nxtOSEK/samples_c++/PSPNxTest/PSPNxTest.cc

   1 //\r
   2 // PSPNxTest.cc\r
   3 //\r
   4 // Testing module for the Mindsensor PSPNx wrapper class\r
   5 //\r
   6 // 09.28.2008 Jon C. Martin\r
   7 \r
   8 \r
   9 #include "PSPNx.h"\r
  10 //\r
  11 // To properly interface with LEJOS-OSEK, we need to use C linkage between our\r
  12 // code and LEJOS-OSEK\r
  13 //\r
  14 \r
  15 #define PSPNx_DEFAULT_PORT 0x02\r
  16 extern "C" {\r
  17 \r
  18 #include "ecrobot_interface.h"\r
  19 \r
  20   DeclareTask(Task1);\r
  21   \r
  22   TASK(Task1) {\r
  23         PSPNx psStick(NXT_PORT_S1, PSPNx_DEFAULT_PORT);\r
  24         display_clear(0);\r
  25 \r
  26         while(1)\r
  27         {\r
  28                 //Mindsensor's support confirms that for certain gamepads, setting a mode\r
  29                 //must be called several times until it becomes active\r
  30                 psStick.setAnalog();\r
  31                 psStick.update();\r
  32 \r
  33             U8 const * const rawData = psStick.getRawData();\r
  34             \r
  35             //grab the first two bytes of the raw data (the button data)\r
  36             U16 rawDigitalPad = *(reinterpret_cast<U16 const * const>(rawData));\r
  37             //flip the bits \r
  38             rawDigitalPad ^= 0xffff;\r
  39             \r
  40             //display the bit set indicating whether or not a digital button is pressed\r
  41             for(int i = 0; i < 16; ++i)\r
  42             {\r
  43                 display_goto_xy(i,0);\r
  44                 //quick and dirty way to display each bit's status\r
  45                 display_int((rawDigitalPad & (1 << i))? 1 : 0, 0);\r
  46             }\r
  47             \r
  48             //display the analog stick data\r
  49             display_goto_xy(0,1);\r
  50             display_int(rawData[2], 0);\r
  51             display_goto_xy(4,1);\r
  52             display_int(rawData[3], 0);\r
  53             display_goto_xy(0,2);\r
  54             display_int(rawData[4], 0);\r
  55             display_goto_xy(4,2);\r
  56             display_int(rawData[5], 0);\r
  57             \r
  58                 //example of how to read and use the three distinct digital button states\r
  59             if(psStick.pressed(PSPNx_SQUARE))\r
  60             {\r
  61                 display_clear(0);\r
  62                 display_goto_xy(0,4);\r
  63                 display_string("Pressed");\r
  64             }\r
  65             \r
  66             if(psStick.held(PSPNx_SQUARE))\r
  67             {\r
  68                 display_goto_xy(0,5);\r
  69                 display_string("Held");\r
  70             }\r
  71             \r
  72             if(psStick.released(PSPNx_SQUARE))\r
  73             {\r
  74                 display_goto_xy(0,6);\r
  75                 display_string("Released");\r
  76             }\r
  77             \r
  78                 //press select to clear the display\r
  79             if(psStick.pressed(PSPNx_SELECT))\r
  80             {\r
  81                 display_clear(0);\r
  82             }\r
  83             \r
  84             display_update();\r
  85         }\r
  86   }\r
  87 };\r