Revision 1:cb4a6d5c77c8, committed 2022-10-08

Comitter:

m_smt

Date:

Sat Oct 08 11:14:39 2022 +0000

Parent:

0:39c2bb18192b

Commit message:

move four wheel omni

Changed in this revision

--- a/SBDBT.lib	Sat Oct 08 11:13:31 2022 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-SBDBT#c1238992b60d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SBDBT/SBDBT.cpp	Sat Oct 08 11:14:39 2022 +0000
@@ -0,0 +1,157 @@
+#include "SBDBT.hpp"
+#include "mbed.h"
+
+Serial pc(USBTX,USBRX);
+
+sbdbt::sbdbt(PinName TX, PinName RX){
+    i = 0;
+    pos = 0;
+    val = 0x80;
+    len = 10;
+    data = new char[len];
+    PS3_Data = new char[len];
+    dev = new Serial(TX, RX);
+    dev -> baud(9600);
+    dev -> attach(callback(this,&sbdbt::get),Serial::RxIrq);
+}
+
+sbdbt::sbdbt(PinName TX, PinName RX, int baud){
+    i = 0;
+    pos = 0;
+    val = 0x80;
+    len = 10;
+    data = new char[len];
+    PS3_Data = new char[len];
+    dev = new Serial(TX, RX);
+    dev -> baud(9600);
+    pc.baud(baud);
+    dev -> attach(callback(this,&sbdbt::get),Serial::RxIrq);
+}
+
+void sbdbt::get(){
+    data[i] = dev -> getc();
+    if(data[i] == val){
+        if(i != pos){
+            data[pos] = val;
+            i = pos + 1;
+        }
+        else{
+            i++;
+        }
+    }
+    else{
+        if(i == pos);
+        else{
+            i++;
+        }
+    }
+    if(i >= len){
+        PS3_Data[0] = data[0];
+        PS3_Data[1] = data[1];
+        PS3_Data[2] = data[2];
+        PS3_Data[3] = data[3];
+        PS3_Data[4] = data[4];
+        PS3_Data[5] = data[5];
+        PS3_Data[6] = data[6];
+        PS3_Data[7] = data[7];
+        PS3_Data[8] = data[8];
+        PS3_Data[9] = data[9];
+        i = 0;
+    }
+}
+
+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());}
+
+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]);}
+
+bool sbdbt::neutral(){
+    if(data[9] == 0) return 1;
+    return 0;
+}
+
+bool sbdbt::up(){
+    if(data[2] & UP) return 1;
+    return 0;
+}
+
+bool sbdbt::down(){
+    if(data[2] & DOWN) return 1;
+    return 0;
+}
+
+bool sbdbt::left(){
+    if(data[2] & LEFT) return 1;
+    return 0;
+}
+
+bool sbdbt::right(){
+    if(data[2] & RIGHT) return 1;
+    return 0;
+}
+
+bool sbdbt::tri(){
+    if(data[2] & TRI) return 1;
+    return 0;
+}
+
+bool sbdbt::cross(){
+    if(data[2] & CROSS) return 1;
+    return 0;
+}
+
+bool sbdbt::square(){
+    if(data[2] & SQUARE) return 1;
+    return 0;
+}
+
+bool sbdbt::circle(){
+    if(data[1] & CIRCLE) return 1;
+    return 0;
+}
+bool sbdbt::l1(){
+    if(data[1] & L1) return 1;
+    return 0;
+}
+
+bool sbdbt::l2(){
+    if(data[1] & L2) return 1;
+    return 0;
+}
+
+bool sbdbt::r1(){
+    if(data[1] & R1) return 1;
+    return 0;
+}
+
+bool sbdbt::r2(){
+    if(data[1] & R2) return 1;
+    return 0;
+}
+
+bool sbdbt::start(){
+    if(data[1] & START) return 1;
+    return 0;
+}
+
+bool sbdbt::select(){
+    if(data[1] & SELECT) return 1;
+    return 0;
+}
+
+char sbdbt::lsx(){return data[3];}
+
+char sbdbt::lsy(){return data[4];}
+
+char sbdbt::rsx(){return data[5];}
+
+char sbdbt::rsy(){return data[6];}
+
+char sbdbt::l2An(){return data[7];}
+
+char sbdbt::r2An(){return data[8];}
+
+sbdbt::~sbdbt(){
+    delete dev;
+    delete data;
+    delete PS3_Data;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SBDBT/SBDBT.hpp	Sat Oct 08 11:14:39 2022 +0000
@@ -0,0 +1,67 @@
+#ifndef SBDBT_H
+#define SBDBT_H
+#include "mbed.h"
+
+//data[1]
+#define CIRCLE 0x01
+#define L1     0x02
+#define L2     0x04
+#define R1     0x08
+#define R2     0x10
+#define START  0x20
+#define SELECT 0x40
+
+//data[2]
+#define UP     0x01
+#define DOWN   0x02
+#define LEFT   0x04
+#define RIGHT  0x08
+#define TRI    0x10
+#define CROSS  0x20
+#define SQUARE 0x40
+
+/*SBDBTを用いてPS3コントローラ(DS3)を使う
+  sbdbt sb(A0, A1);                           マイコン ~ PC間のボーレート指定なし(9600)
+  sbdbt sb(A0, A1, 115200);                   マイコン ~ PC間のボーレート指定あり
+*/
+
+class sbdbt {
+public:
+    sbdbt(PinName TX, PinName RX);           //マイコン ~ PC間のボーレート指定なし(9600)
+    sbdbt(PinName TX, PinName RX, int baud); //マイコン ~ PC間のボーレート指定あり
+    void get(void); 
+    void button_state();                     //全ボタン, スティックの状態表示 
+    void data_print();
+    bool neutral();
+    bool up();
+    bool down();
+    bool left();
+    bool right();
+    bool tri();
+    bool cross();
+    bool square();
+    bool circle();
+    bool l1();
+    bool l2();
+    bool r1();
+    bool r2();
+    bool start();
+    bool select();
+    char lsx();
+    char lsy();
+    char rsx();
+    char rsy();
+    char l2An();
+    char r2An();
+    bool command();
+    ~sbdbt();
+private:
+    Serial *dev;
+    char *data;
+    char *PS3_Data;
+    char i;
+    char pos;
+    char val;
+    char len;
+};
+#endif
\ No newline at end of file