Wilson Nunes
May not work well
Dependencies: USBDevice_edit mbed
Revision 0:7e061992d951, committed 2017-05-04
- Comitter:
- Ugly_Kid
- Date:
- Thu May 04 13:37:26 2017 +0000
- Commit message:
- Teste de USB_HID
Changed in this revision
diff -r 000000000000 -r 7e061992d951 README.txt --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/README.txt Thu May 04 13:37:26 2017 +0000 @@ -0,0 +1,7 @@ +Este programa emula o funcionamento do controle dual shock 3 para um sistema ps3 + +USBHID_Types.h tem a definição de valores para o descriptor! + +USBJoystick.h tem vendoID e ProductID + +It WORKS!!!! \ No newline at end of file
diff -r 000000000000 -r 7e061992d951 USBDevice_edit.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USBDevice_edit.lib Thu May 04 13:37:26 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/Ugly_Kid/code/USBDevice_edit/#dc16be71dc2b
diff -r 000000000000 -r 7e061992d951 USBJoystick.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/USBJoystick.cpp Thu May 04 13:37:26 2017 +0000
@@ -0,0 +1,312 @@
+/* Copyright (c) 2010-2011 mbed.org, MIT License
+* Modified Mouse code for Joystick - WH 2012
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+* and associated documentation files (the "Software"), to deal in the Software without
+* restriction, including without limitation the rights to use, copy, modify, merge, publish,
+* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+* Software is furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in all copies or
+* substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#include "stdint.h"
+#include "USBJoystick.h"
+
+bool USBJoystick::update(int16_t t, int16_t r, int16_t x, int16_t y, uint8_t button, uint8_t hat) {
+ HID_REPORT report;
+ _t = t;
+ _r = r;
+ _x = x;
+ _y = y;
+ _button = button;
+ _hat = hat;
+
+// Fill the report according to the Joystick Descriptor
+/*
+ report.data[0] = _t & 0xff;
+ report.data[1] = _r & 0xff;
+ report.data[2] = _x & 0xff;
+ report.data[3] = __x & 0xff;
+ report.data[4] = ((_button & 0x0f) << 4) | (_hat & 0x0f) ;
+ report.length = 5;
+*/
+ // Fill the report according to the Joystick Descriptor
+report.data[0] = 0x01; // report_id
+report.data[1] = 0x00; //reserved
+report.data[2] = (_button & 0x0f) << 4 | (_button & 0x0f) ; // buttons 1 - 8 ab
+//report.data[3] = ((_button & 0x0f) << 4) | (_hat & 0x0f) ;; // buttons 17 - 19 / filling bits 1 -5 ef
+report.data[3] = (_button & 0x0f) << 4 | (_button & 0x0f) ; //buttons 9 - 16 cd sq x 0 tr
+report.data[4] = (_button & 0x0f); // buttons 17 - 19 / filling bits 1 -5 ef
+report.data[5] = 0x00; // filling bits 6 - 13 / 32 bits total
+report.data[6] = _t & 0xff; // X
+report.data[7] = _r & 0xff; // Y
+report.data[8] = _x & 0xff; // Z
+ report.data[9] = _y & 0xff; // Rz
+ report.data[10] = _y & 0xff;
+ report.data[11] = _y & 0xff;
+ report.data[12] = _y & 0xff;// directional analog up
+ report.data[13] = _y & 0xff;// directional analog left
+ report.data[14] = _y & 0xff;// directional analog down
+ report.data[15] = _y & 0xff;// directional analog right
+ report.data[16] = _y & 0xff;// analog left 2
+ report.data[17] = _y & 0xff;// analog right 2
+ report.data[18] = _y & 0xff;// analog left 1
+ report.data[19] = _y & 0xff;// analog right 1
+ report.data[20] = _y & 0xff;// triangle analog
+ report.data[21] = _y & 0xff;// circle analog
+ report.data[22] = _y & 0xff;// x analog
+ report.data[23] = _y & 0xff;// square analog
+ report.data[24] = _y & 0xff;
+ report.data[25] = _y & 0xff;
+ report.data[26] = _y & 0xff;
+ report.data[27] = _y & 0xff; // 03 ?
