Revision 2:cb2bd28bb66d, committed 2021-04-16

Comitter:

kikuchi8810

Date:

Fri Apr 16 09:34:17 2021 +0000

Parent:

1:cb2c4d733c1b

Commit message:

test

Changed in this revision

diff -r cb2c4d733c1b -r cb2bd28bb66d Controller.cpp
--- a/Controller.cpp	Fri Jan 15 08:50:35 2021 +0000
+++ b/Controller.cpp	Fri Apr 16 09:34:17 2021 +0000
@@ -1,42 +1,50 @@
 #include "Controller.h"
 #include "mbed.h"
 #include "RawSerial.h"
+#include "XBee.h"
 
-DigitalOut myled4(LED4);
+DigitalOut myled1(LED1);
+XBeeResponse response = XBeeResponse();
+ZBRxResponse xbee_rx = ZBRxResponse();
 
-Controller::Controller(PinName tx,PinName rx,int baudrate):XBee3(tx,rx)
+XBee_APIMode::XBee_APIMode(PinName tx,PinName rx):xbee(tx,rx)
 {
-    XBee3.baud(baudrate);
     ButtonState = 0;
-    LJoyX = 128;
-    LJoyY = 128;
-    RJoyX = 128;
-    RJoyY = 128;
-    myled4 = 0;
+    myled1 = 0;
 }
 
-void Controller::update()
+XBee_TransparentMode::XBee_TransparentMode(PinName tx,PinName rx,int baudrate) :serialXbee3(tx,rx)
+{
+    serialXbee3.baud(baudrate);
+    serialXbee3.attach(this,&XBee_TransparentMode::update,Serial::RxIrq);
+    ButtonState = 0;
+    LJoyX = 127;
+    LJoyY = 127;
+    RJoyX = 127;
+    RJoyY = 127;
+    myled1 = 0;
+}
+
+void XBee_TransparentMode::update()
 {   
     unsigned int checksum;
-    //uint8_t tmp;
     char c;
-    char recv_msgs[10];
+    char recv_msgs[DATA_NUM_TRANS];
 
-    c = XBee3.getc();
+    c = serialXbee3.getc();
     if (c == '\n') {
 
         if (recv_num == 10) {
             checksum = 0;
 
-            for (int i = 0; i < 9; i++) {
+            for (int i = 0; i < (DATA_NUM_TRANS - 1); i++) {
                 recv_msgs[i] = recv_msgs[i] - 0x20;
                 checksum += (unsigned int)recv_msgs[i];
             }
 
             if ((checksum & 0x3F) == (recv_msgs[9] - 0x20)) {
-                //digitalWrite(PIN_LED_1, !digitalRead(PIN_LED_1));
-                myled4 = !myled4;
-                ButtonState = 0;//, LJoyX = 0, LJoyY = 0, RJoyX = 0, RJoyY = 0;
+                myled1 = !myled1;
+                ButtonState = 0;
 
                 ButtonState |= recv_msgs[0] & 0x3F;
                 ButtonState |= (recv_msgs[1] & 0x3F) << 6;
@@ -53,6 +61,8 @@
 
                 RJoyY = recv_msgs[7];
                 RJoyY |= (recv_msgs[8] & 0x03) << 6;
+                
+                preButtonState = ButtonState;
             }
         }
         recv_num = 0;
@@ -61,68 +71,58 @@
     }
 }
 
-void Controller::DRbegin()
-{
-    XBee3.attach(this,&Controller::update,Serial::RxIrq);
+void XBee_APIMode::begin(int baudrate){
+    xbee.begin(baudrate);
 }
-
-int8_t Controller::readButton(int buttonNum) const
+int XBee_APIMode::update()
 {
-    int8_t ret = 0;
-
-    if ((ButtonState >> (buttonNum - 1)) & 0x01) {
-        ret += 1;
+    uint8_t recv_val[DATA_NUM_API] = {};
+    xbee.readPacket();
+    static int getResponse_getApiId = 0;
+    int getResponse_isAvailable = xbee.getResponse().isAvailable();
+    if (getResponse_isAvailable) {
+        getResponse_getApiId = xbee.getResponse().getApiId();
+        if (getResponse_getApiId == ZB_RX_RESPONSE) {
+            xbee.getResponse().getZBRxResponse(xbee_rx);
+            for(int i = 0; i < DATA_NUM_API; i++){
+                recv_val[i] = (uint8_t)xbee_rx.getData(i);
+            }
+                preButtonState = ButtonState;
+                myled1 = !myled1;
+                
+                ButtonState = 0;
+                ButtonState |= recv_val[0] & 0xFF;
+                ButtonState |= (recv_val[1] & 0xFF) << 8;
+                ButtonState |= (recv_val[2] & 0xFF) << 16;
+                
+        }
+    }else{
+        //getResponse_getApiId = 9999;
     }
-    if (preButtonState >> (buttonNum - 1) & 0x01) {
-        ret -= 1;
-    }
-
-    return ret;
+    return getResponse_getApiId;
 }
-
-unsigned int Controller::getButtonState() const
+unsigned int XBee_TransparentMode::getButtonState()
+{
+    return ButtonState;
+}
+unsigned int XBee_APIMode::getButtonState()
 {
     return ButtonState;
 }
 
