KRTMI 2019
Kodingan KRAI 2017
Dependencies: mbed DigitDisplay PID Motor Ping millis
Diff: JoystickPS3.h
- Revision:
- 0:dd4c20b9a83e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/JoystickPS3.h Sun Feb 24 10:39:24 2019 +0000
@@ -0,0 +1,214 @@
+#ifndef MBED_H
+#include "mbed.h"
+#endif
+
+#ifndef JoystickPS3__serialDEFAULT_BAUD
+#define JoystickPS3__serialDEFAULT_BAUD 115200
+#endif
+
+//Serial debug(USBTX,USBRX);
+
+namespace JoystickPS3 {
+
+class joysticknucleo {
+public:
+ joysticknucleo(PinName tx, PinName rx) : _serial(tx, rx)
+ {
+
+ }
+
+// Deklarasi variabel tombol analog
+ unsigned char LX, LY, RX, RY, R2, L2;
+
+ unsigned char button;
+ unsigned char RL;
+ unsigned char button_click;
+ unsigned char RL_click;
+
+ void setup(){
+ _serial.baud(JoystickPS3__serialDEFAULT_BAUD);
+ // debug.baud(9600);
+ }
+
+ /*********************************************************************************************/
+ /** **/
+ /** FUNGSI PEMBACAAN DATA **/
+ /** - Data yang diterima dari Serial Arduino berbentuk 8-bit **/
+ /** - Data yang diterima diolah menjadi boolean / 1-bit untuk data tombol button dan RL **/
+ /** karena data yang digunakan adalah 1-bit (true/false) **/
+ /** - Untuk analog data yang diterima tidak diolah karena rentang data yang dikirimkan **/
+ /** memiliki rentang 0-255 / 8-bit, dan data yang akan digunakan adalah data 8-bit **/
+ /** **/
+ /** |------|-------|-------|------|-------|--------|-----------|----------| **/
+ /** 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 olah_data()
+ {
+ // Pengolahan data dari data "button"
+ segitiga = (bool)((button >> 0) & 0x1);
+ lingkaran = (bool)((button >> 1) & 0x1);
+ silang = (bool)((button >> 2) & 0x1);
+ kotak = (bool)((button >> 3) & 0x1);
+ atas = (bool)((button >> 4) & 0x1);
+ kanan = (bool)((button >> 5) & 0x1);
+ bawah = (bool)((button >> 6) & 0x1);
+ kiri = (bool)((button >> 7) & 0x1);
+
+ // Pengolahan data dari data "RL"
+ R1 = (bool)((RL >> 0) & 0x1);
+ R3 = (bool)((RL >> 1) & 0x1);
+ L1 = (bool)((RL >> 2) & 0x1);
+ L3 = (bool)((RL >> 3) & 0x1);
+ START = (bool)((RL >> 4) & 0x1);
+ SELECT = (bool)((RL >> 5) & 0x1);
+ PS = (bool)((RL >> 6) & 0x1);
+
+ // R2 click dan L2 click
+ if (R2 > 100) {
+ if ( R2sebelum) { R2_click = false;
+ } else { R2_click = true;}
+ R2sebelum = true;
+ }else {
+ R2sebelum = false;
+ R2_click = false;
+ }
+ if (L2 > 100) {
+ if ( L2sebelum) { L2_click = false;
+ } else { L2_click = true;}
+ L2sebelum = true;
+ }else { L2sebelum = false;
+ L2_click = false;
+ }
+
+ segitiga_click = (bool)((button_click >> 0) & 0x1);
+ lingkaran_click = (bool)((button_click >> 1) & 0x1);
+ silang_click = (bool)((button_click >> 2) & 0x1);
+ kotak_click = (bool)((button_click >> 3) & 0x1);
+ atas_click = (bool)((button_click >> 4) & 0x1);
+ kanan_click = (bool)((button_click >> 5) & 0x1);
+ bawah_click = (bool)((button_click >> 6) & 0x1);
+ kiri_click = (bool)((button_click >> 7) & 0x1);
+
+ // Pengolahan data dari data "RL"
+ R1_click = (bool)((RL_click >> 0) & 0x1);
+ R3_click = (bool)((RL_click >> 1) & 0x1);
+ L1_click = (bool)((RL_click >> 2) & 0x1);
