Diff: main.cpp

Revision:

0:d825f8dae2be

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Nov 22 12:23:23 2010 +0000
@@ -0,0 +1,164 @@
+/**
+ * StarBoard Orange - Example application No.3 (Version 0.0.1)
+ * Drive a CHORO Q HYBRID with wii nunchuk
+ *
+ * See also ... http://mbed.org/users/shintamainjp/notebook/starboard_example3_ja/
+ * See also ... http://mbed.org/users/shintamainjp/notebook/starboard_example3_en/
+ *
+ * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
+ * http://shinta.main.jp/
+ */
+
+/*
+ * Connection map.
+ *
+ * +---+----------------+---------+
+ * |Pin|Target          |Direction|
+ * +---+----------------+---------+
+ * |p21|IR transmitter  |OUT      |
+ * +---+----------------+---------+
+ */
+
+/*
+ * Include files.
+ */
+
+#include <mbed.h>
+#include <algorithm>
+#include <ChoroQ.h>
+#include <I2CConfig.h>
+#include <WiiNunchuckReader.h>
+#include "appconf.h"
+
+/*
+ * Objects.
+ */
+
+WiiNunchuckReader wn1(I2CPort_A::SDA, I2CPort_A::SCL);
+WiiNunchuckReader wn2(I2CPort_B::SDA, I2CPort_B::SCL);
+ChoroQ cq(p21);
+BusOut led(LED4, LED3, LED2, LED1);
+
+/**
+ * Display a splash screen.
+ */
+void splash(void) {
+    // Do nothing.
+}
+
+/**
+ * Get an action from a coordinate.
+ *
+ * @param x X axis.
+ * @param y Y axis.
+ * @param dash State of dash.
+ *
+ * @return An action.
+ */
+ChoroQ::Action getAction(const int x, const int y, bool dash) {
+    static const int MAX_X = 200;
+    static const int MIN_X = 20;
+    static const int MAX_Y = 200;
+    static const int MIN_Y = 20;
+    int px = ((x - MIN_X) * 100) / (MAX_X - MIN_X);
+    int py = ((y - MIN_Y) * 100) / (MAX_Y - MIN_Y);
+    px = std::max(0, std::min(100, px)) - 50;   // Range of a value is -50 to +50
+    py = std::max(0, std::min(100, py)) - 50;   // Range of a value is -50 to +50
+
+    if ((std::abs(px) <= 10) && (std::abs(py) <= 10)) {
+        return ChoroQ::Stop;
+    }
+
+    if ((x == 0) && (y == 0)) {
+        return ChoroQ::Stop;
+    }
+
+    if (std::abs(px) < 10) {
+        if (py < 0) {
+            if (dash) {
+                return ChoroQ::DownDash;
+            } else {
+                return ChoroQ::Down;
+            }
+        } else {
+            if (dash) {
+                return ChoroQ::UpDash;
+            } else {
+                return ChoroQ::Up;
+            }
+        }
+    }
+    if (std::abs(py) < 10) {
+        if (px < -20) {
+            return ChoroQ::Left;
+        }
+        if (20 < px) {
+            return ChoroQ::Right;
+        }
+    }
+    if ((10 < px) && (10 < py)) {
+        if (dash) {
+            return ChoroQ::UpRightDash;
+        } else {
+            return ChoroQ::UpRight;
+        }
+    }
+    if ((px < -10) && (10 < py)) {
+        if (dash) {
+            return ChoroQ::UpLeftDash;
+        } else {
+            return ChoroQ::UpLeft;
+        }
+    }
+    if ((px < -10) && (py < -10)) {
+        if (dash) {
+            return ChoroQ::DownLeftDash;
+        } else {
+            return ChoroQ::DownLeft;
+        }
+    }
+    if ((10 < px) && (py < -10)) {
+        if (dash) {
+            return ChoroQ::DownRightDash;
+        } else {
+            return ChoroQ::DownRight;
+        }
+    }
+    return ChoroQ::Stop;
+}
+
+/**
+ * Entry point.
+ */
+int main() {
+    /*
+     * Splash.
+     */
+    splash();
+
+    /*
+     * Setup a configuration.
+     */
+    appconf_t conf;
+    appconf_init(&conf);
+    if (appconf_read(&conf) != 0) {
+        error("Please check the configuration.");
+    }
+
+    /*
+     * Application loop.
+     */
+    while (true) {
+        led = led + 1;
+        wn1.RequestRead();
+        ChoroQ::Action ac1 = getAction(wn1.getJoyX(), wn1.getJoyY(), (wn1.getButtonZ() == 1) ? true : false);
+        cq.execute(conf.ch1, ac1, false);
+        wait_ms(25);
+
+        led = led + 1;
+        wn2.RequestRead();
+        ChoroQ::Action ac2 = getAction(wn2.getJoyX(), wn2.getJoyY(), (wn2.getButtonZ() == 1) ? true : false);
+        cq.execute(conf.ch2, ac2, false);
+        wait_ms(25);
+    }
+}