team3
/
PS3_BlueUSB_user_old
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Dependencies: mbed
Fork of
PS3_BlueUSB_user
by 
ROBOSTEP_SHARE
Diff: User.cpp
- Revision:
- 8:1d1b8298f0cd
- Parent:
- 7:4bddbd4549a1
- Child:
- 9:0b1bd6a05321
--- a/User.cpp Thu Apr 30 06:26:22 2015 +0000
+++ b/User.cpp Wed May 27 10:31:05 2015 +0000
@@ -10,43 +10,207 @@
int RSX,RSY,LSX,LSY,BSU,BSL;
PwmOut led1(LED1);
PwmOut led2(LED2);
+
DigitalOut led3(LED3);
DigitalOut led4(LED4);
-void UserLoopSetting(){
+PwmOut wheelR1(p21);
+PwmOut wheelR2(p22);
+
+PwmOut wheelL2(p23);
+PwmOut wheelL1(p24);
+
+DigitalOut launch1(p25);
+DigitalOut launch2(p26);
+
+void motorR(int dir,float dutyR)
+
+{
+ if(dir==1)
+ {
+ wheelR1=dutyR;
+ wheelR2=0;
+ }
+
+ else if(dir==2)
+ {
+ wheelR2=dutyR;
+ wheelR1=0;
+ }
+
+ else if(dir==0)
+ {
+ wheelR1=0;
+ wheelR2=0;
+ }
+
+}
+
+void motorL(int dir,float dutyL)
+{
+ if(dir==1)
+ {
+ wheelL1=dutyL;
+ wheelL2=0;
+ }
+
+ else if(dir==2)
+ {
+ wheelL1=0;
+ wheelL2=dutyL;
+ }
+
+ else if(dir==0)
+ {
+ wheelL1=0;
+ wheelL2=0;
+ }
+
+}
+
+
+
+
+void UserLoopSetting()
+{
//一度だけ行いたい初期設定をここに書く
led1.period_ms(20);
}
-void UserLoop(char n,const u8* data){
+void UserLoop(char n,const u8* data)
+{
u16 ButtonState;
- if(n==0){//有線Ps3USB.cpp
- RSX = ((ps3report*)data)->RightStickX;
- RSY = ((ps3report*)data)->RightStickY;
- LSX = ((ps3report*)data)->LeftStickX;
- LSY = ((ps3report*)data)->LeftStickY;
- BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff);
- BSL = (u8)(((ps3report*)data)->ButtonState >> 8);
- //ボタンの処理
- ButtonState = ((ps3report*)data)->ButtonState;
- }else {//無線TestShell.cpp
- RSX = ((ps3report*)(data + 1))->RightStickX;
- RSY = ((ps3report*)(data + 1))->RightStickY;
- LSX = ((ps3report*)(data + 1))->LeftStickX;
- LSY = ((ps3report*)(data + 1))->LeftStickY;
- BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff);
- BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8);
- //ボタンの処理
- ButtonState = ((ps3report*)(data + 1))->ButtonState;
- }
+ if(n==0)
+ {//有線Ps3USB.cpp
+ RSX = ((ps3report*)data)->RightStickX;
+ RSY = ((ps3report*)data)->RightStickY;
+ LSX = ((ps3report*)data)->LeftStickX;
+ LSY = ((ps3report*)data)->LeftStickY;
+ BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff);
+ BSL = (u8)(((ps3report*)data)->ButtonState >> 8);
+ //ボタンの処理
+ ButtonState = ((ps3report*)data)->ButtonState;
+ }
+ else
+ {//無線TestShell.cpp
+ RSX = ((ps3report*)(data + 1))->RightStickX;
+ RSY = ((ps3report*)(data + 1))->RightStickY;
+ LSX = ((ps3report*)(data + 1))->LeftStickX;
+ LSY = ((ps3report*)(data + 1))->LeftStickY;
+ BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff);
+ BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8);
+ //ボタンの処理
+ ButtonState = ((ps3report*)(data + 1))->ButtonState;
+ }
//ここより下にプログラムを書く
//データ取得例
- if((ButtonState >> BUTTONCIRCLE)&1) {
- //○が押されたとき
- }
+
+
+
+ if((ButtonState >> BUTTONUP)&1)
+ {
+ motorL(1,0.6);
+ motorR(1,0.6);
+ }
+
+ else if((ButtonState >> BUTTONLEFT)&1)
+ {
+ motorL(1,0.4);
+ motorR(1,0.8);
+ }
+
+ else if((ButtonState >> BUTTONRIGHT)&1)
+ {
+ motorL(1,0.8);
+ motorR(1,0.4);
+ }
+
+ else if((ButtonState >> BUTTONDOWN)&1)
+ {
+ motorL(2,0.6);
+ motorR(2,0.6);
+ }
+
+ else if((ButtonState >> BUTTONR1)&1)
+ {
+ motorL(1,0.3);
+ motorR(2,0.3);
+ }
+
+ else if((ButtonState >> BUTTONL1)&1)
+ {
+ motorL(2,0.3);
+ motorR(1,0.3);
+ }
+
+ else if((ButtonState >> BUTTONSQUARE) & 1)
+ {
+ launch1=1;
+ launch2=0;
+ }
+ else if((ButtonState >> BUTTONCROSS) & 1)
+ {
+ launch1=0;
+ launch2=1;
+ }
+
+
+ //ここより下にANALOGのプログラムを書く
+ //ここより下にANALOGのプログラムを書く
+
+ //left up , right up
+ else if(LSX/256.0f>0.3 && LSX/256.0f<0.7 && LSY/256.0f<0.3 &&
+ RSX/256.0f>0.3 && RSX/256.0f<0.7 && RSY/256.0f<0.3)
+ {
+ motorR(1,0.5);
+ motorL(1,0.5);
+ }
+
+ //left down, right down
+
+ else if(LSX/256.0f>0.3 && LSX/256.0f<0.7 && LSY/256.0f>0.7 &&
+ RSX/256.0f>0.3 && RSX/256.0f<0.7 && RSY/256.0f>0.7)
+ {
+ motorR(2,0.5);
+ motorL(2,0.5);
+ }
+
+// left up , right down
+ else if(LSX/256.0f>0.3 && LSX/256.0f<0.7 && LSY/256.0f<0.3 &&
+ RSX/256.0f>0.3 && RSX/256.0f<0.7 && RSY/256.0f>0.7)
+ {
+ motorL(1,0.5);
+ motorR(2,0.5);
+ }
+
+// left down, right up
+
+ else if(LSX/256.0f>0.3 && LSX/256.0f<0.7 && LSY/256.0f>0.7 &&
+ RSX/256.0f>0.3 && RSX/256.0f<0.7 && RSY/256.0f<0.3)
+ {
+ motorL(2,0.5);
+ motorR(1,0.5);
+ }
+
+
+
+
+
+ else {
+ motorL(0,0);
+ motorR(0,0);
+ }
+
+
+
+
+
+
+
led1=LSX/256.0f;
led2=LSY/256.0f;
led3=ButtonState & 0x0400; //L1の状態
led4=ButtonState & 0x0800; //R1の状態
//値の取得はps3.hを参照
-}
\ No newline at end of file
+}
+