Revision 11:d50a0e730654, committed 2017-10-25

Comitter:

kikoaac

Date:

Wed Oct 25 10:57:13 2017 +0000

Parent:

10:d0b1160ee5c2

Commit message:

??;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Defines/defines.h	Wed Oct 25 10:57:13 2017 +0000
@@ -0,0 +1,49 @@
+#include "mbed.h"
+#define R 0
+#define L 1
+#define DEBUG 0
+#define DEBUG_R 1
+#define CALIB 0
+#define SetupCMD 'A'
+#define Respons 'S'
+#define dataNum 12+3
+
+#define NOTINPUT  -1
+#define LOADMOTION -3
+#define TIMEOUT  -2
+
+#if !CALIB
+//1号機
+//uint16_t MinimumRangeR[4] = {4000,40000,53500,16000};
+//uint16_t MaxmumRangeR[4] = {55000,51000,58900,45000};
+//uint16_t MinimumRangeL[4] = {31500,8000,30000,19800};
+//uint16_t MaxmumRangeL[4] = {48000,46400,46200,45000};
+//2号機
+
+uint16_t MinimumRangeR[4] = {11900,32600,52100,0xffff-37800};
+uint16_t MaxmumRangeR[4] = {54500,48000,56000,0xffff-8900};
+uint16_t MinimumRangeL[4] = {62900,11300,37700,14200};
+uint16_t MaxmumRangeL[4] = {45800,56000,27900,44000};
+#endif
+#if CALIB
+uint16_t MinimumRangeR[4] = {0,0,0,0};
+uint16_t MaxmumRangeR[4] = {0xffff,0xffff,0xffff,0xffff};
+uint16_t MinimumRangeL[4] = {0,0,0,0};
+uint16_t MaxmumRangeL[4] = {0xffff,0xffff,0xffff,0xffff};
+#endif
+
+union floatInByte
+{
+    uint16_t si;
+    unsigned char c[2];
+};
+#define BIT(n) (1 << n)
+union charInBool
+{
+    bool Bool[8];
+    uint8_t data;
+};
+
+uint8_t RXData[dataNum] = {'0'}; 
+Nunchuck ctrl(D4,D5);
+int8_t accData[2][3];

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Defines/param_motion.h	Wed Oct 25 10:57:13 2017 +0000
@@ -0,0 +1,17 @@
+#include "mbed.h"
+#define motionNum 2
+uint8_t motion[motionNum][10] = {{
+    0b01110101,0b01110101,0b01110101,0b01110101,0b01110101,
+    0b01110101,0b01110101,0b01110101,0b01110101,0b01110101},
+    {0b10101011,0b10101011,0b10101011,0b10101011,0b10101011,
+    0b10101011,0b10101011,0b10101011,0b10101011,0b10101011}};
+
+#define playMotionFlame 3
+uint8_t PlayMotion[motionNum][playMotionFlame][2][12] = 
+    {
+        {
+            {{'H',0,0,0,0,0,0,0,0,0,0},{'0',0,0,0,0,0,0,0,0,0,0}},
+            {{'H',0,0,0,0,0,0,0,0,0,0},{'0',0,0,0,0,0,0,0,0,0,0}},
+            {{'H',0,0,0,0,0,0,0,0,0,0},{'0',0,0,0,0,0,0,0,0,0,0}}
+        }
+    };

