Revision 0:875532e626ee, committed 2018-01-15

Comitter:

number_key

Date:

Mon Jan 15 09:21:59 2018 +0000

Commit message:

compactControllerReciever

Changed in this revision

diff -r 000000000000 -r 875532e626ee FEP.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FEP.lib	Mon Jan 15 09:21:59 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/teams/NHK-Robocon2016_Nagaoka_B_Team/code/FEP/#2d308c99c668

diff -r 000000000000 -r 875532e626ee controller.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/controller.cpp	Mon Jan 15 09:21:59 2018 +0000
@@ -0,0 +1,80 @@
+#include "controller.h"
+
+Controller::Controller(PinName FEPtx, PinName FEPrx, int addr) :
+    FEP(FEPtx, FEPrx, addr),
+    data(),
+    fepTemp(0),
+    button1(),
+    button2(),
+    stick(),
+    radian(),
+    norm()
+{
+}
+
+bool Controller::receiveState()
+{
+    fepTemp = FEP::read(data, DATA_SIZE);
+    if(fepTemp == FEP_SUCCESS) {
+        for(int i = 0; i < 7; i++) {
+            button1[i] = data[4] % 2;
+            data[4] /= 2;
+        }
+        for(int i=0; i<6; i++) {
+            button2[i] = data[5] % 2;
+            data[5] /= 2;
+        }
+        for(int i = 0; i < 4; i++) {
+            stick[i] = -((double)(data[i] / STICK_DIVIDE) * 2.0 - 1.0);
+        }
+        setStick();
+    } else if(fepTemp == FEP_NO_RESPONSE) {
+        return 0;
+    } else {
+        return 0;
+    }
+    return 1;
+}
+
+void Controller::setStick()
+{
+    for(int i = 0; i < 4; i++) {
+        if(stick[i] < STICK_NEWTRAL && stick[i] > -STICK_NEWTRAL) stick[i] = 0;
+    }
+
+    radian[0] = atan2(stick[1], -stick[0]);
+    radian[1] = atan2(stick[3], -stick[2]);
+
+    norm[0] = hypot(stick[0], stick[1]);
+    norm[1] = hypot(stick[2], stick[3]);
+
+    if(norm[0] < STICK_NEWTRAL) norm[0] = 0;
+    if(norm[1] < STICK_NEWTRAL) norm[1] = 0;
+    if(norm[0] > STICK_NORM_MAX) norm[0] = STICK_NORM_MAX;
+    if(norm[1] > STICK_NORM_MAX) norm[1] = STICK_NORM_MAX;
+}
+
+bool Controller::getButton1(int number) const
+{
+    return button1[number];
+}
+
+bool Controller::getButton2(int number) const
+{
+    return button2[number];
+}
+
+float Controller::getStick(int number) const
+{
+    return stick[number];
+}
+
+float Controller::getRadian(int number) const
+{
+    return radian[number];
+}
+
+float Controller::getNorm(int number) const
+{
+    return norm[number];
+}

diff -r 000000000000 -r 875532e626ee controller.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/controller.h	Mon Jan 15 09:21:59 2018 +0000
@@ -0,0 +1,111 @@
+/**
+* @file controller.h
+* @brief FEPを使ったコントローラ受信部
+*
+* Example :
+* @code
+* #include "mbed.h"
+* #include "controller.h"
+*
+* Controller pad(PA_9, PA_10, 200);
+* Serial pc(USBTX, USBRX, 115200);
+*
+* int main()
+* {
+*     while(1) {
+*         if(pad.receiveState()) {
+*             for(int i = 0; i < 7; i++) pc.printf("%d, ", pad.getButton1(i));
+*             for(int i = 0; i < 6; i++) pc.printf("%d, ", pad.getButton2(i));
+*             pc.printf("\r\n");
+*         } else {
+*             pc.printf("ERROR\n\r");
+*         }
+*     }
+* }
+* @endcode
+*/
+#ifndef CONTROLLER_H
+#define CONTROLLER_H
+
+#include "mbed.h"
+#include <math.h>
+
+#include "FEP.h"
+
+// const double M_PI =     3.141592653589793;
+const int ADDR =        203;
+const bool FEP_SUCCESS =0;
+const int DATA_SIZE =   6;
+const float STICK_DIVIDE =  255.0;
+const float STICK_NEWTRAL = 0.1;
+const float STICK_NORM_MAX =1.0;
+
+/**
+* @brief FEPを使ったコントローラのクラス
+*/
+class Controller : public FEP
+{
+public :
+    /**
+     * @brief コンストラクタ
+     * @param FEPtx FEPtx
+     * @param FEPrx FEPrx
+     * @param addr  address
+     */
+    Controller(PinName FEPtx, PinName FEPrx,int addr);
+
+    /**
+    * @brief メンバ変数にボタンのステートを格納
+    */
+    bool receiveState();
+
+    /**
+     * ボタン1の状態を取得
+     * @param  number button number
+     * @return        status
+     */
+    bool getButton1(int number) const;
+
+    /**
+     * ボタン2の状態を取得
+     * @param  number button number
+     * @return        status
+     */
+    bool getButton2(int number) const;
+
+    /**
+     * スティックの値を取得
+     * @param  number sticknumber(x, y, x, y)
+     * @return        stick value
+     */
+    float getStick(int number) const;
+
+    /**
+     * スチィックの角度を取得
+     * @param  number left...0 right...1
+     * @return        radian
+     */
+    float getRadian(int number) const;
+
+    /**
+     * スティックの距離を取得
+     * @param  number left..0 right..1
+     * @return        norm
+     */
+    float getNorm(int number) const;
+
+private :
+    void setStick();
+
+    char data[6];
+    uint8_t fepTemp;
+
+protected :
+    bool button1[7];
+    bool button2[6];
+    double stick[4];
+    double radian[2];
+    double norm[2];
+};
+
+#endif//CONTROLLER_H