Ryu Anzawa
/
adachi_test
adachi
Diff: main.cpp
- Revision:
- 0:7f57e6c08ff7
diff -r 000000000000 -r 7f57e6c08ff7 main.cpp --- /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