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かいださん機体 高田くん仕様キー
Dependencies: mbed
Fork of 2016_Spring_kaida by
Diff: Kaida_taka.cpp
- Revision:
- 13:042b2dda2343
diff -r b2f3c85cba36 -r 042b2dda2343 Kaida_taka.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Kaida_taka.cpp Thu Jun 09 11:49:20 2016 +0000 @@ -0,0 +1,293 @@ +#include "Utils.h" +#include "USBHost.h" +#include "hci.h" +#include "ps3.h" +#include "User.h" + +#include "mbed.h" + +int RSX,RSY,LSX,LSY,BSU,BSL; +//これより下に関数外に書く要素を記入する +/*PwmOut led1(LED1); +PwmOut led2(LED2); +DigitalOut led3(LED3); +DigitalOut led4(LED4); +*/ + + + + + + +//MD1 + +PwmOut motorRightOne (p26); +PwmOut motorRightTwo (p25); + +//MD2 +PwmOut motorLeftOne (p23); +PwmOut motorLeftTwo (p24); + +//MD3 Arm1 +PwmOut armOneJun(p21); +DigitalOut chocolateOne (p19); +DigitalOut chocolateTwo (p20); + +//MD4 Arm2 +PwmOut armTwoTaka(p22); +DigitalOut brownieOne (p29); +DigitalOut brownieTwo (p30); + + +/* +//momoi + +//MD1 + +PwmOut motorRightOne (p23); +PwmOut motorRightTwo (p24); + +//MD2 +PwmOut motorLeftOne (p21); +PwmOut motorLeftTwo (p22); + +//MD3 Arm1 +PwmOut armOneJun(p26); +DigitalOut chocolateOne (p30); +DigitalOut chocolateTwo (p29); + +//MD4 Arm2 +PwmOut armTwoTaka(p25); +DigitalOut brownieOne (p6); +DigitalOut brownieTwo (p5); + +*/ + + + + + + +/* + +PWM->0.xxx +Digitals->0 and 0.xxx +for arms(I guess...) + +For lergs, turn right or left, and just going go and back.->Probably using sticks. +How to cha ge speed? Two different tyes of speed. + +Wow, Taka-chan will do one of the machine. He wants to do with the angles. Plus I don't understand what they are talking about!! +Left stick, speed and right/left +Push button and max incline -> the max speed +Just max incline -> usual speed +Little incline -> slow speed + +L1/R2 -> turning? + +Lifting -> + +*/ + + + +void UserLoopSetting() +{ + //一度だけ行いたい初期設定をここに書く + /* + I need to ask what to do with this! + Actually, do we have any LEDs? + */ + /* led1.period_ms(20); + led3=1; +*/ + +} + +void UserLoop(char n,const u8* data) +{ + u16 ButtonState; + if(n==0) { //有線Ps3USB.cpp + RSX = ((ps3report*)data)->RightStickX; + RSY = ((ps3report*)data)->RightStickY; + LSX = ((ps3report*)data)->LeftStickX; + LSY = ((ps3report*)data)->LeftStickY; + BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff); + BSL = (u8)(((ps3report*)data)->ButtonState >> 8); + //ボタンの処理 + ButtonState = ((ps3report*)data)->ButtonState; + } else {//無線TestShell.cpp + RSX = ((ps3report*)(data + 1))->RightStickX; + RSY = ((ps3report*)(data + 1))->RightStickY; + LSX = ((ps3report*)(data + 1))->LeftStickX; + LSY = ((ps3report*)(data + 1))->LeftStickY; + BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff); + BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8); + //ボタンの処理 + ButtonState = ((ps3report*)(data + 1))->ButtonState; + } + //ここより下にプログラムを書く + +//足回り + /* + double thesOne = 64; + double thesTwo = 127; + double thesThree = 191; + double fastSpeed = 1; + double slowSpeed = 0.5; + */ + + + + + + if(LSY>140 && ((ButtonState >> BUTTONLANALOG)&1) == 1) { + motorRightOne = 0.8; + motorRightTwo = 0; + motorLeftOne = 0.8; + motorLeftTwo = 0; + } else if(LSY<110 && ((ButtonState >> BUTTONLANALOG)&1) == 1) { + motorRightOne = 0; + motorRightTwo = 0.8; + motorLeftOne = 0; + motorLeftTwo = 0.8; + + } else if(LSY>140 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 0) {//forward + motorRightOne = 0.4; + motorRightTwo = 