Revision 1354
adding keyboard remote control for testing...still in progress.
| joystick.c | ||
|---|---|---|
| 29 | 29 |
#define MOVED_Y_CENTER (1<<8) |
| 30 | 30 |
#define MOVED_DOWN (1<<9) |
| 31 | 31 |
|
| 32 |
/* Command Types */ |
|
| 33 |
#define CNTL_FORWARD 'f' |
|
| 34 |
#define CNTL_STOP 's' |
|
| 35 |
#define CNTL_BACK 'b' |
|
| 36 |
#define CNTL_LEFT 'l' |
|
| 37 |
#define CNTL_RIGHT 'r' |
|
| 38 |
#define CNTL_BUZZ0 't' |
|
| 39 |
#define CNTL_BUZZ1 'u' |
|
| 40 |
|
|
| 41 |
#define WL_CNTL_GROUP 4 |
|
| 42 |
|
|
| 32 | 43 |
int joystick_status (void); |
| 33 | 44 |
int joystick_change (int old, int new); |
| 34 | 45 |
|
| 35 |
PacketGroupHandler cntlHandler = {4, NULL, NULL, NULL, NULL};
|
|
| 46 |
PacketGroupHandler cntlHandler = {WL_CNTL_GROUP, NULL, NULL, NULL, NULL};
|
|
| 36 | 47 |
|
| 37 | 48 |
int main (void) {
|
| 38 |
dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG); |
|
| 49 |
dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG);
|
|
| 39 | 50 |
ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0); |
| 40 |
//xbee_init(); |
|
| 41 |
wl_init(); |
|
| 42 |
wl_register_packet_group(&cntlHandler); |
|
| 51 |
wl_init(); |
|
| 52 |
wl_register_packet_group(&cntlHandler); |
|
| 43 | 53 |
|
| 44 |
orb_set_color(BLUE); |
|
| 54 |
orb_set_color(BLUE);
|
|
| 45 | 55 |
|
| 46 |
int change; |
|
| 47 |
int last_status = 0; |
|
| 48 |
int cur_status = 0; |
|
| 56 |
int change;
|
|
| 57 |
int last_status = 0;
|
|
| 58 |
int cur_status = 0;
|
|
| 49 | 59 |
|
| 50 |
while (1) {
|
|
| 51 |
last_status = cur_status; |
|
| 52 |
cur_status = joystick_status(); |
|
| 53 |
change = joystick_change(last_status, cur_status); |
|
| 54 |
|
|
| 55 |
/* char buf[100]; |
|
| 56 |
sprintf(buf, "status: %d\n", cur_status); |
|
| 57 |
usb_puts(buf); |
|
| 58 |
*/ |
|
| 59 |
if (change & MOVED_UP) {
|
|
| 60 |
orb_set_color(GREEN); |
|
| 61 |
//xbee_putc('f');
|
|
| 62 |
wl_send_global_packet(4, 'f', NULL, 0, 0); |
|
| 63 |
usb_putc('f');
|
|
| 64 |
} |
|
| 65 |
if (change & MOVED_Y_CENTER) {
|
|
| 66 |
orb_set_color(RED); |
|
| 67 |
//xbee_putc('s');
|
|
| 68 |
wl_send_global_packet(4, 's', NULL, 0, 0); |
|
| 69 |
usb_putc('s');
|
|
| 70 |
} |
|
| 71 |
if (change & MOVED_DOWN) {
|
|
| 72 |
orb_set_color(BLUE); |
|
| 73 |
//xbee_putc('b');
|
|
| 74 |
wl_send_global_packet(4, 'b', NULL, 0, 0); |
|
| 75 |
usb_putc('b');
|
|
| 76 |
} |
|
| 77 |
if (change & MOVED_LEFT) {
|
|
| 78 |
orb_set_color(ORANGE); |
|
| 79 |
//xbee_putc('l');
|
|
| 80 |
wl_send_global_packet(4, 'l', NULL, 0, 0); |
|
| 81 |
usb_putc('l');
|
|
| 82 |
} |
|
| 83 |
if (change & MOVED_X_CENTER) {
|
|
| 84 |
orb_set_color(RED); |
|
| 85 |
//xbee_putc('s');
|
|
| 86 |
wl_send_global_packet(4, 's', NULL, 0, 0); |
|
| 87 |
usb_putc('s');
|
|
| 88 |
} |
|
| 89 |
if (change & MOVED_RIGHT) {
|
|
| 90 |
orb_set_color(YELLOW); |
|
| 91 |
//xbee_putc('r');
|
|
| 92 |
wl_send_global_packet(4, 'r', NULL, 0, 0); |
|
| 93 |
usb_putc('r');
|
|
| 94 |
} |
|
| 95 |
if (change & TRIGGER_PRESSED) {
|
|
| 96 |
orb_set_color(PURPLE); |
|
| 97 |
//xbee_putc('t');
|
|
| 98 |
wl_send_global_packet(4, 't', NULL, 0, 0); |
|
| 99 |
} |
|
| 100 |
