新部内対抗５班 / Mbed 2 deprecated 2016_Sp_momoi_0611

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Dependencies:   mbed

Fork of 2016_Sp_momoi_0611 by keita noda

momoi_taka.cpp@12:d811e29e469a, 2016-06-09 (annotated)

Committer:
atsushika
Date:
Thu Jun 09 11:58:32 2016 +0000
Revision:
12:d811e29e469a
Child:
13:9e04b53e875a
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
atsushika 12:d811e29e469a 1 #include "Utils.h"
atsushika 12:d811e29e469a 2 #include "USBHost.h"
atsushika 12:d811e29e469a 3 #include "hci.h"
atsushika 12:d811e29e469a 4 #include "ps3.h"
atsushika 12:d811e29e469a 5 #include "User.h"
atsushika 12:d811e29e469a 6
atsushika 12:d811e29e469a 7 #include "mbed.h"
atsushika 12:d811e29e469a 8
atsushika 12:d811e29e469a 9 int RSX,RSY,LSX,LSY,BSU,BSL;
atsushika 12:d811e29e469a 10 //これより下に関数外に書く要素を記入する
atsushika 12:d811e29e469a 11 /*
atsushika 12:d811e29e469a 12 PwmOut led1(LED1);
atsushika 12:d811e29e469a 13 PwmOut led2(LED2);
atsushika 12:d811e29e469a 14 DigitalOut led3(LED3);
atsushika 12:d811e29e469a 15 DigitalOut led4(LED4);
atsushika 12:d811e29e469a 16 */
atsushika 12:d811e29e469a 17
atsushika 12:d811e29e469a 18
atsushika 12:d811e29e469a 19
atsushika 12:d811e29e469a 20
atsushika 12:d811e29e469a 21
atsushika 12:d811e29e469a 22
atsushika 12:d811e29e469a 23
atsushika 12:d811e29e469a 24
atsushika 12:d811e29e469a 25 //momoi
atsushika 12:d811e29e469a 26
atsushika 12:d811e29e469a 27 //MD1 right
atsushika 12:d811e29e469a 28
atsushika 12:d811e29e469a 29 PwmOut motorRightOne (p23);
atsushika 12:d811e29e469a 30 PwmOut motorRightTwo (p24);
atsushika 12:d811e29e469a 31
atsushika 12:d811e29e469a 32 //MD2 left
atsushika 12:d811e29e469a 33 PwmOut motorLeftOne (p21);
atsushika 12:d811e29e469a 34 PwmOut motorLeftTwo (p22);
atsushika 12:d811e29e469a 35
atsushika 12:d811e29e469a 36 //MD3 Arm1
atsushika 12:d811e29e469a 37 PwmOut armOneJun(p26);
atsushika 12:d811e29e469a 38 DigitalOut chocolateOne (p30);
atsushika 12:d811e29e469a 39 DigitalOut chocolateTwo (p29);
atsushika 12:d811e29e469a 40
atsushika 12:d811e29e469a 41 //MD4 Arm2
atsushika 12:d811e29e469a 42 PwmOut armTwoTaka(p25);
atsushika 12:d811e29e469a 43 DigitalOut brownieOne (p6);
atsushika 12:d811e29e469a 44 DigitalOut brownieTwo (p5);
atsushika 12:d811e29e469a 45
atsushika 12:d811e29e469a 46 void UserLoopSetting(){
atsushika 12:d811e29e469a 47 //一度だけ行いたい初期設定をここに書く
atsushika 12:d811e29e469a 48 /* led1.period_ms(20);*/
atsushika 12:d811e29e469a 49 }
atsushika 12:d811e29e469a 50
atsushika 12:d811e29e469a 51 void UserLoop(char n,const u8* data){
atsushika 12:d811e29e469a 52 u16 ButtonState;
atsushika 12:d811e29e469a 53 if(n==0){//有線Ps3USB.cpp
atsushika 12:d811e29e469a 54 RSX = ((ps3report*)data)->RightStickX;
atsushika 12:d811e29e469a 55 RSY = ((ps3report*)data)->RightStickY;
atsushika 12:d811e29e469a 56 LSX = ((ps3report*)data)->LeftStickX;
atsushika 12:d811e29e469a 57 LSY = ((ps3report*)data)->LeftStickY;
atsushika 12:d811e29e469a 58 BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff);
atsushika 12:d811e29e469a 59 BSL = (u8)(((ps3report*)data)->ButtonState >> 8);
atsushika 12:d811e29e469a 60 //ボタンの処理
atsushika 12:d811e29e469a 61 ButtonState = ((ps3report*)data)->ButtonState;
atsushika 12:d811e29e469a 62 }else {//無線TestShell.cpp
atsushika 12:d811e29e469a 63 RSX = ((ps3report*)(data + 1))->RightStickX;
atsushika 12:d811e29e469a 64 RSY = ((ps3report*)(data + 1))->RightStickY;
atsushika 12:d811e29e469a 65 LSX = ((ps3report*)(data + 1))->LeftStickX;
atsushika 12:d811e29e469a 66 LSY = ((ps3report*)(data + 1))->LeftStickY;
atsushika 12:d811e29e469a 67 BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff);
