Revision 683
Joystick control works using xbee_putc
| joystick.c | ||
|---|---|---|
| 1 | 1 |
#include <dragonfly_lib.h> |
| 2 | 2 |
#include <wireless.h> |
| 3 |
#include <wl_defs.h> |
|
| 3 | 4 |
#include "../../common/colonet_defs.h" |
| 5 |
#include <serial.h> |
|
| 6 |
#include <stdio.h> |
|
| 4 | 7 |
|
| 5 |
#define IS_TRIGGER_DOWN(status) (status & (1)) |
|
| 6 |
#define IS_BUTTON_DOWN(status) (status & (1<<1)) |
|
| 7 |
#define IS_RIGHT(status) (status & (1<<2)) |
|
| 8 |
#define IS_X_CENTER(status) (status & (1<<3)) |
|
| 9 |
#define IS_LEFT(status) (status & (1<<4)) |
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| 10 |
#define IS_DOWN(status) (status & (1<<5)) |
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| 11 |
#define IS_Y_CENTER(status) (status & (1<<6)) |
|
| 12 |
#define IS_UP(status) (status & (1<<7)) |
|
| 8 |
/* Current state codes */ |
|
| 9 |
#define TRIGGER_DOWN 1 |
|
| 10 |
#define TRIGGER_UP (1<<1) |
|
| 11 |
#define BUTTON_DOWN (1<<2) |
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| 12 |
#define BUTTON_UP (1<<3) |
|
| 13 |
#define X_LEFT (1<<4) |
|
| 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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#define Y_CENTER (1<<8) |
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| 18 |
#define Y_DOWN (1<<9) |
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| 13 | 19 |
|
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/* State change codes */ |
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| 14 | 21 |
#define TRIGGER_PRESSED 1 |
| 15 | 22 |
#define TRIGGER_RELEASED (1<<1) |
| 16 | 23 |
#define BUTTON_PRESSED (1<<2) |
| 17 | 24 |
#define BUTTON_RELEASED (1<<3) |
| 18 | 25 |
#define MOVED_LEFT (1<<4) |
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#define MOVED_CENTER_X (1<<5)
|
|
| 26 |
#define MOVED_X_CENTER (1<<5)
|
|
| 20 | 27 |
#define MOVED_RIGHT (1<<6) |
| 21 | 28 |
#define MOVED_UP (1<<7) |
| 22 |
#define MOVED_CENTER_Y (1<<8)
|
|
| 29 |
#define MOVED_Y_CENTER (1<<8)
|
|
| 23 | 30 |
#define MOVED_DOWN (1<<9) |
| 24 | 31 |
|
| 25 | 32 |
int joystick_status (void); |
| 26 | 33 |
int joystick_change (int old, int new); |
| 27 | 34 |
|
| 28 |
int last_status = 0; |
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| 29 |
int cur_status = 0; |
|
| 30 |
|
|
| 31 | 35 |
int main (void) {
|
| 32 | 36 |
dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG); |
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ADCSRA = 0; |
|
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ADCSRA |= _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0); |
|
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orb_set_color(BLUE); |
|
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ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0); |
|
| 38 |
xbee_init(); |
|
| 39 |
|
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orb_set_color(BLUE); |
|
| 36 | 41 |
|
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int status, change; |
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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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| 45 |
|
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| 38 | 46 |
while (1) {
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| 39 | 47 |
last_status = cur_status; |
| 40 | 48 |
cur_status = joystick_status(); |
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change = joystick_change(old_status, cur_status); |
|
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if (change | TRIGGER_PRESSED) |
|
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change = joystick_change(last_status, cur_status); |
|
| 50 |
|
|
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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); |
|
| 54 |
|
|
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if (change & MOVED_UP) {
|
|
| 43 | 56 |
orb_set_color(GREEN); |
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if (change | TRIGGER_RELEASED) |
|
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xbee_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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} |
|
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if (change & MOVED_DOWN) {
|
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| 45 | 64 |
orb_set_color(BLUE); |
