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Dependents: NHK2019robokon NHK2019robokonaaaaaaaaaaaaa NHK2019_A_manual_robot_program NHK2019robokon_10_4
PS3.h
00001 #ifndef PS3_H 00002 #define PS3_H 00003 #include "mbed.h" 00004 //bit,button 00005 #define sikaku 16 //00010000 00006 #define sankaku 36 //00100100 00007 #define batu 37 //00100101 00008 #define maru 38 //00100110 00009 #define ue 32 //00100000 00010 #define sita 33 //00100001 00011 #define migi 34 //00100010 00012 #define hidari 35 //00100011 00013 #define L1 17 //00010001 00014 #define L2 18 //00010010 00015 #define R1 19 //00010011 00016 #define R2 20 //00010100 00017 00018 #define PI 3.141592654 00019 00020 class PS3 : public Serial 00021 { 00022 public: 00023 PS3(PinName TX, PinName RX);/* : Serial(TX,RX) 00024 { 00025 PS3Data[0] = 128; 00026 PS3Data[1] = 0; 00027 PS3Data[2] = 0; 00028 PS3Data[3] = 64; 00029 PS3Data[4] = 64; 00030 PS3Data[5] = 64; 00031 PS3Data[6] = 64; 00032 PS3Data[7] = 0; 00033 baud(2400); 00034 attach(this, &PS3::getdata, Serial::RxIrq); 00035 }*/ 00036 void getdata(); 00037 /*{ 00038 if(Serial::readable()) 00039 { 00040 for(int i = 0;i < 8;i++) 00041 *(PS3Data+i) = Serial::getc(); 00042 } 00043 }*/ 00044 void myattach(); 00045 void addattach(void (*Func)()); 00046 void nothingFunc(); 00047 bool getButtonState(int button); 00048 bool getSELECTState(); 00049 bool getSTARTState(); 00050 int getRightJoystickXaxis(); 00051 int getRightJoystickYaxis(); 00052 int getLeftJoystickXaxis(); 00053 int getLeftJoystickYaxis(); 00054 /*{ 00055 return (*(PS3Data+(button>>4)) >> (button & 0x0f)) & 1; 00056 }*/ 00057 double getRightJoystickAngle(); 00058 /*{ 00059 return atan2(double(PS3Data[6]*-1+64), double(PS3Data[5]-64))*double(180/PI); 00060 }*/ 00061 double getLeftJoystickAngle(); 00062 /*{ 00063 return atan2(double(PS3Data[4]*-1+64), double(PS3Data[3]-64))*double(180/PI); 00064 }*/ 00065 void printdata(); 00066 private: 00067 char PS3Data[8]; 00068 void (*fpFunc)(); 00069 bool addflag; 00070 }; 00071 00072 #endif
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