新部内対抗A班 / Mbed 2 deprecated PS3_BlueUSB_user_ver_circlewarA

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Dependencies:   mbed

Fork of PS3_BlueUSB_user_ver_circlewar by 智也 馬場

Diff: User.cpp

Revision:
15:d9485d4c3b8c
Parent:
14:639d019dfee8
Child:
16:90fb0ef425ac
--- a/User.cpp	Wed Feb 17 08:34:51 2016 +0000
+++ b/User.cpp	Thu Mar 10 01:48:16 2016 +0000
@@ -7,14 +7,13 @@
 #include "ps3.h"
 #include "User.h"
 #include "mbed.h"
-#define DEBUG_MODE
+#include "S9706.h"
+#include "SerialServo.h"
+//#define DEBUG_MODE
+#define ID 0
 
 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);
 DigitalOut LA(p21);
 DigitalOut RA(p23);
 DigitalOut LH(p22);
@@ -22,9 +21,21 @@
 DigitalOut CH(p25);
 SPI m(p5, p6, p7);
 DigitalOut cs(p8);
+//Serial pc(USBTX,USBRX);
+
+DigitalOut leds[4] = {LED1,LED2,LED3,LED4};
+
+
+
+//
 void UserLoopSetting(){
     //一度だけ行いたい初期設定をここに書く
-    led1.period_ms(20);
+    LA=0;
+    RA=0;
+    LH=0;
+    RH=0;
+    CH=0;
+    initSerialServo();
 }
 
 void UserLoop(char n,const u8* data){
@@ -50,6 +61,8 @@
     }
     //ここより下にプログラムを書く
     //データ取得例
+    set_degree(ID,200);
+    
     int M=0;
     m.format(16,3);
     m.frequency(1000000);
@@ -58,23 +71,23 @@
         //○が押されたとき
     }
     if((ButtonState >> BUTTONL2)&1){
-        LA=1;
+        LA=!LA;
         }
     else if((ButtonState >> BUTTONR2)&1){
-        RA=1;
+        RA=!RA;
         }
     else if((ButtonState >> BUTTONCROSS)&1){
-        RA=1;
-        LA=1;
+        RA=!RA;
+        LA=!LA;
         }
     else if((ButtonState >> BUTTONCIRCLE)&1){
-        RH=1;
+        RH=!RH;
         }
     else if((ButtonState >> BUTTONTRIANGEL)&1){
-        CH=1;
+        CH=!CH;
         }
     else if((ButtonState >> BUTTONSQUARE)&1){
-        LH=1;
+        LH=!LH;
         }
     if((ButtonState >> BUTTONR1)&1){
         M+=1 << 15;
@@ -116,10 +129,20 @@
     
     m.write(M);    
     
+/*
     led1=LSX/256.0f;
     led2=LSY/256.0f;
     led3=ButtonState & 0x0400;  //L1の状態
     led4=ButtonState & 0x0800;  //R1の状態
+    */
+    for(int i = 0;i<4;i++){
+        leds[i] = !leds[i];
+        wait_ms(50);
+        }
     //値の取得はps3.hを参照
     cs=1;
+//    setID(ID);
+//    readID();
+//    readID();
+    
 }
\ No newline at end of file