Junichi Katsu
/
WallbotTypeN
うおーるぼっと用プログラム Wiiリモコンからのダイレクト操作モードのみ BlueUSBをベースに使用しています。
main.cpp
- Committer:
- jksoft
- Date:
- 2011-05-01
- Revision:
- 0:425791fe4b42
File content as of revision 0:425791fe4b42:
/* Copyright (c) 2011 JKSOFT Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ #include "mbed.h" #include "USBHost.h" #include "Utils.h" #include "BD6211F.h" #include "Wiimote.h" // ----- Wallbot I/O Setting ----- // Motor BD6211F RightMotor(p21,p22); BD6211F LeftMotor(p23,p24); // Direct control mode int DirectMode( Wiimote* wii, int stat ) { int ret = stat; if( wii->left ) { RightMotor = 1.0; LeftMotor = -1.0; } else if( wii->right ) { RightMotor = -1.0; LeftMotor = 1.0; } else if( wii->up ) { RightMotor = 1.0; LeftMotor = 1.0; } else if( wii->down ) { RightMotor = -1.0; LeftMotor = -1.0; } else { RightMotor = 0.0; LeftMotor = 0.0; } float factor = wii->wheel / 150.0f; float left_factor = (factor >= 0.0) ? 1.0 : 1.0 - (-factor); float right_factor = (factor <= 0.0) ? 1.0 : 1.0 - factor; if( wii->one ) { RightMotor = right_factor; LeftMotor = left_factor; } if( wii->two ) { RightMotor = -left_factor; LeftMotor = -right_factor; } return(ret); } // Processing when receiving it from Wiiremote int wall_bot_remote(char *c,int stat) { Wiimote wii; int ret = stat; wii.decode(c); ret = DirectMode( &wii ,ret ); return(ret); } int GetConsoleChar() { return(0); } int OnDiskInsert(int device) { return(0); } int main() { // USB Init is done for Bluetooth USBInit(); while(1) { // USB Processing is done for Bluetooth USBLoop(); } }