SBDBTを用いてDS3(PS3コントローラ)を扱うライブラリ
Dependents: PIDcontrol_4 go_robo2022kaisyu_no 2022_Ateam_MOTORprogram tape_LED ... more
sbdbt.cpp@0:d10107920170, 2021-11-10 (annotated)
- Committer:
- m2130
- Date:
- Wed Nov 10 13:53:15 2021 +0000
- Revision:
- 0:d10107920170
- Child:
- 2:9fd7393a3023
SBDBT;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
m2130 | 0:d10107920170 | 1 | #include "sbdbt.hpp" |
m2130 | 0:d10107920170 | 2 | #include "mbed.h" |
m2130 | 0:d10107920170 | 3 | |
m2130 | 0:d10107920170 | 4 | sbdbt::sbdbt(PinName TX, PinName RX){ |
m2130 | 0:d10107920170 | 5 | i = 0; |
m2130 | 0:d10107920170 | 6 | pos = 0; |
m2130 | 0:d10107920170 | 7 | val = 0x80; |
m2130 | 0:d10107920170 | 8 | len = 10; |
m2130 | 0:d10107920170 | 9 | data = new char[len]; |
m2130 | 0:d10107920170 | 10 | PS3_Data = new char[len]; |
m2130 | 0:d10107920170 | 11 | pc = new Serial(USBTX, USBRX); |
m2130 | 0:d10107920170 | 12 | dev = new Serial(TX, RX); |
m2130 | 0:d10107920170 | 13 | dev -> baud(9600); |
m2130 | 0:d10107920170 | 14 | dev -> attach(this,&sbdbt::get,Serial::RxIrq); |
m2130 | 0:d10107920170 | 15 | } |
m2130 | 0:d10107920170 | 16 | |
m2130 | 0:d10107920170 | 17 | sbdbt::sbdbt(PinName TX, PinName RX, int baud){ |
m2130 | 0:d10107920170 | 18 | i = 0; |
m2130 | 0:d10107920170 | 19 | pos = 0; |
m2130 | 0:d10107920170 | 20 | val = 0x80; |
m2130 | 0:d10107920170 | 21 | len = 10; |
m2130 | 0:d10107920170 | 22 | data = new char[len]; |
m2130 | 0:d10107920170 | 23 | PS3_Data = new char[len]; |
m2130 | 0:d10107920170 | 24 | pc = new Serial(USBTX, USBRX); |
m2130 | 0:d10107920170 | 25 | dev = new Serial(TX, RX); |
m2130 | 0:d10107920170 | 26 | dev -> baud(9600); |
m2130 | 0:d10107920170 | 27 | pc -> baud(baud); |
m2130 | 0:d10107920170 | 28 | dev -> attach(this,&sbdbt::get,Serial::RxIrq); |
m2130 | 0:d10107920170 | 29 | } |
m2130 | 0:d10107920170 | 30 | |
m2130 | 0:d10107920170 | 31 | void sbdbt::get(){ |
m2130 | 0:d10107920170 | 32 | data[i] = dev -> getc(); |
m2130 | 0:d10107920170 | 33 | if(data[i] == val){ |
m2130 | 0:d10107920170 | 34 | if(i != pos){ |
m2130 | 0:d10107920170 | 35 | data[pos] = val; |
m2130 | 0:d10107920170 | 36 | i = pos + 1; |
m2130 | 0:d10107920170 | 37 | } |
m2130 | 0:d10107920170 | 38 | else{ |
m2130 | 0:d10107920170 | 39 | i++; |
m2130 | 0:d10107920170 | 40 | } |
m2130 | 0:d10107920170 | 41 | } |
m2130 | 0:d10107920170 | 42 | else{ |
m2130 | 0:d10107920170 | 43 | if(i == pos); |
m2130 | 0:d10107920170 | 44 | else{ |
m2130 | 0:d10107920170 | 45 | i++; |
m2130 | 0:d10107920170 | 46 | } |
m2130 | 0:d10107920170 | 47 | } |
m2130 | 0:d10107920170 | 48 | if(i >= len){ |
m2130 | 0:d10107920170 | 49 | PS3_Data[0] = data[0]; |
m2130 | 0:d10107920170 | 50 | PS3_Data[1] = data[1]; |
m2130 | 0:d10107920170 | 51 | PS3_Data[2] = data[2]; |
m2130 | 0:d10107920170 | 52 | PS3_Data[3] = data[3]; |
m2130 | 0:d10107920170 | 53 | PS3_Data[4] = data[4]; |
m2130 | 0:d10107920170 | 54 | PS3_Data[5] = data[5]; |
m2130 | 0:d10107920170 | 55 | PS3_Data[6] = data[6]; |
m2130 | 0:d10107920170 | 56 | PS3_Data[7] = data[7]; |
m2130 | 0:d10107920170 | 57 | PS3_Data[8] = data[8]; |
m2130 | 0:d10107920170 | 58 | PS3_Data[9] = data[9]; |
m2130 | 0:d10107920170 | 59 | i = 0; |
m2130 | 0:d10107920170 | 60 | } |
m2130 | 0:d10107920170 | 61 | } |
m2130 | 0:d10107920170 | 62 | |