-/**コントローラの入力に変化があったらtrueを返す**/
-bool Controller::getButtonChanged() const
-{
-    return buttonChanged;
-}
-
-/**ジョイスティックの値を-1.0~1.0の範囲で返す関数**/
-double Controller::readJoyLX() const
-{
-    return -((double)LJoyX - 127.0) / 127.0;
-}
-double Controller::readJoyLY() const
-{
-    return -((double)LJoyY - 127.0) / 127.0;
-}
-double Controller::readJoyRX() const
-{
-    return -((double)RJoyX - 127.0) / 127.0;
-}
-double Controller::readJoyRY() const
+bool XBee_TransparentMode::readButton(unsigned int button,int status)
 {
-    return -((double)RJoyY - 127.0) / 127.0;
+  int8_t num = 0;
+  if(ButtonState & button)  num += 2;
+  if(preButtonState & button) num -= 1;
+  if(num == status) return true;
+  else return false;
 }
-
-/**ジョイスティックの値を0~255の範囲で返す関数**/
-unsigned int Controller::readJoyLXbyte() const
-{
-    return LJoyX;
-}
-unsigned int Controller::readJoyLYbyte() const
+bool XBee_APIMode::readButton(unsigned int button,int status)
 {
-    return LJoyY;
-}
-unsigned int Controller::readJoyRXbyte() const
-{
-    return RJoyX;
-}
-unsigned int Controller::readJoyRYbyte() const
-{
-    return RJoyY;
+  int8_t num = 0;
+  if(ButtonState & button)  num += 2;
+  if(preButtonState & button) num -= 1;
+  if(num == status) return true;
+  else return false;
 }
\ No newline at end of file

diff -r cb2c4d733c1b -r cb2bd28bb66d Controller.h
--- a/Controller.h	Fri Jan 15 08:50:35 2021 +0000
+++ b/Controller.h	Fri Apr 16 09:34:17 2021 +0000
@@ -2,84 +2,122 @@
 #define CONTROLLER_H
 
 #include "mbed.h"
+#include "XBee.h"
 #include "RawSerial.h"
 
-#define BUTTON_SIKAKU 0x01
-#define BUTTON_SANKAKU 0x02
-#define BUTTON_BATU 0x04
-#define BUTTON_MARU 0x08
-#define BUTTON_L1 0x10
-#define BUTTON_R1 0x20
-#define BUTTON_L2 0x40
-#define BUTTON_R2 0x80
-#define BUTTON_PAD 0x100
-#define BUTTON_PS 0x200
-#define BUTTON_SHARE 0x400
-#define BUTTON_OPTION 0x800
-#define BUTTON_UP 0x1000
-#define BUTTON_RIGHT 0x2000
-#define BUTTON_DOWN 0x4000
-#define BUTTON_LEFT 0x8000
+#define APIMODE 1
+#define TRANSPARENT_MODE 2
+
+#define XBEE_MODE ( APIMODE ) //カッコの中を変えて使う
+
+#if XBEE_MODE == TRANSPARENT_MODE
+ 
+    #define BUTTON_X  0x0001
+    #define BUTTON_Y  0x0002
+    #define BUTTON_A  0x0004
+    #define BUTTON_B  0x0008
+    
+    #define BUTTON_L1     0x0010
+    #define BUTTON_R1     0x0020
+    #define BUTTON_L2     0x0040
+    #define BUTTON_R2     0x0080
+    
+    // #define BUTTON_JOY_L   0x0100
+    // #define BUTTON_JOY_R   0x0200
+    // #define BUTTON_SHARE    0x0400
+    // #define BUTTON_OPTION   0x0800
+    #define BUTTON_PAD 0x0100
+    #define BUTTON_PS 0x0200
+    #define BUTTON_JOY_L 0x0400
+    #define BUTTON_JOY_R 0x0800
+    
+    #define BUTTON_UP     0x1000
+    #define BUTTON_RIGHT  0x2000
+    #define BUTTON_DOWN   0x4000
+    #define BUTTON_LEFT   0x8000
+
+#elif XBEE_MODE == API_MODE
 
-class Controller
+    #define BUTTON_SQUARE   0x0001
+    #define BUTTON_TRIANGLE 0x0002
+    #define BUTTON_CROSS    0x0004
+    #define BUTTON_CIRCLE   0x0008
+    
+    #define BUTTON_L1   0x0010
+    #define BUTTON_R1   0x0020
+    #define BUTTON_L2   0x0040
+    #define BUTTON_R2   0x0080
+    
+    #define BUTTON_UP     0x0100
+    #define BUTTON_RIGHT  0x0200
+    #define BUTTON_DOWN   0x0400
+    #define BUTTON_LEFT   0x0800
+    
+    #define BUTTON_SHARE    0x1000
+    #define BUTTON_OPTION   0x2000
+    #define BUTTON_PAD      0x4000
+    #define BUTTON_PS       0x8000
+    
+    #define BUTTON_JOY_L    0x0100
+    #define BUTTON_JOY_R    0x0200
+    
+#endif
+
+#define DATA_NUM_TRANS  10
+#define DATA_NUM_API    3
+#define BOUDRATE_TRANS  115200
+#define BOUDRATE_API    230400
+
+#define PUSHE 1
+#define RELEASE 0
+#define PUSHED 2
+#define RELEASED -1
+
+class XBee_TransparentMode
 {
 public:
-    Controller(PinName tx, PinName rx, int baudrate);
-    RawSerial XBee3;
-    //Controller(RawSerial* serial_xbee);
+    XBee_TransparentMode(PinName tx,PinName rx,int baudrate);
 
