Diff: main.cpp

Revision:

0:7f57e6c08ff7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Sep 02 01:49:00 2019 +0000
@@ -0,0 +1,68 @@
+#include "mbed.h"
+#include "PS3.h"
+#include "pinconfig_main.h"
+#include "ikarashiMDC.h"
+
+DigitalOut led1(LED1);
+PS3 ps3(FEPTX, FEPRX);
+DigitalOut serialcontrol(D10);
+Serial serial(mdTX, mdRX, 115200);
+Serial pc(USBTX, USBRX,115200);
+
+ikarashiMDC motor[]=
+{
+    ikarashiMDC(&serialcontrol,1,0,SM,&serial),
+    ikarashiMDC(&serialcontrol,1,1,SM,&serial),
+    ikarashiMDC(&serialcontrol,1,2,SM,&serial),
+//    ikarashiMDC(&serialcontrol,0,3,SM,&serial)
+};
+
+int main() {
+    
+    int b[12], stick[4], trigger[2];
+    double value[2];
+    
+    while (1) {
+    /*ボタンスイッチ*/
+    for(int i = 0; i < 12; i++) {
+        b[i] = ps3.getButton(i);
+    }
+//    for(int i = 0; i < 4; i++) pc.printf("%2d",b[i]);
+//    pc.printf(" | ");
+//    for(int i = 4; i < 6; i++) pc.printf("%2d",b[i]);
+//    pc.printf(" | ");
+//    for(int i = 6; i < 10; i++) pc.printf("%2d",b[i]);
+//    pc.printf(" | ");
+//    for(int i = 10; i < 12; i++) pc.printf("%2d",b[i]);
+//    pc.printf(" | ");
+    /*ジョイスティック*/
+    for(int i = 0; i < 2; i++) {
+        stick[2*i] = ps3.getStick(2*i) - 125;
+        stick[2*i+1] = -1*ps3.getStick(2*i+1) + 125;
+    }
+//    for(int i=0; i<4; i++) pc.printf("%4d",stick[i]);
+    /*トリガースイッチ*/
+    for(int i = 0; i < 2; i++) {
+        trigger[i] = ps3.getTrigger(i);
+//        pc.printf("%4d",trigger[i]);
+    }
+    if (b[4]) {
+        value[0] = 0.3;
+    } else if (b[5]) {
+        value[0] = -0.3;
+    } else {
+        value[0] = 0;
+    }
+    if (b[0]) {
+        value[1] = 0.6;
+    } else if (b[1]) {
+        value[1] = -0.7;
+    } else {
+        value[1] = 0;
+    }
+    motor[0].setSpeed(value[0]);
+    motor[1].setSpeed(value[1])*(10.0/7.0);//このモーターだけ遅いのではやくしている
+    motor[2].setSpeed(value[1]);
+    //pc.printf("\r\n");
+    }
+}
\ No newline at end of file