File content as of revision 3:c751c9e54791:

#include "Controller.h"
#include "mbed.h"
#include "RawSerial.h"

DigitalOut myled4(LED4);

Controller::Controller(PinName tx,PinName rx,int baudrate):XBee3(tx,rx)
{
    XBee3.baud(baudrate);
    XBee3.attach(this,&Controller::update,Serial::RxIrq);
    ButtonState = 0;
    LJoyX = 128;
    LJoyY = 128;
    RJoyX = 128;
    RJoyY = 128;
    myled4 = 0;
}

void Controller::update()
{   
    unsigned int checksum;
    //uint8_t tmp;
    char c;
    char recv_msgs[10];

    c = XBee3.getc();
    if (c == '\n') {

        if (recv_num == 10) {
            checksum = 0;

            for (int i = 0; i < 9; 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;

                ButtonState |= recv_msgs[0] & 0x3F;
                ButtonState |= (recv_msgs[1] & 0x3F) << 6;
                ButtonState |= (recv_msgs[2] & 0x0F) << 12;

                LJoyX = recv_msgs[3];
                LJoyX |= (recv_msgs[4] & 0x03) << 6;

                LJoyY = (recv_msgs[4] & 0x3C) >> 2;
                LJoyY |= (recv_msgs[5] & 0x0F) << 4;

                RJoyX = (recv_msgs[5] & 0x30) >> 4;
                RJoyX |= (recv_msgs[6] & 0x3F) << 2;

                RJoyY = recv_msgs[7];
                RJoyY |= (recv_msgs[8] & 0x03) << 6;
            }
        }
        recv_num = 0;
    } else {
        recv_msgs[recv_num++] = c;
    }
}

/*void Controller::DRbegin()
{
    XBee3.attach(this,&Controller::update,Serial::RxIrq);
}
*/
int8_t Controller::readButton(int buttonNum) const
{
    int8_t ret = 0;

    if ((ButtonState >> (buttonNum - 1)) & 0x01) {
        ret += 1;
    }
    if (preButtonState >> (buttonNum - 1) & 0x01) {
        ret -= 1;
    }

    return ret;
}

unsigned int Controller::getButtonState() const
{
    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
{
    return -((double)RJoyY - 127.0) / 127.0;
}

/**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
{
    return LJoyY;
}
unsigned int Controller::readJoyRXbyte() const
{
    return RJoyX;
}
unsigned int Controller::readJoyRYbyte() const
{
    return RJoyY;
}