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Dependencies:   mbed

Fork of clubvs2017_momoi by ROBOSTEP4期

KaidaKari.cpp@19:70657aee6fa5, 2017-03-30 (annotated)

Committer:
abcdefgh
Date:
Thu Mar 30 05:39:06 2017 +0000
Revision:
19:70657aee6fa5
Parent:
18:cab2885dc8fe 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Junbug 12:b2f3c85cba36 1 #include "Utils.h"
Junbug 12:b2f3c85cba36 2 #include "USBHost.h"
Junbug 12:b2f3c85cba36 3 #include "hci.h"
Junbug 12:b2f3c85cba36 4 #include "ps3.h"
Junbug 12:b2f3c85cba36 5 #include "User.h"
Junbug 12:b2f3c85cba36 6 #include "mbed.h"
Junbug 12:b2f3c85cba36 7
Junbug 12:b2f3c85cba36 8 int RSX,RSY,LSX,LSY,BSU,BSL;
Junbug 12:b2f3c85cba36 9 //これより下に関数外に書く要素を記入する
abcdefgh 17:efe67bbb927e 10 double flag;
abcdefgh 18:cab2885dc8fe 11
Junbug 12:b2f3c85cba36 12 //MD1
abcdefgh 18:cab2885dc8fe 13
abcdefgh 18:cab2885dc8fe 14 PwmOut motorRightOne (p26);
abcdefgh 18:cab2885dc8fe 15 PwmOut motorRightTwo (p25);
Junbug 12:b2f3c85cba36 16
Junbug 12:b2f3c85cba36 17 //MD2
abcdefgh 18:cab2885dc8fe 18 PwmOut motorLeftOne (p23);
abcdefgh 18:cab2885dc8fe 19 PwmOut motorLeftTwo (p24);
Junbug 12:b2f3c85cba36 20
Junbug 12:b2f3c85cba36 21 //MD3 Arm1
abcdefgh 18:cab2885dc8fe 22 PwmOut armRight(p22);
abcdefgh 18:cab2885dc8fe 23 DigitalOut armOne (p29);
abcdefgh 18:cab2885dc8fe 24 DigitalOut armTwo (p30);
Junbug 12:b2f3c85cba36 25
Junbug 12:b2f3c85cba36 26 //MD4 Arm2
abcdefgh 18:cab2885dc8fe 27 PwmOut armLeft(p21);
abcdefgh 18:cab2885dc8fe 28 DigitalOut armThree (p19);
abcdefgh 18:cab2885dc8fe 29 DigitalOut armFour (p20);
Junbug 12:b2f3c85cba36 30
Junbug 12:b2f3c85cba36 31 /*
Junbug 12:b2f3c85cba36 32
Junbug 12:b2f3c85cba36 33 PWM->0.xxx
Junbug 12:b2f3c85cba36 34 Digitals->0 and 0.xxx
Junbug 12:b2f3c85cba36 35 for arms(I guess...)
Junbug 12:b2f3c85cba36 36
Junbug 12:b2f3c85cba36 37 For lergs, turn right or left, and just going go and back.->Probably using sticks.
Junbug 12:b2f3c85cba36 38 How to cha ge speed? Two different tyes of speed.
Junbug 12:b2f3c85cba36 39
Junbug 12:b2f3c85cba36 40 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!!
Junbug 12:b2f3c85cba36 41 Left stick, speed and right/left
Junbug 12:b2f3c85cba36 42 Push button and max incline -> the max speed
Junbug 12:b2f3c85cba36 43 Just max incline -> usual speed
Junbug 12:b2f3c85cba36 44 Little incline -> slow speed
Junbug 12:b2f3c85cba36 45
Junbug 12:b2f3c85cba36 46 L1/R2 -> turning?
