Diff: main.cpp

Revision:

0:d83a0eaeb1d9

Child:

1:79522b611923

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 05 10:37:51 2020 +0000
@@ -0,0 +1,80 @@
+#include "mbed.h"
+#include "string"
+#define INT_TIME 0.02
+
+
+Ticker timer;
+RawSerial pc(USBTX,USBRX,115200);
+RawSerial Master(D5,D4,115200);
+
+DigitalIn sw2(D2);
+DigitalIn sw3(D3);
+DigitalIn sw6(D6);
+DigitalIn sw7(D7);
+DigitalIn sw8(D8);
+DigitalIn sw9(D9);
+DigitalIn sw10(D10);
+
+AnalogIn joyR_x(A6);
+AnalogIn joyR_y(A5);
+AnalogIn joyL_x(A4);
+AnalogIn joyL_y(A3);
+
+bool per_rotR, pre_rotL, pre_up, pre_down, pre_handR, pre_handL, pre_other;
+
+bool sw_in(int sw, int pre_sw){
+    bool rt_sw;
+    if (sw == true && pre_sw == false) rt_sw = true;
+    else rt_sw = false;
+    return rt_sw;
+}
+
+void timer_warikomi(){
+    
+    double d_joyx = joyR_x.read();
+    double d_joyy = joyR_y.read();
+    
+    bool rotR = sw2.read();
+    bool rotL = sw3.read();
+    bool up = sw6.read();
+    bool down = sw7.read();
+    bool handR = sw8.read();
+    bool handL = sw9.read();
+    bool other = sw10.read();
+    
+    char buttons = 0b00000000;
+    
+    if(sw_in(up,pre_up))       buttons |= 0b00000001;
+    if(sw_in(down,pre_down))   buttons |= 0b00000010;
+    if(sw_in(handR,pre_handR)) buttons |= 0b00000100;
+    if(sw_in(handL,pre_handL)) buttons |= 0b00001000;
+    if(sw_in(other,pre_other)) buttons |= 0b00010000;
+    
+    char joyx = char(int(255.0 * d_joyx));
+    char joyy = char(int(255.0 * d_joyy));
+    char rot  = char(127 + 100*sw_in(rotR,per_rotR)- 100*sw_in(rotL,pre_rotL));
+    
+    pc.printf("%c%c%c%c\n",joyx,joyy,rot,buttons);
+    
+    Master.putc(joyx);
+    Master.putc(joyy);
+    Master.putc(rot);
+    Master.putc(buttons);
+    Master.putc('\n');
+    
+    per_rotR = rotR;
+    pre_rotL = rotL;
+    pre_up = up;
+    pre_down = down;
+    pre_handR = handR;
+    pre_handL = handL;
+    pre_other = other;
+}
+
+int main()
+{
+    
+    timer.attach(&timer_warikomi,INT_TIME);
+    
+    while(true) {}
+}