger_change = TRIGGER_RELEASED; |
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110 | if ((old & TRIGGER_UP) && (new & TRIGGER_DOWN))
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111 | trigger_change = TRIGGER_PRESSED; |
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112 | /* Check for button change */
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113 | if ((old & BUTTON_DOWN) && (new & BUTTON_UP))
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114 | button_change = BUTTON_RELEASED; |
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115 | if ((old & BUTTON_UP) && (new & BUTTON_DOWN))
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116 | button_change = BUTTON_PRESSED; |
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117 | /* Check for X change */
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118 | if ((old & X_CENTER) && (new & X_RIGHT))
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119 | x_change = MOVED_RIGHT; |
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120 | if ((old & X_CENTER) && (new & X_LEFT))
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121 | x_change = MOVED_LEFT; |
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122 | if (!(old & X_CENTER) && (new & X_CENTER))
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123 | x_change = MOVED_X_CENTER; |
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124 | /* Check for Y change */
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125 | if ((old & Y_CENTER) && (new & Y_UP))
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126 | y_change = MOVED_UP; |
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127 | if ((old & Y_CENTER) && (new & Y_DOWN))
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128 | y_change = MOVED_DOWN; |
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129 | if (!(old & Y_CENTER) && (new & Y_CENTER))
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130 | y_change = MOVED_Y_CENTER; |
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131 | return trigger_change | button_change | x_change | y_change;
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132 | 864 | gtress | } |
133 | |||
134 | /**
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135 | * Get the current status of the joystick.
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136 | * This includes the X and Y axes and the buttons.
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137 | */
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138 | int joystick_status (void) { |
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139 | int trigger_status = 0; |
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140 | int button_status = 0; |
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141 | int x_status = 0; |
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142 | int y_status = 0; |
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143 | int xval, yval;
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144 | |||
145 | 1354 | cmar | if (analog_get8(AN0) > 200) |
146 | trigger_status = TRIGGER_DOWN; |
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147 | else
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148 | trigger_status = TRIGGER_UP; |
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149 | 864 | gtress | |
150 | 1354 | cmar | if (analog_get8(AN1) > 200) |
151 | button_status = BUTTON_DOWN; |
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152 | else
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153 | button_status = BUTTON_UP; |
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154 | 864 | gtress | |
155 | 1354 | cmar | xval = analog_get8(AN4); // actually AN6, AN7 for connection
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156 | yval = analog_get8(AN5); |
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157 | |||
158 | if (xval > 150) |
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159 | x_status = X_LEFT; |
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160 | else if (xval < 75) |
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161 | x_status = X_RIGHT; |
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162 | else
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163 | x_status = X_CENTER; |
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164 | |||
165 | if (yval > 150) |
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166 | y_status = Y_UP; |
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167 | else if (yval < 75) |
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168 | y_status = Y_DOWN; |
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169 | else
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170 | y_status = Y_CENTER; |
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171 | |||
172 | |||
173 | return trigger_status | button_status | x_status | y_status;
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174 | 864 | gtress | } |