Junbug 12:b2f3c85cba36 47
Junbug 12:b2f3c85cba36 48 Lifting ->
Junbug 12:b2f3c85cba36 49
Junbug 12:b2f3c85cba36 50 */
Junbug 12:b2f3c85cba36 51
Junbug 12:b2f3c85cba36 52
Junbug 12:b2f3c85cba36 53
Junbug 12:b2f3c85cba36 54 void UserLoopSetting()
Junbug 12:b2f3c85cba36 55 {
Junbug 12:b2f3c85cba36 56 //一度だけ行いたい初期設定をここに書く
Junbug 12:b2f3c85cba36 57 /*
Junbug 12:b2f3c85cba36 58 I need to ask what to do with this!
Junbug 12:b2f3c85cba36 59 Actually, do we have any LEDs?
Junbug 12:b2f3c85cba36 60 */
abcdefgh 15:5e973e6c058c 61
Junbug 12:b2f3c85cba36 62 }
Junbug 12:b2f3c85cba36 63
Junbug 12:b2f3c85cba36 64 void UserLoop(char n,const u8* data)
Junbug 12:b2f3c85cba36 65 {
Junbug 12:b2f3c85cba36 66 u16 ButtonState;
Junbug 12:b2f3c85cba36 67 if(n==0) { //有線Ps3USB.cpp
Junbug 12:b2f3c85cba36 68 RSX = ((ps3report*)data)->RightStickX;
Junbug 12:b2f3c85cba36 69 RSY = ((ps3report*)data)->RightStickY;
Junbug 12:b2f3c85cba36 70 LSX = ((ps3report*)data)->LeftStickX;
Junbug 12:b2f3c85cba36 71 LSY = ((ps3report*)data)->LeftStickY;
Junbug 12:b2f3c85cba36 72 BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff);
Junbug 12:b2f3c85cba36 73 BSL = (u8)(((ps3report*)data)->ButtonState >> 8);
Junbug 12:b2f3c85cba36 74 //ボタンの処理
Junbug 12:b2f3c85cba36 75 ButtonState = ((ps3report*)data)->ButtonState;
Junbug 12:b2f3c85cba36 76 } else {//無線TestShell.cpp
Junbug 12:b2f3c85cba36 77 RSX = ((ps3report*)(data + 1))->RightStickX;
Junbug 12:b2f3c85cba36 78 RSY = ((ps3report*)(data + 1))->RightStickY;
Junbug 12:b2f3c85cba36 79 LSX = ((ps3report*)(data + 1))->LeftStickX;
Junbug 12:b2f3c85cba36 80 LSY = ((ps3report*)(data + 1))->LeftStickY;
Junbug 12:b2f3c85cba36 81 BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff);
Junbug 12:b2f3c85cba36 82 BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8);
Junbug 12:b2f3c85cba36 83 //ボタンの処理
Junbug 12:b2f3c85cba36 84 ButtonState = ((ps3report*)(data + 1))->ButtonState;
Junbug 12:b2f3c85cba36 85 }
Junbug 12:b2f3c85cba36 86 //ここより下にプログラムを書く
Junbug 12:b2f3c85cba36 87
Junbug 12:b2f3c85cba36 88 /*
Junbug 12:b2f3c85cba36 89 double thesOne = 64;
Junbug 12:b2f3c85cba36 90 double thesTwo = 127;
Junbug 12:b2f3c85cba36 91 double thesThree = 191;
Junbug 12:b2f3c85cba36 92 double fastSpeed = 1;
Junbug 12:b2f3c85cba36 93 double slowSpeed = 0.5;
Junbug 12:b2f3c85cba36 94 */
abcdefgh 15:5e973e6c058c 95
