Revision 10:7e3987c8fa37, committed 2015-02-25

Comitter:

347467

Date:

Wed Feb 25 08:38:37 2015 +0000

Parent:

9:789350244478

Commit message:

Xboxcontroller;

Changed in this revision

diff -r 789350244478 -r 7e3987c8fa37 main.cpp
--- a/main.cpp	Sat Dec 06 05:20:03 2014 +0000
+++ b/main.cpp	Wed Feb 25 08:38:37 2015 +0000
@@ -10,20 +10,30 @@
 #include <cmath>
 
 
-
 Serial pc(USBTX, USBRX);
 
 Serial robotCom(p13, p14);
 AnalogIn ir(p20);
 Speaker speaker(p18);  // the pin must be the AnalogOut pin - p18
+DigitalOut DQ1(p9); //motor lv
+PwmOut PWM1(p21);  //motor lv
+DigitalOut DQ2(p10);//motor rv
+PwmOut PWM2 (p22); //Motor rv
+DigitalOut DQ3(p11);//motor la
+PwmOut PWM3(p23);  //motor la
+DigitalOut DQ4(p12);//motor ra
+PwmOut PWM4 (p24); //Motor ra
 DigitalOut led1(LED1);      //shows trigger
 DigitalOut led2(LED2);      //shows collision prevention
 DigitalOut led3(LED3);      //shows laser pointer active
 DigitalOut led4(LED4);      //shows cpu activity
+
 DigitalOut fire(p8);
 DigitalOut laser(p27);
 
 
+
+
 Audio audio(speaker);
 Xbox360ControllerState controlState;
 Traxster tank(robotCom);
@@ -42,22 +52,38 @@
 float tank_L(float x, float y){
     float scale = 0.0;
     
-    if(x >= 0.0 && y <= 0){  //bottom right
+
+    
+    if(x >= 0.0 && y <= 0){  //LBA bottom right
+    pc.printf("1\r\n");
+        
+    
+    
+    
         if(y == 0){ scale =  1.0; goto End;}
         if(x == 0){ scale = -1.0; goto End;}
         float theta = atan(y/x) / 3.14159;
         scale =  theta * 4.0 +  1.0;
         
-    } else if(x <= 0.0 && y <= 0){  //bottom left
+        
+    } else if(x <= 0.0 && y <= 0){  //LBA bottom left
+    pc.printf("2\r\n");
+    
+   
+    
         scale =  -1.0;
         
     } else if(x <= 0.0 && y >= 0){  //top left
+    
+    
         if(y == 0){ scale =  -1.0; goto End;}
         if(x == 0){ scale =  1.0; goto End;}
         float theta = atan(y/x) / 3.14159;
         scale =  -theta * 4.0 -  1.0;
         
     } else {  //top-right
+    
+    
         scale =  1.0;
     }
     
@@ -69,6 +95,7 @@
     float scale = 0.0;
     
     if(x >= 0.0 && y <= 0){  //bottom right
+    
         scale =  -1.0;
         
     } else if(x <= 0.0 && y <= 0){  //bottom left
@@ -103,7 +130,7 @@
         //acts as a failsafe
         while(controller.connected()) {
             if(wasdisconnected){
-                //pc.printf("Controller Status >> Connected!\r\n");
+                pc.printf("Controller Status >> Connected!\r\n");
                 controller.led( USBHostXpad::LED1_ON );   
                 tank.SetMotors(0.0,0.0);    //stop, wait for controller to reconnect for a second.
                 wasdisconnected = false;
@@ -114,17 +141,32 @@
             bool trigger = false;
             
             // trigger rely - airsoft gun
-            if(controlState.triggerRight > 0x80){ 
-                controller.rumble(255,255);
+            
+            float AS = 1.0; // acutele snelheid
+            if(controlState.triggerRight > 0x80){  //Rechtdoor rijden
+                //controller.rumble(255,255);
                 fire = 1;
                 trigger = true;
+                
+                   
             }else{
-                controller.rumble(0,0);
+                //controller.rumble(0,0);
                 fire = 0;
             }
             
