Diff: KaidaKari.cpp

Revision:

17:efe67bbb927e

Parent:

16:ea0808fbbb40

Child:

18:cab2885dc8fe

--- a/KaidaKari.cpp	Fri Jun 10 04:49:54 2016 +0000
+++ b/KaidaKari.cpp	Fri Jun 10 06:05:29 2016 +0000
@@ -7,24 +7,24 @@
 
 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
-
+double flag;
 //MD1
-PwmOut motorRightOne (p25);
-PwmOut motorRightTwo (p26);
+PwmOut motorRightOne (p23);
+PwmOut motorRightTwo (p24);
 
 //MD2
-PwmOut motorLeftOne (p24);
-PwmOut motorLeftTwo (p23);
+PwmOut motorLeftOne (p21);
+PwmOut motorLeftTwo (p22);
 
 //MD3 Arm1
-PwmOut armRight(p22);
-DigitalOut armThree (p29);
-DigitalOut armFour (p30);
+PwmOut armRight(p26);
+DigitalOut armThree (p30);
+DigitalOut armFour (p29);
 
 //MD4 Arm2
-PwmOut armLeft(p22);
-DigitalOut armOne (p19);
-DigitalOut armTwo (p20);
+PwmOut armLeft(p25);
+DigitalOut armOne (p6);
+DigitalOut armTwo (p5);
 
 
 /*
@@ -93,18 +93,35 @@
      */
 
 //motor
-
-    if(  LSY > 140 ) { //forward
-        motorRightOne = 0.4;
+    if((ButtonState >> BUTTONPS)&1 == 1){
+        flag = 0;
+    }else if((ButtonState >> BUTTONSTART)&1 == 1) {
+        flag += 0.05;
+    } else if((ButtonState >> BUTTONSELECT)&1 == 1) {
+        flag -= 0.05;
+    }
+    
+    if(LSY>140 && ((ButtonState >> BUTTONLANALOG)&1) == 1) {
+         motorRightOne = 0.8;
         motorRightTwo = 0;
-        motorLeftOne = 0.4;
+        motorLeftOne = 0.8;
+        motorLeftTwo = 0;
+    }else if(LSY<110 && ((ButtonState >> BUTTONLANALOG)&1) == 1) {
+         motorRightOne = 0;
+        motorRightTwo = 0.8;
+        motorLeftOne = 0;
+        motorLeftTwo = 0.8;        
+    }else if(  LSY > 140 ) { //forward
+        motorRightOne = 0.4 + flag;
+        motorRightTwo = 0;
+        motorLeftOne = 0.4 + flag;
         motorLeftTwo = 0;
 
     } else if( LSY < 110 ) { //back
         motorRightOne = 0;
-        motorRightTwo = 0.4;
+        motorRightTwo = 0.4 + flag;
         motorLeftOne = 0;
-        motorLeftTwo = 0.4;
+        motorLeftTwo = 0.4 + flag;
     } else { //stop
         motorRightOne = 0;
         motorRightTwo = 0;
@@ -114,65 +131,66 @@
 
     if(( ButtonState >> BUTTONR1)&1 == 1) {
         motorRightOne = 0;
-        motorRightTwo = 0.4;
-        motorLeftOne = 0.4;
+        motorRightTwo = 0.4 + flag;
+        motorLeftOne = 0.4 + flag;
         motorLeftTwo = 0;
     }
     if(( ButtonState >> BUTTONL1)&1 == 1) {
-        motorRightOne = 0.4;
+        motorRightOne = 0.4 + flag;
         motorRightTwo = 0;
         motorLeftOne = 0;
-        motorLeftTwo = 0.4;
+        motorLeftTwo = 0.4 + flag;
     }
 
 //arm
 
     if(  (ButtonState >> BUTTONUP)&1 == 1 ) {
+        armThree = 0;
+        armFour = 1;
+        armLeft = 0.4;
+    } else if( (ButtonState >> BUTTONDOWN)&1 == 1 ) {
+        armThree = 1;
+        armFour = 0;
+        armLeft = 0.4;
+    } else {
+        armThree = 0;
+        armFour = 0;
+        armLeft = 0;
+
+    }
+
+    if((ButtonState >> BUTTONSQUARE)&1 == 1) {
+        armOne = 1;
+        armTwo = 0;
+        armRight = 0.4;
+    } else if((ButtonState >> BUTTONCIRCLE)&1 == 1) {
         armOne = 0;
         armTwo = 1;
-        armRight = 0.8;
-    } else if( (ButtonState >> BUTTONDOWN)&1 == 1 ) {
-        armOne = 1;
-        armTwo = 0;
         armRight = 0.4;
     } else {
         armOne = 0;
         armTwo = 0;
         armRight = 0;
 
-    }
+printf("%f ",flag);
 
-    if((ButtonState >> BUTTONTRIANGEL)&1 == 1) {
-        armThree = 1;
-        armFour = 0;
-        armLeft = 0.4;
-    } else if((ButtonState >> BUTTONCROSS)&1 == 1) {
-        armThree = 0;
-        armFour = 1;
-        armLeft = 0.4;
-    } else {
-        armThree = 0;
-        armFour = 0;
-        armLeft = 0;
+        /*
+        With oen if, put both arms and legs.
 
-    
-    /*
-    With oen if, put both arms and legs.
-
-    Use start and select??
+        Use start and select??
 
 
-    */
+        */
 
 
 
 
 
-    /*
-        led3=ButtonState & 0x0400;  //L1の状態
-        led4=ButtonState & 0x0800;  //R1の状態
-      */  //値の取得はps3.hを参照
+        /*
+            led3=ButtonState & 0x0400;  //L1の状態
+            led4=ButtonState & 0x0800;  //R1の状態
+          */  //値の取得はps3.hを参照
 
-
+    }
 
 }
\ No newline at end of file