m2130 | 0:d10107920170 | 63 | void sbdbt::button_state(){pc -> printf("UP: %d, DOW: %d, RIG: %d, LEF: %d, TRI: %d, CRO: %d, CIR: %d, SQU: %d, L1: %d, L2: %d, R1: %d, R2: %d, STA: %d, SEL: %d LSX: %3d, LSY: %3d, RSX: %3d, RY: %3d, L2An: %3d, R2An: %3d\n",up(), down(), right(), left(), tri(), cross(), circle(), square(), l1(), l2(), r1(), r2(), start(), select(), lsx(), lsy(), rsx(), rsy(), l2An(), r2An());} |
m2130 | 0:d10107920170 | 64 | |
m2130 | 0:d10107920170 | 65 | void sbdbt::data_print(){pc -> printf("%2x %2x %2x %2x %2x %2x %2x %2x %2x %2x\n",PS3_Data[0], PS3_Data[1], PS3_Data[2], PS3_Data[3], PS3_Data[4], PS3_Data[5], PS3_Data[6], PS3_Data[7], PS3_Data[8], PS3_Data[9]);} |
m2130 | 0:d10107920170 | 66 | |
m2130 | 0:d10107920170 | 67 | bool sbdbt::neutral(){return data[9] == 0 ? 1 : 0;} |
m2130 | 0:d10107920170 | 68 | |
m2130 | 0:d10107920170 | 69 | bool sbdbt::up(){return data[2] & UP ? 1 : 0;} |
m2130 | 0:d10107920170 | 70 | |
m2130 | 0:d10107920170 | 71 | bool sbdbt::down(){return data[2] & DOWN ? 1 : 0;} |
m2130 | 0:d10107920170 | 72 | |
m2130 | 0:d10107920170 | 73 | bool sbdbt::left(){return data[2] & LEFT ? 1 : 0;} |
m2130 | 0:d10107920170 | 74 | |
m2130 | 0:d10107920170 | 75 | bool sbdbt::right(){return data[2] & RIGHT ? 1 : 0;} |
m2130 | 0:d10107920170 | 76 | |
m2130 | 0:d10107920170 | 77 | bool sbdbt::tri(){return data[2] & TRI ? 1 : 0;} |
m2130 | 0:d10107920170 | 78 | |
m2130 | 0:d10107920170 | 79 | bool sbdbt::cross(){return data[2] & CROSS ? 1 : 0;} |
m2130 | 0:d10107920170 | 80 | |
m2130 | 0:d10107920170 | 81 | bool sbdbt::square(){return data[2] & SQUARE ? 1 : 0;} |
m2130 | 0:d10107920170 | 82 | |
m2130 | 0:d10107920170 | 83 | bool sbdbt::circle(){return data[1] & CIRCLE ? 1 : 0;} |
m2130 | 0:d10107920170 | 84 | |
m2130 | 0:d10107920170 | 85 | bool sbdbt::l1(){return data[1] & L1 ? 1 : 0;} |
m2130 | 0:d10107920170 | 86 | |
m2130 | 0:d10107920170 | 87 | bool sbdbt::l2(){return data[1] & L2 ? 1 : 0;} |
m2130 | 0:d10107920170 | 88 | |
m2130 | 0:d10107920170 | 89 | bool sbdbt::r1(){return data[1] & R1 ? 1 : 0;} |
m2130 | 0:d10107920170 | 90 | |
m2130 | 0:d10107920170 | 91 | bool sbdbt::r2(){return data[1] & R2 ? 1 : 0;} |
m2130 | 0:d10107920170 | 92 | |
m2130 | 0:d10107920170 | 93 | bool sbdbt::start(){return data[1] & START ? 1 : 0;} |
m2130 | 0:d10107920170 | 94 | |
m2130 | 0:d10107920170 | 95 | bool sbdbt::select(){return data[1] & SELECT ? 1 : 0;} |
m2130 | 0:d10107920170 | 96 | |
m2130 | 0:d10107920170 | 97 | char sbdbt::lsx(){return data[3];} |
m2130 | 0:d10107920170 | 98 | |
m2130 | 0:d10107920170 | 99 | char sbdbt::lsy(){return data[4];} |
m2130 | 0:d10107920170 | 100 | |
m2130 | 0:d10107920170 | 101 | char sbdbt::rsx(){return data[5];} |
m2130 | 0:d10107920170 | 102 | |
m2130 | 0:d10107920170 | 103 | char sbdbt::rsy(){return data[6];} |
m2130 | 0:d10107920170 | 104 | |
m2130 | 0:d10107920170 | 105 | char sbdbt::l2An(){return data[7];} |
m2130 | 0:d10107920170 | 106 | |
m2130 | 0:d10107920170 | 107 | char sbdbt::r2An(){return data[8];} |
m2130 | 0:d10107920170 | 108 | |
m2130 | 0:d10107920170 | 109 | sbdbt::~sbdbt(){ |
m2130 | 0:d10107920170 | 110 | delete dev; |
m2130 | 0:d10107920170 | 111 | delete pc; |
m2130 | 0:d10107920170 | 112 | delete data; |
m2130 | 0:d10107920170 | 113 | delete PS3_Data; |
m2130 | 0:d10107920170 | 114 | } |