User.cpp

00001 #include "Utils.h"
00002 #include "USBHost.h"
00003 #include "hci.h"
00004 #include "ps3.h"
00005 #include "User.h"
00006 #include "mbed.h"
00007 #include "math.h"
00008 
00009 int RSX,RSY,LSX,LSY,BSU,BSL;
00010 PwmOut servo(p21); //check survo pin
00011 SPI spi(p5,p6,p7);
00012 DigitalOut cs(p8);
00013 int Speed_Mode = 2 ;
00014 int send;
00015 
00016 
00017 void UserLoopSetting()
00018 {
00019     spi.format(8,3);
00020     spi.frequency(1000000);
00021     servo.pulsewidth_us(1450);
00022 }
00023 void UserLoop(char n,const u8* data)
00024 {
00025     u16 ButtonState;
00026     if(n==0) { //有線Ps3USB.cpp
00027         RSX = ((ps3report*)data)->RightStickX;
00028         RSY = ((ps3report*)data)->RightStickY;
00029         LSX = ((ps3report*)data)->LeftStickX;
00030         LSY = ((ps3report*)data)->LeftStickY;
00031         BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff);
00032         BSL = (u8)(((ps3report*)data)->ButtonState >> 8);
00033         //ボタンの処理
00034         ButtonState =  ((ps3report*)data)->ButtonState;
00035     } else {//無線TestShell.cpp
00036         RSX = ((ps3report*)(data + 1))->RightStickX;
00037         RSY = ((ps3report*)(data + 1))->RightStickY;
00038         LSX = ((ps3report*)(data + 1))->LeftStickX;
00039         LSY = ((ps3report*)(data + 1))->LeftStickY;
00040         BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff);
00041         BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8);
00042         //ボタンの処理
00043         ButtonState =  ((ps3report*)(data + 1))->ButtonState;
00044     }
00045     //ここより下にプログラムを書く
00046     //spi通信用プログラム
00047     send = 0;
00048     if((ButtonState >> BUTTONUP)&1 == 1&&(ButtonState >> BUTTONL1)&1 == 1)//UPL1
00049     {
00050         send = 84;
00051     }else if ((ButtonState >> BUTTONDOWN)&1 == 1&&(ButtonState >> BUTTONR1)&1 == 1)//DownR1
00052     {
00053         send = 168;
00054     }else if ((ButtonState >> BUTTONUP)&1 == 1&&(ButtonState >> BUTTONR1)&1 == 1)//UPR1
00055     {
00056         send = 148;
00057     }else if ((ButtonState >> BUTTONDOWN)&1 == 1&&(ButtonState >> BUTTONL1)&1 == 1)//DownL1
00058     {
00059         send = 104;
00060     }else if((ButtonState >> BUTTONUP)&1 == 1) 
00061     {//対応するボタンを書く(今回上ボタン
00062         send = 20;
00063     }else if((ButtonState >> BUTTONDOWN)&1 == 1) 
00064     {//対応するボタンを書く(今回下ボタン
00065         send = 40;
00066     }else if((ButtonState >> BUTTONL1)&1 == 1) 
00067     {//対応するボタンを書く(今回L1ボタン
00068         send = 100;
00069     }else if((ButtonState >> BUTTONR1)&1 == 1) 
00070     {//対応するボタンを書く(今回R1ボタン
00071         send = 152;
00072     }else{
00073         send = 0;
00074     }
00075     if((ButtonState >> BUTTONL2)&1 == 1&&Speed_Mode>1) {//対応するボタンを書く(今回L2ボタン
00076         Speed_Mode-=1;
00077         wait(0.1);
00078     }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
00079         Speed_Mode+=1;
00080         wait(0.1);
00081     } 
00082     if((ButtonState >> BUTTONTRIANGEL)&1 == 1) {//対応するボタンを書く(今回△ボタン
00083         servo.pulsewidth_us(1450);
00084     } else if((ButtonState >> BUTTONCROSS)&1 == 1) {//対応するボタンを書く(今回×ボタン
00085         servo.pulsewidth_us(2400);
00086     }
00087     send += Speed_Mode;
00088     spi. write(send);
00089 }