jordy morsinkhof / Mbed 2 deprecated Handmatig

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Dependencies:   USBHost USBHostXpad mbed-rtos mbed

Fork of x4180_Tank by C K

main.cpp@1:3bae10d2507c, 2014-11-13 (annotated)

Committer:
jmccranie3
Date:
Thu Nov 13 23:29:03 2014 +0000
Revision:
1:3bae10d2507c
Parent:
0:79485480cd7e
Child:
2:5e870c215495
added an aweesome comment

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hotwheelharry 0:79485480cd7e 1 #include "mbed.h"
hotwheelharry 0:79485480cd7e 2 #include "rtos.h"
hotwheelharry 0:79485480cd7e 3 #include "Traxster.h"
hotwheelharry 0:79485480cd7e 4 #include "USBHostXpad.h"
hotwheelharry 0:79485480cd7e 5 #include "utils.h"
hotwheelharry 0:79485480cd7e 6 #include "Audio.h"
hotwheelharry 0:79485480cd7e 7
hotwheelharry 0:79485480cd7e 8 Serial pc(USBTX, USBRX);
hotwheelharry 0:79485480cd7e 9 Serial robotCom(p13, p14);
hotwheelharry 0:79485480cd7e 10 AnalogIn ir(p20);
hotwheelharry 0:79485480cd7e 11 Speaker speaker(p18); // the pin must be the AnalogOut pin - p18
hotwheelharry 0:79485480cd7e 12
hotwheelharry 0:79485480cd7e 13
hotwheelharry 0:79485480cd7e 14 Audio audio(speaker);
hotwheelharry 0:79485480cd7e 15 USBHostXpad controller;
hotwheelharry 0:79485480cd7e 16 Xbox360ControllerState controlState;
hotwheelharry 0:79485480cd7e 17 Traxster tank(robotCom);
hotwheelharry 0:79485480cd7e 18
jmccranie3 1:3bae10d2507c 19 //comment added
hotwheelharry 0:79485480cd7e 20
hotwheelharry 0:79485480cd7e 21 void onControlInput(int buttons, int stick_lx, int stick_ly, int stick_rx, int stick_ry, int trigger_l, int trigger_r){
hotwheelharry 0:79485480cd7e 22 pc.printf("buttons: %04x Lstick X,Y: %-5d, %-5d Rstick X,Y: %-5d, %-5d LTrig: %02x (%d) RTrig: %02x (%d)\n", buttons, stick_lx, stick_ly, stick_rx, stick_ry, trigger_l,trigger_l, trigger_r,trigger_r);
hotwheelharry 0:79485480cd7e 23 controlState = Xbox360ControllerState(buttons, stick_lx, stick_ly, stick_rx, stick_ry, trigger_l, trigger_r);
hotwheelharry 0:79485480cd7e 24 };
hotwheelharry 0:79485480cd7e 25
hotwheelharry 0:79485480cd7e 26 void thread_audio_run(void const* arg){
hotwheelharry 0:79485480cd7e 27 audio.run();
hotwheelharry 0:79485480cd7e 28 }
hotwheelharry 0:79485480cd7e 29
hotwheelharry 0:79485480cd7e 30 int main() {
hotwheelharry 0:79485480cd7e 31 pc.baud(19200);
hotwheelharry 0:79485480cd7e 32
hotwheelharry 0:79485480cd7e 33 controller.attachEvent(&onControlInput);
hotwheelharry 0:79485480cd7e 34
hotwheelharry 0:79485480cd7e 35 Thread audio_thread(thread_audio_run);
hotwheelharry 0:79485480cd7e 36
hotwheelharry 0:79485480cd7e 37 audio.playMario();
hotwheelharry 0:79485480cd7e 38
hotwheelharry 0:79485480cd7e 39 while(1){
hotwheelharry 0:79485480cd7e 40 //acts as a failsafe
hotwheelharry 0:79485480cd7e 41 while(controller.connected()) {
hotwheelharry 0:79485480cd7e 42 if(ir > 0.5){
hotwheelharry 0:79485480cd7e 43 controller.rumble(255,255);
hotwheelharry 0:79485480cd7e 44 }
hotwheelharry 0:79485480cd7e 45 if( controller.read(USBHostXpad::XPAD_PAD_Y) ) {
hotwheelharry 0:79485480cd7e 46 controller.led( USBHostXpad::LED_ROTATE );
hotwheelharry 0:79485480cd7e 47 } else {
hotwheelharry 0:79485480cd7e 48 controller.led( USBHostXpad::LED_OFF );
hotwheelharry 0:79485480cd7e 49 }
hotwheelharry 0:79485480cd7e 50 if(controlState.triggerRight > 0){
hotwheelharry 0:79485480cd7e 51 controller.rumble(255,255);
hotwheelharry 0:79485480cd7e 52 }
hotwheelharry 0:79485480cd7e 53
hotwheelharry 0:79485480cd7e 54 if( controller.read(USBHostXpad::XPAD_PAD_X) ) {
hotwheelharry 0:79485480cd7e 55 tank.SetMotors(1.0,1.0);
hotwheelharry 0:79485480cd7e 56 } else {
hotwheelharry 0:79485480cd7e 57 tank.SetMotors(0.0,0.0); //stop, wait for controller to reconnect for a second.
hotwheelharry 0:79485480cd7e 58 }
hotwheelharry 0:79485480cd7e 59 }
hotwheelharry 0:79485480cd7e 60 tank.SetMotors(0.0,0.0); //stop, wait for controller to reconnect for a second.
hotwheelharry 0:79485480cd7e 61 Thread::wait(500);
hotwheelharry 0:79485480cd7e 62 controller.connect();
hotwheelharry 0:79485480cd7e 63 }
hotwheelharry 0:79485480cd7e 64 }