F3RC1班 / Mbed 2 deprecated F3RC_syudou_master

主導機　mbed用のプログラムです

Dependencies:   mbed

Fork of PS3_BlueUSB_user_ver2 by 2017 　部内対抗4班　ROBOSTEP

User.cpp@12:1254070d444a, 2016-11-06 (annotated)

Committer:
hokkyokuh2
Date:
Sun Nov 06 01:25:39 2016 +0000
Revision:
12:1254070d444a
Parent:
11:86d717718dbf 
takasugi

;

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"
hirokimineshita 0:736c76a75def 6
hirokimineshita 0:736c76a75def 7 #include "mbed.h"
hirokimineshita 0:736c76a75def 8
hokkyokuh2 12:1254070d444a 9
hirokimineshita 0:736c76a75def 10 int RSX,RSY,LSX,LSY,BSU,BSL;
hirokimineshita 9:e5437ba3e920 11 //これより下に関数外に書く要素を記入する
hokkyokuh2 12:1254070d444a 12
hokkyokuh2 12:1254070d444a 13 //SPI通信の宣言
hokkyokuh2 12:1254070d444a 14 SPI spi(p5, p6, p7); // mosi, miso, sclk
hokkyokuh2 12:1254070d444a 15 DigitalOut cs(p8);
baba2357 11:86d717718dbf 16
hokkyokuh2 12:1254070d444a 17 /*
hokkyokuh2 12:1254070d444a 18 2進数の足回り、昇降機構、開閉機構の情報
hokkyokuh2 12:1254070d444a 19 valmasterは全ての情報の合計
hokkyokuh2 12:1254070d444a 20 */
hokkyokuh2 12:1254070d444a 21 int valArm = 0;
hokkyokuh2 12:1254070d444a 22 int valUpDown = 0;
hokkyokuh2 12:1254070d444a 23 int valLeg = 0;
hokkyokuh2 12:1254070d444a 24 int valMaster = 0;
hokkyokuh2 12:1254070d444a 25
hokkyokuh2 12:1254070d444a 26 DigitalOut led (LED1);
hokkyokuh2 12:1254070d444a 27
hokkyokuh2 12:1254070d444a 28
hokkyokuh2 12:1254070d444a 29 void UserLoopSetting()
hokkyokuh2 12:1254070d444a 30 {
hirokimineshita 0:736c76a75def 31 //一度だけ行いたい初期設定をここに書く
hokkyokuh2 12:1254070d444a 32
hirokimineshita 0:736c76a75def 33 }
hirokimineshita 0:736c76a75def 34
hokkyokuh2 12:1254070d444a 35 void UserLoop(char n,const u8* data)
hokkyokuh2 12:1254070d444a 36 {
hirokimineshita 0:736c76a75def 37 u16 ButtonState;
hokkyokuh2 12:1254070d444a 38 if(n==0) { //有線Ps3USB.cpp
hirokimineshita 0:736c76a75def 39 RSX = ((ps3report*)data)->RightStickX;
hirokimineshita 0:736c76a75def 40 RSY = ((ps3report*)data)->RightStickY;
hirokimineshita 0:736c76a75def 41 LSX = ((ps3report*)data)->LeftStickX;
hirokimineshita 0:736c76a75def 42 LSY = ((ps3report*)data)->LeftStickY;
hirokimineshita 0:736c76a75def 43 BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff);
hirokimineshita 0:736c76a75def 44 BSL = (u8)(((ps3report*)data)->ButtonState >> 8);
hirokimineshita 0:736c76a75def 45 //ボタンの処理
hirokimineshita 0:736c76a75def 46 ButtonState = ((ps3report*)data)->ButtonState;
hokkyokuh2 12:1254070d444a 47 } else {//無線TestShell.cpp
hirokimineshita 0:736c76a75def 48 RSX = ((ps3report*)(data + 1))->RightStickX;
