Marchio Kevin / Mbed 2 deprecated Robo_Taker_Nasional_2018

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Dependencies:   Motor_1 encoderKRAI mbed millis

Fork of Robo_Taker_Nasional_2018 by KRAI 2018

JoystickPS3.h@0:22acd37ed695, 2018-02-24 (annotated)

Committer:
Fathoni17
Date:
Sat Feb 24 07:57:51 2018 +0000
Revision:
0:22acd37ed695
Child:
3:b1403fcdaeb1
Joystick masalah

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Fathoni17 0:22acd37ed695 1 #ifndef JOYSTICK_NUCLEO_H
Fathoni17 0:22acd37ed695 2 #define JOYSTICK_NUCLEO_H
Fathoni17 0:22acd37ed695 3
Fathoni17 0:22acd37ed695 4 #include "mbed.h"
Fathoni17 0:22acd37ed695 5 #define JoystickPS3__serialDEFAULT_BAUD 115200
Fathoni17 0:22acd37ed695 6
Fathoni17 0:22acd37ed695 7 namespace JoystickPS3 {
Fathoni17 0:22acd37ed695 8
Fathoni17 0:22acd37ed695 9 class joysticknucleo {
Fathoni17 0:22acd37ed695 10 public:
Fathoni17 0:22acd37ed695 11 joysticknucleo(PinName tx, PinName rx) : _serial(tx, rx)
Fathoni17 0:22acd37ed695 12 {
Fathoni17 0:22acd37ed695 13
Fathoni17 0:22acd37ed695 14 }
Fathoni17 0:22acd37ed695 15
Fathoni17 0:22acd37ed695 16 // Deklarasi variabel tombol analog
Fathoni17 0:22acd37ed695 17 unsigned char LX, LY, RX, RY, R2, L2;
Fathoni17 0:22acd37ed695 18
Fathoni17 0:22acd37ed695 19 unsigned char button;
Fathoni17 0:22acd37ed695 20 unsigned char RL;
Fathoni17 0:22acd37ed695 21 unsigned char button_click;
Fathoni17 0:22acd37ed695 22 unsigned char RL_click;
Fathoni17 0:22acd37ed695 23
Fathoni17 0:22acd37ed695 24 void setup(){
Fathoni17 0:22acd37ed695 25 _serial.baud(JoystickPS3__serialDEFAULT_BAUD);
Fathoni17 0:22acd37ed695 26 }
Fathoni17 0:22acd37ed695 27
Fathoni17 0:22acd37ed695 28 /*********************************************************************************************/
Fathoni17 0:22acd37ed695 29 /** **/
Fathoni17 0:22acd37ed695 30 /** FUNGSI PEMBACAAN DATA **/
Fathoni17 0:22acd37ed695 31 /** - Data yang diterima dari Serial Arduino berbentuk 8-bit **/
Fathoni17 0:22acd37ed695 32 /** - Data yang diterima diolah menjadi boolean / 1-bit untuk data tombol button dan RL **/
Fathoni17 0:22acd37ed695 33 /** karena data yang digunakan adalah 1-bit (true/false) **/
Fathoni17 0:22acd37ed695 34 /** - Untuk analog data yang diterima tidak diolah karena rentang data yang dikirimkan **/
Fathoni17 0:22acd37ed695 35 /** memiliki rentang 0-255 / 8-bit, dan data yang akan digunakan adalah data 8-bit **/
Fathoni17 0:22acd37ed695 36 /** **/
Fathoni17 0:22acd37ed695 37 /** |------|-------|-------|------|-------|--------|-----------|----------| **/
Fathoni17 0:22acd37ed695 38 /** Bit Ke | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 | **/
Fathoni17 0:22acd37ed695 39 /** |------|-------|-------|------|-------|--------|-----------|----------| **/
Fathoni17 0:22acd37ed695 40 /** Data | kiri | bawah | kanan | atas | kotak | silang | lingkaran | segitiga | **/