             //lazzzzeeer sight
-            if( controlState.buttons & USBHostXpad::XPAD_PAD_X){
+            if( controlState.buttons & USBHostXpad::XPAD_PAD_X){ //Knop X laser=DQ3
+            //Stoppen
+            DQ1= 1; //lv
+            DQ2= 1; //rv
+            DQ3= 1; //la
+            DQ4= 1; //ra
+            PWM1 = AS*0; //lv in de vrij
+            PWM2 = AS*0; //rv in de vrij
+            PWM3 = AS*0; //la in de vrij
+            PWM4 = AS*0; //ra in de vrij
+            wait(2.0);
+        
                 laser = 1;
             }else{
                 laser = 0;   
@@ -134,14 +176,51 @@
             //dpad sounds
             if(trigger || (controlState.buttons & (USBHostXpad::XPAD_HAT_UP | USBHostXpad::XPAD_HAT_DOWN | USBHostXpad::XPAD_HAT_LEFT | USBHostXpad::XPAD_HAT_RIGHT | USBHostXpad::XPAD_PAD_Y))){
                 int code = 0;
-                if(controlState.buttons & USBHostXpad::XPAD_HAT_UP){
-                    code = 0;
-                } else if(controlState.buttons & USBHostXpad::XPAD_HAT_DOWN){
-                    code = 1;
-                } else if(controlState.buttons & USBHostXpad::XPAD_HAT_LEFT){
-                    code = 2;
-                } else if(controlState.buttons & USBHostXpad::XPAD_HAT_RIGHT){
-                    code = 3;
+                
+                float z = 0.5;        // persentage voor het draaien van de motoren
+                float j = 0.75;        // persentage voor het draaien van de motoren
+                if(controlState.buttons & USBHostXpad::XPAD_HAT_UP){ //vooruit
+                    
+                    DQ1= 1; //lv
+                    DQ2= 1; //rv
+                    DQ3= 1; //la
+                    DQ4= 1; //ra
+                    PWM1 = AS*1.5;
+                    PWM2 = AS*1.5;
+                    PWM3 = AS*1.5;
+                    PWM4 = AS*1.5;
+                } else if(controlState.buttons & USBHostXpad::XPAD_HAT_DOWN){ //Achteruit
+                    DQ1= 0; //lv
+                    DQ2= 0; //rv
+                    DQ3= 0; //la
+                    DQ4= 0; //ra
+                    PWM1 = AS*1.5;
+                    PWM2 = AS*1.5;
+                    PWM3 = AS*1.5;
+                    PWM4 = AS*1.5;
+                    
+                } else if(controlState.buttons & USBHostXpad::XPAD_HAT_LEFT){ //links
+                    led1=1; //links
+    DQ1 = 0; //lv
+    DQ2 = 1; //rv
+    DQ3 = 0; //La
+    DQ4 = 1; //Ra
+    PWM1 = AS*z;
+    PWM2 = AS*j;
+    PWM3 = AS*z;
+    PWM4 = AS*j;
+                } else if(controlState.buttons & USBHostXpad::XPAD_HAT_RIGHT){//rechts
+                    led3=1; //rechts
+        
+    DQ1 = 1; //lv
+    DQ2 = 0; //rv
+    DQ3 = 1; //la
+    DQ4 = 0; //Ra
+    PWM1 = AS*j;
+    PWM2 = AS*z;
+    PWM3 = AS*j;
+    PWM4 = AS*z;
+    
                 } else if (trigger){
                     code = 4;
                 }else if (controlState.buttons & USBHostXpad::XPAD_PAD_Y){
@@ -158,13 +237,13 @@
             
             
             //update output leds
-            led1 = fire;
-            led2 = collisionAvoidance;
-            led3 = laser;
+            led1= fire;
+            led2= collisionAvoidance;
+            led3= laser;
             
             // on collision, reverse tank
             if(ir > 0.75 && collisionAvoidance){
-                controller.rumble(255,255);
+               // controller.rumble(255,255);
                 tank.SetMotors(-0.5,-0.5); 
                 continue;
             }else{
@@ -197,11 +276,11 @@
     tank.SetMotors(0,0); 
     fire = 0;
     laser = 1;
-    led1 = 1;
-    led4 = 1;
+    led1  = 1;
+    led2= 1;
     
     
-    pc.baud(19200);
+    pc.baud(9600);
     pc.printf("TANK\r\n");
     
     
@@ -218,7 +297,7 @@
     //tank.SetMotors(0,0);
     
     while(1){
-        led4 = !led4;
+        led4= !DQ4;
     //    fire = !fire;
         Thread::wait(1000);
     }