if (change & BUTTON_PRESSED) {
|
|
| 101 |
orb_set_color(YELLOW); |
|
| 102 |
//xbee_putc('u');
|
|
| 103 |
wl_send_global_packet(4, 's', NULL, 0, 0); |
|
| 104 |
} |
|
| 105 |
delay_ms(100); |
|
| 106 |
} |
|
| 60 |
while (1) {
|
|
| 61 |
last_status = cur_status; |
|
| 62 |
cur_status = joystick_status(); |
|
| 63 |
change = joystick_change(last_status, cur_status); |
|
| 64 |
|
|
| 65 |
if (change & MOVED_UP) {
|
|
| 66 |
orb_set_color(GREEN); |
|
| 67 |
wl_send_global_packet(4, CNTL_FORWARD, NULL, 0, 0); |
|
| 68 |
} |
|
| 69 |
if (change & MOVED_Y_CENTER) {
|
|
| 70 |
orb_set_color(RED); |
|
| 71 |
wl_send_global_packet(4, CNTL_STOP, NULL, 0, 0); |
|
| 72 |
} |
|
| 73 |
if (change & MOVED_DOWN) {
|
|
| 74 |
orb_set_color(BLUE); |
|
| 75 |
wl_send_global_packet(4, CNTL_BACK, NULL, 0, 0); |
|
| 76 |
} |
|
| 77 |
if (change & MOVED_LEFT) {
|
|
| 78 |
orb_set_color(ORANGE); |
|
| 79 |
wl_send_global_packet(4, CNTL_LEFT, NULL, 0, 0); |
|
| 80 |
} |
|
| 81 |
if (change & MOVED_X_CENTER) {
|
|
| 82 |
orb_set_color(RED); |
|
| 83 |
wl_send_global_packet(4, CNTL_STOP, NULL, 0, 0); |
|
| 84 |
} |
|
| 85 |
if (change & MOVED_RIGHT) {
|
|
| 86 |
orb_set_color(YELLOW); |
|
| 87 |
wl_send_global_packet(4, CNTL_RIGHT, NULL, 0, 0); |
|
| 88 |
} |
|
| 89 |
if (change & TRIGGER_PRESSED) {
|
|
| 90 |
orb_set_color(PURPLE); |
|
| 91 |
wl_send_global_packet(4, CNTL_BUZZ0, NULL, 0, 0); |
|
| 92 |
} |
|
| 93 |
if (change & BUTTON_PRESSED) {
|
|
| 94 |
orb_set_color(YELLOW); |
|
| 95 |
wl_send_global_packet(4, CNTL_STOP, NULL, 0, 0); |
|
| 96 |
} |
|
| 97 |
delay_ms(100); |
|
| 98 |
} |
|
| 107 | 99 |
|
| 108 | 100 |
} |
| 109 | 101 |
|
| 110 | 102 |
int joystick_change (int old, int new) {
|
| 111 |
int trigger_change = 0;
|
|
| 112 |
int button_change = 0;
|
|
| 113 |
int x_change = 0;
|
|
| 114 |
int y_change = 0;
|
|
| 115 |
/* Check for trigger change */
|
|
| 116 |
if ((old & TRIGGER_DOWN) && (new & TRIGGER_UP))
|
|
| 117 |
trigger_change = TRIGGER_RELEASED;
|
|
| 118 |
if ((old & TRIGGER_UP) && (new & TRIGGER_DOWN))
|
|
| 119 |
trigger_change = TRIGGER_PRESSED;
|
|
| 120 |
/* Check for button change */
|
|
| 121 |
if ((old & BUTTON_DOWN) && (new & BUTTON_UP))
|
|
| 122 |
button_change = BUTTON_RELEASED;
|
|
| 123 |
if ((old & BUTTON_UP) && (new & BUTTON_DOWN))
|
|
| 124 |
button_change = BUTTON_PRESSED;
|
|
| 125 |
/* Check for X change */
|
|
| 126 |
if ((old & X_CENTER) && (new & X_RIGHT))
|
|
| 127 |
x_change = MOVED_RIGHT;
|
|
| 128 |
if ((old & X_CENTER) && (new & X_LEFT))
|
|
| 129 |
x_change = MOVED_LEFT;
|
|
| 130 |
if (!(old & X_CENTER) && (new & X_CENTER))
|
|
| 131 |
x_change = MOVED_X_CENTER;
|
|
| 132 |
/* Check for Y change */
|
|
| 133 |
if ((old & Y_CENTER) && (new & Y_UP))
|
|
| 134 |
y_change = MOVED_UP;
|
|
| 135 |
if ((old & Y_CENTER) && (new & Y_DOWN))
|
|
| 136 |
y_change = MOVED_DOWN;
|
|
| 137 |
if (!(old & Y_CENTER) && (new & Y_CENTER))
|
|
| 138 |
y_change = MOVED_Y_CENTER;
|
|
| 139 |
return trigger_change | button_change | x_change | y_change;
|
|
| 103 |
int trigger_change = 0;
|
|
| 104 |
int button_change = 0;
|
|
| 105 |
int x_change = 0;
|
|
| 106 |
int y_change = 0;
