KRAI 2017
/
MainProgram_BaseBaru
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Dependencies: Motor PID Joystick_OrdoV5 mbed millis
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MainProgram_BaseBaru_13FebV2
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KRAI 2017
PS3Arduino.txt
- Committer:
- fanny868
- Date:
- 2015-05-28
- Revision:
- 0:9072e932503c
- Child:
- 2:ac21a024ac80
File content as of revision 0:9072e932503c:
/*********************************************************************************************/
/** **/
/** PROGRAM KOMUNIKASI DATA JOYSTIK PS3 **/
/** **/
/** Joystik PS3 -> Arduino -> STM32Nucleo **/
/** **/
/** Fanny Achmad Hindrarta **/
/** EL'12 - 13212076 **/
/** **/
/** Last Update : 15 Januari 2015, 20.30 **/
/*********************************************************************************************/
#include <PS3BT.h>
#include <usbhub.h>
#include "Arduino.h"
// Satisfy IDE, which only needs to see the include statment in the ino.
#ifdef dobogusinclude
#include <spi4teensy3.h>
#endif
USB Usb;
/* You can create the instance of the class in two ways */
BTD Btd(&Usb); // You have to create the Bluetooth Dongle instance like so
/* You can create the instance of the class in two ways */
PS3BT PS3(&Btd); // This will just create the instance
//PS3BT PS3(&Btd, 0x00, 0x15, 0x83, 0x3D, 0x0A, 0x57); // This will also store the bluetooth address - this can be obtained from the dongle when running the sketch
boolean printAngle;
uint8_t state = 0;
// Deklarasi tombol
boolean kiri_click=0, kanan_click=0, atas_click=0, bawah_click=0;
boolean segitiga_click=0, lingkaran_click=0, kotak_click=0, silang_click=0;
boolean L1_click=0, R1_click=0, L3_click=0, R3_click=0;
boolean START_click=0, SELECT_click=0, PS_click=0;
// Deklarasi variabel tombol analog
unsigned char LX, LY, RX, RY, aL2, aR2;
// Deklarasi varibel data yang dikirim
unsigned char button;
unsigned char RL;
unsigned int button_click;
unsigned int RL_click;
void setup_joystik()
{
while (!Serial); // Wait for serial port to connect - used on Leonardo, Teensy and other boards with built-in USB CDC serial connection
if (Usb.Init() == -1) {
Serial.print(F("\r\nOSC did not start"));
while (1); //halt
}
Serial.print(F("\r\nPS3 USB Library Started"));
}
/*********************************************************************************************/
/** **/
/** FUNGSI PENGIRIMAN DATA **/
/** - Data yang akan dikirim adalah paket data 8-bit dengan urutan sebagai berikut **/
/** |------|------|--------|----|--------------|----------|----|----|----|----|----|----| **/
/** | 0x88 | 0x08 | button | RL | button_click | RL_click | R2 | L2 | RX | RY | LX | LY | **/
/** |------|------|--------|----|--------------|----------|----|----|----|----|----|----| **/
/** **/
/*********************************************************************************************/
void kirimdatajoystik()
{
Serial.write(0x88);
Serial.write(0x08);
Serial.write(button);
Serial.write(RL);
Serial.write(button_click);
Serial.write(RL_click);
Serial.write(aR2);
Serial.write(aL2);
Serial.write(RX);
Serial.write(RY);
Serial.write(LX);
Serial.write(LY);
// Debug
/*
Serial.print(millis());
Serial.print("\t");
Serial.print(button);
Serial.print("\t");
Serial.print(RL);
Serial.print("\t");
Serial.print(button_click);
Serial.print("\t");
Serial.print(RL_click);
Serial.print("\t");
Serial.print(aR2);
Serial.print("\t");
Serial.print(aL2);
Serial.print("\t");
Serial.print(RX);
Serial.print("\t");
Serial.print(RY);
Serial.print("\t");
Serial.print(LX);
Serial.print("\t");
Serial.println(LY);
*/
}
/*****************************************************************************************/
/** SETUP REGISTER dan INISIALISASI **/
/** - Setup Joystik **/
/** - Baud Rate Serial 115200, 8-bit, 1 stop, 0 parity **/
/*****************************************************************************************/
void setup() {
Serial.begin(115200);
setup_joystik();
}
/*****************************************************************************************/
/** **/
/** FUNGSI PEMBACAAN DATA JOYSTIK **/
/** - Data dari Joystik dikirim melalui Bluetooth. **/
/** Lihat Library "PS3BT.h" **/
/** - Data tombol dari joystik adalah data 1-bit. Pengiriman data melalui USART **/