+ L3_click = (bool)((RL_click >> 3) & 0x1);
+ START_click = (bool)((RL_click >> 4) & 0x1);
+ SELECT_click = (bool)((RL_click >> 5) & 0x1);
+ PS_click = (bool)((RL_click >> 6) & 0x1);
+ }
+
+ /*********************************************************************************************/
+ /** **/
+ /** FUNGSI IDLE **/
+ /** - Fungsi dijalankan saat Arduino mengirimkan data yang merupakan **/
+ /** kondisi PS3 Disconnected **/
+ /** - Fungsi membuat semua data joystik bernilai 0 **/
+ /** **/
+ /*********************************************************************************************/
+
+ void idle(){
+ // Set 0
+ button = 0;
+ RL = 0;
+ button_click = 0;
+ RL_click = 0;
+ R2_click =0;
+ L2_click =0;
+ R2 = 0;
+ L2 = 0;
+ RX = 0;
+ RY = 0;
+ LX = 0;
+ LY = 0;
+
+ }
+
+ /*********************************************************************************************/
+ /** **/
+ /** FUNGSI PEMBACAAN DATA **/
+ /** - Fungsi pembacaan data yang dikirim dari arduino **/
+ /** - Data yang dikirim dari arduino merupakan paket data dengan format pengiriman **/
+ /** **/
+ /** |------|------|--------|----|--------------|----------|----|----|----|----|----|----| **/
+ /** | 0x88 | 0x08 | button | RL | button_click | RL_click | R2 | L2 | RX | RY | LX | LY | **/
+ /** |------|------|--------|----|--------------|----------|----|----|----|----|----|----| **/
+ /** **/
+ /** |------|------| **/
+ /** | 0x88 | 0x09 | **/
+ /** |------|------| **/
+ /** **/
+ /** - Jika urutan data yang diterima seperti tabel diatas, maka data tersebut akan **/
+ /** diolah untuk input ke aktuator **/
+ /** **/
+ /*********************************************************************************************/
+
+ void baca_data()
+ {
+ // Interrupt Serial
+ if(_serial.readable()&&(_serial.getc()==0x88)) {
+ // Pembacaan data dilakukan jika data awal yang diterima adalah 0x88 kemudian 0x08
+ if(_serial.getc()==0x08){
+ // Proses Pembacaan Data
+ button = _serial.getc();
+ RL = _serial.getc();
+ button_click = _serial.getc();
+ RL_click = _serial.getc();
+ R2 = _serial.getc();
+ L2 = _serial.getc();
+ RX = _serial.getc();
+ RY = _serial.getc();
+ LX = _serial.getc();
+ LY = _serial.getc();
+ } else if(_serial.getc()==0x09) {
+ // PS3 Disconnected
+ idle();
+ } else {
+ idle(); }
+ // Indikator - Print data pada monitor PC
+ // debug.printf("%2x %2x %2x %2x %3d %3d %3d %3d %3d %3d\n\r",button, RL, button_click, RL_click, R2, L2, RX, RY, LX, LY);
+ }
+ }
+
+
+ int readable(){
+ return _serial.readable();
+ }
+
+public:
+ // Deklarasi variabel tombol joystik
+ bool kiri, kanan, atas, bawah;
+ bool segitiga, lingkaran, kotak, silang;
+ bool L1, R1, L3, R3, START, SELECT, PS;
+
+ bool kiri_click, kanan_click, atas_click, bawah_click;
+ bool segitiga_click, lingkaran_click, kotak_click, silang_click;
+ bool L1_click, R1_click, L3_click, R3_click, R2_click, L2_click;
+ bool R2sebelum,L2sebelum;
+ bool START_click, SELECT_click, PS_click;
+
+protected:
+ virtual int _getc(){return _serial.getc();}
+ Serial _serial;
+};
+
+};
+
+using namespace JoystickPS3;
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