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Methods/methods.h	Wed Oct 25 10:57:13 2017 +0000
@@ -0,0 +1,314 @@
+#include "mbed.h"
+void RX();
+class AnalogInLPF : public AnalogIn
+{
+    private:
+    float alpha;
+    float prevAnalog;
+    float nowAnalog;
+    public : AnalogInLPF(PinName pin,float alpha_) : AnalogIn(pin)
+    {
+        alpha = alpha_;
+        prevAnalog = 0.0;
+    } 
+    float read(){
+        nowAnalog = AnalogIn::read();
+        nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog;
+        prevAnalog = nowAnalog;
+        return nowAnalog;
+    }
+    short read_u16(){
+        nowAnalog = AnalogIn::read();
+        nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog;
+        prevAnalog = nowAnalog;
+        return short(nowAnalog*0xFFFF);
+    }
+};
+class InLPF
+{
+    private:
+    float alpha;
+    float prevAnalog;
+    float nowAnalog;
+    public : InLPF(float alpha_ = 0.2)
+    {
+        alpha = alpha_;
+        prevAnalog = 0.0;
+    } 
+    float read(float in){
+        nowAnalog = in;
+        nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog;
+        prevAnalog = nowAnalog;
+        return nowAnalog;
+    }
+    short read_u16(float in){
+        nowAnalog = in;
+        nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog;
+        prevAnalog = nowAnalog;
+        return short(nowAnalog*0xFFFF);
+    }
+};
+class InHPF
+{
+    private:
+    float alpha;
+    float prevAnalog;
+    float nowAnalog;
+    public:float originAnalog;
+    public : InHPF(float alpha_ = 0.2)
+    {
+        alpha = alpha_;
+        prevAnalog = 0.0;
+    } 
+    float read(float in){
+        originAnalog = in;
+        nowAnalog = originAnalog;
+        nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog;
+        prevAnalog = nowAnalog;
+        return originAnalog - nowAnalog;
+    }
+    short read_u16(float in){
+        originAnalog = in;
+        nowAnalog = originAnalog;
+        nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog;
+        prevAnalog = nowAnalog;
+        return short(originAnalog*0xffff - nowAnalog*0xFFFF);
+    }
+    float read(){
+        return originAnalog - nowAnalog;
+    }
+    short read_u16(){
+        return short(originAnalog*0xFFFF - nowAnalog*0xFFFF);
+    }
+    
+};
+class AccHPF
+{
+    private:
+    float alpha;
+    float prevAnalog;
+    float nowAnalog;
+    public:float originAnalog;
+    public : AccHPF(float alpha_ = 0.2)
+    {
+        alpha = alpha_;
+        prevAnalog = 0.0;
+    }
+    float read(float in){
+        originAnalog = in;
+        nowAnalog = originAnalog;
+        nowAnalog = nowAnalog*alpha + (1-alpha)*prevAnalog;
+        prevAnalog = nowAnalog;
+        return originAnalog - nowAnalog;
+    }
+    float read(){
+        return originAnalog - nowAnalog;
+    }
+};
+#define LP 1
+AnalogInLPF ArmSense[4] = {AnalogInLPF(A6,LP),AnalogInLPF(A5,LP),AnalogInLPF(A4,LP),AnalogInLPF(A3,LP)};
+InLPF ArmSense2[4] = {InLPF(LP),InLPF(LP),InLPF(LP),InLPF(LP)};
+
+InHPF ArmInputSense[2][4] = {{InHPF(0.2),InHPF(0.2),InHPF(0.2),InHPF(0.2)} , {InHPF(0.01),InHPF(0.005),InHPF(0.01),InHPF(0.01)}};
+AccHPF accSense[2][3] = {{AccHPF(0.2),AccHPF(0.2),AccHPF(0.2)} , {AccHPF(0.2),AccHPF(0.2),AccHPF(0.2)}};
+int8_t map8(int8_t in, int8_t inMin, int8_t inMax, int8_t outMin, int8_t outMax) {
+            // check it's within the range
+            if (inMin<inMax) {
+                if (in <= inMin)
+                    return outMin;
+                if (in >= inMax)
+                    return outMax;
+            } else { // cope with input range being backwards.
+                if (in >= inMin)
+                    return outMin;
+                if (in <= inMax)
+                    return outMax;
+            }
+            // calculate how far into the range we are
+            float scale = float(in-inMin)/float(inMax-inMin);
+            // calculate the output.
+            return int8_t(outMin + scale*float(outMax-outMin));
+        }
+uint16_t map(uint16_t in, uint16_t inMin, uint16_t inMax, uint16_t outMin, uint16_t outMax) {
+  // check it's within the range
+  if (inMin<inMax) { 
+    if (in <= inMin) 
+      return outMin;
+    if (in >= inMax)
+      return outMax;
+  } else {  // cope with input range being backwards.
+    if (in >= inMin) 
+      return outMin;
+    if (in <= inMax)
+      return outMax;
+  }
+  // calculate how far into the range we are
+  float scale = float(in-inMin)/float(inMax-inMin);
+  // calculate the output.
+  return uint16_t(outMin + scale*float(outMax-outMin));
+}
+
+void waitTime(float ti){
+    Timer t;
