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ももいくん
Fork of 2016_Sp_momoi_taka by
Revision 13:9e04b53e875a, committed 2016-06-10
- Comitter:
- abcdefgh
- Date:
- Fri Jun 10 17:27:13 2016 +0000
- Parent:
- 12:d811e29e469a
- Commit message:
- 2016/06/10
Changed in this revision
momoi_taka.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/momoi_taka.cpp Thu Jun 09 11:58:32 2016 +0000 +++ b/momoi_taka.cpp Fri Jun 10 17:27:13 2016 +0000 @@ -3,54 +3,67 @@ #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); + + /* -PwmOut led1(LED1); -PwmOut led2(LED2); -DigitalOut led3(LED3); -DigitalOut led4(LED4); + +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 -> + */ - - - - - -//momoi - -//MD1 right - -PwmOut motorRightOne (p23); -PwmOut motorRightTwo (p24); +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? + */ -//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){ +void UserLoop(char n,const u8* data) +{ u16 ButtonState; - if(n==0){//有線Ps3USB.cpp + if(n==0) { //有線Ps3USB.cpp RSX = ((ps3report*)data)->RightStickX; RSY = ((ps3report*)data)->RightStickY; LSX = ((ps3report*)data)->LeftStickX; @@ -59,7 +72,7 @@ BSL = (u8)(((ps3report*)data)->ButtonState >> 8); //ボタンの処理 ButtonState = ((ps3report*)data)->ButtonState; - }else {//無線TestShell.cpp + } else {//無線TestShell.cpp RSX = ((ps3report*)(data + 1))->RightStickX; RSY = ((ps3report*)(data + 1))->RightStickY; LSX = ((ps3report*)(data + 1))->LeftStickX; @@ -70,135 +83,118 @@ 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; + motorRightOne = 0.8; motorRightTwo = 0; - motorLeftOne = 0.9; + motorLeftOne = 0.8; motorLeftTwo = 0; } else if(LSY<110 && ((ButtonState >> BUTTONLANALOG)&1) == 1) { - motorRightOne = 0; + 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; + motorLeftTwo = 0.8; + } else if( LSY > 140 ) { //forward + motorRightOne = 0.6 + flag; 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; + motorLeftOne = 0.6 + flag; motorLeftTwo = 0; - } else if(LSY<110 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 1) {//turn left - motorRightOne = 0.4; - motorRightTwo = 0; + + } else if( LSY < 110 ) { //back + motorRightOne = 0; + motorRightTwo = 0.6 + flag; 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 + motorLeftTwo = 0.6 + flag; + } else { //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 + } + + if(( ButtonState >> BUTTONR1)&1 == 1) { motorRightOne = 0; - motorRightTwo = 0.4; - motorLeftOne = 0.5; + motorRightTwo = 0.7 + flag; + motorLeftOne = 0.7 + flag; 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; + } + if(( ButtonState >> BUTTONL1)&1 == 1) { + motorRightOne = 0.6 + flag; motorRightTwo = 0; motorLeftOne = 0; - motorLeftTwo = 0; - } + motorLeftTwo = 0.6 + flag; + } + +//arm - 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; + 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 { - armTwoTaka = 0; - brownieOne = 0; - brownieTwo = 0; + armThree = 0; + armFour = 0; + armLeft = 0; + } - - - - - - - - - - - - - - //データ取得例 - - if((ButtonState >> BUTTONCIRCLE)&1) { - //○が押されたとき + + 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 + } - - - //値の取得はps3.hを参照 - } \ No newline at end of file