Fathoni17 0:22acd37ed695 41 /** |------|-------|-------|------|-------|--------|-----------|----------| **/
Fathoni17 0:22acd37ed695 42 /** **/
Fathoni17 0:22acd37ed695 43 /** - Penggabungan data R1, R2, L1, L2, R3, L3, START, dan SELECT disimpan dalam **/
Fathoni17 0:22acd37ed695 44 /** variabel "RL" **/
Fathoni17 0:22acd37ed695 45 /** - Urutan data pada variabel "RL" dan "RL_click" adalah **/
Fathoni17 0:22acd37ed695 46 /** sebagai berikut **/
Fathoni17 0:22acd37ed695 47 /** **/
Fathoni17 0:22acd37ed695 48 /** |----|--------|-------|----|----|----|----| **/
Fathoni17 0:22acd37ed695 49 /** Bit Ke | 6 | 5 | 4 | 3 | 2 | 1 | 0 | **/
Fathoni17 0:22acd37ed695 50 /** |----|--------|-------|----|----|----|----| **/
Fathoni17 0:22acd37ed695 51 /** Data | PS | SELECT | START | L3 | L1 | R3 | R1 | **/
Fathoni17 0:22acd37ed695 52 /** |----|--------|-------|----|----|----|----| **/
Fathoni17 0:22acd37ed695 53 /** **/
Fathoni17 0:22acd37ed695 54 /*********************************************************************************************/
Fathoni17 0:22acd37ed695 55
Fathoni17 0:22acd37ed695 56 void olah_data(){
Fathoni17 0:22acd37ed695 57 // Pengolahan data dari data "button"
Fathoni17 0:22acd37ed695 58 segitiga = (bool)((button >> 0) & 0x1);
Fathoni17 0:22acd37ed695 59 lingkaran = (bool)((button >> 1) & 0x1);
Fathoni17 0:22acd37ed695 60 silang = (bool)((button >> 2) & 0x1);
Fathoni17 0:22acd37ed695 61 kotak = (bool)((button >> 3) & 0x1);
Fathoni17 0:22acd37ed695 62 atas = (bool)((button >> 4) & 0x1);
Fathoni17 0:22acd37ed695 63 kanan = (bool)((button >> 5) & 0x1);
Fathoni17 0:22acd37ed695 64 bawah = (bool)((button >> 6) & 0x1);
Fathoni17 0:22acd37ed695 65 kiri = (bool)((button >> 7) & 0x1);
Fathoni17 0:22acd37ed695 66
Fathoni17 0:22acd37ed695 67 // Pengolahan data dari data "RL"
Fathoni17 0:22acd37ed695 68 R1 = (bool)((RL >> 0) & 0x1);
Fathoni17 0:22acd37ed695 69 R3 = (bool)((RL >> 1) & 0x1);
Fathoni17 0:22acd37ed695 70 L1 = (bool)((RL >> 2) & 0x1);
Fathoni17 0:22acd37ed695 71 L3 = (bool)((RL >> 3) & 0x1);
Fathoni17 0:22acd37ed695 72 START = (bool)((RL >> 4) & 0x1);
Fathoni17 0:22acd37ed695 73 SELECT = (bool)((RL >> 5) & 0x1);
Fathoni17 0:22acd37ed695 74 PS = (bool)((RL >> 6) & 0x1);
Fathoni17 0:22acd37ed695 75
Fathoni17 0:22acd37ed695 76 segitiga_click = (bool)((button_click >> 0) & 0x1);
Fathoni17 0:22acd37ed695 77 lingkaran_click = (bool)((button_click >> 1) & 0x1);
Fathoni17 0:22acd37ed695 78 silang_click = (bool)((button_click >> 2) & 0x1);
Fathoni17 0:22acd37ed695 79 kotak_click = (bool)((button_click >> 3) & 0x1);
Fathoni17 0:22acd37ed695 80 atas_click = (bool)((button_click >> 4) & 0x1);
Fathoni17 0:22acd37ed695 81 kanan_click = (bool)((button_click >> 5) & 0x1);
Fathoni17 0:22acd37ed695 82 bawah_click = (bool)((button_click >> 6) & 0x1);
Fathoni17 0:22acd37ed695 83 kiri_click = (bool)((button_click >> 7) & 0x1);
Fathoni17 0:22acd37ed695 84
Fathoni17 0:22acd37ed695 85 // Pengolahan data dari data "RL"
