File content as of revision 12:d811e29e469a:

#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
/*
PwmOut led1(LED1);
PwmOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
*/








//momoi

//MD1 right

PwmOut motorRightOne (p23);
PwmOut motorRightTwo (p24);

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

//MD3 Arm1
PwmOut armOneJun(p26);
DigitalOut chocolateOne (p30);
DigitalOut chocolateTwo (p29);

//MD4 Arm2
PwmOut armTwoTaka(p25);
DigitalOut brownieOne (p6);
DigitalOut brownieTwo (p5);

void UserLoopSetting(){
    //一度だけ行いたい初期設定をここに書く
   /* led1.period_ms(20);*/
}

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
       
    if(LSY>140 && ((ButtonState >> BUTTONLANALOG)&1) == 1) {
         motorRightOne = 0.8;
        motorRightTwo = 0;
        motorLeftOne = 0.9;
        motorLeftTwo = 0;
    } else if(LSY<110 && ((ButtonState >> BUTTONLANALOG)&1) == 1) {
         motorRightOne = 0;
        motorRightTwo = 0.8;
        motorLeftOne = 0;
        motorLeftTwo = 0.9;        
    
     
    } else if(LSY>140 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 0) {//forward
        motorRightOne = 0.4;
        motorRightTwo = 0;
        motorLeftOne = 0.5;
        motorLeftTwo = 0;
    } else if(LSY>140 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 0) {//turn right
        motorRightOne = 0;
        motorRightTwo = 0.4;
        motorLeftOne = 0.5;
        motorLeftTwo = 0;
    } else if(LSY>140 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 1) {//turn left
        motorRightOne = 0.4;
        motorRightTwo = 0;
        motorLeftOne = 0;
        motorLeftTwo = 0.5;
    }else if(LSY>140 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 1) {//forward
        motorRightOne = 0.4;
        motorRightTwo = 0;
        motorLeftOne = 0.5;
        motorLeftTwo = 0;
    } else if(LSY<110 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 0) { //back
        motorRightOne = 0;
        motorRightTwo = 0.4;
        motorLeftOne = 0;
        motorLeftTwo = 0.5;
    } else if (LSY<110 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 0) { //turn right
        motorRightOne = 0;
        motorRightTwo = 0.4;
        motorLeftOne = 0.5;
        motorLeftTwo = 0;
    } else if(LSY<110 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 1) {//turn left
        motorRightOne = 0.4;
        motorRightTwo = 0;
        motorLeftOne = 0;
        motorLeftTwo = 0.5;
    }else if (LSY<110 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 1) {//back
        motorRightOne = 0;
        motorRightTwo = 0.4;
        motorLeftOne = 0;
        motorLeftTwo = 0.5;
    } else if(LSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 0) {//stop
        motorRightOne = 0;
        motorRightTwo = 0;
        motorLeftOne = 0;
        motorLeftTwo = 0;
    } else if(LSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) ==1  && ((ButtonState >> BUTTONR1)&1) == 0) { //turn right
        motorRightOne = 0;
        motorRightTwo = 0.4;
        motorLeftOne = 0.5;
        motorLeftTwo = 0;
    } else if(LSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) ==0  && ((ButtonState >> BUTTONR1)&1) == 1) { //turn left
        motorRightOne = 0.4;
        motorRightTwo = 0;
        motorLeftOne = 0;
        motorLeftTwo = 0.5;
    } else if(LSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 1) { //stop
        motorRightOne = 0;
        motorRightTwo = 0;
        motorLeftOne = 0;
        motorLeftTwo = 0;
    }else{
        motorRightOne = 0;
        motorRightTwo = 0;
        motorLeftOne = 0;
        motorLeftTwo = 0;
        }

    if(((ButtonState >> BUTTONDOWN)&1) == 1 && ((ButtonState >> BUTTONUP)&1) == 0) { 
        armOneJun = 0.8;
        chocolateOne = 1;
        chocolateTwo = 0;
    } else if (((ButtonState >> BUTTONDOWN)&1) == 0 && ((ButtonState >> BUTTONUP)&1) == 1) {
        armOneJun = 0.8;
        chocolateOne = 0;
        chocolateTwo = 1;
    } else {
        armOneJun = 0;
        chocolateOne = 0;
        chocolateTwo = 0;
    }
    
    
    if( ((ButtonState >> BUTTONSQUARE)&1) == 1 && ((ButtonState >> BUTTONCIRCLE)&1) == 0 ) { //つかむか放す
        armTwoTaka = 0.4;
        brownieOne = 1;
        brownieTwo = 0;
    } else if ( ((ButtonState >> BUTTONSQUARE)&1) == 0 && ((ButtonState >> BUTTONCIRCLE)&1) == 1 ) {
        armTwoTaka = 0.4;
        brownieOne = 0;
        brownieTwo = 1;
    } else {
        armTwoTaka = 0;
        brownieOne = 0;
        brownieTwo = 0;
    }
    
    
    
    
    
    
    
    
    
    
    
    
    
    //データ取得例
    
    if((ButtonState >> BUTTONCIRCLE)&1) {
        //○が押されたとき
    }
   
        

   //値の取得はps3.hを参照
        
}