春ロボ　ロケット団 / Mbed 2 deprecated F3RC_syudou_master

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Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 19:4058485b5bb3, committed 2019-10-31

Comitter:
o2132613
Date:
Thu Oct 31 06:16:05 2019 +0000
Parent:
18:2579c275ef57
Commit message:
f3rc(master(; ;

Changed in this revision

User.cpp Show annotated file Show diff for this revision Revisions of this file
ps3.h Show annotated file Show diff for this revision Revisions of this file 
--- a/User.cpp	Wed Aug 23 03:31:34 2017 +0000
+++ b/User.cpp	Thu Oct 31 06:16:05 2019 +0000
@@ -4,87 +4,22 @@
 #include "ps3.h"
 #include "User.h"
 #include "mbed.h"
-#define _USE_MATH_DEFINES
-
 #include "math.h"
 
-#define Pi 3.14159
 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
-//spi通信用
+PwmOut servo(p21); //check survo pin
 SPI spi(p5,p6,p7);
 DigitalOut cs(p8);
-//オムニホイール
-
-/*　　　正転の向き
-    　　　　←
-
-　　　　　↘    ↗      */
-PwmOut motor_f_1(p21);
-PwmOut motor_f_2(p22);
-PwmOut motor_l_1(p23);
-PwmOut motor_l_2(p24);
-PwmOut motor_r_1(p25);
-PwmOut motor_r_2(p26);
-
-double fai=1/3*Pi;//φ
-
-
-double power_f=1;
-double power_l=1;
-double power_r=1;
-
-double M1;
-double M2;
-double M3;
-
-void motor_act()
-{
-    if(M1 >=0) {
-        motor_f_1=M1;
-        motor_f_2=0;
-    } else {
-        motor_f_1=0;
-        motor_f_2=-M1;
-    }
-
-    if(M2 >=0) {
-        motor_l_1=M2;
-        motor_l_2=0;
-    } else {
-        motor_l_1=0;
-        motor_l_2=-M2;
-    }
-
-    if(M3 >=0) {
-        motor_r_1=M3;
-        motor_r_2=0;
-    } else {
-        motor_r_1=0;
-        motor_r_2=-M3;
-    }
-
-
-
-}
-double sita;
-double sita_2;
-
+int Speed_Mode = 2 ;
+int send;
 
