team3
/
PS3_BlueUSB_user_old
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Dependencies: mbed
Fork of
PS3_BlueUSB_user
by 
ROBOSTEP_SHARE
Revision 9:0b1bd6a05321, committed 2015-05-28
- Comitter:
- yuji8822
- Date:
- Thu May 28 14:15:30 2015 +0000
- Parent:
- 8:1d1b8298f0cd
- Commit message:
- User.cpp????????????
Changed in this revision
| User.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/User.cpp Wed May 27 10:31:05 2015 +0000
+++ b/User.cpp Thu May 28 14:15:30 2015 +0000
@@ -8,8 +8,8 @@
//ここに関数外に書く要素を記入する
int RSX,RSY,LSX,LSY,BSU,BSL;
-PwmOut led1(LED1);
-PwmOut led2(LED2);
+//PwmOut led1(LED1);
+//PwmOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
@@ -20,8 +20,9 @@
PwmOut wheelL2(p23);
PwmOut wheelL1(p24);
-DigitalOut launch1(p25);
-DigitalOut launch2(p26);
+PwmOut launch1(p25);
+PwmOut launch2(p26);
+
void motorR(int dir,float dutyR)
@@ -67,14 +68,14 @@
}
}
-
-
-
+
+
void UserLoopSetting()
{
+ //led1.period_ms(20);
//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)
@@ -133,26 +134,47 @@
else if((ButtonState >> BUTTONR1)&1)
{
- motorL(1,0.3);
- motorR(2,0.3);
+ motorL(1,0.6);
+ motorR(2,0.6);
}
else if((ButtonState >> BUTTONL1)&1)
{
- motorL(2,0.3);
- motorR(1,0.3);
+ motorL(2,0.6);
+ motorR(1,0.6);
+ }
+
+ else if((ButtonState >> BUTTONSQUARE)&1)
+ {
+ launch1=0.9;
+ launch2=0;
+ }
+
+ else if((ButtonState >> BUTTONCROSS)&1)
+ {
+ launch1=0;
+ launch2=0.9;
}
- else if((ButtonState >> BUTTONSQUARE) & 1)
- {
- launch1=1;
- launch2=0;
- }
- else if((ButtonState >> BUTTONCROSS) & 1)
- {
- launch1=0;
- launch2=1;
- }
+ else if((ButtonState >> BUTTONCROSS)&1)
+ {
+ if((ButtonState >> BUTTONSQUARE)&1)
+ {
+ launch1=0;
+ launch2=0;
+ }
+ }
+
+ else if((ButtonState >> BUTTONSQUARE)&1)
+ {
+ if((ButtonState >> BUTTONCROSS)&1)
+ {
+ launch1=0;
+ launch2=0;
+
+ }
+
+ }
//ここより下にANALOGのプログラムを書く
@@ -162,8 +184,8 @@
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);
+ motorR(1,0.9);
+ motorL(1,0.9);
}
//left down, right down
@@ -171,16 +193,16 @@
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);
+ motorR(2,0.9);
+ motorL(2,0.9);
}
// 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);
+ motorL(1,0.9);
+ motorR(2,0.9);
}
// left down, right up
@@ -188,27 +210,21 @@
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);
+ motorL(2,0.9);
+ motorR(1,0.9);
}
-
-
-
else {
motorL(0,0);
- motorR(0,0);
+ motorR(0,0);
+ launch1=0;
+ launch2=0;
}
-
-
-
-
-
- led1=LSX/256.0f;
- led2=LSY/256.0f;
+ //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