ロボコンマガジン 2013年1月号に掲載されている 「第3回お手軽mbedではじめるロボットプロトタイピング」 で紹介しているうおーるぼっとをマウスで動かすプログラムです。

Dependencies:   FatFileSystem TB6612FNG2 mbed

Fork of BlueUSB by Peter Barrett

Files at this revision

API Documentation at this revision

Comitter:
jksoft
Date:
Fri Dec 14 03:34:00 2012 +0000
Parent:
0:606b230e5b4a
Commit message:
Rev1

Changed in this revision

AutoEvents.cpp Show annotated file Show diff for this revision Revisions of this file
FATFileSystem.lib Show diff for this revision Revisions of this file
FatFileSystem.lib Show annotated file Show diff for this revision Revisions of this file
TB6612FNG2.lib Show annotated file Show diff for this revision Revisions of this file
diff -r 606b230e5b4a -r 2526b2c89256 AutoEvents.cpp
--- a/AutoEvents.cpp	Sat Apr 10 00:30:24 2010 +0000
+++ b/AutoEvents.cpp	Fri Dec 14 03:34:00 2012 +0000
@@ -24,6 +24,7 @@
 #include "mbed.h"
 #include "USBHost.h"
 #include "Utils.h"
+#include "TB6612.h"
 
 #define AUTOEVT(_class,_subclass,_protocol) (((_class) << 16) | ((_subclass) << 8) | _protocol)
 #define AUTO_KEYBOARD AUTOEVT(CLASS_HID,1,1)
@@ -33,8 +34,12 @@
 u8 auto_keyboard[8];    // modifiers,reserved,keycode1..keycode6
 u8 auto_joystick[4];    // x,y,buttons,throttle
 
+TB6612 left(p21,p12,p11);
+TB6612 right(p22,p14,p13);
+
 void AutoEventCallback(int device, int endpoint, int status, u8* data, int len, void* userData)
 {
+    static int speed = 100;
     int evt = (int)userData;
     switch (evt)
     {
@@ -47,6 +52,31 @@
         default:
             printf("HUH ");
     }
+    
+    if( (data[0] & 0x01) != 0 )
+    {
+        left = speed;
+    }
+    else
+    {
+        left = 0;
+    }
+    if( (data[0] & 0x02) != 0 )
+    {
+        right = speed;
+    }
+    else
+    {
+        right = 0;
+    }
+    
+    speed = speed + (signed char)data[3];
+    
+    if( speed > 100 ) speed = 100;
+    if( speed < -100 ) speed = -100;
+    
+    printf("speed = %d  ",speed);
+    
     printfBytes("data",data,len);
     USBInterruptTransfer(device,endpoint,data,len,AutoEventCallback,userData);
 }
diff -r 606b230e5b4a -r 2526b2c89256 FATFileSystem.lib
--- a/FATFileSystem.lib	Sat Apr 10 00:30:24 2010 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/mbed_unsupported/code/fatfilesystem/
\ No newline at end of file
diff -r 606b230e5b4a -r 2526b2c89256 FatFileSystem.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FatFileSystem.lib	Fri Dec 14 03:34:00 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/AdamGreen/code/FatFileSystem/#6ceefe1c53e4
diff -r 606b230e5b4a -r 2526b2c89256 TB6612FNG2.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612FNG2.lib	Fri Dec 14 03:34:00 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/jksoft/code/TB6612FNG2/#051a7ecff13e