main.cpp

00001 #include "mbed.h"
00002 #include "USBHostGamepad.h"
00003 #include "Servo.h"
00004 #include "WT2003M03.h"
00005 #include "Motorfader.h"
00006 #include "stdio.h"
00007 #include "stdlib.h"
00008 #include "math.h"
00009 #include "string"
00010 
00011  #define SCREEN_WIDTH 128
00012  #define SCREEN_HEIGHT 160
00013  
00014 USBHostGamepad *pad;
00015 //Servo myservo1(D3);
00016 Servo tyre_R(D5);     //TYRE RIGHT
00017 Servo tyre_L(D6);     //TYRE LEFT
00018 //Servo myservo4(D4);
00019 PwmOut eye_R(PB_2);
00020 PwmOut eye_L(PB_1);
00021 WT20003M03 myaudio(PC_10,PC_11);
00022 Motorfader myfader(PC_0,A0,A1);
00023 Ticker _flipper;
00024 // LED
00025 //DigitalOut red(PB_5);
00026 //DigitalOut yellow(PA_10);
00027  
00028 void int_frame() {
00029     myfader.update();
00030 }
00031 
00032 int main()
00033 {    
00034 float panchPos,tempR,tempL;
00035      
00036     _flipper.attach(&int_frame, 0.01f);
00037     myaudio.Play(0x0001);
00038 //            myaudio.Play(0xfff0);
00039 /*
00040         myaudio.volume(1);
00041         myaudio.Play(0x0001);
00042         wait(3.0); // 1 second
00043         myaudio.volume(16);
00044         myaudio.Play();
00045         wait(3.0); // 1 second
00046         myaudio.volume(31);
00047         myaudio.Play();
00048         printf("s=%d",myaudio.ReadState());
00049         wait(3.0); // 1 second
00050 
00051 
00052         myfader.set(0.0,1.0);
00053         wait(3.0); // 1 second
00054         myfader.set(0.5,1.0);
00055         wait(3.0); // 1 second
00056         myfader.set(1.0,1.0);
00057         wait(3.0); // 1 second
00058         myfader.set(0.5,1.0);
00059         wait(3.0); // 1 second
00060 */
00061 
00062     // USB Gmaepad Initialize
00063     pad = new USBHostGamepad();
00064     if (!pad->connect()) {
00065         printf("USB Gamepad not found.\r\n");
00066         while(1);
00067     }
00068 
00069     while(((pad->report[6] != 0xf7) && (pad->report[7] != 0xb9)))
00070     {
00071         USBHost::poll();
00072         wait_ms(16);
00073     }
00074     while(1)
00075     {
00076         USBHost::poll();
00077         
00078 //        red = pad->report[4] & 0x20;
00079 //        yellow = pad->report[4] & 0x40;
00080         
00081 //        printf("%02x %02x %02x %02x %02x %02x %02x %02x\r\n", pad->report[0],pad->report[1],pad->report[2],pad->report[3],pad->report[4],pad->report[5],pad->report[6],pad->report[7]);
00082         wait_ms(16);
00083 //zengo
00084         tempR = ((pad->report[3]))/255.0f;      //sayuu
00085         tempL = (255.0f-(pad->report[3]))/255.0f;      //sayuu
00086 //printf("0R=%1.2f L=%1.2f ",tempR,tempL);
00087 //kaiten
00088         tempR -= (((pad->report[2]))/255.0f)-0.5f;      //sayuu
00089         tempL += ((255.0f-(pad->report[2]))/255.0f)-0.5f;      //sayuu
00090 //printf("1R=%1.2f L=%1.2f ",tempR,tempL);
00091         if(tempR >1.0f)tempR = 1.0f;
00092         if(tempR <0.0f)tempR = 0.0f;
00093         if(tempL >1.0f)tempL = 1.0f;
00094         if(tempL <0.0f)tempL = 0.0f;
00095 //printf("2R=%1.2f L=%1.2f\r\n",tempR,tempL);
00096 
00097         tyre_R = tempR;
00098         tyre_L = tempL;
00099 //        pad->report[3]      //zengo
00100         panchPos = (128-(pad->report[4]))/128.0f;
00101         if(panchPos < 0.0f) panchPos = 0.0f;
00102         myfader.set(panchPos,1.0);
00103 
00104         if(pad->report[0] & 0x10)
00105         {
00106             eye_R = 1.0f;
00107             eye_L = 1.0f;            
00108         }
00109         if(pad->report[0] & 0x20)
00110         {
00111             eye_R = 0.0f;
00112             eye_L = 0.0f;            
00113         }
00114         if(pad->report[0] & 0x01)
00115         {
00116             myaudio.Play(0x0001);
00117             wait_ms(10);
00118         }
00119         if(pad->report[0] & 0x02)
00120         {
00121             myaudio.Play(0x0002);
00122             wait_ms(10);
00123         }
00124         if(pad->report[0] & 0x08)
00125         {
00126             myaudio.Play(0x0003);
00127             wait_ms(10);
00128         }
00129 printf("s=%d \r\n",myaudio.ReadState());
00130 
00131     }
00132 }