File content as of revision 13:9e04b53e875a:

#include "Utils.h"
#include "USBHost.h"
#include "hci.h"
#include "ps3.h"
#include "User.h"
#include "mbed.h"

int RSX,RSY,LSX,LSY,BSU,BSL;
//これより下に関数外に書く要素を記入する
double flag;
//MD1
PwmOut motorRightOne (p23);
PwmOut motorRightTwo (p24);

//MD2
PwmOut motorLeftOne (p21);
PwmOut motorLeftTwo (p22);

//MD3 Arm1
PwmOut armRight(p26);
DigitalOut armThree (p30);
DigitalOut armFour (p29);

//MD4 Arm2
PwmOut armLeft(p25);
DigitalOut armOne (p6);
DigitalOut armTwo (p5);


/*

PWM->0.xxx
Digitals->0 and 0.xxx
for arms(I guess...)

For lergs, turn right or left, and just going go and back.->Probably using sticks.
How to cha ge speed? Two different tyes of speed.

Wow, Taka-chan will do one of the machine. He wants to do with the angles. Plus I don't understand what they are talking about!!
Left stick, speed and right/left
Push button and max incline -> the max speed
Just max incline -> usual speed
Little incline -> slow speed

L1/R2 -> turning?

Lifting ->

*/



void UserLoopSetting()
{
    //一度だけ行いたい初期設定をここに書く
    /*
    I need to ask what to do with this!
    Actually, do we have any LEDs?
    */

}

void UserLoop(char n,const u8* data)
{
    u16 ButtonState;
    if(n==0) { //有線Ps3USB.cpp
        RSX = ((ps3report*)data)->RightStickX;
        RSY = ((ps3report*)data)->RightStickY;
        LSX = ((ps3report*)data)->LeftStickX;
        LSY = ((ps3report*)data)->LeftStickY;
        BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff);
        BSL = (u8)(((ps3report*)data)->ButtonState >> 8);
        //ボタンの処理
        ButtonState =  ((ps3report*)data)->ButtonState;
    } else {//無線TestShell.cpp
        RSX = ((ps3report*)(data + 1))->RightStickX;
        RSY = ((ps3report*)(data + 1))->RightStickY;
        LSX = ((ps3report*)(data + 1))->LeftStickX;
        LSY = ((ps3report*)(data + 1))->LeftStickY;
        BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff);
        BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8);
        //ボタンの処理
        ButtonState =  ((ps3report*)(data + 1))->ButtonState;
    }
    //ここより下にプログラムを書く

    /*
     double thesOne = 64;
     double thesTwo = 127;
     double thesThree = 191;
     double fastSpeed = 1;
     double slowSpeed = 0.5;
     */

//motor
    if((ButtonState >> BUTTONSTART)&1 == 1) {
        flag = 0;
    } else if((ButtonState >> BUTTONR2)&1 == 1) {
        flag += 0.05;
        wait(0.1);
    } else if((ButtonState >> BUTTONL2)&1 == 1) {
        flag -= 0.05;
        wait(0.1);
    }
    if(flag >= 1.0) {
        flag = 1.0;
    }
    if(flag <= -0.3) {
        flag = -0.2;
    }

    if(LSY>140 && ((ButtonState >> BUTTONLANALOG)&1) == 1) {
        motorRightOne = 0.8;
        motorRightTwo = 0;
        motorLeftOne = 0.8;
        motorLeftTwo = 0;
    } else if(LSY<110 && ((ButtonState >> BUTTONLANALOG)&1) == 1) {
        motorRightOne = 0;
        motorRightTwo = 0.8;
        motorLeftOne = 0;
        motorLeftTwo = 0.8;
    } else if(  LSY > 140 ) { //forward
        motorRightOne = 0.6 + flag;
        motorRightTwo = 0;
        motorLeftOne = 0.6 + flag;
        motorLeftTwo = 0;

    } else if( LSY < 110 ) { //back
        motorRightOne = 0;
        motorRightTwo = 0.6 + flag;
        motorLeftOne = 0;
        motorLeftTwo = 0.6 + flag;
    } else { //stop
        motorRightOne = 0;
        motorRightTwo = 0;
        motorLeftOne = 0;
        motorLeftTwo = 0;
    }

    if(( ButtonState >> BUTTONR1)&1 == 1) {
        motorRightOne = 0;
        motorRightTwo = 0.7 + flag;
        motorLeftOne = 0.7 + flag;
        motorLeftTwo = 0;
    }
    if(( ButtonState >> BUTTONL1)&1 == 1) {
        motorRightOne = 0.6 + flag;
        motorRightTwo = 0;
        motorLeftOne = 0;
        motorLeftTwo = 0.6 + flag;
    }

//arm

    if(  (ButtonState >> BUTTONTRIANGEL)&1 == 1 ) {
        armThree = 0;
        armFour = 1;
        armLeft = 0.4;
    } else if( (ButtonState >> BUTTONCROSS)&1 == 1 ) {
        armThree = 1;
        armFour = 0;
        armLeft = 0.4;
    } else {
        armThree = 0;
        armFour = 0;
        armLeft = 0;

    }

     if((ButtonState >> BUTTONSQUARE)&1 == 1) {
        armOne = 1;
        armTwo = 0;
        armRight = 0.4;
    } else if((ButtonState >> BUTTONCIRCLE)&1 == 1) {
        armOne = 0;
        armTwo = 1;
        armRight = 0.4;
    } else {
        armOne = 0;
        armTwo = 0;
        armRight = 0;

        /*
        With oen if, put both arms and legs.

        Use start and select??


        */



        /*
            led3=ButtonState & 0x0400;  //L1の状態
            led4=ButtonState & 0x0800;  //R1の状態
          */  //値の取得はps3.hを参照

    }

}