Fork BlueUSB lib for NHK robot contest 2014 TEU JAPAN
Dependencies: C12832_lcd FatFileSystem TextLCD mbed
Fork of PS3_BlueUSB by
Ps3USB.cpp@1:335bce3448c3, 2014-01-12 (annotated)
- Committer:
- ppr2013G2
- Date:
- Sun Jan 12 07:08:34 2014 +0000
- Revision:
- 1:335bce3448c3
- Parent:
- 0:99a111b75cb4
- Child:
- 2:2c4daaf8b15c
add air part
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
BartJanssens | 0:99a111b75cb4 | 1 | /* |
BartJanssens | 0:99a111b75cb4 | 2 | Copyright (c) 2011 Bart Janssens |
BartJanssens | 0:99a111b75cb4 | 3 | |
BartJanssens | 0:99a111b75cb4 | 4 | Permission is hereby granted, free of charge, to any person obtaining a copy |
BartJanssens | 0:99a111b75cb4 | 5 | of this software and associated documentation files (the "Software"), to deal |
BartJanssens | 0:99a111b75cb4 | 6 | in the Software without restriction, including without limitation the rights |
BartJanssens | 0:99a111b75cb4 | 7 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
BartJanssens | 0:99a111b75cb4 | 8 | copies of the Software, and to permit persons to whom the Software is |
BartJanssens | 0:99a111b75cb4 | 9 | furnished to do so, subject to the following conditions: |
BartJanssens | 0:99a111b75cb4 | 10 | |
BartJanssens | 0:99a111b75cb4 | 11 | The above copyright notice and this permission notice shall be included in |
BartJanssens | 0:99a111b75cb4 | 12 | all copies or substantial portions of the Software. |
BartJanssens | 0:99a111b75cb4 | 13 | |
BartJanssens | 0:99a111b75cb4 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
BartJanssens | 0:99a111b75cb4 | 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
BartJanssens | 0:99a111b75cb4 | 16 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
BartJanssens | 0:99a111b75cb4 | 17 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
BartJanssens | 0:99a111b75cb4 | 18 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
BartJanssens | 0:99a111b75cb4 | 19 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
BartJanssens | 0:99a111b75cb4 | 20 | THE SOFTWARE. |
BartJanssens | 0:99a111b75cb4 | 21 | */ |
BartJanssens | 0:99a111b75cb4 | 22 | |
BartJanssens | 0:99a111b75cb4 | 23 | #include <stdio.h> |
BartJanssens | 0:99a111b75cb4 | 24 | #include <stdlib.h> |
BartJanssens | 0:99a111b75cb4 | 25 | #include <string.h> |
ppr2013G2 | 1:335bce3448c3 | 26 | //#include <TextLCD.h>//for orange borad |
ppr2013G2 | 1:335bce3448c3 | 27 | #include "C12832_lcd.h" |
ppr2013G2 | 1:335bce3448c3 | 28 | |
BartJanssens | 0:99a111b75cb4 | 29 | |
BartJanssens | 0:99a111b75cb4 | 30 | #include "USBHost.h" |
BartJanssens | 0:99a111b75cb4 | 31 | #include "hci.h" |
BartJanssens | 0:99a111b75cb4 | 32 | #include "Utils.h" |
BartJanssens | 0:99a111b75cb4 | 33 | #include "ps3.h" |
BartJanssens | 0:99a111b75cb4 | 34 | |
BartJanssens | 0:99a111b75cb4 | 35 | #include "mbed.h" |
BartJanssens | 0:99a111b75cb4 | 36 | |
BartJanssens | 0:99a111b75cb4 | 37 | |
BartJanssens | 0:99a111b75cb4 | 38 | |
BartJanssens | 0:99a111b75cb4 | 39 | #define AUTOEVT(_class,_subclass,_protocol) (((_class) << 16) | ((_subclass) << 8) | _protocol) |
BartJanssens | 0:99a111b75cb4 | 40 | #define PS3EVT AUTOEVT(CLASS_HID,0,0) |
BartJanssens | 0:99a111b75cb4 | 41 | #define byteswap(x) ((x >> 8) | (x << 8)) |
BartJanssens | 0:99a111b75cb4 | 42 | |
ppr2013G2 | 1:335bce3448c3 | 43 | #define M_1_CW_MIN 63 |
ppr2013G2 | 1:335bce3448c3 | 44 | #define M_2_CW_MIN 191 |
ppr2013G2 | 1:335bce3448c3 | 45 | #define M_1_CCW_MIN 65 |
ppr2013G2 | 1:335bce3448c3 | 46 | #define M_2_CCW_MIN 193 |
ppr2013G2 | 1:335bce3448c3 | 47 | |
ppr2013G2 | 1:335bce3448c3 | 48 | #define M_1_CW_MAX 1 |
ppr2013G2 | 1:335bce3448c3 | 49 | #define M_2_CW_MAX 128 |
ppr2013G2 | 1:335bce3448c3 | 50 | #define M_1_CCW_MAX 127 |
ppr2013G2 | 1:335bce3448c3 | 51 | #define M_2_CCW_MAX 255 |
ppr2013G2 | 1:335bce3448c3 | 52 | |
ppr2013G2 | 1:335bce3448c3 | 53 | |
ppr2013G2 | 1:335bce3448c3 | 54 | #define M_1_STOP 64 |
ppr2013G2 | 1:335bce3448c3 | 55 | #define M_2_STOP 192 |
ppr2013G2 | 1:335bce3448c3 | 56 | |
ppr2013G2 | 1:335bce3448c3 | 57 | |
ppr2013G2 | 1:335bce3448c3 | 58 | |
ppr2013G2 | 1:335bce3448c3 | 59 | |