 
 void UserLoopSetting()
 {
     spi.format(8,3);
     spi.frequency(1000000);
-    motor_f_1.period_us(50);
-    motor_f_2.period_us(50);
-    motor_l_1.period_us(50);
-    motor_l_2.period_us(50);
-    motor_r_1.period_us(50);
-    motor_r_2.period_us(50);
-
+    servo.pulsewidth_us(1450);
 }
-
 void UserLoop(char n,const u8* data)
 {
     u16 ButtonState;
@@ -109,143 +44,46 @@
     }
     //ここより下にプログラムを書く
     //spi通信用プログラム
-
-    int a,b,c,d,e,f,g,h;
-    int send = 0;
-
-
-
-    if((ButtonState >> BUTTONUP)&1 == 1) {//対応するボタンを書く(今回上ボタン
-        a = 1;
-    } else {
-        a = 0;
-    }
-
-    if((ButtonState >> BUTTONDOWN)&1 == 1) {//対応するボタンを書く(今回下ボタン
-        b = 2;
-    } else {
-        b = 0;
-    }
-
-    if((ButtonState >> BUTTONL1)&1 == 1) {//対応するボタンを書く(今回L1ボタン
-        c = 4;
-    } else {
-        c = 0;
-    }
-
-    if((ButtonState >> BUTTONL2)&1 == 1) {//対応するボタンを書く(今回L2ボタン
-        d = 8;
-    } else {
-        d = 0;
+    send = 0;
+    if((ButtonState >> BUTTONUP)&1 == 1&&(ButtonState >> BUTTONL1)&1 == 1)//UPL1
+    {
+        send = 84;
+    }else if ((ButtonState >> BUTTONDOWN)&1 == 1&&(ButtonState >> BUTTONR1)&1 == 1)//DownR1
+    {
+        send = 168;
+    }else if ((ButtonState >> BUTTONUP)&1 == 1&&(ButtonState >> BUTTONR1)&1 == 1)//UPR1
+    {
+        send = 148;
+    }else if ((ButtonState >> BUTTONDOWN)&1 == 1&&(ButtonState >> BUTTONL1)&1 == 1)//DownL1
+    {
+        send = 104;
+    }else if((ButtonState >> BUTTONUP)&1 == 1) 
+    {//対応するボタンを書く(今回上ボタン
+        send = 20;
+    }else if((ButtonState >> BUTTONDOWN)&1 == 1) 
+    {//対応するボタンを書く(今回下ボタン
+        send = 40;
+    }else if((ButtonState >> BUTTONL1)&1 == 1) 
+    {//対応するボタンを書く(今回L1ボタン
+        send = 100;
+    }else if((ButtonState >> BUTTONR1)&1 == 1) 
+    {//対応するボタンを書く(今回R1ボタン
+        send = 152;
+    }else{
+        send = 0;
     }
-
+    if((ButtonState >> BUTTONL2)&1 == 1&&Speed_Mode>1) {//対応するボタンを書く(今回L2ボタン
+        Speed_Mode-=1;
+        wait(0.1);
+    }else if((ButtonState >> BUTTONR2)&1 == 1&&Speed_Mode<3) {//対応するボタンを書く(今回R2ボタン
+        Speed_Mode+=1;
+        wait(0.1);
+    } 
     if((ButtonState >> BUTTONTRIANGEL)&1 == 1) {//対応するボタンを書く(今回△ボタン
-        e = 16;
-    } else {
-        e = 0;
-    }
-
-    if((ButtonState >> BUTTONCROSS)&1 == 1) {//対応するボタンを書く(今回×ボタン
-        f = 32;
-    } else {
-        f = 0;
+        servo.pulsewidth_us(1450);
+    } else if((ButtonState >> BUTTONCROSS)&1 == 1) {//対応するボタンを書く(今回×ボタン
+        servo.pulsewidth_us(2400);
     }
-
-    if((ButtonState >> BUTTONR1)&1 == 1) {//対応するボタンを書く(今回R1ボタン
-        g = 64;
-    } else {
-        g = 0;
-    }
-
-    if((ButtonState >> BUTTONR2)&1 == 1) {//対応するボタンを書く(今回R2ボタン
-        h = 128;
-    } else {
-        h = 0;
-    }
-
-
-
-    send = a+b+c+d+e+f+g+h;
-
-    cs = 0;
+    send += Speed_Mode;
     spi. write(send);
-    cs = 1;
-    printf("%d\r\n",send);
-
-
-    if(LSX>=150 && LSX<=255 && LSY>=150 && LSY<=255) { //第一象限
-        sita = -1.0*(atan2((double)LSY-128,(double)LSX-128))*180/Pi;
-        sita_2=90-sita;
-        M1=sin((sita_2-fai)*Pi/180)*power_f;
-        M2=sin((sita_2-fai+240)*Pi/180)*power_l;
-        M3=sin((sita_2-fai+120)*Pi/180)*power_r;
-        motor_act();
-    } else if(LSX>=0 && LSX<=80 && LSY>=150 && LSY<=255) { //第二象限
-        sita = -1.0*(atan2((double)LSY-128,(double)LSX-128))*180/Pi;
-        sita_2=90-sita;
-        M1=sin((sita_2-fai)*Pi/180)*power_f;
-        M2=sin((sita_2-fai+240)*Pi/180)*power_l;
-        M3=sin((sita_2-fai+120)*Pi/180)*power_r;
-        motor_act();
-    } else if(LSX>=0 && LSX<=80 && LSY>=0 && LSY<=80) { //第三象限
-        sita = -1.0*(atan2((double)LSY-128,(double)LSX-128))*180/Pi;
-        sita_2=90-sita;
-        M1=sin((sita_2-fai)*Pi/180)*power_f;
-        M2=sin((sita_2-fai+240)*Pi/180)*power_l;
-        M3=sin((sita_2-fai+120)*Pi/180)*power_r;
-        motor_act();
-    } else if(LSX>=150 && LSX<=255 && LSY>=0 && LSY<=80) { //第四象限
-        sita = -1.0*(atan2((double)LSY-128,(double)LSX-128))*180/Pi;
-        sita_2=90-sita;
-        M1=sin((sita_2-fai)*Pi/180)*power_f;
-        M2=sin((sita_2-fai+240)*Pi/180)*power_l;
-        M3=sin((sita_2-fai+120)*Pi/180)*power_r;
-        motor_act();
-
-    } else if(LSX==255) {
-        sita = 0;
-        sita_2=90-sita;
-        M1=sin((sita_2-fai)*Pi/180)*power_f;
-        M2=sin((sita_2-fai+240)*Pi/180)*power_l;
-        M3=sin((sita_2-fai+120)*Pi/180)*power_r;
-        motor_act();
-
-    } else if(LSY==255) {
-        sita = 90;
-        sita_2=90-sita;
-        M1=sin((sita_2-fai)*Pi/180)*power_f;
-        M2=sin((sita_2-fai+240)*Pi/180)*power_l;
-        M3=sin((sita_2-fai+120)*Pi/180)*power_r;
-        motor_act();
-
-    } else if(LSX==0) {
-        sita = 180;
-        sita_2=90-sita;
-        M1=sin((sita_2-fai)*Pi/180)*power_f;
-        M2=sin((sita_2-fai+240)*Pi/180)*power_l;
-        M3=sin((sita_2-fai+120)*Pi/180)*power_r;
-        motor_act();
-
-    } else if(LSY==0) {
-        sita = 270;
-        sita_2=90-sita;
-        M1=sin((sita_2-fai)*Pi/180)*power_f;
-        M2=sin((sita_2-fai+240)*Pi/180)*power_l;
-        M3=sin((sita_2-fai+120)*Pi/180)*power_r;
-        motor_act();
-    } else {
-        motor_f_1=0;
-        motor_f_2=0;
-        motor_l_1=0;
-        motor_l_2=0;
-        motor_r_1=0;
-        motor_r_2=0;
-
-    }
-
-
-    printf("motor_f_1:%f\motor_l_1:%f\motor_r_1:%f\sita:%f\r\n",M1,M2,M3,sita);
-
-
-
 }
\ No newline at end of file

--- a/ps3.h	Wed Aug 23 03:31:34 2017 +0000
+++ b/ps3.h	Thu Oct 31 06:16:05 2019 +0000
@@ -125,7 +125,7 @@
     int _configuration;
     int _interfaceNumber;
     
-    u8 ledrumble[48] ;
+    
     
 };