新部内対抗A班 / Mbed 2 deprecated PS3_BlueUSB_user_ver_circlewar_A

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Dependencies:   mbed

Fork of PS3_BlueUSB_user_ver_circlewar by 新部内対抗A班

User.cpp@21:34b11624c5a0, 2016-04-03 (annotated)

Committer:
baba2357
Date:
Sun Apr 03 18:21:41 2016 +0000
Revision:
21:34b11624c5a0
Parent:
20:18ae99ad72f7 
????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hirokimineshita 0:736c76a75def 1 #include "Utils.h"
hirokimineshita 0:736c76a75def 2 #include "USBHost.h"
hirokimineshita 0:736c76a75def 3 #include "hci.h"
hirokimineshita 0:736c76a75def 4 #include "ps3.h"
hirokimineshita 0:736c76a75def 5 #include "User.h"
hirokimineshita 0:736c76a75def 6 #include "mbed.h"
baba2357 21:34b11624c5a0 7 int a=0;
baba2357 21:34b11624c5a0 8 int RSX,RSY,LSX,LSY,BSU,BSL,H=0,h=0;
baba2357 21:34b11624c5a0 9 bool circleState=0;
hirokimineshita 9:e5437ba3e920 10 //これより下に関数外に書く要素を記入する
hirokimineshita 0:736c76a75def 11 PwmOut led1(LED1);
hirokimineshita 0:736c76a75def 12 PwmOut led2(LED2);
hirokimineshita 0:736c76a75def 13 DigitalOut led3(LED3);
hirokimineshita 0:736c76a75def 14 DigitalOut led4(LED4);
baba2357 10:bf0c0cdb487d 15 SPI m(p5, p6, p7);
baba2357 10:bf0c0cdb487d 16 DigitalOut cs(p8);
baba2357 13:0d6ad1fb03b5 17 void UserLoopSetting()
baba2357 13:0d6ad1fb03b5 18 {
hirokimineshita 0:736c76a75def 19 //一度だけ行いたい初期設定をここに書く
hirokimineshita 0:736c76a75def 20 led1.period_ms(20);
hirokimineshita 0:736c76a75def 21 }
hirokimineshita 0:736c76a75def 22
baba2357 13:0d6ad1fb03b5 23 void UserLoop(char n,const u8* data)
baba2357 13:0d6ad1fb03b5 24 {
hirokimineshita 0:736c76a75def 25 u16 ButtonState;
baba2357 13:0d6ad1fb03b5 26 if(n==0) { //有線Ps3USB.cpp
hirokimineshita 0:736c76a75def 27 RSX = ((ps3report*)data)->RightStickX;
hirokimineshita 0:736c76a75def 28 RSY = ((ps3report*)data)->RightStickY;
hirokimineshita 0:736c76a75def 29 LSX = ((ps3report*)data)->LeftStickX;
hirokimineshita 0:736c76a75def 30 LSY = ((ps3report*)data)->LeftStickY;
hirokimineshita 0:736c76a75def 31 BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff);
hirokimineshita 0:736c76a75def 32 BSL = (u8)(((ps3report*)data)->ButtonState >> 8);
hirokimineshita 0:736c76a75def 33 //ボタンの処理
hirokimineshita 0:736c76a75def 34 ButtonState = ((ps3report*)data)->ButtonState;
baba2357 13:0d6ad1fb03b5 35 } else {//無線TestShell.cpp
hirokimineshita 0:736c76a75def 36 RSX = ((ps3report*)(data + 1))->RightStickX;
hirokimineshita 0:736c76a75def 37 RSY = ((ps3report*)(data + 1))->RightStickY;
hirokimineshita 0:736c76a75def 38 LSX = ((ps3report*)(data + 1))->LeftStickX;
hirokimineshita 0:736c76a75def 39 LSY = ((ps3report*)(data + 1))->LeftStickY;
hirokimineshita 0:736c76a75def 40 BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff);
hirokimineshita 0:736c76a75def 41 BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8);
hirokimineshita 0:736c76a75def 42 //ボタンの処理
hirokimineshita 0:736c76a75def 43 ButtonState = ((ps3report*)(data + 1))->ButtonState;
hirokimineshita 0:736c76a75def 44 }
hirokimineshita 0:736c76a75def 45 //ここより下にプログラムを書く
hirokimineshita 0:736c76a75def 46 //データ取得例
baba2357 21:34b11624c5a0 47 int M=0,move=0,updown=0;
baba2357 21:34b11624c5a0 48
baba2357 10:bf0c0cdb487d 49 m.format(16,3);