hirokimineshita 0:736c76a75def 49 RSY = ((ps3report*)(data + 1))->RightStickY;
hirokimineshita 0:736c76a75def 50 LSX = ((ps3report*)(data + 1))->LeftStickX;
hirokimineshita 0:736c76a75def 51 LSY = ((ps3report*)(data + 1))->LeftStickY;
hirokimineshita 0:736c76a75def 52 BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff);
hirokimineshita 0:736c76a75def 53 BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8);
hirokimineshita 0:736c76a75def 54 //ボタンの処理
hirokimineshita 0:736c76a75def 55 ButtonState = ((ps3report*)(data + 1))->ButtonState;
hirokimineshita 0:736c76a75def 56 }
hirokimineshita 0:736c76a75def 57 //ここより下にプログラムを書く
hokkyokuh2 12:1254070d444a 58 //送る情報は2進数で考えた後、10進数に直して送る。（2進数での書き込みができないため）
hokkyokuh2 12:1254070d444a 59
hokkyokuh2 12:1254070d444a 60 /*
hokkyokuh2 12:1254070d444a 61 SPI通信の設定
hokkyokuh2 12:1254070d444a 62 通信量が多い場合、frequencyの値を上げると問題が解決するかもしれない
hokkyokuh2 12:1254070d444a 63 */
hokkyokuh2 12:1254070d444a 64 spi.format(16,3);
hokkyokuh2 12:1254070d444a 65 spi.frequency(1000000);
hokkyokuh2 12:1254070d444a 66 cs = 0;
hokkyokuh2 12:1254070d444a 67
baba2357 11:86d717718dbf 68
hokkyokuh2 12:1254070d444a 69 ///////アーム部分/////////
hokkyokuh2 12:1254070d444a 70 if(((ButtonState >> BUTTONR1)&1 == 1)&&((ButtonState >> BUTTONL1)&1 == 1)) {//両方閉じる
hokkyokuh2 12:1254070d444a 71 valArm = 3584;//0111000000000;
hokkyokuh2 12:1254070d444a 72 } else if((ButtonState >> BUTTONR1)&1 == 1) {//右側閉じる
hokkyokuh2 12:1254070d444a 73 valArm = 2560;//0101000000000;
hokkyokuh2 12:1254070d444a 74 } else if((ButtonState >> BUTTONL1)&1 == 1) {//左側閉じる
hokkyokuh2 12:1254070d444a 75 valArm = 3072;//0110000000000;
hokkyokuh2 12:1254070d444a 76 } else if(((ButtonState >> BUTTONR2)&1 == 1)&&((ButtonState >> BUTTONL2)&1 == 1)) {//両方開く
hokkyokuh2 12:1254070d444a 77 valArm = 1536;//0011000000000;
hokkyokuh2 12:1254070d444a 78 } else if ((ButtonState >> BUTTONR2)&1 == 1) {//右側開く
hokkyokuh2 12:1254070d444a 79 valArm = 512;//0001000000000;
hokkyokuh2 12:1254070d444a 80 } else if((ButtonState >> BUTTONL2)&1 == 1) {//左側開く
hokkyokuh2 12:1254070d444a 81 valArm = 1024;//0010000000000;
hokkyokuh2 12:1254070d444a 82 } else {
hokkyokuh2 12:1254070d444a 83 valArm = 0;//0000000000000;
hokkyokuh2 12:1254070d444a 84 }
hokkyokuh2 12:1254070d444a 85 if((ButtonState >> BUTTONCIRCLE)&1 == 1) { //開く時、○ボタンを押すとスピードが上がる
hokkyokuh2 12:1254070d444a 86 valArm = valArm + 4096;//1000000000000;
hokkyokuh2 12:1254070d444a 87 }
hokkyokuh2 12:1254070d444a 88
hokkyokuh2 12:1254070d444a 89 //昇降機構
hokkyokuh2 12:1254070d444a 90 if((ButtonState >> BUTTONSQUARE)&1 == 1) {//big up