atsushika 12:d811e29e469a 68 BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8);
atsushika 12:d811e29e469a 69 //ボタンの処理
atsushika 12:d811e29e469a 70 ButtonState = ((ps3report*)(data + 1))->ButtonState;
atsushika 12:d811e29e469a 71 }
atsushika 12:d811e29e469a 72 //ここより下にプログラムを書く
atsushika 12:d811e29e469a 73
atsushika 12:d811e29e469a 74 if(LSY>140 && ((ButtonState >> BUTTONLANALOG)&1) == 1) {
atsushika 12:d811e29e469a 75 motorRightOne = 0.8;
atsushika 12:d811e29e469a 76 motorRightTwo = 0;
atsushika 12:d811e29e469a 77 motorLeftOne = 0.9;
atsushika 12:d811e29e469a 78 motorLeftTwo = 0;
atsushika 12:d811e29e469a 79 } else if(LSY<110 && ((ButtonState >> BUTTONLANALOG)&1) == 1) {
atsushika 12:d811e29e469a 80 motorRightOne = 0;
atsushika 12:d811e29e469a 81 motorRightTwo = 0.8;
atsushika 12:d811e29e469a 82 motorLeftOne = 0;
atsushika 12:d811e29e469a 83 motorLeftTwo = 0.9;
atsushika 12:d811e29e469a 84
atsushika 12:d811e29e469a 85
atsushika 12:d811e29e469a 86 } else if(LSY>140 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 0) {//forward
atsushika 12:d811e29e469a 87 motorRightOne = 0.4;
atsushika 12:d811e29e469a 88 motorRightTwo = 0;
atsushika 12:d811e29e469a 89 motorLeftOne = 0.5;
atsushika 12:d811e29e469a 90 motorLeftTwo = 0;
atsushika 12:d811e29e469a 91 } else if(LSY>140 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 0) {//turn right
atsushika 12:d811e29e469a 92 motorRightOne = 0;
atsushika 12:d811e29e469a 93 motorRightTwo = 0.4;
atsushika 12:d811e29e469a 94 motorLeftOne = 0.5;
atsushika 12:d811e29e469a 95 motorLeftTwo = 0;
atsushika 12:d811e29e469a 96 } else if(LSY>140 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 1) {//turn left
atsushika 12:d811e29e469a 97 motorRightOne = 0.4;
atsushika 12:d811e29e469a 98 motorRightTwo = 0;
atsushika 12:d811e29e469a 99 motorLeftOne = 0;
atsushika 12:d811e29e469a 100 motorLeftTwo = 0.5;
atsushika 12:d811e29e469a 101 }else if(LSY>140 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 1) {//forward
atsushika 12:d811e29e469a 102 motorRightOne = 0.4;
atsushika 12:d811e29e469a 103 motorRightTwo = 0;
atsushika 12:d811e29e469a 104 motorLeftOne = 0.5;
atsushika 12:d811e29e469a 105 motorLeftTwo = 0;
atsushika 12:d811e29e469a 106 } else if(LSY<110 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 0) { //back
atsushika 12:d811e29e469a 107 motorRightOne = 0;
atsushika 12:d811e29e469a 108 motorRightTwo = 0.4;
atsushika 12:d811e29e469a 109 motorLeftOne = 0;
atsushika 12:d811e29e469a 110 motorLeftTwo = 0.5;
atsushika 12:d811e29e469a 111 } else if (LSY<110 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 0) { //turn right
atsushika 12:d811e29e469a 112 motorRightOne = 0;
atsushika 12:d811e29e469a 113 motorRightTwo = 0.4;
atsushika 12:d811e29e469a 114 motorLeftOne = 0.5;
atsushika 12:d811e29e469a 115 motorLeftTwo = 0;
atsushika 12:d811e29e469a 116 } else if(LSY<110 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 1) {//turn left
atsushika 12:d811e29e469a 117 motorRightOne = 0.4;
atsushika 12:d811e29e469a 118 motorRightTwo = 0;
atsushika 12:d811e29e469a 119 motorLeftOne = 0;
atsushika 12:d811e29e469a 120 motorLeftTwo = 0.5;
atsushika 12:d811e29e469a 121 }else if (LSY<110 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 1) {//back
atsushika 12:d811e29e469a 122 motorRightOne = 0;
atsushika 12:d811e29e469a 123 motorRightTwo = 0.4;
atsushika 12:d811e29e469a 124 motorLeftOne = 0;
atsushika 12:d811e29e469a 125 motorLeftTwo = 0.5;
atsushika 12:d811e29e469a 126 } else if(LSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 0) {//stop
atsushika 12:d811e29e469a 127 motorRightOne = 0;
atsushika 12:d811e29e469a 128 motorRightTwo = 0;
atsushika 12:d811e29e469a 129 motorLeftOne = 0;
