春ロボ　ロケット団 / Mbed 2 deprecated spring_ps3_4

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Dependencies:   mbed KondoServoLibrary Encoder

User.cpp@18:f7c587f0f8b8, 2019-11-01 (annotated)

Committer:
o2132613
Date:
Fri Nov 01 01:39:57 2019 +0000
Revision:
18:f7c587f0f8b8
Parent:
17:348c660ea6f6
Child:
19:510b87211851
this was the version use in F3rc(maybe;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hirokimineshita 0:736c76a75def 1 #include "Utils.h"
hirokimineshita 0:736c76a75def 2 #include "USBHost.h"
hirokimineshita 0:736c76a75def 3 #include "hci.h"
hirokimineshita 0:736c76a75def 4 #include "ps3.h"
hirokimineshita 0:736c76a75def 5 #include "User.h"
o2132613 18:f7c587f0f8b8 6 #define speed 0.2
hirokimineshita 0:736c76a75def 7 #include "mbed.h"
hirokimineshita 0:736c76a75def 8
hirokimineshita 0:736c76a75def 9 int RSX,RSY,LSX,LSY,BSU,BSL;
hirokimineshita 9:e5437ba3e920 10 //これより下に関数外に書く要素を記入する
o2132613 18:f7c587f0f8b8 11 DigitalOut air(p24);
o2132613 18:f7c587f0f8b8 12 PwmOut motorRB(p22);
o2132613 18:f7c587f0f8b8 13 PwmOut motorRF(p21);
o2132613 18:f7c587f0f8b8 14 PwmOut motorLB(p25);
o2132613 18:f7c587f0f8b8 15 PwmOut motorLF(p26);
o2132613 17:348c660ea6f6 16 SPI spi(p5,p6,p7);
o2132613 17:348c660ea6f6 17 DigitalOut cs(p8);
o2132613 17:348c660ea6f6 18 int send;
o2132613 17:348c660ea6f6 19
baba2357 11:86d717718dbf 20
o2132613 17:348c660ea6f6 21 void UserLoopSetting()
o2132613 17:348c660ea6f6 22 {
o2132613 17:348c660ea6f6 23 spi.format(8,3);
o2132613 17:348c660ea6f6 24 spi.frequency(1000000);
o2132613 18:f7c587f0f8b8 25 motorRF.period_ms(1);
o2132613 18:f7c587f0f8b8 26 motorRB.period_ms(1);
o2132613 18:f7c587f0f8b8 27 motorLF.period_ms(1);
o2132613 18:f7c587f0f8b8 28 motorLB.period_ms(1);
hirokimineshita 0:736c76a75def 29 }
o2132613 17:348c660ea6f6 30 void UserLoop(char n,const u8* data)
o2132613 17:348c660ea6f6 31 {
hirokimineshita 0:736c76a75def 32 u16 ButtonState;
o2132613 17:348c660ea6f6 33 if(n==0) { //有線Ps3USB.cpp
hirokimineshita 0:736c76a75def 34 RSX = ((ps3report*)data)->RightStickX;
hirokimineshita 0:736c76a75def 35 RSY = ((ps3report*)data)->RightStickY;
hirokimineshita 0:736c76a75def 36 LSX = ((ps3report*)data)->LeftStickX;
hirokimineshita 0:736c76a75def 37 LSY = ((ps3report*)data)->LeftStickY;
hirokimineshita 0:736c76a75def 38 BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff);
hirokimineshita 0:736c76a75def 39 BSL = (u8)(((ps3report*)data)->ButtonState >> 8);
hirokimineshita 0:736c76a75def 40 //ボタンの処理
hirokimineshita 0:736c76a75def 41 ButtonState = ((ps3report*)data)->ButtonState;
o2132613 17:348c660ea6f6 42 } else {//無線TestShell.cpp
hirokimineshita 0:736c76a75def 43 RSX = ((ps3report*)(data + 1))->RightStickX;
hirokimineshita 0:736c76a75def 44 RSY = ((ps3report*)(data + 1))->RightStickY;
hirokimineshita 0:736c76a75def 45 LSX = ((ps3report*)(data + 1))->LeftStickX;
hirokimineshita 0:736c76a75def 46 LSY = ((ps3report*)(data + 1))->LeftStickY;
hirokimineshita 0:736c76a75def 47 BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff);
hirokimineshita 0:736c76a75def 48 BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8);
hirokimineshita 0:736c76a75def 49 //ボタンの処理