abcdefgh 14:67ee8d8f4efe 96 //motor
abcdefgh 18:cab2885dc8fe 97
abcdefgh 19:70657aee6fa5 98 if((ButtonState >> BUTTONL2)&1 == 1) {
abcdefgh 19:70657aee6fa5 99 flag -= 0.1;
abcdefgh 19:70657aee6fa5 100 wait(0.1);
abcdefgh 18:cab2885dc8fe 101 } else if((ButtonState >> BUTTONR2)&1 == 1) {
abcdefgh 19:70657aee6fa5 102 flag = 0;
abcdefgh 18:cab2885dc8fe 103 wait(0.1);
abcdefgh 17:efe67bbb927e 104 }
abcdefgh 19:70657aee6fa5 105 if(flag <= -0.2) {
abcdefgh 19:70657aee6fa5 106 flag = -0.2;
abcdefgh 18:cab2885dc8fe 107 }
abcdefgh 18:cab2885dc8fe 108
abcdefgh 17:efe67bbb927e 109 if(LSY>140 && ((ButtonState >> BUTTONLANALOG)&1) == 1) {
abcdefgh 19:70657aee6fa5 110 motorRightOne = 0.9;
Junbug 12:b2f3c85cba36 111 motorRightTwo = 0;
abcdefgh 19:70657aee6fa5 112 motorLeftOne = 0.9;
abcdefgh 17:efe67bbb927e 113 motorLeftTwo = 0;
abcdefgh 18:cab2885dc8fe 114 } else if(LSY<110 && ((ButtonState >> BUTTONLANALOG)&1) == 1) {
abcdefgh 18:cab2885dc8fe 115 motorRightOne = 0;
abcdefgh 19:70657aee6fa5 116 motorRightTwo = 0.9;
abcdefgh 17:efe67bbb927e 117 motorLeftOne = 0;
abcdefgh 19:70657aee6fa5 118 motorLeftTwo = 0.9;
abcdefgh 18:cab2885dc8fe 119 } else if( LSY > 140 ) { //forward
abcdefgh 18:cab2885dc8fe 120 motorRightOne = 0.6 + flag;
abcdefgh 17:efe67bbb927e 121 motorRightTwo = 0;
abcdefgh 18:cab2885dc8fe 122 motorLeftOne = 0.6 + flag;
Junbug 12:b2f3c85cba36 123 motorLeftTwo = 0;
abcdefgh 15:5e973e6c058c 124
abcdefgh 15:5e973e6c058c 125 } else if( LSY < 110 ) { //back
Junbug 12:b2f3c85cba36 126 motorRightOne = 0;
abcdefgh 18:cab2885dc8fe 127 motorRightTwo = 0.6 + flag;
Junbug 12:b2f3c85cba36 128 motorLeftOne = 0;
abcdefgh 18:cab2885dc8fe 129 motorLeftTwo = 0.6 + flag;
abcdefgh 15:5e973e6c058c 130 } else { //stop
abcdefgh 14:67ee8d8f4efe 131 motorRightOne = 0;
abcdefgh 14:67ee8d8f4efe 132 motorRightTwo = 0;
abcdefgh 14:67ee8d8f4efe 133 motorLeftOne = 0;
abcdefgh 14:67ee8d8f4efe 134 motorLeftTwo = 0;
abcdefgh 14:67ee8d8f4efe 135 }
abcdefgh 14:67ee8d8f4efe 136
abcdefgh 14:67ee8d8f4efe 137 if(( ButtonState >> BUTTONR1)&1 == 1) {
abcdefgh 19:70657aee6fa5 138 motorRightOne = 0.7 + flag;
abcdefgh 18:cab2885dc8fe 139 motorRightTwo = 0;
abcdefgh 18:cab2885dc8fe 140 motorLeftOne = 0;
abcdefgh 19:70657aee6fa5 141 motorLeftTwo = 0.7 + flag;
abcdefgh 15:5e973e6c058c 142 }
abcdefgh 15:5e973e6c058c 143 if(( ButtonState >> BUTTONL1)&1 == 1) {