atsushika 12:d811e29e469a 130 motorLeftTwo = 0;
atsushika 12:d811e29e469a 131 } else if(LSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) ==1 && ((ButtonState >> BUTTONR1)&1) == 0) { //turn right
atsushika 12:d811e29e469a 132 motorRightOne = 0;
atsushika 12:d811e29e469a 133 motorRightTwo = 0.4;
atsushika 12:d811e29e469a 134 motorLeftOne = 0.5;
atsushika 12:d811e29e469a 135 motorLeftTwo = 0;
atsushika 12:d811e29e469a 136 } else if(LSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) ==0 && ((ButtonState >> BUTTONR1)&1) == 1) { //turn left
atsushika 12:d811e29e469a 137 motorRightOne = 0.4;
atsushika 12:d811e29e469a 138 motorRightTwo = 0;
atsushika 12:d811e29e469a 139 motorLeftOne = 0;
atsushika 12:d811e29e469a 140 motorLeftTwo = 0.5;
atsushika 12:d811e29e469a 141 } else if(LSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 1) { //stop
atsushika 12:d811e29e469a 142 motorRightOne = 0;
atsushika 12:d811e29e469a 143 motorRightTwo = 0;
atsushika 12:d811e29e469a 144 motorLeftOne = 0;
atsushika 12:d811e29e469a 145 motorLeftTwo = 0;
atsushika 12:d811e29e469a 146 }else{
atsushika 12:d811e29e469a 147 motorRightOne = 0;
atsushika 12:d811e29e469a 148 motorRightTwo = 0;
atsushika 12:d811e29e469a 149 motorLeftOne = 0;
atsushika 12:d811e29e469a 150 motorLeftTwo = 0;
atsushika 12:d811e29e469a 151 }
atsushika 12:d811e29e469a 152
atsushika 12:d811e29e469a 153 if(((ButtonState >> BUTTONDOWN)&1) == 1 && ((ButtonState >> BUTTONUP)&1) == 0) {
atsushika 12:d811e29e469a 154 armOneJun = 0.8;
atsushika 12:d811e29e469a 155 chocolateOne = 1;
atsushika 12:d811e29e469a 156 chocolateTwo = 0;
atsushika 12:d811e29e469a 157 } else if (((ButtonState >> BUTTONDOWN)&1) == 0 && ((ButtonState >> BUTTONUP)&1) == 1) {
atsushika 12:d811e29e469a 158 armOneJun = 0.8;
atsushika 12:d811e29e469a 159 chocolateOne = 0;
atsushika 12:d811e29e469a 160 chocolateTwo = 1;
atsushika 12:d811e29e469a 161 } else {
atsushika 12:d811e29e469a 162 armOneJun = 0;
atsushika 12:d811e29e469a 163 chocolateOne = 0;
atsushika 12:d811e29e469a 164 chocolateTwo = 0;
atsushika 12:d811e29e469a 165 }
atsushika 12:d811e29e469a 166
atsushika 12:d811e29e469a 167
atsushika 12:d811e29e469a 168 if( ((ButtonState >> BUTTONSQUARE)&1) == 1 && ((ButtonState >> BUTTONCIRCLE)&1) == 0 ) { //つかむか放す
atsushika 12:d811e29e469a 169 armTwoTaka = 0.4;
atsushika 12:d811e29e469a 170 brownieOne = 1;
atsushika 12:d811e29e469a 171 brownieTwo = 0;
atsushika 12:d811e29e469a 172 } else if ( ((ButtonState >> BUTTONSQUARE)&1) == 0 && ((ButtonState >> BUTTONCIRCLE)&1) == 1 ) {
atsushika 12:d811e29e469a 173 armTwoTaka = 0.4;
atsushika 12:d811e29e469a 174 brownieOne = 0;
atsushika 12:d811e29e469a 175 brownieTwo = 1;
atsushika 12:d811e29e469a 176 } else {
atsushika 12:d811e29e469a 177 armTwoTaka = 0;
atsushika 12:d811e29e469a 178 brownieOne = 0;
atsushika 12:d811e29e469a 179 brownieTwo = 0;
atsushika 12:d811e29e469a 180 }
atsushika 12:d811e29e469a 181
atsushika 12:d811e29e469a 182
atsushika 12:d811e29e469a 183
atsushika 12:d811e29e469a 184
atsushika 12:d811e29e469a 185
atsushika 12:d811e29e469a 186
atsushika 12:d811e29e469a 187
atsushika 12:d811e29e469a 188
atsushika 12:d811e29e469a 189
atsushika 12:d811e29e469a 190
atsushika 12:d811e29e469a 191
atsushika 12:d811e29e469a 192
atsushika 12:d811e29e469a 193
atsushika 12:d811e29e469a 194 //データ取得例
atsushika 12:d811e29e469a 195
atsushika 12:d811e29e469a 196 if((ButtonState >> BUTTONCIRCLE)&1) {
atsushika 12:d811e29e469a 197 //○が押されたとき
atsushika 12:d811e29e469a 198 }
atsushika 12:d811e29e469a 199
atsushika 12:d811e29e469a 200
atsushika 12:d811e29e469a 201
atsushika 12:d811e29e469a 202 //値の取得はps3.hを参照
atsushika 12:d811e29e469a 203
atsushika 12:d811e29e469a 204 }