ORTP-L_WiiRemoteTest
Dependencies: Motordriver mbed FatFileSystem
Fork of WallbotTypeN by
main.cpp@1:df4118878dc4, 2013-03-29 (annotated)
- Committer:
- passionvirus
- Date:
- Fri Mar 29 09:05:28 2013 +0000
- Revision:
- 1:df4118878dc4
- Parent:
- 0:425791fe4b42
init
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 "Wiimote.h" |
passionvirus | 1:df4118878dc4 | 27 | #include "motordriver.h" |
jksoft | 0:425791fe4b42 | 28 | |
passionvirus | 1:df4118878dc4 | 29 | AnalogIn L_IR1(p15); // Analog In Pin |
passionvirus | 1:df4118878dc4 | 30 | AnalogIn L_IR2(p16); // Analog In Pin |
passionvirus | 1:df4118878dc4 | 31 | AnalogIn L_IR3(p17); // Analog In Pin |
passionvirus | 1:df4118878dc4 | 32 | AnalogIn R_IR3(p18); // Analog In Pin |
passionvirus | 1:df4118878dc4 | 33 | AnalogIn R_IR2(p19); // Analog In Pin |
passionvirus | 1:df4118878dc4 | 34 | AnalogIn R_IR1(p20); // Analog In Pin |
jksoft | 0:425791fe4b42 | 35 | |
passionvirus | 1:df4118878dc4 | 36 | DigitalOut LLED(p7); // Digital Out Pin |
passionvirus | 1:df4118878dc4 | 37 | DigitalOut RLED(p8); |
passionvirus | 1:df4118878dc4 | 38 | |
passionvirus | 1:df4118878dc4 | 39 | DigitalOut L_IRLED1(p9); // Digital Out Pin |
passionvirus | 1:df4118878dc4 | 40 | DigitalOut L_IRLED2(p10); // Digital Out Pin |
passionvirus | 1:df4118878dc4 | 41 | DigitalOut L_IRLED3(p11); // Digital Out Pin |
passionvirus | 1:df4118878dc4 | 42 | DigitalOut R_IRLED3(p12); // Digital Out Pin |
passionvirus | 1:df4118878dc4 | 43 | DigitalOut R_IRLED2(p13); // Digital Out Pin |
passionvirus | 1:df4118878dc4 | 44 | DigitalOut R_IRLED1(p14); // Digital Out Pin |
passionvirus | 1:df4118878dc4 | 45 | |
passionvirus | 1:df4118878dc4 | 46 | Motor L_Motor(p25, p22, p21, 1); // pwm, fwd, rev, can break |
passionvirus | 1:df4118878dc4 | 47 | Motor R_Motor(p26, p24, p23, 1); // pwm, fwd, rev, can break |
passionvirus | 1:df4118878dc4 | 48 | |
jksoft | 0:425791fe4b42 | 49 | |
jksoft | 0:425791fe4b42 | 50 | // Direct control mode |
jksoft | 0:425791fe4b42 | 51 | int DirectMode( Wiimote* wii, int stat ) |
jksoft | 0:425791fe4b42 | 52 | { |
passionvirus | 1:df4118878dc4 | 53 | LLED=1; |
passionvirus | 1:df4118878dc4 | 54 | RLED=1; // LED Init |
passionvirus | 1:df4118878dc4 | 55 | |
jksoft | 0:425791fe4b42 | 56 | int ret = stat; |
jksoft | 0:425791fe4b42 | 57 | |
jksoft | 0:425791fe4b42 | 58 | if( wii->left ) |
jksoft | 0:425791fe4b42 | 59 | { |
passionvirus | 1:df4118878dc4 | 60 | L_Motor.speed(-1.0); |
passionvirus | 1:df4118878dc4 | 61 | R_Motor.speed(1.0); |
passionvirus | 1:df4118878dc4 | 62 | LLED = 1; RLED = 0; |
jksoft | 0:425791fe4b42 | 63 | } |
jksoft | 0:425791fe4b42 | 64 | else if( wii->right ) |
jksoft | 0:425791fe4b42 | 65 | { |
passionvirus | 1:df4118878dc4 | 66 | L_Motor.speed(1.0); |
passionvirus | 1:df4118878dc4 | 67 | R_Motor.speed(-1.0); |
passionvirus | 1:df4118878dc4 | 68 | LLED = 0; RLED = 1; |
jksoft | 0:425791fe4b42 | 69 | } |
jksoft | 0:425791fe4b42 | 70 | else if( wii->up ) |
jksoft | 0:425791fe4b42 | 71 | { |
passionvirus | 1:df4118878dc4 | 72 | L_Motor.speed(1.0); |
passionvirus | 1:df4118878dc4 | 73 | R_Motor.speed(1.0); |