BartJanssens | 0:99a111b75cb4 | 60 | u8 ps3_data[48]; |
ppr2013G2 | 1:335bce3448c3 | 61 | Serial sabertooth1(p13,p14); |
ppr2013G2 | 1:335bce3448c3 | 62 | Serial sabertooth2(p28,p27); |
BartJanssens | 0:99a111b75cb4 | 63 | |
ppr2013G2 | 1:335bce3448c3 | 64 | Serial pro(USBTX, USBRX); |
ppr2013G2 | 1:335bce3448c3 | 65 | //TextLCD lcd(p24,p26,p27,p28,p29,p30);//for orange board |
ppr2013G2 | 1:335bce3448c3 | 66 | C12832_LCD lcd; |
ppr2013G2 | 1:335bce3448c3 | 67 | |
ppr2013G2 | 1:335bce3448c3 | 68 | PwmOut air1(p21); |
ppr2013G2 | 1:335bce3448c3 | 69 | PwmOut air2(p22); |
ppr2013G2 | 1:335bce3448c3 | 70 | PwmOut rgb(p23); |
ppr2013G2 | 1:335bce3448c3 | 71 | |
ppr2013G2 | 1:335bce3448c3 | 72 | AnalogIn pot1(p19); |
ppr2013G2 | 1:335bce3448c3 | 73 | |
ppr2013G2 | 1:335bce3448c3 | 74 | int map(int val, int b_min, int b_max, int a_min, int a_max) |
ppr2013G2 | 1:335bce3448c3 | 75 | { |
ppr2013G2 | 1:335bce3448c3 | 76 | return (val - b_max) * (a_min - a_max) / (b_min - b_max) + a_max; |
ppr2013G2 | 1:335bce3448c3 | 77 | } |
BartJanssens | 0:99a111b75cb4 | 78 | |
BartJanssens | 0:99a111b75cb4 | 79 | Ps3USB::Ps3USB(int device, int configuration, int interfaceNumber) |
BartJanssens | 0:99a111b75cb4 | 80 | { |
ppr2013G2 | 1:335bce3448c3 | 81 | printf("Creating new sixaxis \r\n"); |
ppr2013G2 | 1:335bce3448c3 | 82 | _device = device; |
ppr2013G2 | 1:335bce3448c3 | 83 | _configuration = configuration; |
ppr2013G2 | 1:335bce3448c3 | 84 | _interfaceNumber = interfaceNumber; |
ppr2013G2 | 1:335bce3448c3 | 85 | printf("device = %d configuration = %d interfaceNumber = %d\r\n", device, configuration, interfaceNumber); |
ppr2013G2 | 1:335bce3448c3 | 86 | int result; |
ppr2013G2 | 1:335bce3448c3 | 87 | int err; |
ppr2013G2 | 1:335bce3448c3 | 88 | |
ppr2013G2 | 1:335bce3448c3 | 89 | _count = 1; |
ppr2013G2 | 1:335bce3448c3 | 90 | |
ppr2013G2 | 1:335bce3448c3 | 91 | u8 abuffer[48] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
ppr2013G2 | 1:335bce3448c3 | 92 | 0x00, 0x02, 0xff, 0x27, 0x10, 0x00, 0x32, 0xff, |
ppr2013G2 | 1:335bce3448c3 | 93 | 0x27, 0x10, 0x00, 0x32, 0xff, 0x27, 0x10, 0x00, |
ppr2013G2 | 1:335bce3448c3 | 94 | 0x32, 0xff, 0x27, 0x10, 0x00, 0x32, 0x00, 0x00, |
ppr2013G2 | 1:335bce3448c3 | 95 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
ppr2013G2 | 1:335bce3448c3 | 96 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 |
ppr2013G2 | 1:335bce3448c3 | 97 | }; |
ppr2013G2 | 1:335bce3448c3 | 98 | memcpy(ledrumble,abuffer,48); |
ppr2013G2 | 1:335bce3448c3 | 99 | |
ppr2013G2 | 1:335bce3448c3 | 100 | EndpointDescriptor* ep; |
ppr2013G2 | 1:335bce3448c3 | 101 | |
ppr2013G2 | 1:335bce3448c3 | 102 | u8 buffer[255]; |
ppr2013G2 | 1:335bce3448c3 | 103 | err = GetDescriptor(_device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,255); |
ppr2013G2 | 1:335bce3448c3 | 104 | if (err < 0) |
ppr2013G2 | 1:335bce3448c3 | 105 | printf("Failed to get descriptor\r\n"); |
ppr2013G2 | 1:335bce3448c3 | 106 | |
BartJanssens | 0:99a111b75cb4 | 107 | |
BartJanssens | 0:99a111b75cb4 | 108 | int len = buffer[2] | (buffer[3] << 8); |
BartJanssens | 0:99a111b75cb4 | 109 | u8* d = buffer; |
BartJanssens | 0:99a111b75cb4 | 110 | u8* end = d + len; |
ppr2013G2 | 1:335bce3448c3 | 111 | while (d < end) { |
ppr2013G2 | 1:335bce3448c3 | 112 | if (d[1] == DESCRIPTOR_TYPE_INTERFACE) { |
BartJanssens | 0:99a111b75cb4 | 113 | InterfaceDescriptor* id = (InterfaceDescriptor*)d; |
ppr2013G2 | 1:335bce3448c3 | 114 | if (id->bInterfaceNumber == _interfaceNumber) { |
ppr2013G2 | 1:335bce3448c3 | 115 | d += d[0]; |
ppr2013G2 | 1:335bce3448c3 | 116 | while (d < end && d[1] != DESCRIPTOR_TYPE_INTERFACE) { |
BartJanssens | 0:99a111b75cb4 | 117 | if (d[1] == DESCRIPTOR_TYPE_ENDPOINT) |
BartJanssens | 0:99a111b75cb4 | 118 | ep = (EndpointDescriptor*)d; |
ppr2013G2 | 1:335bce3448c3 | 119 | |
ppr2013G2 | 1:335bce3448c3 | 120 | if (ep->bEndpointAddress == 0x02) { |
ppr2013G2 | 1:335bce3448c3 | 121 | printf("PS3 input endpoint (0x02) found\r\n"); |
ppr2013G2 | 1:335bce3448c3 | 122 | input_ep = 0x02; |
ppr2013G2 | 1:335bce3448c3 | 123 | |
ppr2013G2 | 1:335bce3448c3 | 124 | } |