     void update();
-    void DRbegin();
-
-    /**
-     * コントローラのボタン入力状態を返す．
-     * 
-     * @param buttonNum ボタン番号 1~12
-     * @return 1:押されている 0:離されている 2:押された -1:離された
-     * 
-     */
     
-    int8_t readButton(int buttonNum) const;
-    unsigned int getButtonState() const;
-
-    /**
-     * ジョイスティックの値を読む
-     * @return -1.0 ~ 1.0
-     * 
-     *      X
-     *      ^
-     *      |
-     * Y<---+----
-     *      |
-     *      |
-     */
+    bool readButton(unsigned int button,int status);
+    unsigned int getButtonState();
     
-    double readJoyLX() const;
-    double readJoyLY() const;
-    double readJoyRX() const;
-    double readJoyRY() const;
-
-    unsigned int readJoyLXbyte() const;
-    unsigned int readJoyLYbyte() const;
-    unsigned int readJoyRXbyte() const;
-    unsigned int readJoyRYbyte() const;
-
-    bool getButtonChanged() const; //スイッチの状態を確認する
+    unsigned int ButtonState, preButtonState;
+    unsigned int LJoyX, LJoyY, RJoyX, RJoyY;
 
 
 private:
 
-    unsigned int ButtonState, preButtonState;
-    unsigned int LJoyX, LJoyY, RJoyX, RJoyY;
     int boudrate;
+    RawSerial serialXbee3;
 
     bool buttonChanged;
     
 
 private:
     int recv_num;
+};
 
-    char recv_msgs[9];
+class  XBee_APIMode
+{
+public:
+    XBee_APIMode(PinName tx,PinName rx);
+    
+    void begin(int baudrate);
+    int update();
+    
+    bool readButton(unsigned int button,int status);
+    unsigned int getButtonState();
+    
+    unsigned int ButtonState, preButtonState;
+
+private:
+
+    int boudrate;
+    XBee xbee;
+
+    bool buttonChanged;
 };
 
 #endif
\ No newline at end of file

diff -r cb2c4d733c1b -r cb2bd28bb66d XBee.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/XBee.lib	Fri Apr 16 09:34:17 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/okini3939/code/XBee/#b36422ef864f

diff -r cb2c4d733c1b -r cb2bd28bb66d main.cpp
--- a/main.cpp	Fri Jan 15 08:50:35 2021 +0000
+++ b/main.cpp	Fri Apr 16 09:34:17 2021 +0000
@@ -1,21 +1,51 @@
 #include "mbed.h"
 #include "Controller.h"
 
-Controller Con(p28,p27,115200);
 Serial pc(USBTX,USBRX,115200);
+Ticker timer;
+DigitalOut myled2(LED2);
+
+XBee_APIMode Con(p28,p27);
 
-int main()
-{
-    Con.DRbegin();
-    while(1) {
-        double joyRX = Con.readJoyRXbyte();
-        double joyRY = Con.readJoyRYbyte();
-        double joyLX = Con.readJoyLXbyte();
-        double joyLY = Con.readJoyLYbyte();
-        unsigned int buttonstate = Con.getButtonState();
-        if(buttonstate & BUTTON_MARU) pc.printf("%d\n",Con.getButtonState());
-        else if(buttonstate & BUTTON_L2) pc.printf("%3.0lf %3.0lf %3.0lf %3.0lf\n",joyRX,joyRY,joyLX,joyLY);
-        else pc.printf("PUSH!\n");
-        //wait(0.01);
+bool flag_10ms = false;
+bool flag_1s = false;
+
+void warikomi(){
+    flag_10ms = true;
+    static int a = 0;
+    if(a++ > 100){
+        flag_1s = true;
+        a = 0;
     }
 }
+
+void setup()
+{   
+    wait(1);
+    myled2.write(0);
+    Con.begin(115200);
+    timer.attach(warikomi,0.01);
+}
+
+void loop()
+{
+    int serial_num = Con.update();
+    if(flag_10ms)
+    {
+        pc.printf("%d\t%d\n",serial_num,Con.getButtonState());
+        
+        flag_10ms = false;
+    }
+    if(flag_1s)
+    {
+        myled2.write(!myled2.read());
+        flag_1s = false;
+    }
+}
+    
+int main(void)
+{
+    setup();
+    for(;;)loop();
+    return 0;
+}