hirokimineshita 0:736c76a75def 50 ButtonState = ((ps3report*)(data + 1))->ButtonState;
hirokimineshita 0:736c76a75def 51 }
hirokimineshita 0:736c76a75def 52 //ここより下にプログラムを書く
o2132613 17:348c660ea6f6 53 //spi通信用プログラム
o2132613 17:348c660ea6f6 54 send = 0;
o2132613 18:f7c587f0f8b8 55 if((ButtonState >> BUTTONUP)&1 == 1)
o2132613 17:348c660ea6f6 56 {//対応するボタンを書く(今回上ボタン
o2132613 18:f7c587f0f8b8 57 motorRF = 0.2;
o2132613 18:f7c587f0f8b8 58 motorRB = 0;
o2132613 18:f7c587f0f8b8 59 motorLF = 0.2;
o2132613 18:f7c587f0f8b8 60 motorLB = 0;
o2132613 18:f7c587f0f8b8 61 send = 0;
o2132613 17:348c660ea6f6 62 }else if((ButtonState >> BUTTONDOWN)&1 == 1)
o2132613 17:348c660ea6f6 63 {//対応するボタンを書く(今回下ボタン
o2132613 18:f7c587f0f8b8 64 motorRF = 0;
o2132613 18:f7c587f0f8b8 65 motorRB = 0.2;
o2132613 18:f7c587f0f8b8 66 motorLF = 0;
o2132613 18:f7c587f0f8b8 67 motorLB = 0.2;
o2132613 18:f7c587f0f8b8 68 send = 0;
o2132613 17:348c660ea6f6 69 }else if((ButtonState >> BUTTONL1)&1 == 1)
o2132613 17:348c660ea6f6 70 {//対応するボタンを書く(今回L1ボタン
o2132613 18:f7c587f0f8b8 71 motorRF = 0.2;
o2132613 18:f7c587f0f8b8 72 motorRB = 0;
o2132613 18:f7c587f0f8b8 73 motorLF = 0;
o2132613 18:f7c587f0f8b8 74 motorLB = 0.2;
o2132613 18:f7c587f0f8b8 75 send = 0;
o2132613 17:348c660ea6f6 76 }else if((ButtonState >> BUTTONR1)&1 == 1)
o2132613 17:348c660ea6f6 77 {//対応するボタンを書く(今回R1ボタン
o2132613 18:f7c587f0f8b8 78 send = 0;
o2132613 18:f7c587f0f8b8 79 motorRF = 0;
o2132613 18:f7c587f0f8b8 80 motorRB = 0.2;
o2132613 18:f7c587f0f8b8 81 motorLF = 0.2;
o2132613 18:f7c587f0f8b8 82 motorLB = 0;
o2132613 18:f7c587f0f8b8 83 }else if((ButtonState >> BUTTONRIGHT)&1 == 1)//Right
o2132613 18:f7c587f0f8b8 84 {
o2132613 18:f7c587f0f8b8 85 send = 4;
o2132613 18:f7c587f0f8b8 86 motorRF = 0;
o2132613 18:f7c587f0f8b8 87 motorRB = 0.2;
o2132613 18:f7c587f0f8b8 88 motorLF = 0.2;
o2132613 18:f7c587f0f8b8 89 motorLB = 0;
o2132613 18:f7c587f0f8b8 90 }else if((ButtonState >> BUTTONLEFT)&1 == 1)//Left
o2132613 18:f7c587f0f8b8 91 {
o2132613 18:f7c587f0f8b8 92 send = 3;
o2132613 18:f7c587f0f8b8 93 motorRF = 0.2;
o2132613 18:f7c587f0f8b8 94 motorRB = 0;
o2132613 18:f7c587f0f8b8 95 motorLF = 0;
o2132613 18:f7c587f0f8b8 96 motorLB = 0.2;
abcdefgh 13:3d7a8cb91eeb 97 }else{
o2132613 17:348c660ea6f6 98 send = 0;
o2132613 18:f7c587f0f8b8 99 motorRF = 0;
o2132613 18:f7c587f0f8b8 100 motorRB = 0;
o2132613 18:f7c587f0f8b8 101 motorLF = 0;
o2132613 18:f7c587f0f8b8 102 motorLB = 0;
o2132613 17:348c660ea6f6 103 }
o2132613 18:f7c587f0f8b8 104 if((ButtonState >> BUTTONCIRCLE)&1 == 1) {//対応するボタンを書く(今回Oボタン
o2132613 18:f7c587f0f8b8 105 air=1;
o2132613 18:f7c587f0f8b8 106 } else if((ButtonState >> BUTTONCROSS)&1 == 1) {//対応するボタンを書く(今回×ボタン
o2132613 18:f7c587f0f8b8 107 air=0;
o2132613 17:348c660ea6f6 108 }
o2132613 18:f7c587f0f8b8 109 if((ButtonState >> BUTTONR2&1) == 1 )//R2 down
o2132613 18:f7c587f0f8b8 110 {
o2132613 18:f7c587f0f8b8 111 send = 1;
o2132613 18:f7c587f0f8b8 112 }else if((ButtonState >> BUTTONL2)&1 == 1)//L2 up
o2132613 18:f7c587f0f8b8 113 {
o2132613 18:f7c587f0f8b8 114 send = 2;
o2132613 17:348c660ea6f6 115 }
o2132613 17:348c660ea6f6 116 spi. write(send);
hirokimineshita 0:736c76a75def 117 }