ppr2013G2 | 1:335bce3448c3 | 125 | if (ep->bEndpointAddress == 0x81) { |
ppr2013G2 | 1:335bce3448c3 | 126 | printf("PS3 output endpoint (0x81) found\r\n"); |
ppr2013G2 | 1:335bce3448c3 | 127 | output_ep = 0x81; |
ppr2013G2 | 1:335bce3448c3 | 128 | //AddAutoEvent(device,id,(EndpointDescriptor*)d); |
ppr2013G2 | 1:335bce3448c3 | 129 | } |
BartJanssens | 0:99a111b75cb4 | 130 | d += d[0]; |
BartJanssens | 0:99a111b75cb4 | 131 | } |
BartJanssens | 0:99a111b75cb4 | 132 | } |
BartJanssens | 0:99a111b75cb4 | 133 | } |
BartJanssens | 0:99a111b75cb4 | 134 | d += d[0]; |
BartJanssens | 0:99a111b75cb4 | 135 | } |
ppr2013G2 | 1:335bce3448c3 | 136 | |
ppr2013G2 | 1:335bce3448c3 | 137 | } |
ppr2013G2 | 1:335bce3448c3 | 138 | |
ppr2013G2 | 1:335bce3448c3 | 139 | int Ps3USB::Enable() |
ppr2013G2 | 1:335bce3448c3 | 140 | { |
ppr2013G2 | 1:335bce3448c3 | 141 | int err; |
ppr2013G2 | 1:335bce3448c3 | 142 | |
ppr2013G2 | 1:335bce3448c3 | 143 | u8 enable[4] = {0x42,0x0c,0x00,0x00}; |
ppr2013G2 | 1:335bce3448c3 | 144 | |
ppr2013G2 | 1:335bce3448c3 | 145 | |
ppr2013G2 | 1:335bce3448c3 | 146 | err = USBControlTransfer(_device, HOST_TO_DEVICE|REQUEST_TYPE_CLASS|RECIPIENT_INTERFACE, HID_REQUEST_SET_REPORT, 0x03f4,0, enable, sizeof(enable), 0, 0 ); |
ppr2013G2 | 1:335bce3448c3 | 147 | //printf("set report result = %d\r\n", err); |
ppr2013G2 | 1:335bce3448c3 | 148 | _count ++; |
ppr2013G2 | 1:335bce3448c3 | 149 | if (_count == 25) _count = 1; |
ppr2013G2 | 1:335bce3448c3 | 150 | |
ppr2013G2 | 1:335bce3448c3 | 151 | err = USBInterruptTransfer(_device,output_ep,ps3_data,sizeof(ps3_data),PS3EventCallback,this); |
ppr2013G2 | 1:335bce3448c3 | 152 | wait_ms(4); |
ppr2013G2 | 1:335bce3448c3 | 153 | |
ppr2013G2 | 1:335bce3448c3 | 154 | return 0; |
ppr2013G2 | 1:335bce3448c3 | 155 | |
ppr2013G2 | 1:335bce3448c3 | 156 | } |
ppr2013G2 | 1:335bce3448c3 | 157 | |
ppr2013G2 | 1:335bce3448c3 | 158 | |
ppr2013G2 | 1:335bce3448c3 | 159 | |
ppr2013G2 | 1:335bce3448c3 | 160 | |
ppr2013G2 | 1:335bce3448c3 | 161 | int Ps3USB::SetPair(u8* bdAddr) |
ppr2013G2 | 1:335bce3448c3 | 162 | { |
ppr2013G2 | 1:335bce3448c3 | 163 | int err; |
ppr2013G2 | 1:335bce3448c3 | 164 | |
ppr2013G2 | 1:335bce3448c3 | 165 | u8 buf[8]; |
ppr2013G2 | 1:335bce3448c3 | 166 | u8 buf2[6]; |
ppr2013G2 | 1:335bce3448c3 | 167 | |
ppr2013G2 | 1:335bce3448c3 | 168 | memcpy(buf2,bdAddr,6); |
ppr2013G2 | 1:335bce3448c3 | 169 | |
ppr2013G2 | 1:335bce3448c3 | 170 | buf[0] = 0x01; |
ppr2013G2 | 1:335bce3448c3 | 171 | buf[1] = 0x00; |
ppr2013G2 | 1:335bce3448c3 | 172 | buf[2] = buf2[0]; |
ppr2013G2 | 1:335bce3448c3 | 173 | buf[3] = buf2[1]; |
ppr2013G2 | 1:335bce3448c3 | 174 | buf[4] = buf2[2]; |
ppr2013G2 | 1:335bce3448c3 | 175 | buf[5] = buf2[3]; |
ppr2013G2 | 1:335bce3448c3 | 176 | buf[6] = buf2[4]; |
ppr2013G2 | 1:335bce3448c3 | 177 | buf[7] = buf2[5]; |
BartJanssens | 0:99a111b75cb4 | 178 | |
ppr2013G2 | 1:335bce3448c3 | 179 | //set Mac address |
ppr2013G2 | 1:335bce3448c3 | 180 | err = USBControlTransfer(_device, HOST_TO_DEVICE|REQUEST_TYPE_CLASS|RECIPIENT_INTERFACE, HID_REQUEST_SET_REPORT, 0x03f5, 0, buf, sizeof(buf), 0, 0 ); |
ppr2013G2 | 1:335bce3448c3 | 181 | wait_ms(4); |
ppr2013G2 | 1:335bce3448c3 | 182 | printf("set Mac address to %02X:%02X:%02X:%02X:%02X:%02X , result = %d\r\n", buf[2], buf[3], buf[4], buf[5], buf[6], buf[7], err); |
ppr2013G2 | 1:335bce3448c3 | 183 | |
ppr2013G2 | 1:335bce3448c3 | 184 | return 0; |
ppr2013G2 | 1:335bce3448c3 | 185 | } |
ppr2013G2 | 1:335bce3448c3 | 186 | |
ppr2013G2 | 1:335bce3448c3 | 187 | int Ps3USB::ShowPair() |
ppr2013G2 | 1:335bce3448c3 | 188 | { |
ppr2013G2 | 1:335bce3448c3 | 189 | int err; |
ppr2013G2 | 1:335bce3448c3 | 190 | |
ppr2013G2 | 1:335bce3448c3 | 191 | u8 buf[8]; |
ppr2013G2 | 1:335bce3448c3 | 192 | //get Mac address |
ppr2013G2 | 1:335bce3448c3 | 193 | err = USBControlTransfer(_device, DEVICE_TO_HOST|REQUEST_TYPE_CLASS|RECIPIENT_INTERFACE, HID_REQUEST_GET_REPORT, 0x03f5, 0, buf, sizeof(buf), 0, 0 ); |
ppr2013G2 | 1:335bce3448c3 | 194 | wait_ms(4); |
ppr2013G2 | 1:335bce3448c3 | 195 | printf("Mac address is set to %02X:%02X:%02X:%02X:%02X:%02X , result = %d\r\n",buf[2], buf[3], buf[4], buf[5], buf[6], buf[7], err); |
