blob: b8761934bb60927c0f1fe5440f7053cdad468e2e (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
|
#include "status.hpp"
#include <MPU6050_light.h>
#include <Wire.h>
#include <XInput.h>
constexpr unsigned int SENSOR_RETRY_TIME = 2000U; // milliseconds
constexpr unsigned int BAUD_RATE = 9600U;
constexpr int32_t JOY_MAX = 180;
constexpr int32_t JOY_MIN = -180;
#define LEONARDO_XINPUT_VID 0x045E // NOLINT(cppcoreguidelines-macro-usage)
#define LEONARDO_XINPUT_PID 0x028E // NOLINT(cppcoreguidelines-macro-usage)
void setup()
{
initialize_status_leds();
auto sensor = MPU6050(Wire);
Wire.begin();
set_led_positive(HIGH);
while (sensor.begin() != 0)
{
set_led_positive(LOW);
delay(SENSOR_RETRY_TIME);
}
set_led_positive(HIGH);
sensor.calcOffsets();
XInput.begin();
XInput.setRange(JOY_LEFT, JOY_MIN, JOY_MAX);
while (true)
{
sensor.update();
auto pitch = static_cast<int32_t>(sensor.getAngleX());
auto roll = static_cast<int32_t>(sensor.getAngleY());
XInput.setJoystick(JOY_LEFT, -roll, pitch);
#if USB_VID != LEONARDO_XINPUT_VID && USB_PID != LEONARDO_XINPUT_PID
XInput.printDebug(Serial);
#endif
}
}
|
