root / trunk / code / projects / colonet / robot / joystick / discrete_control / joystick.c @ 1349
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#include <dragonfly_lib.h> |
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#include <wireless.h> |
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#include <wl_defs.h> |
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#include "../../../common/colonet_defs.h" |
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#include <serial.h> |
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#include <stdio.h> |
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/* Current state codes */
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#define TRIGGER_DOWN 1 |
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#define TRIGGER_UP (1<<1) |
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#define BUTTON_DOWN (1<<2) |
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#define BUTTON_UP (1<<3) |
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#define X_LEFT (1<<4) |
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#define X_CENTER (1<<5) |
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#define X_RIGHT (1<<6) |
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#define Y_UP (1<<7) |
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#define Y_CENTER (1<<8) |
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#define Y_DOWN (1<<9) |
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/* State change codes */
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#define TRIGGER_PRESSED 1 |
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#define TRIGGER_RELEASED (1<<1) |
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#define BUTTON_PRESSED (1<<2) |
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#define BUTTON_RELEASED (1<<3) |
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#define MOVED_LEFT (1<<4) |
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#define MOVED_X_CENTER (1<<5) |
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#define MOVED_RIGHT (1<<6) |
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#define MOVED_UP (1<<7) |
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#define MOVED_Y_CENTER (1<<8) |
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#define MOVED_DOWN (1<<9) |
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int joystick_status (void); |
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int joystick_change (int old, int new); |
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PacketGroupHandler cntlHandler = {4, NULL, NULL, NULL, NULL}; |
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int main (void) { |
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dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG); |
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ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0); |
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//xbee_init();
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wl_init(); |
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wl_register_packet_group(&cntlHandler); |
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orb_set_color(BLUE); |
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int change;
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int last_status = 0; |
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int cur_status = 0; |
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while (1) { |
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last_status = cur_status; |
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cur_status = joystick_status(); |
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change = joystick_change(last_status, cur_status); |
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/* char buf[100];
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sprintf(buf, "status: %d\n", cur_status);
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usb_puts(buf);
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*/
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if (change & MOVED_UP) {
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orb_set_color(GREEN); |
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//xbee_putc('f');
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wl_send_global_packet(4, 'f', NULL, 0, 0); |
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usb_putc('f');
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} |
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if (change & MOVED_Y_CENTER) {
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orb_set_color(RED); |
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//xbee_putc('s');
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wl_send_global_packet(4, 's', NULL, 0, 0); |
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usb_putc('s');
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} |
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if (change & MOVED_DOWN) {
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orb_set_color(BLUE); |
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//xbee_putc('b');
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wl_send_global_packet(4, 'b', NULL, 0, 0); |
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usb_putc('b');
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} |
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if (change & MOVED_LEFT) {
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orb_set_color(ORANGE); |
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//xbee_putc('l');
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wl_send_global_packet(4, 'l', NULL, 0, 0); |
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usb_putc('l');
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} |
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if (change & MOVED_X_CENTER) {
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orb_set_color(RED); |
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//xbee_putc('s');
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wl_send_global_packet(4, 's', NULL, 0, 0); |
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usb_putc('s');
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} |
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if (change & MOVED_RIGHT) {
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orb_set_color(YELLOW); |
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//xbee_putc('r');
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wl_send_global_packet(4, 'r', NULL, 0, 0); |
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usb_putc('r');
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} |
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if (change & TRIGGER_PRESSED) {
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orb_set_color(PURPLE); |
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//xbee_putc('t');
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wl_send_global_packet(4, 't', NULL, 0, 0); |
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} |
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if (change & BUTTON_PRESSED) {
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orb_set_color(YELLOW); |
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//xbee_putc('u');
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wl_send_global_packet(4, 's', NULL, 0, 0); |
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} |
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delay_ms(100);
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} |
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} |
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int joystick_change (int old, int new) { |
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int trigger_change = 0; |
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int button_change = 0; |
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int x_change = 0; |
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int y_change = 0; |
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/* Check for trigger change */
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if ((old & TRIGGER_DOWN) && (new & TRIGGER_UP))
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trigger_change = TRIGGER_RELEASED; |
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if ((old & TRIGGER_UP) && (new & TRIGGER_DOWN))
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trigger_change = TRIGGER_PRESSED; |
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/* Check for button change */
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if ((old & BUTTON_DOWN) && (new & BUTTON_UP))
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button_change = BUTTON_RELEASED; |
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if ((old & BUTTON_UP) && (new & BUTTON_DOWN))
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button_change = BUTTON_PRESSED; |
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/* Check for X change */
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if ((old & X_CENTER) && (new & X_RIGHT))
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x_change = MOVED_RIGHT; |
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if ((old & X_CENTER) && (new & X_LEFT))
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x_change = MOVED_LEFT; |
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if (!(old & X_CENTER) && (new & X_CENTER))
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x_change = MOVED_X_CENTER; |
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/* Check for Y change */
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if ((old & Y_CENTER) && (new & Y_UP))
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y_change = MOVED_UP; |
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if ((old & Y_CENTER) && (new & Y_DOWN))
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y_change = MOVED_DOWN; |
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if (!(old & Y_CENTER) && (new & Y_CENTER))
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y_change = MOVED_Y_CENTER; |
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return trigger_change | button_change | x_change | y_change;
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} |
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/**
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* Get the current status of the joystick.
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* This includes the X and Y axes and the buttons.
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*/
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int joystick_status (void) { |
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int trigger_status = 0; |
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int button_status = 0; |
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int x_status = 0; |
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int y_status = 0; |
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int xval, yval;
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if (analog_get8(AN0) > 200) |
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trigger_status = TRIGGER_DOWN; |
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else
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trigger_status = TRIGGER_UP; |
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if (analog_get8(AN1) > 200) |
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button_status = BUTTON_DOWN; |
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else
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button_status = BUTTON_UP; |
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xval = analog_get8(AN4); // actually AN6, AN7 for connection
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yval = analog_get8(AN5); |
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if (xval > 150) |
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x_status = X_LEFT; |
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else if (xval < 75) |
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x_status = X_RIGHT; |
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else
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x_status = X_CENTER; |
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if (yval > 150) |
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y_status = Y_UP; |
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else if (yval < 75) |
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y_status = Y_DOWN; |
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else
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y_status = Y_CENTER; |
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return trigger_status | button_status | x_status | y_status;
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} |
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