+    t.start();
+    while(ti > t.read());
+    t.stop();
+    return;
+}
+int8_t getLAccx(){
+    return (int8_t)RXData[12];
+}
+int8_t getLAccy(){
+    return (int8_t)RXData[13];
+}
+int8_t getLAccz(){
+    return (int8_t)RXData[14];
+}
+int8_t getRAccx(){
+    return (int8_t)ctrl.accx();
+}
+int8_t getRAccy(){
+    return (int8_t)ctrl.accy();
+}
+int8_t getRAccz(){
+    return (int8_t)ctrl.accz();
+}
+int8_t (*getAcc[2][3])(void) = {{getRAccx,getRAccy,getRAccz},{getLAccx,getLAccy,getLAccz}};
+bool motionTriggerFlag = false;
+int motionCount[motionNum] = {0};
+Timer motionTimer;
+int loopCount = 0;
+void initMotion(){
+    motionTimer.reset();
+    loopCount = 0;
+    for(int i = 0 ; i < motionNum ; i++)motionCount[i] = 0;
+    motionTriggerFlag = false;
+        
+}
+int MotionSense(){
+    charInBool data;
+    charInBool data1;
+    //加速度データを取得する。　
+    for(int i = 0 ; i < 2 ; i ++ ){
+        for(int j = 0 ; j < 3; j++){
+            accData[i][j] = getAcc[i][j]();
+            accSense[i][j].read(float(accData[i][j])/0xff);
+        }
+    }
+    //モーション認識中にモーション入力がないときTIMEOUTを返す。
+    if(motionTimer.read() > 0.2F && motionTriggerFlag == true){
+        initMotion();
+        return TIMEOUT;
+    }
+    //登録されたモーションと類似しているモーションIDを返す。
+    #define max(a, b) ((a) > (b) ? (a) : (b))
+    if(loopCount == 10){
+        int max_motionCount=0;
+        int ID = NOTINPUT;
+        for(int i = 0 ; i < motionNum ; i ++){
+            max_motionCount = max(max_motionCount,motionCount[i]);
+            if(max_motionCount == motionCount[i])ID = i;
+        }
+        initMotion();
+        return ID;
+    }
+    
+    //加速度が一定の強さを越えるとモーション認識を開始する。
+    if(motionTriggerFlag == false){
+        bool f = false;
+        for(int i = 0 ; i < 2 ; i ++ ){
+            for(int j = 0 ; j < 3; j++){
+                f = f | bool(accSense[i][j].read() > 0.3F);
+            }
+        }
+    
+        if(!f)return NOTINPUT;
+        motionTriggerFlag = true;
+        for(int i = 0 ; i < motionNum ; i++)motionCount[i] = 0;
+    }
+    //可変抵抗の値を取得
+    for(int i = 0; i < 2; i++ ){
+        for (int j = 0 ; j < 4 ; j ++){
+            data.data = (data.data<<1)|bool(fabs(ArmInputSense[i][j].read()) > 0.1F);
+            data1.data = (data1.data<<1)|bool(ArmInputSense[i][j].originAnalog > 0.5F);
+        }
+    }
+    /*sbdbt.printf("\n");
+    for(int i = 7 ; i >= 0 ; i--)
+        sbdbt.printf("%d",(data.data>>i)&1);
+    sbdbt.printf("\n");
+    for(int i = 7 ; i >= 0 ; i--)
+        sbdbt.printf("%d",(data1.data>>i)&1);
+    sbdbt.printf("\n");*/
+    //可変抵抗に動きがあるかを判定
+    if(data.data != 0){
+        //可変抵抗の値と全モーションデータの比較
+        for(int i = 0 ; i < motionNum ; i++){
+            char d = data1.data & motion[i][loopCount];
+            for(int j = 0 ; j < 8 ; j++){
+                motionCount[i] += bool((d>>j)&1);
+            }
+            //等しければモーションカウントを++
+            sbdbt.printf("motionCount[%d] %d",i,motionCount[i]);
+        }
+        //全体ループを++
+        loopCount ++;
+        //タイマーリセット
+        motionTimer.reset();
+        //モーション認識中なのでLOADMOTIONを返す。
+        return LOADMOTION; 
+    }
+    return NOTINPUT;
+}
+int playMotionCount = 0;
+bool playMotionFlag = false;
+void playMotion(int id,uint8_t** copy){
+    if(playMotionFlag == false && playMotionCount == 0 ){
+        playMotionFlag = true;
+    }
+    
+    for(int j = 0; j < 2 ; j++){
+        for(int i = 0 ; i < dataNum-3 ; i++){
+            for(int s = 0; s < 2; s++)
+            {
+               for(int m = 0 ; m < 12 ; m ++)copy[s][m] = PlayMotion[id][playMotionCount][s][m];
+            }
+            
+        }
+    }
+   //         if(!DEBUG)sbdbt.printf("\n");
+   //         dev.putc('L');
+   //         waitTime(0.01);
+    //    }
+   // }
+    playMotionCount ++;
+    if(playMotionCount == playMotionFlame){
+        playMotionCount = 0;
+        playMotionFlag = false;
+    }
+}
+float prevR=0;
+int impulseCount = 0;
+int impulseFlag = false;
+bool impulse(double y){
+    //if(sieta1 > PI/3 && sieta1 < PI*2/3.0)
+    float r = y;
+    float temp = r;
+    r = r*0.1F + (1-0.1F)*prevR;
+    prevR = r;
+    //sbdbt.printf("  %f",temp - r);
+    if(impulseFlag == true)impulseCount++;
+    if((temp - r) > 0.6F && impulseFlag == false){
+        impulseFlag = true;
+    }
+    if((temp - r) < -0.1F && impulseCount <= 5 && impulseFlag == true){
+        impulseCount = 0;
+        impulseFlag = false;
+        return true;
+    }
+    if(impulseCount > 6 && impulseFlag == true){
+        impulseCount = 0;
+        impulseFlag = false;
+    }
+    return false;
+}
\ No newline at end of file

