Colony

#include <dragonfly_lib.h>

#include <wireless.h>

#include "../../common/colonet_defs.h"

#define IS_TRIGGER_DOWN(status)   (status & (1))

#define IS_BUTTON_DOWN(status)    (status & (1<<1))

#define IS_RIGHT(status)          (status & (1<<2))

#define IS_X_CENTER(status)       (status & (1<<3))

#define IS_LEFT(status)           (status & (1<<4))

#define IS_DOWN(status)           (status & (1<<5))

#define IS_Y_CENTER(status)       (status & (1<<6))

#define IS_UP(status)             (status & (1<<7)) 

#define TRIGGER_PRESSED           1

#define TRIGGER_RELEASED          (1<<1)

#define BUTTON_PRESSED            (1<<2)

#define BUTTON_RELEASED           (1<<3)

#define MOVED_LEFT                (1<<4)

#define MOVED_CENTER_X            (1<<5)

#define MOVED_RIGHT               (1<<6)

#define MOVED_UP                  (1<<7)

#define MOVED_CENTER_Y            (1<<8)

#define MOVED_DOWN                (1<<9)

int joystick_status (void);

int joystick_change (int old, int new);

int last_status = 0; 

int cur_status = 0;

int main (void) {

  dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG);

        ADCSRA = 0;

        ADCSRA |= _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);

        orb_set_color(BLUE);

  int status, change;

  while (1) {

    last_status = cur_status;

    cur_status = joystick_status();

    change = joystick_change(old_status, cur_status);

    if (change | TRIGGER_PRESSED)

      orb_set_color(GREEN);

    if (change | TRIGGER_RELEASED)

      orb_set_color(BLUE);

    delay_ms(100);

  }

}

int joystick_change (int old, int new) {

  int trigger_change = 0;

  int button_change = 0;

  int x_change = 0;

  int y_change = 0;

  /* Check for trigger change */

  if (TRIGGER_DOWN(old) && !TRIGGER_DOWN(new))

    trigger_change = TRIGGER_RELEASED;

  if (!TRIGGER_DOWN(old) && TRIGGER_DOWN(new)) 

    trigger_change = TRIGGER_PRESSED;

  /* Check for button change */

  if (BUTTON_DOWN(old) && !BUTTON_DOWN(new))

    button_change = BUTTON_RELEASED;

  if (!BUTTON_DOWN(old) && BUTTON_DOWN(new))

    button_change = BUTTON_PRESSED;

  /* Check for X change */

  if (IS_X_CENTER(old) && IS_RIGHT(new))

    x_change = MOVE_RIGHT;

  if (IS_X_CENTER(old) && IS_LEFT(new))

    x_change = MOVE_LEFT;

  if (!IS_X_CENTER(old) && IS_X_CENTER(new))

    x_change = MOVE_X_CENTER;

  /* Check for Y change */

  if (IS_Y_CENTER(old) && IS_UP(new))

    y_change = MOVE_UP;

  if (IS_Y_CENTER(old) && IS_DOWN(new))

    y_change = MOVE_DOWN;

  if (!IS_Y_CENTER(old) && IS_Y_CENTER(new))

    y_change = MOVE_Y_CENTER;

  return trigger_change | button_change | x_change | y_change;

}

/**

 * Get the current status of the joystick.

 * This includes the X and Y axes and the buttons.

 * Whenever this is called, the status is saved as part of the state.

 */

int joystick_status (void) {

        int trigger_status = 0;

        int button_status = 0;

  /* For x and y status, use three LSB one-hot as follows: [L|C|R] and [U|C|D] */

        int x_status = 0; 

        int y_status = 0;

        int xval, yval;

        char buf[100];

  /*

  sprintf(buf, "trigger: %d  \t button: %d \t X: %d \t Y: %d \n", 

    analog_get8(AN0), analog_get8(AN1),

    analog_get8(AN4), analog_get8(AN5));

  usb_puts(buf);

  */

  if (trigger_status == 0 && analog_get8(AN0) > 200) {

    trigger_status = 1;

    sprintf(buf, "Trigger pressed\n");

    usb_puts(buf);

  }

  if (trigger_status == 1 && analog_get8(AN0) < 100) {

    trigger_status = 0;

    sprintf(buf, "Trigger released\n");

    usb_puts(buf);

  }

  if (button_status == 0 && analog_get8(AN1) > 200) {

    button_status = 1;

    sprintf(buf, "Button pressed\n");

    usb_puts(buf);

  }

  if (button_status == 1 && analog_get8(AN1) < 100) {

    button_status = 0;

    sprintf(buf, "Button released\n");

    usb_puts(buf);

  }

  xval = analog_get8(AN4);

  yval = analog_get8(AN5);

  if (x_status == 0 && xval > 150) {

    x_status = 1<<2;

    sprintf(buf, "moved left\n");

    usb_puts(buf);

  }

  else if (x_status == 0 && xval < 75) {

    x_status = 1;

    sprintf(buf, "moved right\n");

    usb_puts(buf);

  }

  else if (x_status == 1 && xval > 75) {

    x_status = 1<<1;

    sprintf(buf, "centered x\n");

    usb_puts(buf);

  }

  else if (x_status == -1 && xval < 150) {

    x_status = 1<<1;

    sprintf(buf, "centered x\n");

    usb_puts(buf);

  }

  if (y_status == 0 && yval > 150) {

    y_status = 1<<3;

    sprintf(buf, "moved up\n");

    usb_puts(buf);

  }

  else if (y_status == 0 && yval < 75) {

    y_status = 1;

    sprintf(buf, "moved down\n");

    usb_puts(buf);

  }

  else if (y_status == 1 && yval > 75) {

    y_status = 1<<1;

    sprintf(buf, "centered y\n");

    usb_puts(buf);

  }

  else if (y_status == -1 && yval < 150) {

    y_status = 1<<1;

    sprintf(buf, "centered y\n");

    usb_puts(buf);

  }

  return trigger_status | (button_status << 1) | (x_status << 2) | (y_status << 5);

}