+ report.data[28] = _y & 0xff; // ef ?
+ report.data[29] = _y & 0xff; // 16 ?
+ report.data[30] = _y & 0xff;
+ report.data[31] = _y & 0xff;
+ report.data[32] = _y & 0xff;
+ report.data[33] = _y & 0xff;
+ report.data[34] = _y & 0xff;//Accel x 4
+ report.data[35] = _y & 0xff;//Accel x 3
+ report.data[36] = _y & 0xff;//Accel x 2
+ report.data[37] = _y & 0xff;//Accel x 1
+ report.data[38] = _y & 0xff;//Accel y 4
+ report.data[39] = _y & 0xff;//Accel y 3
+ report.data[40] = _y & 0xff;//Accel y 2
+ report.data[41] = _y & 0xff;//Accel y 1
+ report.data[42] = _y & 0xff;//Accel z 4
+ report.data[43] = _y & 0xff;//Accel z 3
+ report.data[44] = _y & 0xff;//Accel z 2
+ report.data[45] = _y & 0xff;//Accel z 1
+ report.data[46] = _y & 0xff;
+ report.data[47] = _y & 0xff;
+ report.data[48] = _y & 0xff;
+
+ report.length = 49;
+
+
+ return send(&report);
+
+}
+/*
+bool USBJoystick::update() {
+ HID_REPORT report;
+
+ // Fill the report according to the Joystick Descriptor
+ report.data[0] = _t & 0xff;
+ report.data[1] = _r & 0xff;
+ report.data[2] = _x & 0xff;
+ report.data[3] = _y & 0xff;
+ report.data[4] = ((_button & 0x0f) << 4) | (_hat & 0x0f) ;
+ report.length = 5;
+
+ return send(&report);
+}
+*/
+bool USBJoystick::update() {
+ HID_REPORT report;
+
+ // Fill the report according to the Joystick Descriptor
+/* //report.data[0] = 0x01;
+ report.data[0] = _t & 0xff;
+ report.data[1] = _r & 0xff;
+ report.data[2] = _x & 0xff;
+ report.data[3] = _y & 0xff;
+ report.data[4] = ((_button & 0x0f) << 4) | (_hat & 0x0f) ;
+ */
+// Fill the report according to the Joystick Descriptor
+report.data[0] = 0x01; //reserved
+report.data[1] = 0x00;; // buttons 1 - 8
+report.data[2] = 0x00; // buttons 9 - 16
+report.data[3] = 0x00; // buttons 17 - 19 / filling bits 1 -5
+report.data[4] = 0x00; // filling bits 6 - 13 / 32 bits total
+report.data[5] = 0x7d; // X
+report.data[6] = 0x7d; // Y
+report.data[7] = 0x7d; // Z
+report.data[8] = 0x80; // Rz
+ report.data[9] = 0x00;
+ report.data[10] = 0x00;
+ report.data[11] = 0x00;
+ report.data[12] = 0x00;// directional analog up
+ report.data[13] = 0x00;// directional analog left
+ report.data[14] = 0x00;// directional analog down
+ report.data[15] = 0x00;// directional analog right
+ report.data[16] = 0x00;// analog left 2
+ report.data[17] = 0x00;// analog right 2
+ report.data[18] = 0x00;// analog left 1
+ report.data[19] = 0x00;// analog right 1
+ report.data[20] = 0x00;// triangle analog
+ report.data[21] = 0x00;// circle analog
+ report.data[22] = 0x00;// x analog
+ report.data[23] = 0x00;// square analog
+ report.data[24] = 0x00;
+ report.data[25] = 0x00;
+ report.data[26] = 0x00;
+ report.data[27] = 0x00; // 03 ?
+ report.data[28] = 0x00; // ef ?
+ report.data[29] = 0x00; // 16 ?
