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Dependencies:   mbed

Fork of clubvs2017_momoi by ROBOSTEP4期

KaidaKari.cpp@17:efe67bbb927e, 2016-06-10 (annotated)

Committer:
abcdefgh
Date:
Fri Jun 10 06:05:29 2016 +0000
Revision:
17:efe67bbb927e
Parent:
16:ea0808fbbb40
Child:
18:cab2885dc8fe
momoi

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;
Junbug 12:b2f3c85cba36 11 //MD1
abcdefgh 17:efe67bbb927e 12 PwmOut motorRightOne (p23);
abcdefgh 17:efe67bbb927e 13 PwmOut motorRightTwo (p24);
Junbug 12:b2f3c85cba36 14
Junbug 12:b2f3c85cba36 15 //MD2
abcdefgh 17:efe67bbb927e 16 PwmOut motorLeftOne (p21);
abcdefgh 17:efe67bbb927e 17 PwmOut motorLeftTwo (p22);
Junbug 12:b2f3c85cba36 18
Junbug 12:b2f3c85cba36 19 //MD3 Arm1
abcdefgh 17:efe67bbb927e 20 PwmOut armRight(p26);
abcdefgh 17:efe67bbb927e 21 DigitalOut armThree (p30);
abcdefgh 17:efe67bbb927e 22 DigitalOut armFour (p29);
Junbug 12:b2f3c85cba36 23
Junbug 12:b2f3c85cba36 24 //MD4 Arm2
abcdefgh 17:efe67bbb927e 25 PwmOut armLeft(p25);
abcdefgh 17:efe67bbb927e 26 DigitalOut armOne (p6);
abcdefgh 17:efe67bbb927e 27 DigitalOut armTwo (p5);
Junbug 12:b2f3c85cba36 28
Junbug 12:b2f3c85cba36 29
Junbug 12:b2f3c85cba36 30 /*
Junbug 12:b2f3c85cba36 31
Junbug 12:b2f3c85cba36 32 PWM->0.xxx
Junbug 12:b2f3c85cba36 33 Digitals->0 and 0.xxx
Junbug 12:b2f3c85cba36 34 for arms(I guess...)
Junbug 12:b2f3c85cba36 35
Junbug 12:b2f3c85cba36 36 For lergs, turn right or left, and just going go and back.->Probably using sticks.
Junbug 12:b2f3c85cba36 37 How to cha ge speed? Two different tyes of speed.
Junbug 12:b2f3c85cba36 38
Junbug 12:b2f3c85cba36 39 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 40 Left stick, speed and right/left
Junbug 12:b2f3c85cba36 41 Push button and max incline -> the max speed
Junbug 12:b2f3c85cba36 42 Just max incline -> usual speed
Junbug 12:b2f3c85cba36 43 Little incline -> slow speed
Junbug 12:b2f3c85cba36 44
Junbug 12:b2f3c85cba36 45 L1/R2 -> turning?
Junbug 12:b2f3c85cba36 46
Junbug 12:b2f3c85cba36 47 Lifting ->
Junbug 12:b2f3c85cba36 48
Junbug 12:b2f3c85cba36 49 */
Junbug 12:b2f3c85cba36 50
Junbug 12:b2f3c85cba36 51
Junbug 12:b2f3c85cba36 52
Junbug 12:b2f3c85cba36 53 void UserLoopSetting()
Junbug 12:b2f3c85cba36 54 {
Junbug 12:b2f3c85cba36 55 //一度だけ行いたい初期設定をここに書く
Junbug 12:b2f3c85cba36 56 /*
Junbug 12:b2f3c85cba36 57 I need to ask what to do with this!
Junbug 12:b2f3c85cba36 58 Actually, do we have any LEDs?