Fathoni17 0:22acd37ed695 86 R1_click = (bool)((RL_click >> 0) & 0x1);
Fathoni17 0:22acd37ed695 87 R3_click = (bool)((RL_click >> 1) & 0x1);
Fathoni17 0:22acd37ed695 88 L1_click = (bool)((RL_click >> 2) & 0x1);
Fathoni17 0:22acd37ed695 89 L3_click = (bool)((RL_click >> 3) & 0x1);
Fathoni17 0:22acd37ed695 90 START_click = (bool)((RL_click >> 4) & 0x1);
Fathoni17 0:22acd37ed695 91 SELECT_click = (bool)((RL_click >> 5) & 0x1);
Fathoni17 0:22acd37ed695 92 PS_click = (bool)((RL_click >> 6) & 0x1);
Fathoni17 0:22acd37ed695 93 }
Fathoni17 0:22acd37ed695 94
Fathoni17 0:22acd37ed695 95 /*********************************************************************************************/
Fathoni17 0:22acd37ed695 96 /** **/
Fathoni17 0:22acd37ed695 97 /** FUNGSI IDLE **/
Fathoni17 0:22acd37ed695 98 /** - Fungsi dijalankan saat Arduino mengirimkan data yang merupakan **/
Fathoni17 0:22acd37ed695 99 /** kondisi PS3 Disconnected **/
Fathoni17 0:22acd37ed695 100 /** - Fungsi membuat semua data joystik bernilai 0 **/
Fathoni17 0:22acd37ed695 101 /** **/
Fathoni17 0:22acd37ed695 102 /*********************************************************************************************/
Fathoni17 0:22acd37ed695 103
Fathoni17 0:22acd37ed695 104 void idle(){
Fathoni17 0:22acd37ed695 105 // Set 0
Fathoni17 0:22acd37ed695 106 button = 0;
Fathoni17 0:22acd37ed695 107 RL = 0;
Fathoni17 0:22acd37ed695 108 button_click = 0;
Fathoni17 0:22acd37ed695 109 RL_click = 0;
Fathoni17 0:22acd37ed695 110 R2 = 0;
Fathoni17 0:22acd37ed695 111 L2 = 0;
Fathoni17 0:22acd37ed695 112 RX = 0;
Fathoni17 0:22acd37ed695 113 RY = 0;
Fathoni17 0:22acd37ed695 114 LX = 0;
Fathoni17 0:22acd37ed695 115 LY = 0;
Fathoni17 0:22acd37ed695 116
Fathoni17 0:22acd37ed695 117 }
Fathoni17 0:22acd37ed695 118
Fathoni17 0:22acd37ed695 119
Fathoni17 0:22acd37ed695 120 /*********************************************************************************************/
Fathoni17 0:22acd37ed695 121 /** **/
Fathoni17 0:22acd37ed695 122 /** FUNGSI PEMBACAAN DATA **/
Fathoni17 0:22acd37ed695 123 /** - Fungsi pembacaan data yang dikirim dari arduino **/
Fathoni17 0:22acd37ed695 124 /** - Data yang dikirim dari arduino merupakan paket data dengan format pengiriman **/
Fathoni17 0:22acd37ed695 125 /** **/
Fathoni17 0:22acd37ed695 126 /** |------|------|--------|----|--------------|----------|----|----|----|----|----|----| **/
Fathoni17 0:22acd37ed695 127 /** | 0x88 | 0x08 | button | RL | button_click | RL_click | R2 | L2 | RX | RY | LX | LY | **/
Fathoni17 0:22acd37ed695 128 /** |------|------|--------|----|--------------|----------|----|----|----|----|----|----| **/
Fathoni17 0:22acd37ed695 129 /** **/
Fathoni17 0:22acd37ed695 130 /** |------|------| **/
Fathoni17 0:22acd37ed695 131 /** | 0x88 | 0x09 | **/
Fathoni17 0:22acd37ed695 132 /** |------|------| **/
Fathoni17 0:22acd37ed695 133 /** **/