+ report.data[30] = 0x00;
+ report.data[31] = 0x00;
+ report.data[32] = 0x00;
+ report.data[33] = 0x00;
+ report.data[34] = 0x00;//Accel x 4
+ report.data[35] = 0x00;//Accel x 3
+ report.data[36] = 0x00;//Accel x 2
+ report.data[37] = 0x00;//Accel x 1
+ report.data[38] = 0x00;//Accel y 4
+ report.data[39] = 0x00;//Accel y 3
+ report.data[40] = 0x00;//Accel y 2
+ report.data[41] = 0x00;//Accel y 1
+ report.data[42] = 0x00;//Accel z 4
+ report.data[43] = 0x00;//Accel z 3
+ report.data[44] = 0x00;//Accel z 2
+ report.data[45] = 0x00;//Accel z 1
+ report.data[46] = 0x00;
+ report.data[47] = 0x00;
+ report.data[48] = 0x00;
+
+ report.length = 49;
+
+ return send(&report);
+}
+
+bool USBJoystick::throttle(int16_t t) {
+ _t = t;
+ return update();
+}
+
+bool USBJoystick::rudder(int16_t r) {
+ _r = r;
+ return update();
+}
+
+bool USBJoystick::move(int16_t x, int16_t y) {
+ _x = x;
+ _y = y;
+ return update();
+}
+
+bool USBJoystick::button(uint8_t button) {
+ _button = button;
+ return update();
+}
+
+bool USBJoystick::hat(uint8_t hat) {
+ _hat = hat;
+ return update();
+}
+
+
+void USBJoystick::_init() {
+
+ _t = -127;
+ _r = -127;
+ _x = 0;
+ _y = 0;
+ _button = 0x0f;
+ _hat = 0x00;
+}
+
+
+uint8_t * USBJoystick::reportDesc() {
+ static uint8_t reportDescriptor[] = {
+
+0x05, 0x01, // Usage Page (Generic Desktop Ctrls)
+0x09, 0x04, // Usage (Joystick)
+0xA1, 0x01, // Collection (Physical)
+0xA1, 0x02, // Collection (Application)
+0x85, 0x01, // Report ID (1)
+0x75, 0x08, // Report Size (8)
+0x95, 0x01, // Report Count (1) //byte 00
+0x15, 0x00, // Logical Minimum (0)
+0x26, 0xFF, 0x00, // Logical Maximum (255)
+0x81, 0x03, // Input (Const,Var,Abs,No Wrap,Linear,Preferred State,No Null Position)
+ // NOTE: reserved byte
+0x75, 0x01, // Report Size (1)
+0x95, 0x13, // Report Count (19)
+0x15, 0x00, // Logical Minimum (0)
+0x25, 0x01, // Logical Maximum (1)
+0x35, 0x00, // Physical Minimum (0)
+0x45, 0x01, // Physical Maximum (1)
+0x05, 0x09, // Usage Page (Button)
+0x19, 0x01, // Usage Minimum (0x01)
+0x29, 0x13, // Usage Maximum (0x13)
+0x81, 0x02, // Input (Data,Var,Abs,No Wrap,Linear,Preferred State,No Null Position)
+0x75, 0x01, // Report Size (1)
+0x95, 0x0D, // Report Count (13) // byte 1 - 4
+0x06, 0x00, 0xFF, // Usage Page (Vendor Defined 0xFF00)
+0x81, 0x03, // Input (Const,Var,Abs,No Wrap,Linear,Preferred State,No Null Position)
+ // NOTE: 32 bit integer, where 0:18 are buttons and 19:31 are reserved
+0x15, 0x00, // Logical Minimum (0)
+0x26, 0xFF, 0x00, // Logical Maximum (255)
+0x05, 0x01, // Usage Page (Generic Desktop Ctrls)
+0x09, 0x01, // Usage (Pointer)
+0xA1, 0x00, // Collection (Undefined)
+0x75, 0x08, // Report Size (8)
+0x95, 0x04, // Report Count (4)
+0x35, 0x00, // Physical Minimum (0)
+0x46, 0xFF, 0x00, // Physical Maximum (255)
+0x09, 0x30, // Usage (X)
+0x09, 0x31, // Usage (Y)
+0x09, 0x32, // Usage (Z)
+0x09, 0x35, // Usage (Rz)
+0x81, 0x02, // Input (Data,Var,Abs,No Wrap,Linear,Preferred State,No Null Position)
+ // NOTE: four joysticks
+0xC0, // End Collection
+0x05, 0x01, // Usage Page (Generic Desktop Ctrls)
+0x75, 0x08, // Report Size (8)
