Diff: main.cpp

Revision:

0:425791fe4b42

Child:

1:df4118878dc4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun May 01 11:12:52 2011 +0000
@@ -0,0 +1,118 @@
+/*
+Copyright (c) 2011 JKSOFT
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+#include "mbed.h"
+#include "USBHost.h"
+#include "Utils.h"
+#include "BD6211F.h"
+#include "Wiimote.h"
+
+
+// ----- Wallbot I/O Setting ----- 
+// Motor
+BD6211F      RightMotor(p21,p22);
+BD6211F      LeftMotor(p23,p24);
+
+// Direct control mode
+int DirectMode( Wiimote* wii, int stat )
+{
+    int ret = stat;
+    
+    if( wii->left )
+    {
+        RightMotor = 1.0;
+        LeftMotor = -1.0;
+    }
+    else if( wii->right )
+    {
+        RightMotor = -1.0;
+        LeftMotor = 1.0;
+    }    
+    else if( wii->up )
+    {
+        RightMotor = 1.0;
+        LeftMotor = 1.0;
+    }
+    else if( wii->down )
+    {
+        RightMotor = -1.0;
+        LeftMotor = -1.0;
+    }
+    else
+    {
+        RightMotor = 0.0;
+        LeftMotor = 0.0;
+    }
+
+    float factor = wii->wheel / 150.0f; 
+    
+    float left_factor = (factor >= 0.0) ? 1.0 : 1.0 - (-factor);
+    float right_factor = (factor <= 0.0) ? 1.0 : 1.0 - factor;
+    
+    if( wii->one )
+    {
+        RightMotor = right_factor;
+        LeftMotor = left_factor;
+    }
+    if( wii->two )
+    {
+        RightMotor = -left_factor;
+        LeftMotor = -right_factor;
+    }
+    
+    return(ret);
+}
+
+// Processing when receiving it from Wiiremote
+int wall_bot_remote(char *c,int stat)
+{
+    Wiimote wii;
+    int ret = stat;
+    
+    wii.decode(c);
+    
+    ret = DirectMode( &wii ,ret );
+    
+    return(ret);
+}
+
+int GetConsoleChar()
+{
+    return(0);
+}
+
+int OnDiskInsert(int device)
+{
+    return(0);
+}
+
+int main()
+{
+    // USB Init is done for Bluetooth
+    USBInit();
+    
+    while(1)
+    {
+       // USB Processing is done for Bluetooth
+       USBLoop();
+    }
+}