ppr2013G2 | 1:335bce3448c3 | 196 | |
ppr2013G2 | 1:335bce3448c3 | 197 | |
ppr2013G2 | 1:335bce3448c3 | 198 | return 0; |
ppr2013G2 | 1:335bce3448c3 | 199 | } |
ppr2013G2 | 1:335bce3448c3 | 200 | |
ppr2013G2 | 1:335bce3448c3 | 201 | int Ps3USB::Led(int i) |
ppr2013G2 | 1:335bce3448c3 | 202 | { |
ppr2013G2 | 1:335bce3448c3 | 203 | int err; |
ppr2013G2 | 1:335bce3448c3 | 204 | u8 ledpattern[7] = {0x02, 0x04, 0x08, 0x10, 0x12, 0x14, 0x18 }; |
ppr2013G2 | 1:335bce3448c3 | 205 | u8 buf[48]; |
ppr2013G2 | 1:335bce3448c3 | 206 | |
ppr2013G2 | 1:335bce3448c3 | 207 | if (i < 7) ledrumble[9] = ledpattern[i]; |
ppr2013G2 | 1:335bce3448c3 | 208 | memcpy(buf, ledrumble, 48); |
ppr2013G2 | 1:335bce3448c3 | 209 | |
ppr2013G2 | 1:335bce3448c3 | 210 | err = USBControlTransfer(_device, HOST_TO_DEVICE|REQUEST_TYPE_CLASS|RECIPIENT_INTERFACE, HID_REQUEST_SET_REPORT, 0x0201,0, buf, sizeof(buf), 0, 0 ); |
ppr2013G2 | 1:335bce3448c3 | 211 | wait_ms(4); |
ppr2013G2 | 1:335bce3448c3 | 212 | |
ppr2013G2 | 1:335bce3448c3 | 213 | return 0; |
ppr2013G2 | 1:335bce3448c3 | 214 | } |
ppr2013G2 | 1:335bce3448c3 | 215 | |
ppr2013G2 | 1:335bce3448c3 | 216 | // left and right: duration and power, both from 0 to 255 |
ppr2013G2 | 1:335bce3448c3 | 217 | int Ps3USB::Rumble(u8 duration_right, u8 power_right, u8 duration_left, u8 power_left) |
ppr2013G2 | 1:335bce3448c3 | 218 | { |
ppr2013G2 | 1:335bce3448c3 | 219 | int err; |
ppr2013G2 | 1:335bce3448c3 | 220 | u8 buf[48]; |
BartJanssens | 0:99a111b75cb4 | 221 | |
ppr2013G2 | 1:335bce3448c3 | 222 | memcpy(buf, ledrumble, 48); |
ppr2013G2 | 1:335bce3448c3 | 223 | buf[1] = duration_right; |
ppr2013G2 | 1:335bce3448c3 | 224 | buf[2] = power_right; |
ppr2013G2 | 1:335bce3448c3 | 225 | buf[3] = duration_left; |
ppr2013G2 | 1:335bce3448c3 | 226 | buf[4] = power_left; |
ppr2013G2 | 1:335bce3448c3 | 227 | |
ppr2013G2 | 1:335bce3448c3 | 228 | err = USBControlTransfer(_device, HOST_TO_DEVICE|REQUEST_TYPE_CLASS|RECIPIENT_INTERFACE, HID_REQUEST_SET_REPORT, 0x0201,0, buf, sizeof(buf), 0, 0 ); |
ppr2013G2 | 1:335bce3448c3 | 229 | wait_ms(4); |
ppr2013G2 | 1:335bce3448c3 | 230 | |
ppr2013G2 | 1:335bce3448c3 | 231 | return 0; |
ppr2013G2 | 1:335bce3448c3 | 232 | } |
ppr2013G2 | 1:335bce3448c3 | 233 | |
ppr2013G2 | 1:335bce3448c3 | 234 | |
ppr2013G2 | 1:335bce3448c3 | 235 | void PS3EventCallback(int device, int endpoint, int status, u8* data, int len, void* userData) |
ppr2013G2 | 1:335bce3448c3 | 236 | { |
ppr2013G2 | 1:335bce3448c3 | 237 | Ps3USB* t = (Ps3USB*)userData; |
ppr2013G2 | 1:335bce3448c3 | 238 | |
ppr2013G2 | 1:335bce3448c3 | 239 | t->_count ++; |
ppr2013G2 | 1:335bce3448c3 | 240 | if (t->_count == 25) t->_count = 1; |
ppr2013G2 | 1:335bce3448c3 | 241 | |
ppr2013G2 | 1:335bce3448c3 | 242 | ParsePs3Result(data, sizeof(ps3report),t->_count); |
ppr2013G2 | 1:335bce3448c3 | 243 | USBInterruptTransfer(device, endpoint , data, len, PS3EventCallback, userData); |
ppr2013G2 | 1:335bce3448c3 | 244 | wait_ms(4); |
ppr2013G2 | 1:335bce3448c3 | 245 | |
ppr2013G2 | 1:335bce3448c3 | 246 | } |
ppr2013G2 | 1:335bce3448c3 | 247 | |
ppr2013G2 | 1:335bce3448c3 | 248 | int ParsePs3Result(const u8* data,int len,int count) |
ppr2013G2 | 1:335bce3448c3 | 249 | { |
ppr2013G2 | 1:335bce3448c3 | 250 | ps3report* _ps3report = (ps3report*)data; |
ppr2013G2 | 1:335bce3448c3 | 251 | |
ppr2013G2 | 1:335bce3448c3 | 252 | //int pot=pot2.read(); |
ppr2013G2 | 1:335bce3448c3 | 253 | float pot =pot1.read()*100.0; |
ppr2013G2 | 1:335bce3448c3 | 254 | int pot_int=(int)pot+1; |
BartJanssens | 0:99a111b75cb4 | 255 | |
ppr2013G2 | 1:335bce3448c3 | 256 | sabertooth1.baud(19200); |
ppr2013G2 | 1:335bce3448c3 | 257 | sabertooth2.baud(19200); |
BartJanssens | 0:99a111b75cb4 | 258 | |
ppr2013G2 | 1:335bce3448c3 | 259 | u8 P_UP =_ps3report->PressureUp; |
ppr2013G2 | 1:335bce3448c3 | 260 | u8 P_DOWN =_ps3report->PressureDown; |
ppr2013G2 | 1:335bce3448c3 | 261 | u8 P_LEFT =_ps3report->PressureLeft; |
ppr2013G2 | 1:335bce3448c3 | 262 | u8 P_RIGHT=_ps3report->PressureRight; |
ppr2013G2 | 1:335bce3448c3 | 263 | |