abcdefgh 18:cab2885dc8fe 144 motorRightOne = 0;
abcdefgh 19:70657aee6fa5 145 motorRightTwo = 0.6 + flag;
abcdefgh 19:70657aee6fa5 146 motorLeftOne = 0.6 + flag;
abcdefgh 18:cab2885dc8fe 147 motorLeftTwo = 0;
abcdefgh 14:67ee8d8f4efe 148 }
abcdefgh 14:67ee8d8f4efe 149
abcdefgh 14:67ee8d8f4efe 150 //arm
abcdefgh 14:67ee8d8f4efe 151
abcdefgh 17:efe67bbb927e 152
abcdefgh 18:cab2885dc8fe 153 if((ButtonState >> BUTTONTRIANGEL)&1 == 1) {
abcdefgh 17:efe67bbb927e 154 armOne = 1;
abcdefgh 17:efe67bbb927e 155 armTwo = 0;
abcdefgh 17:efe67bbb927e 156 armRight = 0.4;
abcdefgh 18:cab2885dc8fe 157 } else if((ButtonState >> BUTTONCROSS)&1 == 1) {
abcdefgh 15:5e973e6c058c 158 armOne = 0;
abcdefgh 15:5e973e6c058c 159 armTwo = 1;
abcdefgh 14:67ee8d8f4efe 160 armRight = 0.4;
abcdefgh 14:67ee8d8f4efe 161 } else {
abcdefgh 14:67ee8d8f4efe 162 armOne = 0;
abcdefgh 14:67ee8d8f4efe 163 armTwo = 0;
abcdefgh 14:67ee8d8f4efe 164 armRight = 0;
abcdefgh 19:70657aee6fa5 165 }
abcdefgh 19:70657aee6fa5 166
abcdefgh 19:70657aee6fa5 167 if( (ButtonState >> BUTTONDOWN)&1 == 1 ) {
abcdefgh 19:70657aee6fa5 168 armThree = 0;
abcdefgh 19:70657aee6fa5 169 armFour = 1;
abcdefgh 19:70657aee6fa5 170 armLeft = 0.9;
abcdefgh 19:70657aee6fa5 171 } else if( (ButtonState >> BUTTONUP)&1 == 1 ) {
abcdefgh 19:70657aee6fa5 172 armThree = 1;
abcdefgh 19:70657aee6fa5 173 armFour = 0;
abcdefgh 19:70657aee6fa5 174 armLeft = 0.8;
abcdefgh 19:70657aee6fa5 175 } else {
abcdefgh 19:70657aee6fa5 176 armThree = 0;
abcdefgh 19:70657aee6fa5 177 armFour = 0;
abcdefgh 19:70657aee6fa5 178 armLeft = 0;
abcdefgh 19:70657aee6fa5 179
abcdefgh 19:70657aee6fa5 180 }
abcdefgh 15:5e973e6c058c 181
abcdefgh 14:67ee8d8f4efe 182
abcdefgh 19:70657aee6fa5 183 /*
abcdefgh 19:70657aee6fa5 184 With oen if, put both arms and legs.
abcdefgh 14:67ee8d8f4efe 185
abcdefgh 19:70657aee6fa5 186 Use start and select??
Junbug 12:b2f3c85cba36 187
Junbug 12:b2f3c85cba36 188
abcdefgh 19:70657aee6fa5 189 */
Junbug 12:b2f3c85cba36 190
abcdefgh 16:ea0808fbbb40 191
Junbug 12:b2f3c85cba36 192
abcdefgh 16:ea0808fbbb40 193
Junbug 12:b2f3c85cba36 194
abcdefgh 19:70657aee6fa5 195 /*
abcdefgh 19:70657aee6fa5 196 led3=ButtonState & 0x0400; //L1の状態
abcdefgh 19:70657aee6fa5 197 led4=ButtonState & 0x0800; //R1の状態
abcdefgh 19:70657aee6fa5 198 */ //値の取得はps3.hを参照
Junbug 12:b2f3c85cba36 199
Junbug 12:b2f3c85cba36 200 }