root / trunk / code / projects / colonet / robot / joystick / discrete_control / joystick.c @ 864
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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 | #include "../../../common/colonet_defs.h" |
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5 | #include <serial.h> |
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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 | int joystick_status (void); |
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33 | int joystick_change (int old, int new); |
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34 | |||
35 | int main (void) { |
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36 | dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG); |
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37 | ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0); |
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38 | xbee_init(); |
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39 | |||
40 | orb_set_color(BLUE); |
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41 | |||
42 | int change;
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43 | int last_status = 0; |
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44 | int cur_status = 0; |
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45 | |||
46 | while (1) { |
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47 | last_status = cur_status; |
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48 | cur_status = joystick_status(); |
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49 | change = joystick_change(last_status, cur_status); |
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50 | |||
51 | char buf[100]; |
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52 | sprintf(buf, "status: %d\n", cur_status);
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53 | usb_puts(buf); |
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54 | |||
55 | if (change & MOVED_UP) {
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56 | orb_set_color(GREEN); |
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57 | xbee_putc('f');
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58 | } |
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59 | if (change & MOVED_Y_CENTER) {
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60 | orb_set_color(RED); |
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61 | xbee_putc('s');
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62 | } |
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63 | if (change & MOVED_DOWN) {
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64 | orb_set_color(BLUE); |
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65 | xbee_putc('b');
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66 | } |
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67 | if (change & MOVED_LEFT) {
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68 | orb_set_color(ORANGE); |
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69 | xbee_putc('l');
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70 | } |
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71 | if (change & MOVED_X_CENTER) {
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72 | orb_set_color(RED); |
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73 | xbee_putc('s');
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74 | } |
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75 | if (change & MOVED_RIGHT) {
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76 | orb_set_color(YELLOW); |
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77 | xbee_putc('r');
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78 | } |
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79 | if (change & TRIGGER_PRESSED) {
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80 | orb_set_color(PURPLE); |
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81 | xbee_putc('t');
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82 | } |
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83 | if (change & BUTTON_PRESSED) {
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84 | orb_set_color(YELLOW); |
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85 | xbee_putc('u');
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86 | } |
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87 | delay_ms(100);
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88 | } |
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89 | |||
90 | } |
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91 | |||
92 | int joystick_change (int old, int new) { |
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93 | int trigger_change = 0; |
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94 | int button_change = 0; |
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95 | int x_change = 0; |
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96 | int y_change = 0; |
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97 | /* Check for trigger change */
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98 | if ((old & TRIGGER_DOWN) && (new & TRIGGER_UP))
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99 | trigger_change = TRIGGER_RELEASED; |
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100 | if ((old & TRIGGER_UP) && (new & TRIGGER_DOWN))
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101 | trigger_change = TRIGGER_PRESSED; |
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102 | /* Check for button change */
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103 | if ((old & BUTTON_DOWN) && (new & BUTTON_UP))
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104 | button_change = BUTTON_RELEASED; |
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105 | if ((old & BUTTON_UP) && (new & BUTTON_DOWN))
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106 | button_change = BUTTON_PRESSED; |
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107 | /* Check for X change */
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108 | if ((old & X_CENTER) && (new & X_RIGHT))
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109 | x_change = MOVED_RIGHT; |
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110 | if ((old & X_CENTER) && (new & X_LEFT))
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111 | x_change = MOVED_LEFT; |
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112 | if (!(old & X_CENTER) && (new & X_CENTER))
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113 | x_change = MOVED_X_CENTER; |
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114 | /* Check for Y change */
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115 | if ((old & Y_CENTER) && (new & Y_UP))
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116 | y_change = MOVED_UP; |
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117 | if ((old & Y_CENTER) && (new & Y_DOWN))
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118 | y_change = MOVED_DOWN; |
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119 | if (!(old & Y_CENTER) && (new & Y_CENTER))
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120 | y_change = MOVED_Y_CENTER; |
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121 | return trigger_change | button_change | x_change | y_change;
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122 | } |
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123 | |||
124 | /**
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125 | * Get the current status of the joystick.
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126 | * This includes the X and Y axes and the buttons.
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127 | */
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128 | int joystick_status (void) { |
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129 | int trigger_status = 0; |
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130 | int button_status = 0; |
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131 | int x_status = 0; |
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132 | int y_status = 0; |
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133 | int xval, yval;
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134 | |||
135 | if (analog_get8(AN0) > 200) |
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136 | trigger_status = TRIGGER_DOWN; |
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137 | else
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138 | trigger_status = TRIGGER_UP; |
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139 | |||
140 | if (analog_get8(AN1) > 200) |
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141 | button_status = BUTTON_DOWN; |
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142 | else
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143 | button_status = BUTTON_UP; |
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144 | |||
145 | xval = analog_get8(AN4); |
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146 | yval = analog_get8(AN5); |
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147 | |||
148 | if (xval > 150) |
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149 | x_status = X_LEFT; |
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150 | else if (xval < 75) |
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151 | x_status = X_RIGHT; |
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152 | else
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153 | x_status = X_CENTER; |
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154 | |||
155 | if (yval > 150) |
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156 | y_status = Y_UP; |
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157 | else if (yval < 75) |
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158 | y_status = Y_DOWN; |
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159 | else
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160 | y_status = Y_CENTER; |
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161 | |||
162 | |||
163 | return trigger_status | button_status | x_status | y_status;
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164 | } |