ppr2013G2 | 1:335bce3448c3 | 264 | u8 L2=_ps3report->PressureL2; |
ppr2013G2 | 1:335bce3448c3 | 265 | u8 R2=_ps3report->PressureR2; |
BartJanssens | 0:99a111b75cb4 | 266 | |
ppr2013G2 | 1:335bce3448c3 | 267 | u8 L1=_ps3report->PressureL1; |
ppr2013G2 | 1:335bce3448c3 | 268 | u8 R1=_ps3report->PressureR1; |
BartJanssens | 0:99a111b75cb4 | 269 | |
ppr2013G2 | 1:335bce3448c3 | 270 | u8 Cir=_ps3report->PressureCircle; |
ppr2013G2 | 1:335bce3448c3 | 271 | |
ppr2013G2 | 1:335bce3448c3 | 272 | // u8 L_S_X=_ps3report->LeftStickX; |
ppr2013G2 | 1:335bce3448c3 | 273 | // u8 L_S_Y=_ps3report->LeftStickY; |
ppr2013G2 | 1:335bce3448c3 | 274 | |
ppr2013G2 | 1:335bce3448c3 | 275 | int sb1_1=0; |
ppr2013G2 | 1:335bce3448c3 | 276 | int sb1_2=0; |
ppr2013G2 | 1:335bce3448c3 | 277 | int sb2_1=0; |
ppr2013G2 | 1:335bce3448c3 | 278 | int sb2_2=0; |
ppr2013G2 | 1:335bce3448c3 | 279 | |
ppr2013G2 | 1:335bce3448c3 | 280 | u8 M_1_CW_BIG = M_1_CW_MAX; |
ppr2013G2 | 1:335bce3448c3 | 281 | u8 M_2_CW_BIG = M_2_CW_MAX; |
ppr2013G2 | 1:335bce3448c3 | 282 | u8 M_1_CCW_BIG = M_1_CCW_MAX; |
ppr2013G2 | 1:335bce3448c3 | 283 | u8 M_2_CCW_BIG = M_2_CCW_MAX; |
ppr2013G2 | 1:335bce3448c3 | 284 | |
ppr2013G2 | 1:335bce3448c3 | 285 | bool up_lock=false; |
ppr2013G2 | 1:335bce3448c3 | 286 | bool down_lock=false; |
ppr2013G2 | 1:335bce3448c3 | 287 | bool left_lock=false; |
ppr2013G2 | 1:335bce3448c3 | 288 | bool right_lock=false; |
ppr2013G2 | 1:335bce3448c3 | 289 | bool clockwise_lock=false; |
ppr2013G2 | 1:335bce3448c3 | 290 | bool c_clockwise_lock=false; |
ppr2013G2 | 1:335bce3448c3 | 291 | bool left_stick_lock=false; |
ppr2013G2 | 1:335bce3448c3 | 292 | |
ppr2013G2 | 1:335bce3448c3 | 293 | M_1_CW_BIG=map(pot_int,0,100,62,1); |
ppr2013G2 | 1:335bce3448c3 | 294 | M_2_CW_BIG=map(pot_int,0,100,190,128); |
ppr2013G2 | 1:335bce3448c3 | 295 | M_1_CCW_BIG=map(pot_int,0,100,66,127); |
ppr2013G2 | 1:335bce3448c3 | 296 | M_2_CCW_BIG=map(pot_int,0,100,194,255); |
ppr2013G2 | 1:335bce3448c3 | 297 | |
ppr2013G2 | 1:335bce3448c3 | 298 | // M_1_CW_MAX *= pot; |
ppr2013G2 | 1:335bce3448c3 | 299 | // M_2_CW_MAX *=pot; |
ppr2013G2 | 1:335bce3448c3 | 300 | // M_1_CCW_MAX *=pot; |
ppr2013G2 | 1:335bce3448c3 | 301 | // M_2_CCW_MAX *=pot; |
ppr2013G2 | 1:335bce3448c3 | 302 | |
ppr2013G2 | 1:335bce3448c3 | 303 | if(Cir!=0){ |
ppr2013G2 | 1:335bce3448c3 | 304 | air1.write(1.0f); |
ppr2013G2 | 1:335bce3448c3 | 305 | air2.write(0.0f); |
ppr2013G2 | 1:335bce3448c3 | 306 | rgb.write(0.0); |
ppr2013G2 | 1:335bce3448c3 | 307 | }else{ |
ppr2013G2 | 1:335bce3448c3 | 308 | air1.write(0.0f); |
ppr2013G2 | 1:335bce3448c3 | 309 | air2.write(0.0f); |
ppr2013G2 | 1:335bce3448c3 | 310 | rgb.write(1.0); |
BartJanssens | 0:99a111b75cb4 | 311 | } |
BartJanssens | 0:99a111b75cb4 | 312 | |
ppr2013G2 | 1:335bce3448c3 | 313 | if(P_UP==0&&P_DOWN==0&&P_LEFT==0&&P_RIGHT==0) { |
ppr2013G2 | 1:335bce3448c3 | 314 | // up_lock=false; |
ppr2013G2 | 1:335bce3448c3 | 315 | // down_lock=false; |
ppr2013G2 | 1:335bce3448c3 | 316 | // left_lock=false; |
ppr2013G2 | 1:335bce3448c3 | 317 | // right_lock=false; |
ppr2013G2 | 1:335bce3448c3 | 318 | // clockwise_lock=false; |
ppr2013G2 | 1:335bce3448c3 | 319 | // c_clockwise_lock=false; |
BartJanssens | 0:99a111b75cb4 | 320 | |
ppr2013G2 | 1:335bce3448c3 | 321 | sb1_1=M_1_STOP; |
ppr2013G2 | 1:335bce3448c3 | 322 | sb1_2=M_2_STOP; |
ppr2013G2 | 1:335bce3448c3 | 323 | sb2_1=M_1_STOP; |
ppr2013G2 | 1:335bce3448c3 | 324 | sb2_2=M_2_STOP; |
ppr2013G2 | 1:335bce3448c3 | 325 | |
ppr2013G2 | 1:335bce3448c3 | 326 | sabertooth1.putc(sb1_1); |
ppr2013G2 | 1:335bce3448c3 | 327 | sabertooth1.putc(sb1_2); |
ppr2013G2 | 1:335bce3448c3 | 328 | |
ppr2013G2 | 1:335bce3448c3 | 329 | sabertooth2.putc(sb2_1); |
ppr2013G2 | 1:335bce3448c3 | 330 | sabertooth2.putc(sb2_2); |
ppr2013G2 | 1:335bce3448c3 | 331 | |
BartJanssens | 0:99a111b75cb4 | 332 | |
BartJanssens | 0:99a111b75cb4 | 333 | } |
ppr2013G2 | 1:335bce3448c3 | 334 | if(P_UP!=0 && !down_lock && !left_lock && !right_lock && !clockwise_lock && !c_clockwise_lock && !left_stick_lock) { |
ppr2013G2 | 1:335bce3448c3 | 335 | // up_lock=true; |
ppr2013G2 | 1:335bce3448c3 | 336 | |
