4eb1c5d43a
- Create class 'evaluatedJoystick' - evaluates a joystick with 2 analog signals - scales the adc input to coordinates with detailed tolerances - calculates angle and radius - defines an enum with position information - Add joystick configuration and class instance to config.cpp - Add code for testing the new class to main.cpp - Add joystick.cpp to cmakelists now function `joystick.getData` can be used globally to obtain a struct with current position data of the joystick
102 lines
2.9 KiB
C++
102 lines
2.9 KiB
C++
#pragma once
|
|
|
|
extern "C"
|
|
{
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "driver/gpio.h"
|
|
#include "driver/adc.h"
|
|
#include "esp_log.h"
|
|
#include "esp_err.h"
|
|
}
|
|
|
|
#include <cmath>
|
|
|
|
|
|
//======================================
|
|
//========= evaluated Joystick =========
|
|
//======================================
|
|
//class which evaluates a joystick with 2 analog signals
|
|
// - scales the adc input to coordinates with detailed tolerances
|
|
// - calculates angle and radius
|
|
// - defines an enum with position information
|
|
|
|
|
|
//--------------------------------------------
|
|
//---- struct, enum, variable deklarations ---
|
|
//--------------------------------------------
|
|
//struct with all required configuration parameters
|
|
typedef struct joystick_config_t {
|
|
//analog inputs the axis are connected
|
|
adc1_channel_t adc_x;
|
|
adc1_channel_t adc_y;
|
|
|
|
//range around center-threshold of each axis the coordinates stays at 0 (adc value 0-4095)
|
|
int tolerance_zero;
|
|
//threshold the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (adc value 0-4095)
|
|
int tolerance_end;
|
|
//threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
|
|
float tolerance_radius;
|
|
|
|
//min and max adc values of each axis
|
|
int x_min;
|
|
int x_max;
|
|
int y_min;
|
|
int y_max;
|
|
|
|
//invert adc measurement (e.g. when moving joystick up results in a decreasing voltage)
|
|
bool x_inverted;
|
|
bool y_inverted;
|
|
} joystick_config_t;
|
|
|
|
|
|
|
|
//enum for describing the position of the joystick
|
|
enum class joystickPos_t {CENTER, Y_AXIS, X_AXIS, TOP_RIGHT, TOP_LEFT, BOTTOM_LEFT, BOTTOM_RIGHT};
|
|
extern const char* joystickPosStr[7];
|
|
|
|
|
|
|
|
//struct with current data of the joystick
|
|
typedef struct joystickData_t {
|
|
joystickPos_t position;
|
|
float x;
|
|
float y;
|
|
float radius;
|
|
float angle;
|
|
} joystickData_t;
|
|
|
|
|
|
|
|
//------------------------------------
|
|
//----- evaluatedJoystick class -----
|
|
//------------------------------------
|
|
class evaluatedJoystick {
|
|
public:
|
|
//--- constructor ---
|
|
evaluatedJoystick(joystick_config_t config_f);
|
|
|
|
//--- functions ---
|
|
joystickData_t getData(); //read joystick, calculate values and return the data in a struct
|
|
void defineCenter(); //define joystick center from current position
|
|
|
|
private:
|
|
//--- functions ---
|
|
//initialize adc inputs, define center
|
|
void init();
|
|
//read adc while making multiple samples with option to invert the result
|
|
int readAdc(adc1_channel_t adc_channel, bool inverted = false);
|
|
//read input voltage and scale to value from -1 to 1 using the given thresholds and tolerances
|
|
float getCoordinate(adc1_channel_t adc_channel, bool inverted, int min, int max, int center, int tolerance_zero, int tolerance_end);
|
|
|
|
//--- variables ---
|
|
joystick_config_t config;
|
|
int x_center;
|
|
int y_center;
|
|
|
|
joystickData_t data;
|
|
float x;
|
|
float y;
|
|
};
|
|
|