+0x95, 0x27, // Report Count (39)
+0x09, 0x01, // Usage (Pointer)
+0x81, 0x02, // Input (Data,Var,Abs,No Wrap,Linear,Preferred State,No Null Position)
+//0xC0, // End Collection
+//0xC0 // End Collection
+
+0x75, 0x08, // Report Size (8)
+0x95, 0x30, // Report Count (48)
+0x09, 0x01, // Usage (Pointer)
+0x91, 0x02, // Output (Data,Var,Abs,No Wrap,Linear,Preferred State,No Null Position,Non-volatile)
+0x75, 0x08, // Report Size (8)
+0x95, 0x30, // Report Count (48)
+0x09, 0x01, // Usage (Pointer)
+0xB1, 0x02, // Feature (Data,Var,Abs,No Wrap,Linear,Preferred State,No Null Position,Non-volatile)
+0xC0, // End Collection
+0xA1, 0x02, // Collection (Application)
+0x85, 0x02, // Report ID (2)
+0x75, 0x08, // Report Size (8)
+0x95, 0x30, // Report Count (48)
+0x09, 0x01, // Usage (Pointer)
+0xB1, 0x02, // Feature (Data,Var,Abs,No Wrap,Linear,Preferred State,No Null Position,Non-volatile)
+0xC0, // End Collection
+0xA1, 0x02, // Collection (Application)
+0x85, 0xEE, // Report ID (238)
+0x75, 0x08, // Report Size (8)
+0x95, 0x30, // Report Count (48)
+0x09, 0x01, // Usage (Pointer)
+0xB1, 0x02, // Feature (Data,Var,Abs,No Wrap,Linear,Preferred State,No Null Position,Non-volatile)
+0xC0, // End Collection
+0xA1, 0x02, // Collection (Application)
+0x85, 0xEF, // Report ID (239)
+0x75, 0x08, // Report Size (8)
+0x95, 0x30, // Report Count (48)
+0x09, 0x01, // Usage (Pointer)
+0xB1, 0x02, // Feature (Data,Var,Abs,No Wrap,Linear,Preferred State,No Null Position,Non-volatile)
+0xC0, // End Collection
+0xC0, // End Collection
+
+// 148 bytes
+
+ };
+
+ reportLength = sizeof(reportDescriptor);
+ return reportDescriptor;
+}
+
+
diff -r 000000000000 -r 7e061992d951 USBJoystick.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/USBJoystick.h Thu May 04 13:37:26 2017 +0000
@@ -0,0 +1,210 @@
+/* USBJoystick.h */
+/* USB device example: Joystick*/
+/* Copyright (c) 2011 ARM Limited. All rights reserved. */
+/* Modified Mouse code for Joystick - WH 2012 */
+
+#ifndef USBJOYSTICK_H
+#define USBJOYSTICK_H
+
+#include "USBHID.h"
+
+#define REPORT_ID_JOYSTICK 4
+
+/* Common usage */
+enum JOY_BUTTON {
+ JOY_B0 = 1,
+ JOY_B1 = 2,
+ JOY_B2 = 4,
+ JOY_B3 = 8,
+};
+
+#if(0)
+enum JOY_HAT {
+ JOY_HAT_UP = 0,
+ JOY_HAT_RIGHT = 1,
+ JOY_HAT_DOWN = 2,
+ JOY_HAT_LEFT = 3,
+ JOY_HAT_NEUTRAL = 4,
+};
+#else
+enum JOY_HAT {
+ JOY_HAT_UP = 0,
+ JOY_HAT_UP_RIGHT = 1,
+ JOY_HAT_RIGHT = 2,
+ JOY_HAT_RIGHT_DOWN = 3,
+ JOY_HAT_DOWN = 4,
+ JOY_HAT_DOWN_LEFT = 5,
+ JOY_HAT_LEFT = 6,
+ JOY_HAT_LEFT_UP = 7,
+ JOY_HAT_NEUTRAL = 8,
+};
+#endif
+
+/* X, Y and T limits */
+/* These values do not directly map to screen pixels */
+/* Zero may be interpreted as meaning 'no movement' */
+#define JX_MIN_ABS (-127) /*!< The maximum value that we can move to the left on the x-axis */
+#define JY_MIN_ABS (-127) /*!< The maximum value that we can move up on the y-axis */
+#define JT_MIN_ABS (-127) /*!< The minimum value for the throttle */
+#define JX_MAX_ABS (127) /*!< The maximum value that we can move to the right on the x-axis */
+#define JY_MAX_ABS (127) /*!< The maximum value that we can move down on the y-axis */