/** adalah 8-bit. Agar pengiriman data efisien, maka data 1-bit digabungkan **/
/** agar terbentuk data 8-bit **/
/** - Penggabungan data segitiga, longkaran, silang, kotak, arah atas, arah kanan, **/
/** arah bawah, arah kiri disimpan dalam variabel "button" **/
/** - Urutan data pada variabel "button" dan "button_click" **/
/** adalah sebagai berikut **/
/** **/
/** |------|-------|-------|------|-------|--------|-----------|----------| **/
/** Bit Ke | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 | **/
/** |------|-------|-------|------|-------|--------|-----------|----------| **/
/** Data | kiri | bawah | kanan | atas | kotak | silang | lingkaran | segitiga | **/
/** |------|-------|-------|------|-------|--------|-----------|----------| **/
/** **/
/** - Penggabungan data R1, R2, L1, L2, R3, L3, START, dan SELECT disimpan dalam **/
/** variabel "RL" **/
/** - Urutan data pada variabel "RL" dan "RL_click" adalah **/
/** sebagai berikut **/
/** **/
/** |----|--------|-------|----|----|----|----| **/
/** Bit Ke | 6 | 5 | 4 | 3 | 2 | 1 | 0 | **/
/** |----|--------|-------|----|----|----|----| **/
/** Data | PS | SELECT | START | L3 | L1 | R3 | R1 | **/
/** |----|--------|-------|----|----|----|----| **/
/** **/
/*****************************************************************************************/
void loop() {
button = 0;
RL = 0;
Usb.Task();
// Pembacaan data joystik dilakukan jika PS3 tersambung ke Arduino
if (PS3.PS3Connected || PS3.PS3NavigationConnected) {
// Pembacaan dan penggabungan data segitiga, lingkaran, silang, kotak, atas, kanan, bawah, kiri
// Data bernilai '1' jika tombol ditekan
if(PS3.getButtonPress(TRIANGLE)){
button = button + (0x1 << 0);
}
if(PS3.getButtonPress(CIRCLE)){
button = button + (0x1 << 1);
}
if(PS3.getButtonPress(CROSS)){
button = button + (0x1 << 2);
}
if(PS3.getButtonPress(SQUARE)){
button = button + (0x1 << 3);
}
if(PS3.getButtonPress(UP)){
button = button + (0x1 << 4);
}
if(PS3.getButtonPress(RIGHT)){
button = button + (0x1 << 5);
}
if(PS3.getButtonPress(DOWN)){
button = button + (0x1 << 6);
}
if(PS3.getButtonPress(LEFT)){
button = button + (0x1 << 7);
}
// Pembacaan dan penggabungan data R1, R3, L1, L3, START, SELECT, dan PS
// Data bernilai '1' jika tombol ditekan
if(PS3.getButtonPress(R1)){
RL = RL + (0x1 << 0);
}
if(PS3.getButtonPress(R3)){
RL = RL + (0x1 << 1);
}
if(PS3.getButtonPress(L1)){
RL = RL + (0x1 << 2);
}
if(PS3.getButtonPress(L3)){
RL = RL + (0x1 << 3);
}
if(PS3.getButtonPress(START)){
RL = RL + (0x1 << 4);
}
if(PS3.getButtonPress(SELECT)){
RL = RL + (0x1 << 5);
}
if(PS3.getButtonPress(PS)){
RL = RL + (0x1 << 6);
}
// Pembacaan dan penggabungan data segitiga, lingkaran, silang, kotak, atas, kanan, bawah, kiri
// Data bernilai '1' hanya saat tombol pertama kali ditekan
if(PS3.getButtonClick(TRIANGLE)){
segitiga_click = !segitiga_click;
}
if(PS3.getButtonClick(CIRCLE)){
lingkaran_click = !lingkaran_click;
}
if(PS3.getButtonClick(CROSS)){
silang_click = !silang_click;
}
if(PS3.getButtonClick(SQUARE)){
kotak_click = !kotak_click;
}
if(PS3.getButtonClick(UP)){
atas_click = !atas_click;
}
if(PS3.getButtonClick(RIGHT)){
kanan_click = !kanan_click;
}
if(PS3.getButtonClick(DOWN)){
bawah_click = !bawah_click;
}
if(PS3.getButtonClick(LEFT)){
kiri_click = !kiri_click;
}
button_click = 0;
button_click = (segitiga_click << 0) + (lingkaran_click << 1) + (silang_click << 2) + (kotak_click << 3) + (atas_click << 4) + (kanan_click << 5) + (bawah_click << 6) + (kiri_click << 7);
if(PS3.getButtonClick(R1)){
R1_click = !R1_click;
}
if(PS3.getButtonClick(R3)){
R3_click = !R3_click;
}
if(PS3.getButtonClick(L1)){
L1_click = !L1_click;
}
if(PS3.getButtonClick(L3)){
L3_click = !L3_click;
}
if(PS3.getButtonClick(START)){
START_click = !START_click;
}
if(PS3.getButtonClick(SELECT)){
SELECT_click = !SELECT_click;
}
if(PS3.getButtonClick(PS)){
PS_click = !PS_click;
}
RL_click = 0;
RL_click = (R1_click << 0) + (R3_click << 1) + (L1_click << 2) + (L3_click << 3) + (START_click << 4) + (SELECT_click << 5) + (PS_click << 6);
// Tombol Analog
LX = PS3.getAnalogHat(LeftHatX);
LY = PS3.getAnalogHat(LeftHatY);
RX = PS3.getAnalogHat(RightHatX);
RY = PS3.getAnalogHat(RightHatY);
aL2 = PS3.getAnalogButton(L2);
aR2 = PS3.getAnalogButton(R2);
} else {
// PS3 Disconnected
Serial.write(0x88);
Serial.write(0x09);
}
kirimdatajoystik();
delay(5);
}