--- a/Nunchuck/Nunchuck.cpp	Thu May 11 12:55:05 2017 +0000
+++ b/Nunchuck/Nunchuck.cpp	Wed Oct 25 10:57:13 2017 +0000
@@ -107,30 +107,30 @@
 }
 
 
-int Nunchuck::accx()
+int8_t Nunchuck::accx()
 {
-    getdata();
-    int temp = data[2] << 2;
+    //getdata();
+    int8_t temp = data[2] << 2;
     if ((data[5] >> 2) & 1) temp += 2;
     if ((data[5] >> 3) & 1) temp += 1;
     return temp;
 }
 
 
-int Nunchuck::accy()
+int8_t Nunchuck::accy()
 {
-    getdata();
-    int temp = data[3] << 2;
+    //getdata();
+    int8_t temp = data[3] << 2;
     if ((data[5] >> 4) & 1) temp += 2;
     if ((data[5] >> 5) & 1) temp += 1;
     return temp;
 }
 
 
-int Nunchuck::accz()
+int8_t Nunchuck::accz()
 {
-    getdata();
-    int temp = data[4] << 2;
+    //getdata();
+    int8_t temp = data[4] << 2;
     if ((data[5] >> 6) & 1) temp += 2;
     if ((data[5] >> 7) & 1) temp += 1;
     return temp;

--- a/Nunchuck/Nunchuck.h	Thu May 11 12:55:05 2017 +0000
+++ b/Nunchuck/Nunchuck.h	Wed Oct 25 10:57:13 2017 +0000
@@ -5,7 +5,7 @@
 #include "mbed.h"
 
 #define NUNCHUCK_ANALOGDATA 1  //1 : analog   0 : degital
-#define NUNCHUCK_DEADZONE 6    //analog stick's deadzone
+#define NUNCHUCK_DEADZONE 0    //analog stick's deadzone
 #define NUNCHUCK_ADDR    0xA4  // 0x52 << 1
 
 #define PI 3.14159265358979
@@ -20,18 +20,18 @@
         double analograd();
         double analogdeg();
         double analogrange();
-        int accx();
-        int accy();
-        int accz ();
+        int8_t accx();
+        int8_t accy();
+        int8_t accz();
         bool buttonc();
         bool buttonz();
+        void getdata();
     
     private:
         Timer timer;
         bool flag;
         bool init();
         char data[6];
-        void getdata();
 };
 
