mirror of https://github.com/ArduPilot/ardupilot
72 lines
1.5 KiB
C++
72 lines
1.5 KiB
C++
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#ifndef __FOLLOWME_USERINPUT_H__
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#define __FOLLOWME_USERINPUT_H__
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#include <AP_HAL.h>
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class DigitalDebounce {
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public:
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DigitalDebounce(AP_HAL::DigitalSource* in, int thresh_ms) :
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_in(in), _thresh_ms(thresh_ms), _state(STATE_UP)
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{}
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enum Event {
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BUTTON_DOWN,
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BUTTON_UP
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};
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enum State {
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STATE_DOWN,
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STATE_RISING,
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STATE_UP,
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STATE_FALLING
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};
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void periodic(uint32_t ms);
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void set_callback(void(*evt_cb)(int evt)) {
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_evt_cb = evt_cb;
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}
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bool get_raw() { return _in->read(); }
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int get_state() { return _state; }
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bool read();
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private:
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AP_HAL::DigitalSource* _in;
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int _thresh_ms;
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int _state;
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int _transition;
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uint32_t _last_periodic;
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void(*_evt_cb)(int evt);
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};
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class UserInput {
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public:
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static void init(int side_btn_ch, int joy_x_ch, int joy_y_ch, int joy_btn_ch);
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static void print(AP_HAL::BetterStream* s);
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static float get_joy_x() {
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return _joy_x->read_average();
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}
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static float get_joy_y() {
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return _joy_y->read_average();
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}
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static void side_btn_event_callback(void(*cb)(int)) {
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_side_btn->set_callback(cb);
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}
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static void joy_btn_event_callback(void(*cb)(int)) {
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_joy_btn->set_callback(cb);
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}
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private:
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static AP_HAL::AnalogSource* _joy_x;
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static AP_HAL::AnalogSource* _joy_y;
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static DigitalDebounce* _side_btn;
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static DigitalDebounce* _joy_btn;
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static void _periodic(uint32_t millis);
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static uint32_t _last_periodic;
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};
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#endif // __FOLLOWME_USERINPUT_H__
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