kuya ishikawa
a
Dependencies: mbed ikarashiMDC PS3
Revision 0:193dcda90d39, committed 2019-03-07
- Comitter:
- aiueo700A
- Date:
- Thu Mar 07 07:40:22 2019 +0000
- Commit message:
- a
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PS3.lib Thu Mar 07 07:40:22 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/PS3/#78827486d24f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ikarashiMDC.lib Thu Mar 07 07:40:22 2019 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/NHK-Robocon2016_Nagaoka_B_Team/code/ikarashiMDC/#ea34af94e90c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Mar 07 07:40:22 2019 +0000
@@ -0,0 +1,109 @@
+#include"mbed.h"
+#include"ikarashiMDC.h"
+#include"PS3.h"
+#define PI 3.14159265
+Serial serial(PC_6,PC_7);
+DigitalOut serialcontrol(D2);
+
+ ikarashiMDC ikarashi[] {
+ ikarashiMDC(&serialcontrol,2,0,SM,&serial),
+ ikarashiMDC(&serialcontrol,2,1,SM,&serial),
+ ikarashiMDC(&serialcontrol,2,2,SM,&serial),
+ ikarashiMDC(&serialcontrol,2,3,SM,&serial),
+ ikarashiMDC(&serialcontrol,1,0,SM,&serial)
+};
+
+PS3 ps3(PC_10,PC_11);
+Serial pc(USBTX,USBRX,115200);
+
+double way(double x,double y,double direction)
+{
+ double atanval;
+ atanval = atan2(y,x);
+ return sin(atanval - direction);
+}
+
+int main()
+{
+ serial.baud(115200);
+ ikarashi[0].braking = true;
+ int b[12],stick[4],trigger[2],neutral[4],count = 0;
+ double X,Y,acc[5];
+ /*ジョイスティック ニュートラル設定*/
+ do{
+ for(int i = 0;i < 4;i++) {
+ neutral[i] = ps3.getStick(i);
+ pc.printf("%4d",neutral[i]);
+ }
+ count++;
+ }while(count <= 115200);
+ for(int i = 0;i < 4;i++) {
+ neutral[i] = ps3.getStick(i);
+ pc.printf("%4d",neutral[i]);
+ }
+ while(1){
+ /*ボタン０＝上 １＝下 ２＝左 ３＝右 ４＝L１ ５＝R１ ６＝△ ７＝✖
+ ８＝🔲 ９＝◯ １０＝L３ １１＝R３*/
+ for(int i=0;i < 12;i++) {
+ b[i] = ps3.getButton(i);
+ pc.printf("%d",b[i]);
+ }
+ /*ジョイスティック*/
+ for(int i = 0;i < 4;i++){
+ stick[i] = ps3.getStick(i);
+ pc.printf("%4d\r\n",stick[i]);
+ }
+
+ for(int i = 0;i < 2;i++) {
+ trigger[i] = ps3.getTrigger(i);
+ pc.printf("%4d\r\n",trigger[i]);
+ }
+ X = stick[0] - neutral[0];
+ Y = neutral[1] - stick[1];
+ if( abs(X) <= 20 && abs(Y) <= 20){
+ acc[0] = 0;
+ acc[1] = 0;
+ acc[2] = 0;
+ }else {
+ acc[0] = way(X,Y,PI/6);
+ acc[1] = way(X,Y,PI*3/2);
+ acc[2] = way(X,Y,PI/5/6);
+ }
+ if(b[4] == 1 && abs(X) <= 20 && abs(Y) <= 20){
+ acc[0] = 1;
+ acc[1] = 1;
+ acc[2] = 1;
+ }
+ if(b[5] == 1 && abs(X) <= 20 && abs(Y) <= 20){
+ acc[0] = -1;
+ acc[1] = -1;
+ acc[2] = -1;
+ }
+ if(b[7] == 1){
+ acc[0] = 0;
+ acc[1] = 0;
+ acc[2] = 0;
+ }
+ if(trigger[0] == 0 && trigger[1] == 0) {
+ acc[3] = 0;
+ }
+ if(trigger[0] >= 1 && trigger[1] == 0) {
+ acc[3] = 0.4;
+ }
+ if(trigger[0] == 0 && trigger[1] >= 1) {
+ acc[3] = -0.4;
+ }
+ if(trigger[0] >= 1 && trigger[1] >= 1) {
+ acc[3] = 0;
+ }
+ ikarashi[0].setSpeed(acc[0]);
+ ikarashi[1].setSpeed(acc[1]);
+ ikarashi[2].setSpeed(acc[2]);
+ ikarashi[3].setSpeed(acc[3]);
+ for(int i = 0;i < 4;i++) {
+ pc.printf("%f\r\n",acc[i]);
+ }
+
+ }
+
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Mar 07 07:40:22 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file