ORTP-L_WiiRemoteTest
Dependencies: Motordriver mbed FatFileSystem
Fork of WallbotTypeN by
main.cpp@0:425791fe4b42, 2011-05-01 (annotated)
- Committer:
- jksoft
- Date:
- Sun May 01 11:12:52 2011 +0000
- Revision:
- 0:425791fe4b42
- Child:
- 1:df4118878dc4
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jksoft | 0:425791fe4b42 | 1 | /* |
jksoft | 0:425791fe4b42 | 2 | Copyright (c) 2011 JKSOFT |
jksoft | 0:425791fe4b42 | 3 | |
jksoft | 0:425791fe4b42 | 4 | Permission is hereby granted, free of charge, to any person obtaining a copy |
jksoft | 0:425791fe4b42 | 5 | of this software and associated documentation files (the "Software"), to deal |
jksoft | 0:425791fe4b42 | 6 | in the Software without restriction, including without limitation the rights |
jksoft | 0:425791fe4b42 | 7 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
jksoft | 0:425791fe4b42 | 8 | copies of the Software, and to permit persons to whom the Software is |
jksoft | 0:425791fe4b42 | 9 | furnished to do so, subject to the following conditions: |
jksoft | 0:425791fe4b42 | 10 | |
jksoft | 0:425791fe4b42 | 11 | The above copyright notice and this permission notice shall be included in |
jksoft | 0:425791fe4b42 | 12 | all copies or substantial portions of the Software. |
jksoft | 0:425791fe4b42 | 13 | |
jksoft | 0:425791fe4b42 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
jksoft | 0:425791fe4b42 | 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
jksoft | 0:425791fe4b42 | 16 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
jksoft | 0:425791fe4b42 | 17 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
jksoft | 0:425791fe4b42 | 18 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
jksoft | 0:425791fe4b42 | 19 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
jksoft | 0:425791fe4b42 | 20 | THE SOFTWARE. |
jksoft | 0:425791fe4b42 | 21 | */ |
jksoft | 0:425791fe4b42 | 22 | |
jksoft | 0:425791fe4b42 | 23 | #include "mbed.h" |
jksoft | 0:425791fe4b42 | 24 | #include "USBHost.h" |
jksoft | 0:425791fe4b42 | 25 | #include "Utils.h" |
jksoft | 0:425791fe4b42 | 26 | #include "BD6211F.h" |
jksoft | 0:425791fe4b42 | 27 | #include "Wiimote.h" |
jksoft | 0:425791fe4b42 | 28 | |
jksoft | 0:425791fe4b42 | 29 | |
jksoft | 0:425791fe4b42 | 30 | // ----- Wallbot I/O Setting ----- |
jksoft | 0:425791fe4b42 | 31 | // Motor |
jksoft | 0:425791fe4b42 | 32 | BD6211F RightMotor(p21,p22); |
jksoft | 0:425791fe4b42 | 33 | BD6211F LeftMotor(p23,p24); |
jksoft | 0:425791fe4b42 | 34 | |
jksoft | 0:425791fe4b42 | 35 | // Direct control mode |
jksoft | 0:425791fe4b42 | 36 | int DirectMode( Wiimote* wii, int stat ) |
jksoft | 0:425791fe4b42 | 37 | { |
jksoft | 0:425791fe4b42 | 38 | int ret = stat; |
jksoft | 0:425791fe4b42 | 39 | |
jksoft | 0:425791fe4b42 | 40 | if( wii->left ) |
jksoft | 0:425791fe4b42 | 41 | { |
jksoft | 0:425791fe4b42 | 42 | RightMotor = 1.0; |
jksoft | 0:425791fe4b42 | 43 | LeftMotor = -1.0; |
jksoft | 0:425791fe4b42 | 44 | } |
jksoft | 0:425791fe4b42 | 45 | else if( wii->right ) |
jksoft | 0:425791fe4b42 | 46 | { |
jksoft | 0:425791fe4b42 | 47 | RightMotor = -1.0; |
jksoft | 0:425791fe4b42 | 48 | LeftMotor = 1.0; |
