File content as of revision 18:2579c275ef57:

#include "Utils.h"
#include "USBHost.h"
#include "hci.h"
#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
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;



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);

}

void UserLoop(char n,const u8* data)
{
    u16 ButtonState;
    if(n==0) { //有線Ps3USB.cpp
        RSX = ((ps3report*)data)->RightStickX;
        RSY = ((ps3report*)data)->RightStickY;
        LSX = ((ps3report*)data)->LeftStickX;
        LSY = ((ps3report*)data)->LeftStickY;
        BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff);
        BSL = (u8)(((ps3report*)data)->ButtonState >> 8);
        //ボタンの処理
        ButtonState =  ((ps3report*)data)->ButtonState;
    } else {//無線TestShell.cpp
        RSX = ((ps3report*)(data + 1))->RightStickX;
        RSY = ((ps3report*)(data + 1))->RightStickY;
        LSX = ((ps3report*)(data + 1))->LeftStickX;
        LSY = ((ps3report*)(data + 1))->LeftStickY;
        BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff);
        BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8);
        //ボタンの処理
        ButtonState =  ((ps3report*)(data + 1))->ButtonState;
    }
    //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;
    }

    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;
    }

    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;
    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);



}