Revision 8:1a4d1e8b361c, committed 2019-09-24

Comitter:

ee30059v

Date:

Tue Sep 24 01:01:47 2019 +0000

Parent:

7:7b9157f8a307

Commit message:

NHK

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PS3.lib	Tue Sep 24 01:01:47 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/PS3/#78827486d24f

--- a/main.cpp	Wed Dec 12 08:44:10 2018 +0000
+++ b/main.cpp	Tue Sep 24 01:01:47 2019 +0000
@@ -1,9 +1,14 @@
 #include "mbed.h"
 #include "ikarashiMDC.h"
-Serial serial(PA_0, PA_1);
+#include "PS3.h"
+Serial serial(PA_0, PA_1,115200);
 DigitalOut serialcontrol(D2);
-
-ikarashiMDC ikarashi[] {
+Serial pc(USBTX,USBRX,115200);
+DigitalIn joystickB(D2);
+AnalogIn triggerX(A4);
+AnalogIn triggerY(A5);
+PS3 ps3(PC_10,PC_11);
+ikarashiMDC ikarashi[]{
     ikarashiMDC(&serialcontrol,2,0,SM,&serial),
     ikarashiMDC(&serialcontrol,2,1,SM,&serial),
     ikarashiMDC(&serialcontrol,2,2,SM,&serial),
@@ -17,12 +22,74 @@
     float i = -1;
     ikarashi[0].braking = true;
     float pwm = 0;
+    int b[12], stick[4], trigger[2];
+        /*ボタンスイッチ*/
+    for(int i = 0; i < 12; i++) {
+        b[i] = ps3.getButton(i);
+        pc.printf("%2d",b[i]);
+        }
+        /*㊧（R）＝４、右（L）＝５*/
+    double S[4];
+    
+    double X;
+    double Y;
+    int T;
+    int F;
+    ikarashi[0].braking = true;
     while(1) {
+        X = triggerX*100;
+        Y = triggerY*100;
+        T = b[6];
+        F = b[8];
+                
+        if(X==0 && Y==0 && F==1 && T==1)//止まってる//
+        {
+            S[0] = ikarashi[0].setSpeed(0);
+            S[1] = ikarashi[1].setSpeed(0);
+            S[2] = ikarashi[2].setSpeed(0);
+            S[3] = ikarashi[3].setSpeed(0);
+        }
         
-        pwm += 0.0005;
-            ikarashi[0].setSpeed(sin(pwm));
-            ikarashi[1].setSpeed(sin(pwm));
-            ikarashi[2].setSpeed(sin(pwm));
-            ikarashi[3].setSpeed(sin(pwm));
+        if(X<=100  && Y==0 && F==1 && T==1)//ばね閉じる//
+        {
+            S[0] = ikarashi[0].setSpeed(X*0.005);
+            S[1] = ikarashi[1].setSpeed(X*-0.005);
+            S[2] = ikarashi[2].setSpeed(0);
+            S[3] = ikarashi[3].setSpeed(0);
+        }
+        
+        if(X==0  && Y<=100 && F==1 && T==1)//ばね開く//
+        {
+            S[0] = ikarashi[0].setSpeed(Y*-0.005);
+            S[1] = ikarashi[1].setSpeed(Y*0.005);
+            S[2] = ikarashi[2].setSpeed(0);
+            S[3] = ikarashi[3].setSpeed(0);
+        }
+        
+        if(X>=10 && X<=100 && Y>=10 && Y<=100 && F==1 && T==1)//回転(振り向き？)//
+        {
+            S[0] = ikarashi[0].setSpeed(0);
+            S[1] = ikarashi[1].setSpeed(0);
+            S[2] = ikarashi[2].setSpeed((X+Y)*0.0025);
+            S[3] = ikarashi[3].setSpeed(0);
+        }
+        
+        if(X==0 && Y==0 && F==1 && T==0)//晴天//
+        {
+            S[0] = ikarashi[0].setSpeed(0);
+            S[1] = ikarashi[1].setSpeed(0);
+            S[2] = ikarashi[2].setSpeed(0);
+            S[3] = ikarashi[3].setSpeed(0.5);
+        }
+        
+        if(X==0 && Y==0 && F==0 && T==1)//曇天//
+        {
+            S[0] = ikarashi[0].setSpeed(0);
+            S[1] = ikarashi[1].setSpeed(0);
+            S[2] = ikarashi[2].setSpeed(0);
+            S[3] = ikarashi[3].setSpeed(-0.5);
+        }
+            
+        pc.printf("%3d .%3d.%3d.%3d.%3d.%3d\r\n",X,Y,S[0],S[1],S[2],S[3]);
     }
 }
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