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Copy pathJoystickModule.java
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255 lines (240 loc) · 9.66 KB
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import com.pi4j.gpio.extension.mcp.MCP3008GpioProvider;
import com.pi4j.gpio.extension.mcp.MCP3008Pin;
import com.pi4j.io.gpio.*;
import com.pi4j.io.gpio.event.GpioPinListenerAnalog;
import com.pi4j.io.gpio.event.GpioPinListenerDigital;
import com.pi4j.io.spi.SpiChannel;
import java.io.IOException;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.LinkedList;
import java.util.concurrent.atomic.AtomicReferenceArray;
public class JoystickModule {
private OnForwardListener onForwardListener;
private OnBackwardListener onBackwardListener;
private SteerLTListener steerLTListener;
private SteerRTListener steerRTListener;
private NeutralizeListener neutralizeListener;
private OnClickListener onClickListener;
private final ArrayList<GpioPinAnalogInput> inputChannels=new ArrayList<>();
private final SpiChannel rpIchipSelect;
private GpioController gpioController;
private MCP3008GpioProvider mcp3008GpioProvider;
private GpioPinDigitalInput gpioPinDigitalInput;
public enum Channels {CH_0,CH_1,CH_2,CH_3,CH_4,CH_5,CH_6,CH_7}
private static final int tolerance=40;
private static final int neutralizeState=512;
private Pin VxPin;
private Pin VyPin;
public JoystickModule(SpiChannel rpIchipSelect){
this.rpIchipSelect=rpIchipSelect;
}
public void registerChannel(Channels channel){
if(gpioController==null || mcp3008GpioProvider==null){
throw new ModuleNotActiveException("Module not active or not initialized");
}
switch (channel){
case CH_0:
inputChannels.add(gpioController.provisionAnalogInputPin(mcp3008GpioProvider, MCP3008Pin.CH0,"Channel0"));
break;
case CH_1:
inputChannels.add(gpioController.provisionAnalogInputPin(mcp3008GpioProvider, MCP3008Pin.CH1,"Channel1"));
break;
case CH_2:
inputChannels.add(gpioController.provisionAnalogInputPin(mcp3008GpioProvider, MCP3008Pin.CH2,"Channel2"));
break;
case CH_3:
inputChannels.add(gpioController.provisionAnalogInputPin(mcp3008GpioProvider, MCP3008Pin.CH3,"Channel3"));
break;
case CH_4:
inputChannels.add(gpioController.provisionAnalogInputPin(mcp3008GpioProvider, MCP3008Pin.CH4,"Channel4"));
break;
case CH_5:
inputChannels.add(gpioController.provisionAnalogInputPin(mcp3008GpioProvider, MCP3008Pin.CH5,"Channel5"));
break;
case CH_6:
inputChannels.add(gpioController.provisionAnalogInputPin(mcp3008GpioProvider, MCP3008Pin.CH6,"Channel6"));
break;
case CH_7:
inputChannels.add(gpioController.provisionAnalogInputPin(mcp3008GpioProvider, MCP3008Pin.CH7,"Channel7"));
break;
}
}
private void setVxPin(Pin vxPin) {
VxPin = vxPin;
}
private Pin getVxPin() {
return VxPin;
}
public void setVyPin(Pin vyPin) {
VyPin = vyPin;
}
public Pin getVyPin() {
return VyPin;
}
public void registerVx(Channels channel){
switch (channel){
case CH_0:
setVxPin(MCP3008Pin.CH0);
break;
case CH_1:
setVxPin(MCP3008Pin.CH1);
break;
case CH_2:
setVxPin(MCP3008Pin.CH2);
break;
case CH_3:
setVxPin(MCP3008Pin.CH3);
break;
case CH_4:
setVxPin(MCP3008Pin.CH4);
break;
case CH_5:
setVxPin(MCP3008Pin.CH5);
break;
case CH_6:
setVxPin(MCP3008Pin.CH6);
break;
case CH_7:
setVxPin(MCP3008Pin.CH7);
break;
}
}
public void registerVy(Channels channel){
switch (channel){
case CH_0:
setVyPin(MCP3008Pin.CH0);
break;
case CH_1:
setVyPin(MCP3008Pin.CH1);
break;
case CH_2:
setVyPin(MCP3008Pin.CH2);
break;
case CH_3:
setVyPin(MCP3008Pin.CH3);
break;
case CH_4:
setVyPin(MCP3008Pin.CH4);
break;
case CH_5:
setVyPin(MCP3008Pin.CH5);
break;
case CH_6:
setVyPin(MCP3008Pin.CH6);
break;
case CH_7:
setVyPin(MCP3008Pin.CH7);
break;
}
}
public void registerAllChannels(){
if(gpioController==null || mcp3008GpioProvider==null){
throw new ModuleNotActiveException("Module not active or not initialized");
}
LinkedList<Pin> mcp3008Pins= (LinkedList<Pin>) Arrays.asList(MCP3008Pin.ALL);
