main.cpp

00001 /**
00002  * StarBoard Orange - Example application No.3 (Version 0.0.1)
00003  * Drive a CHORO Q HYBRID with wii nunchuk
00004  *
00005  * See also ... http://mbed.org/users/shintamainjp/notebook/starboard_example3_ja/
00006  * See also ... http://mbed.org/users/shintamainjp/notebook/starboard_example3_en/
00007  *
00008  * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
00009  * http://shinta.main.jp/
00010  */
00011 
00012 /*
00013  * Connection map.
00014  *
00015  * +---+----------------+---------+
00016  * |Pin|Target          |Direction|
00017  * +---+----------------+---------+
00018  * |p21|IR transmitter  |OUT      |
00019  * +---+----------------+---------+
00020  */
00021 
00022 /*
00023  * Include files.
00024  */
00025 
00026 #include <mbed.h>
00027 #include <algorithm>
00028 #include <ChoroQ.h>
00029 #include <I2CConfig.h>
00030 #include <WiiNunchuckReader.h>
00031 #include "appconf.h"
00032 
00033 /*
00034  * Objects.
00035  */
00036 
00037 WiiNunchuckReader wn1(I2CPort_A::SDA, I2CPort_A::SCL);
00038 WiiNunchuckReader wn2(I2CPort_B::SDA, I2CPort_B::SCL);
00039 ChoroQ cq(p21);
00040 BusOut led(LED4, LED3, LED2, LED1);
00041 
00042 /**
00043  * Display a splash screen.
00044  */
00045 void splash(void) {
00046     // Do nothing.
00047 }
00048 
00049 /**
00050  * Get an action from a coordinate.
00051  *
00052  * @param x X axis.
00053  * @param y Y axis.
00054  * @param dash State of dash.
00055  *
00056  * @return An action.
00057  */
00058 ChoroQ::Action getAction(const int x, const int y, bool dash) {
00059     static const int MAX_X = 200;
00060     static const int MIN_X = 20;
00061     static const int MAX_Y = 200;
00062     static const int MIN_Y = 20;
00063     int px = ((x - MIN_X) * 100) / (MAX_X - MIN_X);
00064     int py = ((y - MIN_Y) * 100) / (MAX_Y - MIN_Y);
00065     px = std::max(0, std::min(100, px)) - 50;   // Range of a value is -50 to +50
00066     py = std::max(0, std::min(100, py)) - 50;   // Range of a value is -50 to +50
00067 
00068     if ((std::abs(px) <= 10) && (std::abs(py) <= 10)) {
00069         return ChoroQ::Stop;
00070     }
00071 
00072     if ((x == 0) && (y == 0)) {
00073         return ChoroQ::Stop;
00074     }
00075 
00076     if (std::abs(px) < 10) {
00077         if (py < 0) {
00078             if (dash) {
00079                 return ChoroQ::DownDash;
00080             } else {
00081                 return ChoroQ::Down;
00082             }
00083         } else {
00084             if (dash) {
00085                 return ChoroQ::UpDash;
00086             } else {
00087                 return ChoroQ::Up;
00088             }
00089         }
00090     }
00091     if (std::abs(py) < 10) {
00092         if (px < -20) {
00093             return ChoroQ::Left;
00094         }
00095         if (20 < px) {
00096             return ChoroQ::Right;
00097         }
00098     }
00099     if ((10 < px) && (10 < py)) {
00100         if (dash) {
00101             return ChoroQ::UpRightDash;
00102         } else {
00103             return ChoroQ::UpRight;
00104         }
00105     }
00106     if ((px < -10) && (10 < py)) {
00107         if (dash) {
00108             return ChoroQ::UpLeftDash;
00109         } else {
00110             return ChoroQ::UpLeft;
00111         }
00112     }
00113     if ((px < -10) && (py < -10)) {
00114         if (dash) {
00115             return ChoroQ::DownLeftDash;
00116         } else {
00117             return ChoroQ::DownLeft;
00118         }
00119     }
00120     if ((10 < px) && (py < -10)) {
00121         if (dash) {
00122             return ChoroQ::DownRightDash;
00123         } else {
00124             return ChoroQ::DownRight;
00125         }
00126     }
00127     return ChoroQ::Stop;
00128 }
00129 
00130 /**
00131  * Entry point.
00132  */
00133 int main() {
00134     /*
00135      * Splash.
00136      */
00137     splash();
00138 
00139     /*
00140      * Setup a configuration.
00141      */
00142     appconf_t conf;
00143     appconf_init(&conf);
00144     if (appconf_read(&conf) != 0) {
00145         error("Please check the configuration.");
00146     }
00147 
00148     /*
00149      * Application loop.
00150      */
00151     while (true) {
00152         led = led + 1;
00153         wn1.RequestRead();
00154         ChoroQ::Action ac1 = getAction(wn1.getJoyX(), wn1.getJoyY(), (wn1.getButtonZ() == 1) ? true : false);
00155         cq.execute(conf.ch1, ac1, false);
00156         wait_ms(25);
00157 
00158         led = led + 1;
00159         wn2.RequestRead();
00160         ChoroQ::Action ac2 = getAction(wn2.getJoyX(), wn2.getJoyY(), (wn2.getButtonZ() == 1) ? true : false);
00161         cq.execute(conf.ch2, ac2, false);
00162         wait_ms(25);
00163     }
00164 }