+#define JT_MAX_ABS (127) /*!< The maximum value for the throttle */
+
+/**
+ *
+ * USBJoystick example
+ * @code
+ * #include "mbed.h"
+ * #include "USBJoystick.h"
+ *
+ * USBJoystick joystick;
+ *
+ * int main(void)
+ * {
+ * while (1)
+ * {
+ * joystick.move(20, 0);
+ * wait(0.5);
+ * }
+ * }
+ *
+ * @endcode
+ *
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "USBJoystick.h"
+ * #include <math.h>
+ *
+ * USBJoystick joystick;
+ *
+ * int main(void)
+ * {
+ * int16_t i = 0;
+ * int16_t throttle = 0;
+ * int16_t rudder = 0;
+ * int16_t x = 0;
+ * int16_t y = 0;
+ * int32_t radius = 120;
+ * int32_t angle = 0;
+ * int8_t button = 0;
+ * int8_t hat = 0;
+ *
+ * while (1) {
+ * // Basic Joystick
+ * throttle = (i >> 8) & 0xFF; // value -127 .. 128
+ * rudder = (i >> 8) & 0xFF; // value -127 .. 128
+ * button = (i >> 8) & 0x0F; // value 0 .. 15, one bit per button
+ * hat = (i >> 8) & 0x07; // value 0..7 or 8 for neutral
+ * i++;
+ *
+ * x = cos((double)angle*3.14/180.0)*radius; // value -127 .. 128
+ * y = sin((double)angle*3.14/180.0)*radius; // value -127 .. 128
+ * angle += 3;
+ *
+ * joystick.update(throttle, rudder, x, y, button, hat);
+ *
+ * wait(0.001);
+ * }
+ * }
+ * @endcode
+ */
+
+
+class USBJoystick: public USBHID {
+ public:
+
+ /**
+ * Constructor
+ *
+ * @param vendor_id Your vendor_id (default: 0x1234)
+ * @param product_id Your product_id (default: 0x0002)
+ * @param product_release Your product_release (default: 0x0001)
+ */
+ USBJoystick(uint16_t vendor_id = 0x1233, uint16_t product_id = 0x003, uint16_t product_release = 0x0001):
+ USBHID(0, 0, vendor_id, product_id, product_release, false)
+ {
+ _init();
+ connect();
+ };
+
+ /**
+ * Write a state of the mouse
+ *
+ * @param t throttle position
+ * @param r rudder position
+ * @param x x-axis position
+ * @param y y-axis position
+ * @param buttons buttons state
+ * @param hat hat state 0 (up), 1 (right, 2 (down), 3 (left) or 4 (neutral)
+ * @returns true if there is no error, false otherwise
+ */
+ bool update(int16_t t, int16_t r, int16_t x, int16_t y, uint8_t buttons, uint8_t hat);
+
+ /**
+ * Write a state of the mouse
+ *
+ * @returns true if there is no error, false otherwise
+ */
+ bool update();
+
+ /**
+ * Move the throttle position
+ *
+ * @param t throttle position
+ * @returns true if there is no error, false otherwise
+ */
+ bool throttle(int16_t t);
+
+ /**
+ * Move the rudder position
+ *
+ * @param r rudder position
+ * @returns true if there is no error, false otherwise
+ */
+ bool rudder(int16_t r);
+
+ /**
+ * Move the cursor to (x, y)
+ *
+ * @param x-axis position
+ * @param y-axis position
+ * @returns true if there is no error, false otherwise
+ */
+ bool move(int16_t x, int16_t y);
+
+ /**
+ * Press one or several buttons
+ *
+ * @param button button state
+ * @returns true if there is no error, false otherwise
+ */
+ bool button(uint8_t button);
+
+ /**
+ * Press hat
+ *
+ * @param hat hat state
+ * @returns true if there is no error, false otherwise
+ */
+ bool hat(uint8_t hat);
+
+ /*
+ * To define the report descriptor. Warning: this method has to store the length of the report descriptor in reportLength.