 #endif
\ No newline at end of file

--- a/PS3/PS3.cpp	Thu May 11 12:55:05 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,143 +0,0 @@
-#include "PS3.h"
-
-        PS3::PS3(PinName TX, PinName RX) : Serial(TX, RX)
-        {
-            PS3Data[0] = 128;
-            PS3Data[1] = 0;
-            PS3Data[2] = 0;
-            PS3Data[3] = 64;
-            PS3Data[4] = 64;
-            PS3Data[5] = 64;
-            PS3Data[6] = 64;
-            PS3Data[7] = 0;
-            baud(2400);
-            Serial::attach(this, &PS3::getdata, Serial::RxIrq);
-        }
-        
-        bool PS3::maru()
-        {
-            return PS3Data[2] & MARU;
-        }
-        
-        bool PS3::batu()
-        {
-            return PS3Data[2] & BATU;
-        }
-        
-        bool PS3::sikaku()
-        {
-            return PS3Data[1] & SIKAKU;
-        }
-        
-        bool PS3::sankaku()
-        {
-            return PS3Data[2] & SANKAKU;
-        }
-        
-        bool PS3::ue()
-        {
-            return PS3Data[2] & UE && !(PS3Data[2] & SITA);
-        }
-        
-        bool PS3::sita()
-        {
-            return PS3Data[2] & SITA && !(PS3Data[2] & UE);
-        }
-        
-        bool PS3::start()
-        {
-            return PS3Data[2] & UE && PS3Data[2] & SITA;
-        }
-        
-        bool PS3::migi()
-        {
-            return PS3Data[2] & MIGI && !(PS3Data[2] & HIDARI);
-        }
-        
-        bool PS3::hidari()
-        {
-            return PS3Data[2] & HIDARI && !(PS3Data[2] & MIGI);
-        }
-        
-        bool PS3::select()
-        {
-            return PS3Data[2] & MIGI && PS3Data[2] & HIDARI;
-        }
-        
-        bool PS3::L1()
-        {
-            return PS3Data[1] & LEFT1;
-        }
-        
-        bool PS3::L2()
-        {
-            return PS3Data[1] & LEFT2;
-        }
-        
-        bool PS3::R1()
-        {
-            return PS3Data[1] & RIGHT1;
-        }
-        
-        bool PS3::R2()
-        {
-            return PS3Data[1] & RIGHT2;
-        }
-        
-        int8_t PS3::analogLX()
-        {
-            if(PS3Data[3] == 0)
-                PS3Data[3] = 1;
-            return PS3Data[3] - 64;
-        }
-        
-        int8_t PS3::analogLY()
-        {
-            if(PS3Data[4] == 0)
-                PS3Data[4] = 1;
-            return (PS3Data[4] - 64) * (-1);
-        }
-        
-        int8_t PS3::analogRX()
-        {
-            if(PS3Data[5] == 0)
-                PS3Data[5] = 1;
-            return PS3Data[5] - 64;
-        }
-        
-        int8_t PS3::analogRY()
-        {
-            if(PS3Data[6] == 0)
-                PS3Data[6] = 1;
-            return (PS3Data[6] - 64) * (-1);
-        }
-        
-        
-        
-        void PS3::getdata()
-        {
-            while(Serial::getc() != 128)
-            {
-            }
-            for(int i = 1; i < 8; i++)
-            {
-                GetData[i] = Serial::getc();
-            }
-            
-            sum = GetData[1] + GetData[2];
-            for(int i = 3; i < 7; i++)
-            {
-               sum += GetData[i] - 64;
-            }
-                
-            if(sum < 0)
-                 sum += 128;
-                    
-            if(sum == GetData[7])
-            {
-                for(int i = 0; i < 8; i++)
-                {
-                    PS3Data[i] = GetData[i];
-                }
-            }
-        }
\ No newline at end of file