ppr2013G2 | 1:335bce3448c3 | 337 | sb1_1=map(P_UP,0,255,M_1_CW_MIN,M_1_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 338 | sb1_2=map(P_UP,0,255,M_2_CW_MIN,M_2_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 339 | sb2_1=map(P_UP,0,255,M_1_CW_MIN,M_1_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 340 | sb2_2=map(P_UP,0,255,M_2_CW_MIN,M_2_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 341 | |
ppr2013G2 | 1:335bce3448c3 | 342 | sabertooth1.putc(sb1_1); |
ppr2013G2 | 1:335bce3448c3 | 343 | sabertooth1.putc(sb1_2); |
ppr2013G2 | 1:335bce3448c3 | 344 | |
ppr2013G2 | 1:335bce3448c3 | 345 | sabertooth2.putc(sb2_1); |
ppr2013G2 | 1:335bce3448c3 | 346 | sabertooth2.putc(sb2_2); |
ppr2013G2 | 1:335bce3448c3 | 347 | } |
ppr2013G2 | 1:335bce3448c3 | 348 | if(P_DOWN!=0 && !up_lock && !left_lock && !right_lock && !clockwise_lock && !c_clockwise_lock && !left_stick_lock) { |
ppr2013G2 | 1:335bce3448c3 | 349 | // down_lock=true; |
ppr2013G2 | 1:335bce3448c3 | 350 | |
ppr2013G2 | 1:335bce3448c3 | 351 | sb1_1=map(P_DOWN,0,255,M_1_CCW_MIN,M_1_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 352 | sb1_2=map(P_DOWN,0,255,M_2_CCW_MIN,M_2_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 353 | sb2_1=map(P_DOWN,0,255,M_1_CCW_MIN,M_1_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 354 | sb2_2=map(P_DOWN,0,255,M_2_CCW_MIN,M_2_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 355 | |
ppr2013G2 | 1:335bce3448c3 | 356 | sabertooth1.putc(sb1_1); |
ppr2013G2 | 1:335bce3448c3 | 357 | sabertooth1.putc(sb1_2); |
ppr2013G2 | 1:335bce3448c3 | 358 | |
ppr2013G2 | 1:335bce3448c3 | 359 | sabertooth2.putc(sb2_1); |
ppr2013G2 | 1:335bce3448c3 | 360 | sabertooth2.putc(sb2_2); |
ppr2013G2 | 1:335bce3448c3 | 361 | } |
ppr2013G2 | 1:335bce3448c3 | 362 | if(P_LEFT!=0 && !up_lock && !down_lock && !right_lock && !clockwise_lock && !c_clockwise_lock && !left_stick_lock) { |
ppr2013G2 | 1:335bce3448c3 | 363 | // left_lock=true; |
ppr2013G2 | 1:335bce3448c3 | 364 | |
ppr2013G2 | 1:335bce3448c3 | 365 | sb1_1=map(P_LEFT,0,255,M_1_CCW_MIN,M_1_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 366 | sb1_2=map(P_LEFT,0,255,M_2_CW_MIN,M_2_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 367 | sb2_1=map(P_LEFT,0,255,M_1_CW_MIN,M_1_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 368 | sb2_2=map(P_LEFT,0,255,M_2_CCW_MIN,M_2_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 369 | |
ppr2013G2 | 1:335bce3448c3 | 370 | sabertooth1.putc(sb1_1); |
ppr2013G2 | 1:335bce3448c3 | 371 | sabertooth1.putc(sb1_2); |
ppr2013G2 | 1:335bce3448c3 | 372 | |
ppr2013G2 | 1:335bce3448c3 | 373 | sabertooth2.putc(sb2_1); |
ppr2013G2 | 1:335bce3448c3 | 374 | sabertooth2.putc(sb2_2); |
ppr2013G2 | 1:335bce3448c3 | 375 | } |
ppr2013G2 | 1:335bce3448c3 | 376 | if(P_RIGHT!=0 && !up_lock && !down_lock && !left_lock && !clockwise_lock && !c_clockwise_lock && !left_stick_lock) { |
ppr2013G2 | 1:335bce3448c3 | 377 | // right_lock=true; |
ppr2013G2 | 1:335bce3448c3 | 378 | |
ppr2013G2 | 1:335bce3448c3 | 379 | sb1_1=map(P_RIGHT,0,255,M_1_CW_MIN,M_1_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 380 | sb1_2=map(P_RIGHT,0,255,M_2_CCW_MIN,M_2_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 381 | sb2_1=map(P_RIGHT,0,255,M_1_CCW_MIN,M_1_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 382 | sb2_2=map(P_RIGHT,0,255,M_2_CW_MIN,M_2_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 383 | |
ppr2013G2 | 1:335bce3448c3 | 384 | sabertooth1.putc(sb1_1); |
ppr2013G2 | 1:335bce3448c3 | 385 | sabertooth1.putc(sb1_2); |
ppr2013G2 | 1:335bce3448c3 | 386 | |
ppr2013G2 | 1:335bce3448c3 | 387 | sabertooth2.putc(sb2_1); |
ppr2013G2 | 1:335bce3448c3 | 388 | sabertooth2.putc(sb2_2); |
ppr2013G2 | 1:335bce3448c3 | 389 | } |
ppr2013G2 | 1:335bce3448c3 | 390 | if(L1!=0 && !up_lock && !down_lock && !left_lock && !right_lock && !clockwise_lock && !left_stick_lock) { |
ppr2013G2 | 1:335bce3448c3 | 391 | // c_clockwise_lock=true; |
ppr2013G2 | 1:335bce3448c3 | 392 | |