Junbug 12:b2f3c85cba36 59 */
abcdefgh 15:5e973e6c058c 60
Junbug 12:b2f3c85cba36 61 }
Junbug 12:b2f3c85cba36 62
Junbug 12:b2f3c85cba36 63 void UserLoop(char n,const u8* data)
Junbug 12:b2f3c85cba36 64 {
Junbug 12:b2f3c85cba36 65 u16 ButtonState;
Junbug 12:b2f3c85cba36 66 if(n==0) { //有線Ps3USB.cpp
Junbug 12:b2f3c85cba36 67 RSX = ((ps3report*)data)->RightStickX;
Junbug 12:b2f3c85cba36 68 RSY = ((ps3report*)data)->RightStickY;
Junbug 12:b2f3c85cba36 69 LSX = ((ps3report*)data)->LeftStickX;
Junbug 12:b2f3c85cba36 70 LSY = ((ps3report*)data)->LeftStickY;
Junbug 12:b2f3c85cba36 71 BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff);
Junbug 12:b2f3c85cba36 72 BSL = (u8)(((ps3report*)data)->ButtonState >> 8);
Junbug 12:b2f3c85cba36 73 //ボタンの処理
Junbug 12:b2f3c85cba36 74 ButtonState = ((ps3report*)data)->ButtonState;
Junbug 12:b2f3c85cba36 75 } else {//無線TestShell.cpp
Junbug 12:b2f3c85cba36 76 RSX = ((ps3report*)(data + 1))->RightStickX;
Junbug 12:b2f3c85cba36 77 RSY = ((ps3report*)(data + 1))->RightStickY;
Junbug 12:b2f3c85cba36 78 LSX = ((ps3report*)(data + 1))->LeftStickX;
Junbug 12:b2f3c85cba36 79 LSY = ((ps3report*)(data + 1))->LeftStickY;
Junbug 12:b2f3c85cba36 80 BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff);
Junbug 12:b2f3c85cba36 81 BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8);
Junbug 12:b2f3c85cba36 82 //ボタンの処理
Junbug 12:b2f3c85cba36 83 ButtonState = ((ps3report*)(data + 1))->ButtonState;
Junbug 12:b2f3c85cba36 84 }
Junbug 12:b2f3c85cba36 85 //ここより下にプログラムを書く
Junbug 12:b2f3c85cba36 86
Junbug 12:b2f3c85cba36 87 /*
Junbug 12:b2f3c85cba36 88 double thesOne = 64;
Junbug 12:b2f3c85cba36 89 double thesTwo = 127;
Junbug 12:b2f3c85cba36 90 double thesThree = 191;
Junbug 12:b2f3c85cba36 91 double fastSpeed = 1;
Junbug 12:b2f3c85cba36 92 double slowSpeed = 0.5;
Junbug 12:b2f3c85cba36 93 */
abcdefgh 15:5e973e6c058c 94
abcdefgh 14:67ee8d8f4efe 95 //motor
abcdefgh 17:efe67bbb927e 96 if((ButtonState >> BUTTONPS)&1 == 1){
abcdefgh 17:efe67bbb927e 97 flag = 0;
abcdefgh 17:efe67bbb927e 98 }else if((ButtonState >> BUTTONSTART)&1 == 1) {
abcdefgh 17:efe67bbb927e 99 flag += 0.05;
abcdefgh 17:efe67bbb927e 100 } else if((ButtonState >> BUTTONSELECT)&1 == 1) {
abcdefgh 17:efe67bbb927e 101 flag -= 0.05;
abcdefgh 17:efe67bbb927e 102 }
abcdefgh 17:efe67bbb927e 103
abcdefgh 17:efe67bbb927e 104 if(LSY>140 && ((ButtonState >> BUTTONLANALOG)&1) == 1) {
abcdefgh 17:efe67bbb927e 105 motorRightOne = 0.8;
Junbug 12:b2f3c85cba36 106 motorRightTwo = 0;
abcdefgh 17:efe67bbb927e 107 motorLeftOne = 0.8;
abcdefgh 17:efe67bbb927e 108 motorLeftTwo = 0;
abcdefgh 17:efe67bbb927e 109 }else if(LSY<110 && ((ButtonState >> BUTTONLANALOG)&1) == 1) {
abcdefgh 17:efe67bbb927e 110 motorRightOne = 0;
abcdefgh 17:efe67bbb927e 111 motorRightTwo = 0.8;
abcdefgh 17:efe67bbb927e 112 motorLeftOne = 0;
abcdefgh 17:efe67bbb927e 113 motorLeftTwo = 0.8;
abcdefgh 17:efe67bbb927e 114 }else if( LSY > 140 ) { //forward
abcdefgh 17:efe67bbb927e 115 motorRightOne = 0.4 + flag;
abcdefgh 17:efe67bbb927e 116 motorRightTwo = 0;
abcdefgh 17:efe67bbb927e 117 motorLeftOne = 0.4 + flag;
Junbug 12:b2f3c85cba36 118 motorLeftTwo = 0;
abcdefgh 15:5e973e6c058c 119
abcdefgh 15:5e973e6c058c 120 } else if( LSY < 110 ) { //back
