NagaokaRoboticsClub_mbedTeam
/
2022A_FEPRX_TokiPS4
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Revision 0:c2cc8f4e2ba0, committed 2022-10-08
- Comitter:
- watarushimoda
- Date:
- Sat Oct 08 10:20:18 2022 +0000
- Commit message:
- FEP RX program TokiPS4
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FEP_RX22.lib Sat Oct 08 10:20:18 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/FEP_RX22/#39eb865e21e1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Oct 08 10:20:18 2022 +0000
@@ -0,0 +1,82 @@
+//PS4コントローラーにしわき拡張版
+#include "FEP_RX22.h"
+#include "pinconfig.h"
+#include <cmath>
+
+FEP_RX22 mycon(fepTX, fepRX, fepad);
+Serial pc(pcTX, pcRX, 115200);
+
+int main()
+{
+ mycon.StartReceive();
+ uint8_t b[16];
+ int16_t stick[4];
+ int16_t trigger[4];
+ int16_t volume[3];
+ uint8_t toggle[4];
+ uint8_t timeout;
+ uint8_t data[128];
+ int pw;
+ while(1) {
+
+#if ControllerMode
+ for (int i=0; i<16; i++) b[i] = mycon.getButton(i);
+ for (int i=0; i<4; i++) stick[i] = mycon.getStick(i);
+ for (int i=0; i<2; i++) trigger[i] = mycon.getTrigger(i);
+
+ for (int i=0; i<16; i++) pc.printf("%d ", b[i]);
+ pc.printf(" | ");
+ for (int i=0; i<4; i++) pc.printf("%3d ", stick[i]);
+ pc.printf(" | ");
+ for (int i=0; i<2; i++) pc.printf("%3d ", trigger[i]);
+ pc.printf(" | ");
+#else
+ mycon.getData(data);
+ for (int i=0, tmp=1; i<8; i++) {
+ pw = pow((float)2,i);
+ b[i] = (int)((data[0] & tmp)/pw);
+ pc.printf("%d ", b[i]);
+ tmp *= 2;
+ }
+ for (int i=8, tmp=1, j=0; i<16; i++, j++) {
+ pw = pow((float)2,j);
+ b[i] = (int)((data[1] & tmp)/pw);
+ pc.printf("%d ", b[i]);
+ tmp *= 2;
+ }
+ pc.printf(" | ");
+
+ for (int i=0; i<4; i++) {
+ stick[i] = data[i+2];
+ pc.printf("%3d ", stick[i]);
+ }
+ pc.printf(" | ");
+
+ for (int i=0; i<2; i++) {
+ trigger[i] = data[i+6];
+ pc.printf("%3d ", trigger[i]);
+ }
+ pc.printf(" | ");
+
+ for (int i=0; i<3; i++) {
+ volume[i] = data[i+9];
+ pc.printf("%3d ", volume[i]);
+ }
+ pc.printf(" | ");
+
+ for (int i=0; i<4; i++) {
+ toggle[i] = data[i+12];
+ pc.printf("%3d ", toggle[i]);
+ }
+ pc.printf(" | ");
+
+ timeout = data[8];
+ pc.printf("%3d ", timeout);
+ pc.printf(" | ");
+
+#endif
+ if (mycon.getStatus()) pc.printf("received\r\n");
+ else pc.printf("anything error...\r\n");
+
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Oct 08 10:20:18 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pinconfig.h Sat Oct 08 10:20:18 2022 +0000 @@ -0,0 +1,15 @@ +#ifndef PIN_CONFIG_H +#define PIN_CONFIG_H + +#include "mbed.h" + +/*FEP*/ +static PinName const fepTX = PC_12; +static PinName const fepRX = PD_2; +static uint8_t const fepad = 004; // 通信相手のアドレス + +/*PC*/ +static PinName const pcTX = USBTX; +static PinName const pcRX = USBRX; + +#endif \ No newline at end of file