TGRMach

Creamos los siguientes ficheros

Outputs del sistema¶

Configuración: prj_output.h¶

#ifndef _PRJ_OUTPUT_H
#define _PRJ_OUTPUT_H

/* Inclusion of the basic types of the GTTC osek */
#include "gttc_types.h" 

/* Initialization of the output routines.
WARNING: The pinout initialization is not done here.  
It is done in the prj_pinout.c file */
void prjOutputInit(void);

/* Routine to read all the outputs in the system 
EXCEPTION: The inputs coming through an I/O bus can be synthesized in another module.*/
void prjOutput(void);

#endif /* _PRJ_OUTPUT_H */

Síntesis de los comandos: prj_output.cpp¶

/* This file perform the synthesis tasks of the output of the system */

/* Inclusion of the basic types of the GTTC osek */
#include "gttc_types.h" 
/* Configuration of the project */
#include "prj_cfg.h" 
/* Inclusion of its own header */
#include "prj_output.h" 
/* Inclusion of the pinout information */
#include "prj_pinout.h" 
/* Inclusion of the DRE */
#include "prj_dre.h" 
/* Inclusion of the arduino methods */
#include "Arduino.h" 

/* Initialization of the output routines.
WARNING: The pinout initialization is not done here.  
It is done in the prj_pinout.c file */
void prjOutputInit(void) {
  digitalWrite(CFG_POWERGND_PIN,LOW);
  // configure the joystick to manual send mode.  This gives precise
  // control over when the computer receives updates, but it does
  // require you to manually call Joystick.send_now().
  Joystick.useManualSend(true);

}

/* Routine to read all the outputs in the system 
EXCEPTION: The inputs coming through an I/O bus can be synthesized in another module.*/
void prjOutput(void) {
  /* When any button is pressed, the power pin will be switched down to indicate something is detected */
  /* By default, the power led must be active */
  digitalWrite(CFG_POWERGND_PIN,LOW);

  /************* BUTTONS SECTION ***************/

  // read digital pins and use them for the buttons
  for (uint8_t i=0; i<CFG_JOYSTICK_NUMBER_OF_BUTTONS ; i++) {
    if (dre.detection.allButtons[i] == 1) {
      /* When any button is pressed, the power pin will be switched down to indicate something is detected */
      digitalWrite(CFG_POWERGND_PIN,HIGH);
    }
    /* Update USB data structure */
    Joystick.button(i + 1, dre.detection.allButtons[i]);
  }

  /************ JOYSTICK SECTION ***************/

  // 512 is resting position
  // "value" is from 0 to 1023
  int valueX = CFG_USB_JOYSTICK_REST_POS;
  int valueY = CFG_USB_JOYSTICK_REST_POS;

  for (uint8_t i=0; i<CFG_JOYSTICK_NUMBER_OF_POSITIONS ; i++) {
    if (dre.detection.detectedJoy[i]) {
      /* When any button is pressed, the power pin will be switched down to indicate something is detected */
      digitalWrite(CFG_POWERGND_PIN,HIGH);
    }
  }

  if (dre.detection.detectedJoy[CFG_JOY_LEFT_IDX]){
    valueX=CFG_USB_JOYSTICK_LEFT_POS;
  } 
  if (dre.detection.detectedJoy[CFG_JOY_RIGHT_IDX]){
    valueX=CFG_USB_JOYSTICK_RIGHT_POS;
  }
  if (dre.detection.detectedJoy[CFG_JOY_UP_IDX]){
    valueY=CFG_USB_JOYSTICK_UP_POS;
  }
  if (dre.detection.detectedJoy[CFG_JOY_DOWN_IDX]){
    valueY=CFG_USB_JOYSTICK_DOWN_POS;
  }

  /* Update USB data structure */
  Joystick.X(valueX);            // "value" is from 0 to 1023
  Joystick.Y(valueY);            //   512 is resting position

  /*********** Send the USB commands */

  // Because setup configured the Joystick manual send,
  // the computer does not see any of the changes yet.
  // This send_now() transmits everything all at once.
  Joystick.send_now();  
}

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