passionvirus | 1:df4118878dc4 | 74 | LLED = 1; RLED = 1; |
jksoft | 0:425791fe4b42 | 75 | } |
jksoft | 0:425791fe4b42 | 76 | else if( wii->down ) |
jksoft | 0:425791fe4b42 | 77 | { |
passionvirus | 1:df4118878dc4 | 78 | L_Motor.speed(-1.0); |
passionvirus | 1:df4118878dc4 | 79 | R_Motor.speed(-1.0); |
passionvirus | 1:df4118878dc4 | 80 | LLED = 0; RLED = 0; |
jksoft | 0:425791fe4b42 | 81 | } |
jksoft | 0:425791fe4b42 | 82 | else |
jksoft | 0:425791fe4b42 | 83 | { |
passionvirus | 1:df4118878dc4 | 84 | L_Motor.stop(0); |
passionvirus | 1:df4118878dc4 | 85 | R_Motor.stop(0); |
jksoft | 0:425791fe4b42 | 86 | } |
jksoft | 0:425791fe4b42 | 87 | |
jksoft | 0:425791fe4b42 | 88 | float factor = wii->wheel / 150.0f; |
jksoft | 0:425791fe4b42 | 89 | |
jksoft | 0:425791fe4b42 | 90 | float left_factor = (factor >= 0.0) ? 1.0 : 1.0 - (-factor); |
jksoft | 0:425791fe4b42 | 91 | float right_factor = (factor <= 0.0) ? 1.0 : 1.0 - factor; |
jksoft | 0:425791fe4b42 | 92 | |
jksoft | 0:425791fe4b42 | 93 | if( wii->one ) |
jksoft | 0:425791fe4b42 | 94 | { |
passionvirus | 1:df4118878dc4 | 95 | L_Motor.speed(left_factor); |
passionvirus | 1:df4118878dc4 | 96 | R_Motor.speed(right_factor); |
jksoft | 0:425791fe4b42 | 97 | } |
jksoft | 0:425791fe4b42 | 98 | if( wii->two ) |
jksoft | 0:425791fe4b42 | 99 | { |
passionvirus | 1:df4118878dc4 | 100 | L_Motor.speed(-right_factor); |
passionvirus | 1:df4118878dc4 | 101 | R_Motor.speed(-left_factor); |
jksoft | 0:425791fe4b42 | 102 | } |
jksoft | 0:425791fe4b42 | 103 | |
jksoft | 0:425791fe4b42 | 104 | return(ret); |
jksoft | 0:425791fe4b42 | 105 | } |
jksoft | 0:425791fe4b42 | 106 | |
jksoft | 0:425791fe4b42 | 107 | // Processing when receiving it from Wiiremote |
jksoft | 0:425791fe4b42 | 108 | int wall_bot_remote(char *c,int stat) |
jksoft | 0:425791fe4b42 | 109 | { |
jksoft | 0:425791fe4b42 | 110 | Wiimote wii; |
jksoft | 0:425791fe4b42 | 111 | int ret = stat; |
jksoft | 0:425791fe4b42 | 112 | |
jksoft | 0:425791fe4b42 | 113 | wii.decode(c); |
jksoft | 0:425791fe4b42 | 114 | |
jksoft | 0:425791fe4b42 | 115 | ret = DirectMode( &wii ,ret ); |
jksoft | 0:425791fe4b42 | 116 | |
jksoft | 0:425791fe4b42 | 117 | return(ret); |
jksoft | 0:425791fe4b42 | 118 | } |
jksoft | 0:425791fe4b42 | 119 | |
jksoft | 0:425791fe4b42 | 120 | int GetConsoleChar() |
jksoft | 0:425791fe4b42 | 121 | { |
jksoft | 0:425791fe4b42 | 122 | return(0); |
jksoft | 0:425791fe4b42 | 123 | } |
jksoft | 0:425791fe4b42 | 124 | |
jksoft | 0:425791fe4b42 | 125 | int OnDiskInsert(int device) |
jksoft | 0:425791fe4b42 | 126 | { |
jksoft | 0:425791fe4b42 | 127 | return(0); |
jksoft | 0:425791fe4b42 | 128 | } |
jksoft | 0:425791fe4b42 | 129 | |
jksoft | 0:425791fe4b42 | 130 | int main() |
jksoft | 0:425791fe4b42 | 131 | { |
jksoft | 0:425791fe4b42 | 132 | // USB Init is done for Bluetooth |
jksoft | 0:425791fe4b42 | 133 | USBInit(); |
jksoft | 0:425791fe4b42 | 134 | |
jksoft | 0:425791fe4b42 | 135 | while(1) |
jksoft | 0:425791fe4b42 | 136 | { |
jksoft | 0:425791fe4b42 | 137 | // USB Processing is done for Bluetooth |
jksoft | 0:425791fe4b42 | 138 | USBLoop(); |
jksoft | 0:425791fe4b42 | 139 | } |
jksoft | 0:425791fe4b42 | 140 | } |