mcp3008Pins.forEach(pin -> inputChannels.add(gpioController.provisionAnalogInputPin(mcp3008GpioProvider,pin,pin.getAddress()+"")));
}
public void initializeModule(double thresholdAnalogValue,Pin SW_Pin,PinPullResistance pullResistance) throws IOException {
gpioController= GpioFactory.getInstance();
mcp3008GpioProvider=new MCP3008GpioProvider(rpIchipSelect);
GpioPinAnalogInput[] gpioPinAnalogInput= new GpioPinAnalogInput[inputChannels.size()];
/*a way of making the var of the number a final value to be used anonymously & to change it at the same time*/
final int[] position = {0};
inputChannels.forEach(channel->{
gpioPinAnalogInput[position[0]]= channel;
position[0] +=1;
});
mcp3008GpioProvider.setEventThreshold(thresholdAnalogValue, gpioPinAnalogInput);
mcp3008GpioProvider.setMonitorEnabled(true);
mcp3008GpioProvider.setMonitorInterval(250);
gpioPinDigitalInput=gpioController.provisionDigitalInputPin(SW_Pin,pullResistance);
gpioPinDigitalInput.setShutdownOptions(true);
}
public void startCollectingChannelsData(){
if(gpioController==null || mcp3008GpioProvider==null){
throw new ModuleNotActiveException("Module not active or not initialized");
}
if(getVxPin()==null || getVyPin()==null){
throw new ConfigurationException("Please Register MCP3008 input Channels w/ the JoyStick module Vx & Vy");
}
GpioPinAnalogInput[] gpioPinAnalogInput= new GpioPinAnalogInput[inputChannels.size()];
/*a way of making the var of the number a final value to be used anonymously & to change it at the same time*/
final int[] position = {0};
inputChannels.forEach(channel->{
gpioPinAnalogInput[position[0]]= channel;
position[0] +=1;
});
gpioController.addListener((GpioPinListenerAnalog) event -> {
double valueX=mcp3008GpioProvider.getValue(getVxPin());
double valueY=mcp3008GpioProvider.getValue(getVyPin());
/*512+40=552*/
if(valueX>(neutralizeState+tolerance)){
onForwardListener.forward((float) valueX/100f);
}
/*512-40=472*/
if(valueX<(neutralizeState-tolerance)){
if(valueX<=0){
valueX=100f;
}
onBackwardListener.backward((float)valueX/50f);
}
if(valueY>(neutralizeState+tolerance)){
steerRTListener.steerRT((float) (valueY/100f));
}
if(valueY<(neutralizeState-tolerance)){
if(valueY<=0){
valueY=100f;
}
steerLTListener.steerLT((float)valueY/50f);
}
if((valueY>(neutralizeState-tolerance) && valueY<(neutralizeState+tolerance))
&&
(valueX>(neutralizeState-tolerance) && valueX<(neutralizeState+tolerance))){
neutralizeListener.neutralize((float) valueX/100f, (float) (valueY/100f));
}
System.out.println("Vx : "+valueX);
System.out.println("Vy : "+valueY);
}, gpioPinAnalogInput);
gpioPinDigitalInput.addListener((GpioPinListenerDigital) event -> {
System.out.println("Vz = "+event.getState());
onClickListener.onClick(Boolean.parseBoolean(String.valueOf(event.getState())));
});
}
public interface OnForwardListener{
void forward(float valueX);
}
public interface OnBackwardListener{
void backward(float valueX);
}
public interface SteerRTListener {
void steerRT(float valueY);
}
public interface SteerLTListener {
void steerLT(float valueY);
}
public interface NeutralizeListener{
void neutralize(float valueX,float valueY);
}
public interface OnClickListener{
void onClick(boolean state);
}
public void setOnBackwardListener(OnBackwardListener onBackwardListener) {
this.onBackwardListener = onBackwardListener;
}
public void setOnForwardListener(OnForwardListener onForwardListener) {
this.onForwardListener = onForwardListener;
}
public void setSteerLTListener(SteerLTListener steerLTListener) {
this.steerLTListener = steerLTListener;
}
public void setSteerRTListener(SteerRTListener steerRTListener) {
this.steerRTListener = steerRTListener;
}
public void setNeutralizeListener(NeutralizeListener neutralizeListener){
this.neutralizeListener=neutralizeListener;
}
public void setOnClickListener(OnClickListener onClickListener) {
this.onClickListener = onClickListener;
}
}