ardupilot/FollowMe/userinput.h

72 lines
1.5 KiB
C
Raw Normal View History

2013-02-03 16:39:56 -04:00
#ifndef __FOLLOWME_USERINPUT_H__
#define __FOLLOWME_USERINPUT_H__
#include <AP_HAL.h>
class DigitalDebounce {
public:
DigitalDebounce(AP_HAL::DigitalSource* in, int thresh_ms) :
_in(in), _thresh_ms(thresh_ms), _state(STATE_UP)
{}
enum Event {
BUTTON_DOWN,
BUTTON_UP
};
enum State {
STATE_DOWN,
STATE_RISING,
STATE_UP,
STATE_FALLING
};
void periodic(uint32_t ms);
void set_callback(void(*evt_cb)(int evt)) {
_evt_cb = evt_cb;
}
bool get_raw() { return _in->read(); }
int get_state() { return _state; }
bool read();
private:
AP_HAL::DigitalSource* _in;
int _thresh_ms;
int _state;
int _transition;
uint32_t _last_periodic;
void(*_evt_cb)(int evt);
};
class UserInput {
public:
static void init(int side_btn_ch, int joy_x_ch, int joy_y_ch, int joy_btn_ch);
static void print(AP_HAL::BetterStream* s);
static float get_joy_x() {
return _joy_x->read_average();
}
static float get_joy_y() {
return _joy_y->read_average();
}
static void side_btn_event_callback(void(*cb)(int)) {
_side_btn->set_callback(cb);
}
static void joy_btn_event_callback(void(*cb)(int)) {
_joy_btn->set_callback(cb);
}
private:
static AP_HAL::AnalogSource* _joy_x;
static AP_HAL::AnalogSource* _joy_y;
static DigitalDebounce* _side_btn;
static DigitalDebounce* _joy_btn;
static void _periodic(uint32_t millis);
static uint32_t _last_periodic;
};
#endif // __FOLLOWME_USERINPUT_H__