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xbee_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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} |
|
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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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} |
|
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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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} |
|
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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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} |
|
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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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} |
|
| 46 | 87 |
delay_ms(100); |
| 47 | 88 |
} |
| 48 | 89 |
|
| ... | ... | |
| 54 | 95 |
int x_change = 0; |
| 55 | 96 |
int y_change = 0; |
| 56 | 97 |
/* Check for trigger change */ |
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if (TRIGGER_DOWN(old) && !TRIGGER_DOWN(new))
|
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if ((old & TRIGGER_DOWN) && (new & TRIGGER_UP))
|
|
| 58 | 99 |
trigger_change = TRIGGER_RELEASED; |
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if (!TRIGGER_DOWN(old) && TRIGGER_DOWN(new))
|
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if ((old & TRIGGER_UP) && (new & TRIGGER_DOWN))
|
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| 60 | 101 |
trigger_change = TRIGGER_PRESSED; |
| 61 | 102 |
/* Check for button change */ |
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if (BUTTON_DOWN(old) && !BUTTON_DOWN(new))
|
|
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if ((old & BUTTON_DOWN) && (new & BUTTON_UP))
|
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| 63 | 104 |
button_change = BUTTON_RELEASED; |
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if (!BUTTON_DOWN(old) && BUTTON_DOWN(new))
|
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if ((old & BUTTON_UP) && (new & BUTTON_DOWN))
|
|
| 65 | 106 |
button_change = BUTTON_PRESSED; |
| 66 | 107 |
/* Check for X change */ |
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if (IS_X_CENTER(old) && IS_RIGHT(new))
|
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x_change = MOVE_RIGHT; |
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if (IS_X_CENTER(old) && IS_LEFT(new))
|
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x_change = MOVE_LEFT; |
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if (!IS_X_CENTER(old) && IS_X_CENTER(new))
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x_change = MOVE_X_CENTER; |
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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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| 73 | 114 |
/* Check for Y change */ |
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if (IS_Y_CENTER(old) && IS_UP(new))
|
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y_change = MOVE_UP; |
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if (IS_Y_CENTER(old) && IS_DOWN(new))
|
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y_change = MOVE_DOWN; |
|
| 78 |
if (!IS_Y_CENTER(old) && IS_Y_CENTER(new))
|
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y_change = MOVE_Y_CENTER; |
|
| 115 |
if ((old & Y_CENTER) && (new & Y_UP))
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y_change = MOVED_UP;
|
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| 117 |
if ((old & Y_CENTER) && (new & Y_DOWN))
|
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y_change = MOVED_DOWN;
|
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| 119 |
if (!(old & Y_CENTER) && (new & Y_CENTER))
|
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y_change = MOVED_Y_CENTER;
|
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| 80 | 121 |
return trigger_change | button_change | x_change | y_change; |
| 81 | 122 |
} |
| 82 | 123 |
|
| 83 | 124 |
/** |
| 84 | 125 |
* Get the current status of the joystick. |
| 85 | 126 |
* This includes the X and Y axes and the buttons. |
| 86 |
* Whenever this is called, the status is saved as part of the state. |
|
| 87 | 127 |
*/ |
| 88 | 128 |
int joystick_status (void) {
|
| 89 | 129 |
int trigger_status = 0; |