Fathoni17 0:22acd37ed695 134 /** - Jika urutan data yang diterima seperti tabel diatas, maka data tersebut akan **/
Fathoni17 0:22acd37ed695 135 /** diolah untuk input ke aktuator **/
Fathoni17 0:22acd37ed695 136 /** **/
Fathoni17 0:22acd37ed695 137 /*********************************************************************************************/
Fathoni17 0:22acd37ed695 138
Fathoni17 0:22acd37ed695 139 void baca_data(){
Fathoni17 0:22acd37ed695 140 // Interrupt Serial
Fathoni17 0:22acd37ed695 141 if(_serial.readable()&&(_serial.getc()==0x88)) {
Fathoni17 0:22acd37ed695 142 // Pembacaan data dilakukan jika data awal yang diterima adalah 0x88 kemudian 0x08
Fathoni17 0:22acd37ed695 143 if(_serial.getc()==0x08){
Fathoni17 0:22acd37ed695 144 // Proses Pembacaan Data
Fathoni17 0:22acd37ed695 145 button = _serial.getc();
Fathoni17 0:22acd37ed695 146 RL = _serial.getc();
Fathoni17 0:22acd37ed695 147 button_click = _serial.getc();
Fathoni17 0:22acd37ed695 148 RL_click = _serial.getc();
Fathoni17 0:22acd37ed695 149 R2 = _serial.getc();
Fathoni17 0:22acd37ed695 150 L2 = _serial.getc();
Fathoni17 0:22acd37ed695 151 RX = _serial.getc();
Fathoni17 0:22acd37ed695 152 RY = _serial.getc();
Fathoni17 0:22acd37ed695 153 LX = _serial.getc();
Fathoni17 0:22acd37ed695 154 LY = _serial.getc();
Fathoni17 0:22acd37ed695 155 } else if(_serial.getc()==0x09) {
Fathoni17 0:22acd37ed695 156 // PS3 Disconnected
Fathoni17 0:22acd37ed695 157 idle();
Fathoni17 0:22acd37ed695 158 } else {
Fathoni17 0:22acd37ed695 159 idle();
Fathoni17 0:22acd37ed695 160 }
Fathoni17 0:22acd37ed695 161 }
Fathoni17 0:22acd37ed695 162 }
Fathoni17 0:22acd37ed695 163
Fathoni17 0:22acd37ed695 164
Fathoni17 0:22acd37ed695 165
Fathoni17 0:22acd37ed695 166 int readable(){
Fathoni17 0:22acd37ed695 167 return _serial.readable();
Fathoni17 0:22acd37ed695 168 }
Fathoni17 0:22acd37ed695 169 public:
Fathoni17 0:22acd37ed695 170 // Deklarasi variabel tombol joystik
Fathoni17 0:22acd37ed695 171 bool kiri, kanan, atas, bawah;
Fathoni17 0:22acd37ed695 172 bool segitiga, lingkaran, kotak, silang;
Fathoni17 0:22acd37ed695 173 bool L1, R1, L3, R3, START, SELECT, PS;
Fathoni17 0:22acd37ed695 174
Fathoni17 0:22acd37ed695 175 bool kiri_click, kanan_click, atas_click, bawah_click;
Fathoni17 0:22acd37ed695 176 bool segitiga_click, lingkaran_click, kotak_click, silang_click;
Fathoni17 0:22acd37ed695 177 bool L1_click, R1_click, L3_click, R3_click;
Fathoni17 0:22acd37ed695 178 bool START_click, SELECT_click, PS_click;
Fathoni17 0:22acd37ed695 179
Fathoni17 0:22acd37ed695 180 protected:
Fathoni17 0:22acd37ed695 181 virtual int _getc(){return _serial.getc();}
Fathoni17 0:22acd37ed695 182 Serial _serial;
Fathoni17 0:22acd37ed695 183 };
Fathoni17 0:22acd37ed695 184
Fathoni17 0:22acd37ed695 185 };
Fathoni17 0:22acd37ed695 186
Fathoni17 0:22acd37ed695 187 using namespace JoystickPS3;
Fathoni17 0:22acd37ed695 188
Fathoni17 0:22acd37ed695 189 #endif