Diff: main.cpp

Revision:

4:00ac3d093b24

Parent:

3:814cb36d0f90

Child:

5:62de7a36d3af

--- a/main.cpp	Thu Sep 22 16:18:08 2016 +0000
+++ b/main.cpp	Mon Sep 26 14:01:47 2016 +0000
@@ -1,16 +1,20 @@
 #include "mbed.h"
 #include "stdio.h"
 #include "math.h"
+#include "USBJoystick.h"
 
 Serial pc(USBTX,USBRX);
+USBJoystick joystick;
 
 DigitalInOut pingPin1(p18);
 DigitalInOut pingPin2(p19);
 
 Timer tmr1, tmr2,tmr;
-Timeout timeouter;
+Timeout timeouter1,timeouter2;
 int flag=0;
-float sum1=0,sum2=0,count1=0,count2=0,timecount1=0,timecount2=0,timesum1=0,timesum2=0;
+float sum1=0,sum2=0,count1=0,count2=0,timecount1=0,timecount2=0,timesum1=0,timesum2=0,v,argv;
+int16_t x=0,y=0,i=2;
+int8_t button = 0;
 long microsecondsToCentimeters(long microseconds);
 
 void reset()
@@ -20,9 +24,14 @@
     sum1=0,sum2=0,count1=0,count2=0,timecount1=0,timecount2=0,timesum1=0,timesum2=0;
 }
 
+void output()
+{
+    printf("\n|v|: %lf theta: %lf\n",v,argv); //最終的にだすやつ
+}
+
 int main()
 {
-    float avg1,avg2,timeavg1,timeavg2,deltat,a,b,v,argv;
+    float avg1,avg2,timeavg1,timeavg2,deltat,a,b;
     pc.baud(115200);
     while (1) {
         long duration1, duration2,USSDistance1, USSDistance2, cm1, cm2, time1,time2;
@@ -51,11 +60,13 @@
                 flag=1;
                 tmr.reset();
                 tmr.start();
-                timeouter.attach(&reset, 5);
+                timeouter2.attach(&output, 1);
+                timeouter1.attach(&reset, 5);
             }
             if(flag==1) {
-                timeouter.detach();
-                timeouter.attach(&reset, 5);
+                timeouter1.detach();
+                timeouter2.attach(&output, 1);
+                timeouter1.attach(&reset, 5);
             }
             time1=tmr.read_ms();
             printf("1: %d  %d[ms]", cm1,time1);
@@ -65,12 +76,11 @@
 
             sum1=sum1+cm1;   //cm1の値を合計する
             avg1=sum1/count1;    //cm1の平均
-            printf("   avg1: %4.2f",avg1);
-            
+            printf("   avg1: %f",avg1);
+
             timesum1=timesum1+time1;    //time1を合計する
             timeavg1=timesum1/timecount1;   //time1の平均
-            printf("   timeavg1: %4.2f[ms]\n",timeavg1);
-
+            printf("   timeavg1: %f[ms]\n",timeavg1);
         }
 
         wait_ms(10);
@@ -96,39 +106,37 @@
         cm2 = microsecondsToCentimeters(USSDistance2);
         if(15<cm2&&cm2<40) {
             time2=tmr.read_ms();
-            printf("                                                 2: %d %d[ms]",cm2,time2);
+            printf("                                              2: %d %d[ms]",cm2,time2);
 
             count2++;
             timecount2++;
-            
+
             sum2=sum2+cm2;   //cm2の値を合計する
             avg2=sum2/count2;    //cm2の平均
-            printf("   avg2: %4.2f",avg2);
-            
+            printf("   avg2: %f",avg2);
+
             timesum2=timesum2+time2;    //time2を合計する
             timeavg2=timesum2/timecount2;   //time2の平均
-            printf("   timeavg2:%4.2f[ms]\n",timeavg2);
-            
+            printf("   timeavg2:%f[ms]\n",timeavg2);
+
             deltat=timeavg2-timeavg1;   //Δtを求める
-            printf("\ndeltat: %4.2f\n",deltat);
-            
+            printf("\ndeltat: %f\n",deltat);
+
             a=pow((avg2-avg1)/deltat,2);
             b=pow(10/deltat,2);
             v=sqrt(a+b);    //|v|を求める
-            
+
             argv=atan(10/(avg2-avg1));  //θを求める
-            
-            printf("\n|v|: %lf theta: %lf\n",v,argv);
-              
-
         }
         wait_ms(10);
-        
-        
     }
+    button = (i >> 8) & 0x0F;
+    x = argv;
+    y = v;
+
+    joystick.update(x, y, button);
 }
 
-
 long microsecondsToInches(long microseconds)
 {
     return microseconds / 74 / 2;