| 90 | 130 |
int button_status = 0; |
| 91 |
/* For x and y status, use three LSB one-hot as follows: [L|C|R] and [U|C|D] */ |
|
| 92 | 131 |
int x_status = 0; |
| 93 | 132 |
int y_status = 0; |
| 94 | 133 |
int xval, yval; |
| 95 |
|
|
| 96 |
char buf[100]; |
|
| 97 |
|
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/* |
|
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sprintf(buf, "trigger: %d \t button: %d \t X: %d \t Y: %d \n", |
|
| 100 |
analog_get8(AN0), analog_get8(AN1), |
|
| 101 |
analog_get8(AN4), analog_get8(AN5)); |
|
| 102 |
usb_puts(buf); |
|
| 103 |
*/ |
|
| 104 | 134 |
|
| 105 |
if (trigger_status == 0 && analog_get8(AN0) > 200) {
|
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| 106 |
trigger_status = 1; |
|
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sprintf(buf, "Trigger pressed\n"); |
|
| 108 |
usb_puts(buf); |
|
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} |
|
| 110 |
if (trigger_status == 1 && analog_get8(AN0) < 100) {
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trigger_status = 0; |
|
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sprintf(buf, "Trigger released\n"); |
|
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usb_puts(buf); |
|
| 114 |
} |
|
| 115 |
if (button_status == 0 && analog_get8(AN1) > 200) {
|
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button_status = 1; |
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sprintf(buf, "Button pressed\n"); |
|
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usb_puts(buf); |
|
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} |
|
| 120 |
if (button_status == 1 && analog_get8(AN1) < 100) {
|
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| 121 |
button_status = 0; |
|
| 122 |
sprintf(buf, "Button released\n"); |
|
| 123 |
usb_puts(buf); |
|
| 124 |
} |
|
| 135 |
if (analog_get8(AN0) > 200) |
|
| 136 |
trigger_status = TRIGGER_DOWN; |
|
| 137 |
else |
|
| 138 |
trigger_status = TRIGGER_UP; |
|
| 139 |
|
|
| 140 |
if (analog_get8(AN1) > 200) |
|
| 141 |
button_status = BUTTON_DOWN; |
|
| 142 |
else |
|
| 143 |
button_status = BUTTON_UP; |
|
| 125 | 144 |
|
| 126 | 145 |
xval = analog_get8(AN4); |
| 127 | 146 |
yval = analog_get8(AN5); |
| 128 | 147 |
|
| 129 |
if (x_status == 0 && xval > 150) {
|
|
| 130 |
x_status = 1<<2; |
|
| 131 |
sprintf(buf, "moved left\n"); |
|
| 132 |
usb_puts(buf); |
|
| 133 |
} |
|
| 134 |
else if (x_status == 0 && xval < 75) {
|
|
| 135 |
x_status = 1; |
|
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sprintf(buf, "moved right\n"); |
|
| 137 |
usb_puts(buf); |
|
| 138 |
} |
|
| 139 |
else if (x_status == 1 && xval > 75) {
|
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| 140 |
x_status = 1<<1; |
|
| 141 |
sprintf(buf, "centered x\n"); |
|
| 142 |
usb_puts(buf); |
|
| 143 |
} |
|
| 144 |
else if (x_status == -1 && xval < 150) {
|
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| 145 |
x_status = 1<<1; |
|
| 146 |
sprintf(buf, "centered x\n"); |
|
| 147 |
usb_puts(buf); |
|
| 148 |
} |
|
| 148 |
if (xval > 150) |
|
| 149 |
x_status = X_LEFT; |
|
| 150 |
else if (xval < 75) |
|
| 151 |
x_status = X_RIGHT; |
|
| 152 |
else |
|
| 153 |
x_status = X_CENTER; |
|
| 149 | 154 |
|
| 150 |
if (y_status == 0 && yval > 150) {
|
|
| 151 |
y_status = 1<<3; |
|
| 152 |
sprintf(buf, "moved up\n"); |
|
| 153 |
usb_puts(buf); |
|
| 154 |
} |
|
| 155 |
else if (y_status == 0 && yval < 75) {
|
|
| 156 |
y_status = 1; |
|
| 157 |
sprintf(buf, "moved down\n"); |
|
| 158 |
usb_puts(buf); |
|
| 159 |
} |
|
| 160 |
else if (y_status == 1 && yval > 75) {
|
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| 161 |
y_status = 1<<1; |
|
| 162 |
sprintf(buf, "centered y\n"); |
|
| 163 |
usb_puts(buf); |
|
| 164 |
} |
|
| 165 |
else if (y_status == -1 && yval < 150) {
|
|
| 166 |
y_status = 1<<1; |
|
| 167 |
sprintf(buf, "centered y\n"); |
|
| 168 |
usb_puts(buf); |
|
| 169 |
} |
|
| 155 |
if (yval > 150) |
|
| 156 |
y_status = Y_UP; |
|
| 157 |
else if (yval < 75) |
|
| 158 |
y_status = Y_DOWN; |
|
| 159 |
else |
|
| 160 |
y_status = Y_CENTER; |
|
| 170 | 161 |
|
| 171 |
return trigger_status | (button_status << 1) | (x_status << 2) | (y_status << 5); |
|
| 162 |
|
|
| 163 |
return trigger_status | button_status | x_status | y_status; |
|
| 172 | 164 |
} |
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