Kiko Ishimoto / MyLib

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Dependents:   robocon2017mbed_contoroler_L2

Fork of MyLib by gaku takasawa

Files at this revision

API Documentation at this revision

Revision 12:479a1f294781, committed 2017-10-24

Comitter:
kikoaac
Date:
Tue Oct 24 13:59:46 2017 +0000
Parent:
11:08d8bd103eda
Commit message:
????

Changed in this revision

Nunchuck/Nunchuck.cpp Show annotated file Show diff for this revision Revisions of this file
Nunchuck/Nunchuck.h Show annotated file Show diff for this revision Revisions of this file 
--- a/Nunchuck/Nunchuck.cpp	Fri Oct 13 09:35:30 2017 +0000
+++ b/Nunchuck/Nunchuck.cpp	Tue Oct 24 13:59:46 2017 +0000
@@ -6,15 +6,19 @@
     flag = 0;
     for(int i = 0; i < 6; i++)
         data[i] = 0;
+    timer.start();
     init();
-    timer.start();   
+    wait(0.2);
+    offset_();
 }
 
 bool Nunchuck::init()
 {
     unsigned char cmd[] = {0x40, 0x00};
     if (I2C::write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd)) == 0)
+    {
         return 1;
+    }
     else
         return 0;
 }
@@ -25,6 +29,7 @@
         return;
     
     
+    //__disable_irq(); // 禁止
     if(flag) {
         const unsigned char cmd[] = {0x00};
         if (I2C::write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd)) == 0) 
@@ -41,14 +46,14 @@
     }
     else
         flag = init();
-        
+    //__enable_irq(); // 許可
     timer.reset();
 }
 
 
 int8_t Nunchuck::analogx()
 {
-    getdata();
+    //getdata();
     int8_t temp;
     temp = data[0] - 128;
 #if NUNCHUCK_ANALOGDATA
@@ -62,13 +67,13 @@
     else if(temp >= 50)
         temp = 1;
 #endif
-    return temp;
+    return offset == true ? temp - offsetX : temp;
 }
 
 
 int8_t Nunchuck::analogy()
 {
-    getdata();
+    //getdata();
     int8_t temp;
     temp = data[1] - 128;
 #if NUNCHUCK_ANALOGDATA
@@ -82,7 +87,8 @@
     else if(temp >= 50)
         temp = 1;
 #endif
-    return temp;
+    
+    return offset == true ? temp - offsetY : temp;
 }
 
 
@@ -141,13 +147,13 @@
 
 bool Nunchuck::buttonz()
 {
-    getdata();
+    //getdata();
     return !(data[5] & 0x01);
 }
 
     
 bool Nunchuck::buttonc()
 {
-    getdata();
+    //getdata();
     return !(data[5] & 0x02);
 }

--- a/Nunchuck/Nunchuck.h	Fri Oct 13 09:35:30 2017 +0000
+++ b/Nunchuck/Nunchuck.h	Tue Oct 24 13:59:46 2017 +0000
@@ -26,12 +26,34 @@
         bool buttonc();
         bool buttonz();
         bool init();
-        
+        void getdata();
+        void offset_(){
+            offsetX = 0;
+            offsetY = 0;
+            offset = false;
+            wait(0.2);
+            //for(int i = 0;i<20;i++){
+                offsetX = 0;//(char)analogx();
+                offsetY = 7;//(char)analogy();
+                //2ごうき
+                //x:252
+                //y:9
+                //1ごうき
+                //x:0
+                //y:7
+            //}
+            //printf("\n%d , %d \n",offsetX,offsetY);
+            offset = true;
+            //offsetX= offsetX/20;
+            //offsetY= offsetY/20;
+        }
     private:
         Timer timer;
         bool flag;
         char data[6];
-        void getdata();
+        int offsetX;
+        int offsetY;
+        bool offset;
 };
 
 #endif
\ No newline at end of file