|
|
| 107 |
/* Check for trigger change */
|
|
| 108 |
if ((old & TRIGGER_DOWN) && (new & TRIGGER_UP))
|
|
| 109 |
trigger_change = TRIGGER_RELEASED;
|
|
| 110 |
if ((old & TRIGGER_UP) && (new & TRIGGER_DOWN))
|
|
| 111 |
trigger_change = TRIGGER_PRESSED;
|
|
| 112 |
/* Check for button change */
|
|
| 113 |
if ((old & BUTTON_DOWN) && (new & BUTTON_UP))
|
|
| 114 |
button_change = BUTTON_RELEASED;
|
|
| 115 |
if ((old & BUTTON_UP) && (new & BUTTON_DOWN))
|
|
| 116 |
button_change = BUTTON_PRESSED;
|
|
| 117 |
/* Check for X change */
|
|
| 118 |
if ((old & X_CENTER) && (new & X_RIGHT))
|
|
| 119 |
x_change = MOVED_RIGHT;
|
|
| 120 |
if ((old & X_CENTER) && (new & X_LEFT))
|
|
| 121 |
x_change = MOVED_LEFT;
|
|
| 122 |
if (!(old & X_CENTER) && (new & X_CENTER))
|
|
| 123 |
x_change = MOVED_X_CENTER;
|
|
| 124 |
/* Check for Y change */
|
|
| 125 |
if ((old & Y_CENTER) && (new & Y_UP))
|
|
| 126 |
y_change = MOVED_UP;
|
|
| 127 |
if ((old & Y_CENTER) && (new & Y_DOWN))
|
|
| 128 |
y_change = MOVED_DOWN;
|
|
| 129 |
if (!(old & Y_CENTER) && (new & Y_CENTER))
|
|
| 130 |
y_change = MOVED_Y_CENTER;
|
|
| 131 |
return trigger_change | button_change | x_change | y_change;
|
|
| 140 | 132 |
} |
| 141 | 133 |
|
| 142 | 134 |
/** |
| ... | ... | |
| 150 | 142 |
int y_status = 0; |
| 151 | 143 |
int xval, yval; |
| 152 | 144 |
|
| 153 |
if (analog_get8(AN0) > 200) |
|
| 154 |
trigger_status = TRIGGER_DOWN; |
|
| 155 |
else |
|
| 156 |
trigger_status = TRIGGER_UP; |
|
| 157 |
|
|
| 158 |
if (analog_get8(AN1) > 200) |
|
| 159 |
button_status = BUTTON_DOWN; |
|
| 160 |
else |
|
| 161 |
button_status = BUTTON_UP; |
|
| 162 |
|
|
| 163 |
xval = analog_get8(AN4); // actually AN6, AN7 for connection |
|
| 164 |
yval = analog_get8(AN5); |
|
| 165 |
|
|
| 166 |
if (xval > 150) |
|
| 167 |
x_status = X_LEFT; |
|
| 168 |
else if (xval < 75) |
|
| 169 |
x_status = X_RIGHT; |
|
| 170 |
else |
|
| 171 |
x_status = X_CENTER; |
|
| 172 |
|
|
| 173 |
if (yval > 150) |
|
| 174 |
y_status = Y_UP; |
|
| 175 |
else if (yval < 75) |
|
| 176 |
y_status = Y_DOWN; |
|
| 177 |
else |
|
| 178 |
y_status = Y_CENTER; |
|
| 145 |
if (analog_get8(AN0) > 200) |
|
| 146 |
trigger_status = TRIGGER_DOWN; |
|
| 147 |
else |
|
| 148 |
trigger_status = TRIGGER_UP; |
|
| 179 | 149 |
|
| 150 |
if (analog_get8(AN1) > 200) |
|
| 151 |
button_status = BUTTON_DOWN; |
|
| 152 |
else |
|
| 153 |
button_status = BUTTON_UP; |
|
| 180 | 154 |
|
| 181 |
return trigger_status | button_status | x_status | y_status; |
|
| 155 |
xval = analog_get8(AN4); // actually AN6, AN7 for connection |
|
| 156 |
yval = analog_get8(AN5); |
|
| 157 |
|
|
| 158 |
if (xval > 150) |
|
| 159 |
x_status = X_LEFT; |
|
| 160 |
else if (xval < 75) |
|
| 161 |
x_status = X_RIGHT; |
|
| 162 |
else |
|
| 163 |
x_status = X_CENTER; |
|
| 164 |
|
|
| 165 |
if (yval > 150) |
|
| 166 |
y_status = Y_UP; |
|
| 167 |
else if (yval < 75) |
|
| 168 |
y_status = Y_DOWN; |
|
| 169 |
else |
|
| 170 |
y_status = Y_CENTER; |
|
| 171 |
|
|
| 172 |
|
|
| 173 |
return trigger_status | button_status | x_status | y_status; |
|
| 182 | 174 |
} |
| 183 | 175 |
|
Also available in: Unified diff