0; + motorLeftOne = 0.4; + motorLeftTwo = 0; + } else if(LSY>140 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 0) {//turn right + motorRightOne = 0; + motorRightTwo = 0.4; + motorLeftOne = 0.4; + motorLeftTwo = 0; + } else if(LSY>140 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 1) {//turn left + motorRightOne = 0.4; + motorRightTwo = 0; + motorLeftOne = 0; + motorLeftTwo = 0.4; + }else if(LSY>140 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 1) {//forward + motorRightOne = 0.4; + motorRightTwo = 0; + motorLeftOne = 0.4; + motorLeftTwo = 0; + } else if(LSY<110 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 0) { //back + motorRightOne = 0; + motorRightTwo = 0.4; + motorLeftOne = 0; + motorLeftTwo = 0.4; + } else if (LSY<110 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 0) { //turn right + motorRightOne = 0; + motorRightTwo = 0.4; + motorLeftOne = 0.4; + motorLeftTwo = 0; + } else if(LSY<110 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 1) {//turn left + motorRightOne = 0.4; + motorRightTwo = 0; + motorLeftOne = 0; + motorLeftTwo = 0.4; + }else if (LSY<110 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 1) {//back + motorRightOne = 0; + motorRightTwo = 0.4; + motorLeftOne = 0; + motorLeftTwo = 0.4; + } else if(LSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 0) {//stop + motorRightOne = 0; + motorRightTwo = 0; + motorLeftOne = 0; + motorLeftTwo = 0; + } else if(LSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) ==1 && ((ButtonState >> BUTTONR1)&1) == 0) { //turn right + motorRightOne = 0; + motorRightTwo = 0.4; + motorLeftOne = 0.4; + motorLeftTwo = 0; + } else if(LSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) ==0 && ((ButtonState >> BUTTONR1)&1) == 1) { //turn left + motorRightOne = 0.4; + motorRightTwo = 0; + motorLeftOne = 0; + motorLeftTwo = 0.4; + } else if(LSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 1) { //stop + motorRightOne = 0; + motorRightTwo = 0; + motorLeftOne = 0; + motorLeftTwo = 0; + }else{ + motorRightOne = 0; + motorRightTwo = 0; + motorLeftOne = 0; + motorLeftTwo = 0; + } + + if(((ButtonState >> BUTTONDOWN)&1) == 1 && ((ButtonState >> BUTTONUP)&1) == 0) { + armOneJun = 0.4; + chocolateOne = 1; + chocolateTwo = 0; + } else if (((ButtonState >> BUTTONDOWN)&1) == 0 && ((ButtonState >> BUTTONUP)&1) == 1) { + armOneJun = 0.8; + chocolateOne = 0; + chocolateTwo = 1; + } else { + armOneJun = 0; + chocolateOne = 0; + chocolateTwo = 0; + } + + + if( ((ButtonState >> BUTTONTRIANGEL)&1) == 1 && ((ButtonState >> BUTTONCROSS)&1) == 0 ) { //つかむか放す + armTwoTaka = 0.2; + brownieOne = 1; + brownieTwo = 0; + } else if ( ((ButtonState >> BUTTONTRIANGEL)&1) == 0 && ((ButtonState >> BUTTONCROSS)&1) == 1 ) { + armTwoTaka = 0.2; + brownieOne = 0; + brownieTwo = 1; + } else { + armTwoTaka = 0; + brownieOne = 0; + brownieTwo = 0; + } +/* + + +if((ButtonState >> BUTTONCIRCLE)&1) { + motorRightOne = 0.4; + motorRightTwo = 0; + motorLeftOne = 0.4; + motorLeftTwo = 0; + }else{ + motorRightOne = 0; + motorRightTwo = 0; + motorLeftOne = 0; + motorLeftTwo = 0; + } +*/ + + /* + With oen if, put both arms and legs. + + Use start and select?? + + + */ + + //データ取得例 + + if((ButtonState >> BUTTONCIRCLE)&1) { + //○が押されたとき + } +/* + + led1=RSX/256.0f; + led2=RSY/256.0f; + + + */ + /* + led3=ButtonState & 0x0400; //L1の状態 + led4=ButtonState & 0x0800; //R1の状態 + */ //値の取得はps3.hを参照 + + + +} \ No newline at end of file