hokkyokuh2 12:1254070d444a 91 valUpDown = 24;//11000;
hokkyokuh2 12:1254070d444a 92 } else if((ButtonState >> BUTTONCROSS)&1 == 1) {//big down
hokkyokuh2 12:1254070d444a 93 valUpDown = 16;//10000;
hokkyokuh2 12:1254070d444a 94 } else {//not moving
hokkyokuh2 12:1254070d444a 95 valUpDown = 0;//00000;
hirokimineshita 0:736c76a75def 96 }
hokkyokuh2 12:1254070d444a 97
hokkyokuh2 12:1254070d444a 98 //足回り
hokkyokuh2 12:1254070d444a 99 if(RSY < 110 && LSY < 110) { //forward
hokkyokuh2 12:1254070d444a 100 valLeg =480; //111100000;
hokkyokuh2 12:1254070d444a 101 led = 1;
hokkyokuh2 12:1254070d444a 102 } else if( RSY < 140 && RSY >= 110 && LSY < 110) { //small turn right1
hokkyokuh2 12:1254070d444a 103 valLeg = 384;//110000000;
hokkyokuh2 12:1254070d444a 104 } else if(RSY >= 140 && LSY < 110) { //big turn right
hokkyokuh2 12:1254070d444a 105 valLeg = 416;//110100000;
hokkyokuh2 12:1254070d444a 106 } else if(RSY >= 140 && LSY >= 110 && LSY < 140) { //small turn right2
hokkyokuh2 12:1254070d444a 107 valLeg = 32;//000100000;
hokkyokuh2 12:1254070d444a 108 } else if(RSY < 110 && LSY >= 110 && LSY < 140) { //small turn left1
hokkyokuh2 12:1254070d444a 109 valLeg = 96;//001100000;
hokkyokuh2 12:1254070d444a 110 } else if(RSY < 110 && LSY >= 140) { //big turn left
hokkyokuh2 12:1254070d444a 111 valLeg = 224;//011100000;
hokkyokuh2 12:1254070d444a 112 } else if(RSY < 140 && RSY >= 110 && LSY >=140) { //small turn left2
hokkyokuh2 12:1254070d444a 113 valLeg = 128;//010000000;
hokkyokuh2 12:1254070d444a 114 } else if(RSY >= 140 && LSY >= 140) {//back
hokkyokuh2 12:1254070d444a 115 valLeg = 160;//010100000;
hokkyokuh2 12:1254070d444a 116 } else if((ButtonState >> BUTTONUP)&1 == 1) { //微調整前進
hokkyokuh2 12:1254070d444a 117 valLeg = 256;//100000000;
hokkyokuh2 12:1254070d444a 118 } else if((ButtonState >> BUTTONDOWN)&1 == 1) { //微調整後進
hokkyokuh2 12:1254070d444a 119 valLeg = 288;//100100000
hokkyokuh2 12:1254070d444a 120 } else if((ButtonState >> BUTTONRIGHT)&1 == 1) { //微調整右折
hokkyokuh2 12:1254070d444a 121 valLeg = 320;//101000000
hokkyokuh2 12:1254070d444a 122 } else if((ButtonState >> BUTTONLEFT)&1 == 1) { //微調整左折
hokkyokuh2 12:1254070d444a 123 valLeg = 352;//101100000
hokkyokuh2 12:1254070d444a 124 } else {
hokkyokuh2 12:1254070d444a 125 valLeg = 0;//000000000;
hokkyokuh2 12:1254070d444a 126 }
hokkyokuh2 12:1254070d444a 127
hokkyokuh2 12:1254070d444a 128 valMaster = valLeg + valUpDown + valArm;//この値をSPI通信で送る
baba2357 11:86d717718dbf 129
hokkyokuh2 12:1254070d444a 130 spi.write(valMaster);
hokkyokuh2 12:1254070d444a 131 cs = 1;
hokkyokuh2 12:1254070d444a 132 }