Junbug 12:b2f3c85cba36 121 motorRightOne = 0;
abcdefgh 17:efe67bbb927e 122 motorRightTwo = 0.4 + flag;
Junbug 12:b2f3c85cba36 123 motorLeftOne = 0;
abcdefgh 17:efe67bbb927e 124 motorLeftTwo = 0.4 + flag;
abcdefgh 15:5e973e6c058c 125 } else { //stop
abcdefgh 14:67ee8d8f4efe 126 motorRightOne = 0;
abcdefgh 14:67ee8d8f4efe 127 motorRightTwo = 0;
abcdefgh 14:67ee8d8f4efe 128 motorLeftOne = 0;
abcdefgh 14:67ee8d8f4efe 129 motorLeftTwo = 0;
abcdefgh 14:67ee8d8f4efe 130 }
abcdefgh 14:67ee8d8f4efe 131
abcdefgh 14:67ee8d8f4efe 132 if(( ButtonState >> BUTTONR1)&1 == 1) {
abcdefgh 15:5e973e6c058c 133 motorRightOne = 0;
abcdefgh 17:efe67bbb927e 134 motorRightTwo = 0.4 + flag;
abcdefgh 17:efe67bbb927e 135 motorLeftOne = 0.4 + flag;
abcdefgh 15:5e973e6c058c 136 motorLeftTwo = 0;
abcdefgh 15:5e973e6c058c 137 }
abcdefgh 15:5e973e6c058c 138 if(( ButtonState >> BUTTONL1)&1 == 1) {
abcdefgh 17:efe67bbb927e 139 motorRightOne = 0.4 + flag;
Junbug 12:b2f3c85cba36 140 motorRightTwo = 0;
Junbug 12:b2f3c85cba36 141 motorLeftOne = 0;
abcdefgh 17:efe67bbb927e 142 motorLeftTwo = 0.4 + flag;
abcdefgh 14:67ee8d8f4efe 143 }
abcdefgh 14:67ee8d8f4efe 144
abcdefgh 14:67ee8d8f4efe 145 //arm
abcdefgh 14:67ee8d8f4efe 146
abcdefgh 16:ea0808fbbb40 147 if( (ButtonState >> BUTTONUP)&1 == 1 ) {
abcdefgh 17:efe67bbb927e 148 armThree = 0;
abcdefgh 17:efe67bbb927e 149 armFour = 1;
abcdefgh 17:efe67bbb927e 150 armLeft = 0.4;
abcdefgh 17:efe67bbb927e 151 } else if( (ButtonState >> BUTTONDOWN)&1 == 1 ) {
abcdefgh 17:efe67bbb927e 152 armThree = 1;
abcdefgh 17:efe67bbb927e 153 armFour = 0;
abcdefgh 17:efe67bbb927e 154 armLeft = 0.4;
abcdefgh 17:efe67bbb927e 155 } else {
abcdefgh 17:efe67bbb927e 156 armThree = 0;
abcdefgh 17:efe67bbb927e 157 armFour = 0;
abcdefgh 17:efe67bbb927e 158 armLeft = 0;
abcdefgh 17:efe67bbb927e 159
abcdefgh 17:efe67bbb927e 160 }
abcdefgh 17:efe67bbb927e 161
abcdefgh 17:efe67bbb927e 162 if((ButtonState >> BUTTONSQUARE)&1 == 1) {
abcdefgh 17:efe67bbb927e 163 armOne = 1;
abcdefgh 17:efe67bbb927e 164 armTwo = 0;
abcdefgh 17:efe67bbb927e 165 armRight = 0.4;
abcdefgh 17:efe67bbb927e 166 } else if((ButtonState >> BUTTONCIRCLE)&1 == 1) {
abcdefgh 15:5e973e6c058c 167 armOne = 0;
abcdefgh 15:5e973e6c058c 168 armTwo = 1;
abcdefgh 14:67ee8d8f4efe 169 armRight = 0.4;
abcdefgh 14:67ee8d8f4efe 170 } else {
abcdefgh 14:67ee8d8f4efe 171 armOne = 0;
abcdefgh 14:67ee8d8f4efe 172 armTwo = 0;
abcdefgh 14:67ee8d8f4efe 173 armRight = 0;
abcdefgh 15:5e973e6c058c 174
abcdefgh 17:efe67bbb927e 175 printf("%f ",flag);
abcdefgh 14:67ee8d8f4efe 176
abcdefgh 17:efe67bbb927e 177 /*
abcdefgh 17:efe67bbb927e 178 With oen if, put both arms and legs.
abcdefgh 14:67ee8d8f4efe 179
abcdefgh 17:efe67bbb927e 180 Use start and select??
Junbug 12:b2f3c85cba36 181
Junbug 12:b2f3c85cba36 182
abcdefgh 17:efe67bbb927e 183 */
Junbug 12:b2f3c85cba36 184
abcdefgh 16:ea0808fbbb40 185
Junbug 12:b2f3c85cba36 186
abcdefgh 16:ea0808fbbb40 187
Junbug 12:b2f3c85cba36 188
abcdefgh 17:efe67bbb927e 189 /*
abcdefgh 17:efe67bbb927e 190 led3=ButtonState & 0x0400; //L1の状態
abcdefgh 17:efe67bbb927e 191 led4=ButtonState & 0x0800; //R1の状態
abcdefgh 17:efe67bbb927e 192 */ //値の取得はps3.hを参照
Junbug 12:b2f3c85cba36 193
abcdefgh 17:efe67bbb927e 194 }
Junbug 12:b2f3c85cba36 195
Junbug 12:b2f3c85cba36 196 }