ppr2013G2 | 1:335bce3448c3 | 393 | sb1_1=map(L1,0,255,M_1_CCW_MIN,M_1_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 394 | sb1_2=map(L1,0,255,M_2_CCW_MIN,M_2_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 395 | sb2_1=map(L1,0,255,M_1_CW_MIN,M_1_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 396 | sb2_2=map(L1,0,255,M_2_CW_MIN,M_2_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 397 | |
ppr2013G2 | 1:335bce3448c3 | 398 | sabertooth1.putc(sb1_1); |
ppr2013G2 | 1:335bce3448c3 | 399 | sabertooth1.putc(sb1_2); |
ppr2013G2 | 1:335bce3448c3 | 400 | |
ppr2013G2 | 1:335bce3448c3 | 401 | sabertooth2.putc(sb2_1); |
ppr2013G2 | 1:335bce3448c3 | 402 | sabertooth2.putc(sb2_2); |
ppr2013G2 | 1:335bce3448c3 | 403 | } |
ppr2013G2 | 1:335bce3448c3 | 404 | if(R1!=0 && !up_lock && !down_lock && !left_lock && !right_lock && !c_clockwise_lock &&!left_stick_lock) { |
ppr2013G2 | 1:335bce3448c3 | 405 | // clockwise_lock=true; |
ppr2013G2 | 1:335bce3448c3 | 406 | |
ppr2013G2 | 1:335bce3448c3 | 407 | sb1_1=map(R1,0,255,M_1_CW_MIN,M_1_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 408 | sb1_2=map(R1,0,255,M_2_CW_MIN,M_2_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 409 | sb2_1=map(R1,0,255,M_1_CCW_MIN,M_1_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 410 | sb2_2=map(R1,0,255,M_2_CCW_MIN,M_2_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 411 | |
ppr2013G2 | 1:335bce3448c3 | 412 | sabertooth1.putc(sb1_1); |
ppr2013G2 | 1:335bce3448c3 | 413 | sabertooth1.putc(sb1_2); |
ppr2013G2 | 1:335bce3448c3 | 414 | |
ppr2013G2 | 1:335bce3448c3 | 415 | sabertooth2.putc(sb2_1); |
ppr2013G2 | 1:335bce3448c3 | 416 | sabertooth2.putc(sb2_2); |
ppr2013G2 | 1:335bce3448c3 | 417 | } |
ppr2013G2 | 1:335bce3448c3 | 418 | if(L2==255) { |
ppr2013G2 | 1:335bce3448c3 | 419 | sb1_1=M_1_STOP; |
ppr2013G2 | 1:335bce3448c3 | 420 | sb1_2=M_2_STOP; |
ppr2013G2 | 1:335bce3448c3 | 421 | |
ppr2013G2 | 1:335bce3448c3 | 422 | sabertooth1.putc(sb1_1); |
ppr2013G2 | 1:335bce3448c3 | 423 | sabertooth1.putc(sb1_2); |
BartJanssens | 0:99a111b75cb4 | 424 | } |
ppr2013G2 | 1:335bce3448c3 | 425 | if(R2==255) { |
ppr2013G2 | 1:335bce3448c3 | 426 | sb2_1=M_1_STOP; |
ppr2013G2 | 1:335bce3448c3 | 427 | sb2_2=M_2_STOP; |
BartJanssens | 0:99a111b75cb4 | 428 | |
ppr2013G2 | 1:335bce3448c3 | 429 | sabertooth2.putc(sb2_1); |
ppr2013G2 | 1:335bce3448c3 | 430 | sabertooth2.putc(sb2_2); |
ppr2013G2 | 1:335bce3448c3 | 431 | } |
ppr2013G2 | 1:335bce3448c3 | 432 | if(P_UP!=0 && P_LEFT!=0) { |
ppr2013G2 | 1:335bce3448c3 | 433 | sb1_1=M_1_STOP; |
ppr2013G2 | 1:335bce3448c3 | 434 | sb1_2=map(P_UP+P_LEFT,0,510,M_2_CW_MIN,M_2_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 435 | sb2_1=map(P_UP+P_LEFT,0,510,M_1_CW_MIN,M_1_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 436 | sb2_2=M_2_STOP; |
ppr2013G2 | 1:335bce3448c3 | 437 | |
ppr2013G2 | 1:335bce3448c3 | 438 | sabertooth1.putc(sb1_1); |
ppr2013G2 | 1:335bce3448c3 | 439 | sabertooth1.putc(sb1_2); |
ppr2013G2 | 1:335bce3448c3 | 440 | |
ppr2013G2 | 1:335bce3448c3 | 441 | sabertooth2.putc(sb2_1); |
ppr2013G2 | 1:335bce3448c3 | 442 | sabertooth2.putc(sb2_2); |
ppr2013G2 | 1:335bce3448c3 | 443 | } |
ppr2013G2 | 1:335bce3448c3 | 444 | if(P_DOWN!=0 && P_LEFT!=0) { |
ppr2013G2 | 1:335bce3448c3 | 445 | sb1_1=map(P_DOWN+P_LEFT,0,510,M_1_CCW_MIN,M_1_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 446 | sb1_2=M_2_STOP; |
ppr2013G2 | 1:335bce3448c3 | 447 | sb2_1=M_1_STOP; |
ppr2013G2 | 1:335bce3448c3 | 448 | sb2_2=map(P_DOWN+P_LEFT,0,510,M_2_CCW_MIN,M_2_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 449 | |
ppr2013G2 | 1:335bce3448c3 | 450 | sabertooth1.putc(sb1_1); |
ppr2013G2 | 1:335bce3448c3 | 451 | sabertooth1.putc(sb1_2); |
ppr2013G2 | 1:335bce3448c3 | 452 | |
ppr2013G2 | 1:335bce3448c3 | 453 | sabertooth2.putc(sb2_1); |
ppr2013G2 | 1:335bce3448c3 | 454 | sabertooth2.putc(sb2_2); |
ppr2013G2 | 1:335bce3448c3 | 455 | } |
ppr2013G2 | 1:335bce3448c3 | 456 | if(P_UP!=0 && P_RIGHT!=0) { |
ppr2013G2 | 1:335bce3448c3 | 457 | sb1_1=map(P_UP+P_RIGHT,0,510,M_1_CW_MIN,M_1_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 458 | sb1_2=M_2_STOP; |
ppr2013G2 | 1:335bce3448c3 | 459 | sb2_1=M_1_STOP; |