jksoft | 0:425791fe4b42 | 49 | } |
jksoft | 0:425791fe4b42 | 50 | else if( wii->up ) |
jksoft | 0:425791fe4b42 | 51 | { |
jksoft | 0:425791fe4b42 | 52 | RightMotor = 1.0; |
jksoft | 0:425791fe4b42 | 53 | LeftMotor = 1.0; |
jksoft | 0:425791fe4b42 | 54 | } |
jksoft | 0:425791fe4b42 | 55 | else if( wii->down ) |
jksoft | 0:425791fe4b42 | 56 | { |
jksoft | 0:425791fe4b42 | 57 | RightMotor = -1.0; |
jksoft | 0:425791fe4b42 | 58 | LeftMotor = -1.0; |
jksoft | 0:425791fe4b42 | 59 | } |
jksoft | 0:425791fe4b42 | 60 | else |
jksoft | 0:425791fe4b42 | 61 | { |
jksoft | 0:425791fe4b42 | 62 | RightMotor = 0.0; |
jksoft | 0:425791fe4b42 | 63 | LeftMotor = 0.0; |
jksoft | 0:425791fe4b42 | 64 | } |
jksoft | 0:425791fe4b42 | 65 | |
jksoft | 0:425791fe4b42 | 66 | float factor = wii->wheel / 150.0f; |
jksoft | 0:425791fe4b42 | 67 | |
jksoft | 0:425791fe4b42 | 68 | float left_factor = (factor >= 0.0) ? 1.0 : 1.0 - (-factor); |
jksoft | 0:425791fe4b42 | 69 | float right_factor = (factor <= 0.0) ? 1.0 : 1.0 - factor; |
jksoft | 0:425791fe4b42 | 70 | |
jksoft | 0:425791fe4b42 | 71 | if( wii->one ) |
jksoft | 0:425791fe4b42 | 72 | { |
jksoft | 0:425791fe4b42 | 73 | RightMotor = right_factor; |
jksoft | 0:425791fe4b42 | 74 | LeftMotor = left_factor; |
jksoft | 0:425791fe4b42 | 75 | } |
jksoft | 0:425791fe4b42 | 76 | if( wii->two ) |
jksoft | 0:425791fe4b42 | 77 | { |
jksoft | 0:425791fe4b42 | 78 | RightMotor = -left_factor; |
jksoft | 0:425791fe4b42 | 79 | LeftMotor = -right_factor; |
jksoft | 0:425791fe4b42 | 80 | } |
jksoft | 0:425791fe4b42 | 81 | |
jksoft | 0:425791fe4b42 | 82 | return(ret); |
jksoft | 0:425791fe4b42 | 83 | } |
jksoft | 0:425791fe4b42 | 84 | |
jksoft | 0:425791fe4b42 | 85 | // Processing when receiving it from Wiiremote |
jksoft | 0:425791fe4b42 | 86 | int wall_bot_remote(char *c,int stat) |
jksoft | 0:425791fe4b42 | 87 | { |
jksoft | 0:425791fe4b42 | 88 | Wiimote wii; |
jksoft | 0:425791fe4b42 | 89 | int ret = stat; |
jksoft | 0:425791fe4b42 | 90 | |
jksoft | 0:425791fe4b42 | 91 | wii.decode(c); |
jksoft | 0:425791fe4b42 | 92 | |
jksoft | 0:425791fe4b42 | 93 | ret = DirectMode( &wii ,ret ); |
jksoft | 0:425791fe4b42 | 94 | |
jksoft | 0:425791fe4b42 | 95 | return(ret); |
jksoft | 0:425791fe4b42 | 96 | } |
jksoft | 0:425791fe4b42 | 97 | |
jksoft | 0:425791fe4b42 | 98 | int GetConsoleChar() |
jksoft | 0:425791fe4b42 | 99 | { |
jksoft | 0:425791fe4b42 | 100 | return(0); |
jksoft | 0:425791fe4b42 | 101 | } |
jksoft | 0:425791fe4b42 | 102 | |
jksoft | 0:425791fe4b42 | 103 | int OnDiskInsert(int device) |
jksoft | 0:425791fe4b42 | 104 | { |
jksoft | 0:425791fe4b42 | 105 | return(0); |
jksoft | 0:425791fe4b42 | 106 | } |
jksoft | 0:425791fe4b42 | 107 | |
jksoft | 0:425791fe4b42 | 108 | int main() |
jksoft | 0:425791fe4b42 | 109 | { |
jksoft | 0:425791fe4b42 | 110 | // USB Init is done for Bluetooth |
jksoft | 0:425791fe4b42 | 111 | USBInit(); |
jksoft | 0:425791fe4b42 | 112 | |
jksoft | 0:425791fe4b42 | 113 | while(1) |
jksoft | 0:425791fe4b42 | 114 | { |
jksoft | 0:425791fe4b42 | 115 | // USB Processing is done for Bluetooth |
jksoft | 0:425791fe4b42 | 116 | USBLoop(); |
jksoft | 0:425791fe4b42 | 117 | } |
jksoft | 0:425791fe4b42 | 118 | } |