test
Dependencies: mbed KondoServoLibrary Encoder
User.cpp
- Committer:
- o2132613
- Date:
- 2019-09-11
- Revision:
- 17:348c660ea6f6
- Parent:
- 16:6837647755fe
- Child:
- 18:f7c587f0f8b8
File content as of revision 17:348c660ea6f6:
#include "Utils.h" #include "USBHost.h" #include "hci.h" #include "ps3.h" #include "User.h" #include "mbed.h" int RSX,RSY,LSX,LSY,BSU,BSL; //これより下に関数外に書く要素を記入する PwmOut servo(p21); //check survo pin SPI spi(p5,p6,p7); DigitalOut cs(p8); int Speed_Mode = 2 ; int send; void UserLoopSetting() { spi.format(8,3); spi.frequency(1000000); servo.pulsewidth_us(1450); } void UserLoop(char n,const u8* data) { printf("start"); u16 ButtonState; if(n==0) { //有線Ps3USB.cpp RSX = ((ps3report*)data)->RightStickX; RSY = ((ps3report*)data)->RightStickY; LSX = ((ps3report*)data)->LeftStickX; LSY = ((ps3report*)data)->LeftStickY; BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff); BSL = (u8)(((ps3report*)data)->ButtonState >> 8); //ボタンの処理 ButtonState = ((ps3report*)data)->ButtonState; } else {//無線TestShell.cpp RSX = ((ps3report*)(data + 1))->RightStickX; RSY = ((ps3report*)(data + 1))->RightStickY; LSX = ((ps3report*)(data + 1))->LeftStickX; LSY = ((ps3report*)(data + 1))->LeftStickY; BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff); BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8); //ボタンの処理 ButtonState = ((ps3report*)(data + 1))->ButtonState; } //ここより下にプログラムを書く //spi通信用プログラム send = 0; if((ButtonState >> BUTTONUP)&1 == 1&&(ButtonState >> BUTTONL1)&1 == 1)//UPL1 { send = 84; }else if ((ButtonState >> BUTTONDOWN)&1 == 1&&(ButtonState >> BUTTONR1)&1 == 1)//DownR1 { send = 168; }else if ((ButtonState >> BUTTONUP)&1 == 1&&(ButtonState >> BUTTONR1)&1 == 1)//UPR1 { send = 148; }else if ((ButtonState >> BUTTONDOWN)&1 == 1&&(ButtonState >> BUTTONL1)&1 == 1)//DownL1 { send = 104; }else if((ButtonState >> BUTTONUP)&1 == 1) {//対応するボタンを書く(今回上ボタン send = 20; }else if((ButtonState >> BUTTONDOWN)&1 == 1) {//対応するボタンを書く(今回下ボタン send = 40; }else if((ButtonState >> BUTTONL1)&1 == 1) {//対応するボタンを書く(今回L1ボタン send = 100; }else if((ButtonState >> BUTTONR1)&1 == 1) {//対応するボタンを書く(今回R1ボタン send = 152; }else{ send = 0; } if((ButtonState >> BUTTONL2)&1 == 1&&Speed_Mode>1) {//対応するボタンを書く(今回L2ボタン Speed_Mode-=1; wait(0.1); }else if((ButtonState >> BUTTONR2)&1 == 1&&Speed_Mode<3) {//対応するボタンを書く(今回R2ボタン Speed_Mode+=1; wait(0.1); }else{ break; } if((ButtonState >> BUTTONTRIANGEL)&1 == 1) {//対応するボタンを書く(今回△ボタン servo.pulsewidth_us(1450); } else if((ButtonState >> BUTTONCROSS)&1 == 1) {//対応するボタンを書く(今回×ボタン servo.pulsewidth_us(2400); } send += Speed_Mode; spi. write(send); printf("%a\r\n",send); }