ppr2013G2 | 1:335bce3448c3 | 460 | sb2_2=map(P_UP+P_RIGHT,0,510,M_2_CW_MIN,M_2_CW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 461 | |
ppr2013G2 | 1:335bce3448c3 | 462 | sabertooth1.putc(sb1_1); |
ppr2013G2 | 1:335bce3448c3 | 463 | sabertooth1.putc(sb1_2); |
ppr2013G2 | 1:335bce3448c3 | 464 | |
ppr2013G2 | 1:335bce3448c3 | 465 | sabertooth2.putc(sb2_1); |
ppr2013G2 | 1:335bce3448c3 | 466 | sabertooth2.putc(sb2_2); |
ppr2013G2 | 1:335bce3448c3 | 467 | } |
ppr2013G2 | 1:335bce3448c3 | 468 | if(P_DOWN!=0 && P_RIGHT!=0) { |
ppr2013G2 | 1:335bce3448c3 | 469 | sb1_1=M_1_STOP; |
ppr2013G2 | 1:335bce3448c3 | 470 | sb1_2=map(P_DOWN+P_RIGHT,0,510,M_2_CCW_MIN,M_2_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 471 | sb2_1=map(P_DOWN+P_RIGHT,0,510,M_1_CCW_MIN,M_1_CCW_BIG); |
ppr2013G2 | 1:335bce3448c3 | 472 | sb2_2=M_2_STOP; |
ppr2013G2 | 1:335bce3448c3 | 473 | |
ppr2013G2 | 1:335bce3448c3 | 474 | sabertooth1.putc(sb1_1); |
ppr2013G2 | 1:335bce3448c3 | 475 | sabertooth1.putc(sb1_2); |
ppr2013G2 | 1:335bce3448c3 | 476 | |
ppr2013G2 | 1:335bce3448c3 | 477 | sabertooth2.putc(sb2_1); |
ppr2013G2 | 1:335bce3448c3 | 478 | sabertooth2.putc(sb2_2); |
ppr2013G2 | 1:335bce3448c3 | 479 | } |
ppr2013G2 | 1:335bce3448c3 | 480 | // if((L_S_X<110 || L_S_X>140 || L_S_Y<120 || L_S_Y>140) && !up_lock && !down_lock && !left_lock && !right_lock && !c_clockwise_lock && !clockwise_lock){ |
ppr2013G2 | 1:335bce3448c3 | 481 | // left_stick_lock=true; |
ppr2013G2 | 1:335bce3448c3 | 482 | // |
ppr2013G2 | 1:335bce3448c3 | 483 | // sb1_1=map(L_S_X+L_S_Y) |
ppr2013G2 | 1:335bce3448c3 | 484 | // } |
ppr2013G2 | 1:335bce3448c3 | 485 | |
ppr2013G2 | 1:335bce3448c3 | 486 | lcd.locate(1,1); |
ppr2013G2 | 1:335bce3448c3 | 487 | // lcd.printf("1_1=%u 1_2=%u 2_1=%u \n 2_2=%u \n L2=%u R2=%u L1=%u R1=%u",sb1_1,sb1_2,sb2_1,sb2_2,L2,R2,L1,R1); |
ppr2013G2 | 1:335bce3448c3 | 488 | lcd.printf("p=%f,p_i=%d,Cir=%u",pot,pot_int,Cir); |
ppr2013G2 | 1:335bce3448c3 | 489 | if(pro.writeable()>0) { |
ppr2013G2 | 1:335bce3448c3 | 490 | pro.printf("%u,%u,%u,%u,%u,%u,%u,%u,%d\n",sb1_1,sb1_2,sb2_1,sb2_2,L2,R2,L1,R1,pot_int); |
ppr2013G2 | 1:335bce3448c3 | 491 | } |
ppr2013G2 | 1:335bce3448c3 | 492 | // sabertooth.putc(map(((ps3report*)(data+1))->LeftStickY, 0, 255, 0, 127)); |
ppr2013G2 | 1:335bce3448c3 | 493 | // sabertooth.putc(map(((ps3report*)(data+1))->LeftStickY, 0, 255, 193,254)); |
ppr2013G2 | 1:335bce3448c3 | 494 | // if (count == 24) printf("LSX LSY RSX RSY UPA RPA DPA RPA L2 R2 L1 R1 TRI CIR CRO SQU ACX ACY ACZ GYZ \r\n"); |
ppr2013G2 | 1:335bce3448c3 | 495 | // printf("%3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %4d %4d %4d %4d \r\n", |
ppr2013G2 | 1:335bce3448c3 | 496 | // _ps3report->LeftStickX, |
ppr2013G2 | 1:335bce3448c3 | 497 | // _ps3report->LeftStickY, |
ppr2013G2 | 1:335bce3448c3 | 498 | // _ps3report->RightStickX, |
ppr2013G2 | 1:335bce3448c3 | 499 | // _ps3report->RightStickY, |
ppr2013G2 | 1:335bce3448c3 | 500 | // _ps3report->PressureUp, |
ppr2013G2 | 1:335bce3448c3 | 501 | // _ps3report->PressureRight, |
ppr2013G2 | 1:335bce3448c3 | 502 | // _ps3report->PressureDown, |
ppr2013G2 | 1:335bce3448c3 | 503 | // _ps3report->PressureLeft, |
ppr2013G2 | 1:335bce3448c3 | 504 | // _ps3report->PressureL2, |
ppr2013G2 | 1:335bce3448c3 | 505 | // _ps3report->PressureR2, |
ppr2013G2 | 1:335bce3448c3 | 506 | // _ps3report->PressureL1, |
ppr2013G2 | 1:335bce3448c3 | 507 | // _ps3report->PressureR1, |
ppr2013G2 | 1:335bce3448c3 | 508 | // _ps3report->PressureTriangle, |
ppr2013G2 | 1:335bce3448c3 | 509 | // _ps3report->PressureCircle, |
ppr2013G2 | 1:335bce3448c3 | 510 | // _ps3report->PressureCross, |
ppr2013G2 | 1:335bce3448c3 | 511 | // _ps3report->PressureSquare, |
ppr2013G2 | 1:335bce3448c3 | 512 | // (_ps3report->AccelX), |
ppr2013G2 | 1:335bce3448c3 | 513 | // (_ps3report->AccelY), |
ppr2013G2 | 1:335bce3448c3 | 514 | // (_ps3report->AccelZ), |
ppr2013G2 | 1:335bce3448c3 | 515 | // (_ps3report->GyroZ)); |
ppr2013G2 | 1:335bce3448c3 | 516 | //printfBytes("data",data,len); |
ppr2013G2 | 1:335bce3448c3 | 517 | } |
ppr2013G2 | 1:335bce3448c3 | 518 | |
ppr2013G2 | 1:335bce3448c3 | 519 |