+ *
+ * @returns pointer to the report descriptor
+ */
+ virtual uint8_t * reportDesc();
+
+ private:
+ int8_t _t;
+ int8_t _r;
+ int8_t _x;
+ int8_t _y;
+ uint8_t _button;
+ uint8_t _hat;
+
+ void _init();
+};
+
+#endif
\ No newline at end of file
diff -r 000000000000 -r 7e061992d951 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu May 04 13:37:26 2017 +0000
@@ -0,0 +1,112 @@
+#include "mbed.h"
+//#include "USBMouse.h"
+#include "USBJoystick.h"
+
+//USBMouse mouse;
+USBJoystick joystick;
+
+// Variables for Heartbeat and Status monitoring
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut heartbeatLED(LED4);
+DigitalIn B1(p5);
+DigitalIn B2(p6);
+DigitalIn B3(p7);
+DigitalIn B4(p8);
+DigitalIn B5(p9);
+AnalogIn IN(p20);
+Ticker heartbeat;
+//Serial pc(USBTX, USBRX); // tx, rx
+
+// Heartbeat monitor
+void pulse() {
+ heartbeatLED = !heartbeatLED;
+}
+
+void heartbeat_start() {
+ heartbeat.attach(&pulse, 0.5);
+}
+
+void heartbeat_stop() {
+ heartbeat.detach();
+}
+
+
+int main() {
+ //int16_t i = 0;
+ int8_t i = 0;
+ int16_t throttle = 0;
+ int16_t rudder = 0;
+ int16_t x = 0;
+ int16_t y = 0;
+ int32_t radius = 120;
+ int32_t angle = 0;
+ int8_t button = 0;
+ int8_t hat = 0;
+ int counter = 0;
+ B1.mode(PullUp);
+ B2.mode(PullUp);
+ B3.mode(PullUp);
+ B4.mode(PullUp);
+ B5.mode(PullUp);
+
+// pc.printf("Hello World!\n\r");
+
+ heartbeat_start();
+
+ while (1) {
+ // Basic Joystick
+// throttle = (i >> 8) & 0x00; // value -127 .. 128
+// rudder = (i >> 8) & 0x00; // value -127 .. 128
+ throttle = IN.read_u16();
+ // if (throttle == 0)
+ // throttle = 127;
+ // else throttle = 0;// value -127 .. 128
+ //printf("%d \r\n", throttle);
+ rudder = i; // value -127 .. 128
+
+
+ //button = (i >> 8) & 0x00; // value 0 .. 15, one bit per button
+ //button = i; // value 0 .. 15, one bit per button
+// hat = (i >> 8) & 0x03; // value 0, 1, 2, 3 or 4 for neutral
+ hat = (i >> 8) & 0x00; // value 0..7 or 8 for neutral
+ //i++;
+
+ //throttle = cos((double)angle*3.14/180.0)*radius; // value -127 .. 128
+ //rudder = cos((double)angle*3.14/180.0)*radius; // value -127 .. 128
+
+ x = cos((double)angle*3.14/180.0)*radius; // value -127 .. 128
+ y = sin((double)angle*3.14/180.0)*radius; // value -127 .. 128
+ angle += 3;
+ /*
+ if (!B1){
+ //i = 1;
+ button = 2;
+ myled3=1;
+ }
+ else{
+ //i = 0;
+ button = 0;
+ myled3=0;
+ }
+ */
+ if (button == 0)
+ {
+ button = i;
+ i++;
+ }
+
+ else button = 0;
+ joystick.update(throttle, rudder, x, y, button, hat);
+ if (counter == 50)
+ {
+ myled2 = !myled2;
+ counter = 0;
+ }
+ counter++;
+ wait(0.1);
+ }
+
+ // pc.printf("Bye World!\n\r");
+}
\ No newline at end of file
diff -r 000000000000 -r 7e061992d951 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu May 04 13:37:26 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/dbbf35b96557 \ No newline at end of file