--- a/PS3/PS3.h	Thu May 11 12:55:05 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,173 +0,0 @@
-#ifndef PS3_H
-#define PS3_H
-#include "mbed.h"
-
-#define MARU 64
-#define BATU 32
-#define SIKAKU 1
-#define SANKAKU 16
-#define UE 1
-#define SITA 2
-#define MIGI 4
-#define HIDARI 8
-#define LEFT1 2
-#define LEFT2 4
-#define RIGHT1 8
-#define RIGHT2 16
-
-class PS3 : public Serial
-{
-    public:
-        PS3(PinName TX, PinName RX);
-        /*{
-            PS3Data[0] = 128;
-            PS3Data[1] = 0;
-            PS3Data[2] = 0;
-            PS3Data[3] = 64;
-            PS3Data[4] = 64;
-            PS3Data[5] = 64;
-            PS3Data[6] = 64;
-            PS3Data[7] = 0;
-            baud(2400);
-            Serial::attach(this, &PS3::getdata, Serial::RxIrq);
-        }*/
-        
-        bool maru();
-        /*{
-            return PS3Data[2] & MARU;
-        }*/
-        
-        bool batu();
-        /*{
-            return PS3Data[2] & BATU;
-        }*/
-        
-        bool sikaku();
-        /*{
-            return PS3Data[1] & SIKAKU;
-        }*/
-        
-        bool sankaku();
-        /*{
-            return PS3Data[2] & SANKAKU;
-        }*/
-        
-        bool ue();
-        /*{
-            return PS3Data[2] & UE && !(PS3Data[2] & SITA);
-        }*/
-        
-        bool sita();
-        /*{
-            return PS3Data[2] & SITA && !(PS3Data[2] & UE);
-        }*/
-        
-        bool start();
-        /*{
-            return PS3Data[2] & UE && PS3Data[2] & SITA;
-        }*/
-        
-        bool migi();
-        /*{
-            return PS3Data[2] & MIGI && !(PS3Data[2] & HIDARI);
-        }*/
-        
-        bool hidari();
-        /*{
-            return PS3Data[2] & HIDARI && !(PS3Data[2] & MIGI);
-        }*/
-        
-        bool select();
-        /*{
-            return PS3Data[2] & MIGI && PS3Data[2] & HIDARI;
-        }*/
-        
-        bool L1();
-        /*{
-            return PS3Data[1] & LEFT1;
-        }*/
-        
-        bool L2();
-        /*{
-            return PS3Data[1] & LEFT2;
-        }*/
-        
-        bool R1();
-        /*{
-            return PS3Data[1] & RIGHT1;
-        }*/
-        
-        bool R2();
-        /*{
-            return PS3Data[1] & RIGHT2;
-        }*/
-        
-        int8_t analogLX();
-        /*{
-            if(PS3Data[3] == 0)
-                PS3Data[3]=1;
-            return PS3Data[3]-64;
-        }*/
-        
-        int8_t analogLY();
-        /*{
-            if(PS3Data[4] == 0)
-                PS3Data[4]=1;
-            return (PS3Data[4]-64)*(-1);
-        }*/
-        
-        int8_t analogRX();
-        /*{
-            if(PS3Data[5] == 0)
-                PS3Data[5]=1;
-            return PS3Data[5]-64;
-        }*/
-        
-        int8_t analogRY();
-        /*{
-            if(PS3Data[6] == 0)
-                PS3Data[6]=1;
-            return (PS3Data[6]-64)*(-1);
-        }*/
-        
-        
-        
-    private:
-
-        int8_t sum;
-        uint8_t PS3Data[8];
-        uint8_t GetData[8];
-    
-        void getdata();
-        /*{
-            while(Serial::getc() != 128)
-            {
-            }
-            for(int i = 1;i < 8;i++)
-            {
-                GetData[i] = Serial::getc();
-            }
-            
-            sum = GetData[1] + GetData[2];
-            for(int i = 3;i < 7;i++)
-            {
-               sum += GetData[i] - 64;
-            }
-                
-            if(sum < 0)
-                 sum+=128;
-                    
-            if(sum == GetData[7])
-            {
-                for(int i = 0;i < 8;i++)
-                {
-                    PS3Data[i]=GetData[i];
-                }
-            }
-        }*/
-        
-};
-            
-#endif            
-            
-        
\ No newline at end of file