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\n// TODO:\n// https://wandbox.org/permlink/qn9utl7ssvF9GART\n\n/*\nJoy class for KY-023 joystick connected to Arduino.\n- finds stable reading of joy's neutral position (fixes issue with reading wobbling when joy is not being touched)\n- projects unequal axes to ideal axes (fixes issue with with reading not showing center when joy is in neutral position)\n- outputs 0-255 value to fit in byte (for easier transmission via eg. nRF24L01+) instead of joy's actual 0-1023\n\nUsage:\n1. Create Joy instance - Joy(byte x_pin, byte y_pin, byte button_pin byte deadzone_radius) - eg.\nJoy joy(A0,A1,7,3);\n2. Run joy.setup() within Arduino main setup() section\n3. Run joy.readJoyAxisAsByte(X_AXIS) within Arduino main loop() section to read selected axis\n4. When Arduino starts leave joy in neutral position for 1s so it can find stable neutral read\n*/\nclass Joy {\n public:\n const byte X_PIN;\n const byte Y_PIN;\n const byte BUTTON_PIN;\n const byte DEADZONE_RADIUS;\n static constexpr byte X_AXIS = 0; // alias for x axis\n static constexpr byte Y_AXIS = 1; // alias for y axis\n static constexpr word X_MAX = 1023; // constexpr indicates that the value, or return value, is constant and, where possible, is computed at compile time\n static constexpr word Y_MAX = 1023; // static indicates that variable is stored once across all class instances\n word x_center; // x read when joy in neutral position\n word y_center; // y read when joy in neutral position\n\n \n\n // constructor - initialize data members - Classname(int parameter) : membername(parameter) { }\n Joy(byte x_pin, byte y_pin, byte button_pin, byte deadzone_radius) : X_PIN(x_pin), Y_PIN(y_pin), BUTTON_PIN(button_pin), DEADZONE_RADIUS(deadzone_radius) {\n }\n \n // Setup pins and assign some key positions from joystick\n void setup() {\n pinMode(X_PIN, INPUT);\n pinMode(Y_PIN, INPUT);\n x_center = getAxisCenter(X_PIN);\n y_center = getAxisCenter(Y_PIN);\n // pinMode(BUTTON_PIN, INPUT_PULLUP);\n Serial.begin(9600);\n }\n\n // Find stable neutral/center read on given axis pin\n word getAxisCenter(byte axis_pin) {\n int lastRead = 0;\n byte readCount = 0;\n const byte sureCount = 10; // how many similar reads give assurance of stable neutral position\n while (readCount255 to fit in byte\n static byte castToByte(int axis_read)\n {\n return axis_read/4;\n }\n\t\n // return joy axis position accounting for real center and deadzone\n static word readJoyAxis(byte axis_pin, word lower_edge, word upper_edge, word axis_max) {\n word pos; // position read from joystick\n float pos_norm; // normalized position\n \n pos = analogRead(axis_pin);\n if (pos < lower_edge) \n {\n // Projection of real axis to ideal axis - lower part\n pos_norm = static_cast(pos)/(lower_edge);\n pos = pos_norm * (axis_max/2);\n }\n else if (pos > upper_edge) \n {\n // Projection of real axis to ideal axis - upper part\n pos_norm = static_cast(pos-upper_edge)/(axis_max-upper_edge);\n pos = axis_max/2 + pos_norm*(axis_max/2);\n }\n else\n {\n pos = axis_max/2;\n }\n return pos;\n }\n};\n\n\nJoy joy(A0,A1,123,3);\n\nvoid setup() \n{\n joy.setup();\n}\n\nvoid loop() {\n byte x_byte, y_byte; // joy xy axis positions casted to byte\n\n x_byte = joy.readJoyAxisAsByte(joy.X_AXIS);\n y_byte = joy.readJoyAxisAsByte(joy.Y_AXIS);\n\n Serial.print(\"x\");\n Serial.print(x_byte);\n Serial.print(\" y\");\n Serial.println(y_byte);\n\n 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