baba2357 10:bf0c0cdb487d 50 m.frequency(1000000);
baba2357 10:bf0c0cdb487d 51 cs=0;
baba2357 21:34b11624c5a0 52
baba2357 13:0d6ad1fb03b5 53 //以下の整数ＭをＳＰＩで送る
baba2357 13:0d6ad1fb03b5 54 //整数Ｍを16桁の二進数とする。
baba2357 21:34b11624c5a0 55 //桁数| 16 | 15 | 14 |13|12|11|10| 9 | 8 | 7 | 6 | 5 |4|3|2|1|
baba2357 21:34b11624c5a0 56 //指示|右旋回 |左旋回 |Ｘの＋or－| 出力0~15 |アームonoff|上下onoff| 上下+- |空白|Ｙの＋orー|出力0~15|
baba2357 13:0d6ad1fb03b5 57 if((ButtonState >> BUTTONR1)&1) {
baba2357 21:34b11624c5a0 58 M=1<<15;
baba2357 19:71f64ff1b86f 59 } else if((ButtonState >> BUTTONL1)&1) {
baba2357 21:34b11624c5a0 60 M=1<<14;
baba2357 13:0d6ad1fb03b5 61 } else {
baba2357 20:18ae99ad72f7 62 if(LSX-129>0) {
baba2357 13:0d6ad1fb03b5 63 M=1;
baba2357 21:34b11624c5a0 64 M=M<<4;
baba2357 21:34b11624c5a0 65 M+=(LSX-128)/8;
baba2357 21:34b11624c5a0 66 M=M<<9;
baba2357 19:71f64ff1b86f 67 } else if(LSX-127<0) {
baba2357 21:34b11624c5a0 68 if(((LSX-128)/8)==-16) M+=15;
baba2357 21:34b11624c5a0 69 else M+=(-1)*((LSX-128)/8);
baba2357 21:34b11624c5a0 70 M=M<<9;
baba2357 10:bf0c0cdb487d 71 }
baba2357 21:34b11624c5a0 72 if((ButtonState >> BUTTONTRIANGEL)&1) {
baba2357 21:34b11624c5a0 73 //○が押されたとき
baba2357 21:34b11624c5a0 74 circleState=1;
baba2357 21:34b11624c5a0 75 a=0;
baba2357 21:34b11624c5a0 76 } else {
baba2357 21:34b11624c5a0 77 //a=0;
baba2357 21:34b11624c5a0 78 if(circleState == 1) {
baba2357 21:34b11624c5a0 79 if(H == 0) {
baba2357 21:34b11624c5a0 80 H = 1;
baba2357 21:34b11624c5a0 81 } else {
baba2357 21:34b11624c5a0 82 H = 0;
baba2357 21:34b11624c5a0 83 }
baba2357 21:34b11624c5a0 84 circleState = 0;
baba2357 21:34b11624c5a0 85 }else circleState = 0;
baba2357 21:34b11624c5a0 86 //a++;
baba2357 21:34b11624c5a0 87 }
baba2357 21:34b11624c5a0 88 h=H<<8;
baba2357 21:34b11624c5a0 89 if((ButtonState >> BUTTONUP)&1) {
baba2357 21:34b11624c5a0 90 move=1<<7;
baba2357 21:34b11624c5a0 91 updown=1<<6;
baba2357 21:34b11624c5a0 92 } else if((ButtonState >> BUTTONDOWN)&1) {
baba2357 21:34b11624c5a0 93 move=1<<7;
baba2357 13:0d6ad1fb03b5 94 }
baba2357 21:34b11624c5a0 95 if(LSY-129>0) {
baba2357 21:34b11624c5a0 96 M+=0x10;
baba2357 21:34b11624c5a0 97 M+=(LSY-128)/8;
baba2357 21:34b11624c5a0 98 } else if(LSY-127<0) {
baba2357 21:34b11624c5a0 99 if(((LSY-128)/8)==-16) M+=15;
baba2357 21:34b11624c5a0 100 else M+=(-1)*((LSY-128)/8);
baba2357 21:34b11624c5a0 101 } else {
baba2357 21:34b11624c5a0 102 M=0;
baba2357 21:34b11624c5a0 103 }
baba2357 21:34b11624c5a0 104 }
baba2357 21:34b11624c5a0 105 M+=h;
baba2357 21:34b11624c5a0 106 M+=move;
baba2357 21:34b11624c5a0 107 M+=updown;
baba2357 21:34b11624c5a0 108
baba2357 20:18ae99ad72f7 109 // m.write(0xffff);
baba2357 20:18ae99ad72f7 110 m.write(M);
baba2357 20:18ae99ad72f7 111 // printf("%d,%d\n\r",M&0x40,0x40);
baba2357 13:0d6ad1fb03b5 112
hirokimineshita 0:736c76a75def 113 led1=LSX/256.0f;
hirokimineshita 0:736c76a75def 114 led2=LSY/256.0f;
hirokimineshita 0:736c76a75def 115 led3=ButtonState & 0x0400; //L1の状態
hirokimineshita 0:736c76a75def 116 led4=ButtonState & 0x0800; //R1の状態
baba2357 21:34b11624c5a0 117 //値の取得はps3.hを参照
baba2357 13:0d6ad1fb03b5 118 cs=1;
baba2357 21:34b11624c5a0 119 printf("M:%d\t,h:%d\t,updown:%d\t,move:%d\t,a=%d\t\n",M,H,updown,move,a);
baba2357 21:34b11624c5a0 120 }