Diff: User.cpp

Revision:

0:76d1c7f13415

Child:

1:5b008a48a49c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/User.cpp	Mon Aug 21 08:49:06 2017 +0000
@@ -0,0 +1,128 @@
+#include "Utils.h"
+#include "USBHost.h"
+#include "hci.h"
+#include "ps3.h"
+#include "User.h"
+
+#include "rc-servo.h"
+#include "motor_1.h"
+#include "motor_2.h"
+
+#include "mbed.h"
+int RSX,RSY,LSX,LSY,BSU,BSL;
+int a,b,c,d,e,f,g,h;
+int send=0;
+
+
+
+//これより下に関数外に書く要素を記入する
+PwmOut led1(LED1);
+PwmOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+SPI spi(p5,p6,p7);
+DigitalOut cs(p8);
+
+void UserLoopSetting()
+{
+    //一度だけ行いたい初期設定をここに書く
+    led1.period_ms(20);
+}
+
+void UserLoop(char n,const u8* data)
+{
+    u16 ButtonState;
+    if(n==0) { //有線Ps3USB.cpp
+        RSX = ((ps3report*)data)->RightStickX;
+        RSY = ((ps3report*)data)->RightStickY;
+        LSX = ((ps3report*)data)->LeftStickX;
+        LSY = ((ps3report*)data)->LeftStickY;
+        BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff);
+        BSL = (u8)(((ps3report*)data)->ButtonState >> 8);
+        //ボタンの処理
+        ButtonState =  ((ps3report*)data)->ButtonState;
+    } else {//無線TestShell.cpp
+        RSX = ((ps3report*)(data + 1))->RightStickX;
+        RSY = ((ps3report*)(data + 1))->RightStickY;
+        LSX = ((ps3report*)(data + 1))->LeftStickX;
+        LSY = ((ps3report*)(data + 1))->LeftStickY;
+        BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff);
+        BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8);
+        //ボタンの処理
+        ButtonState =  ((ps3report*)(data + 1))->ButtonState;
+    }
+    //ここより下にプログラムを書く
+
+    spi.format(8,3);
+    spi.frequency(1000000);
+
+    send =a+b+c+d+e+f+g+h;
+
+
+    // a= 0b1
+    // b= 0b10
+    // c= 0b100
+    // d= 0b1000
+    // e= 0b10000
+    // f= 0b100000
+    // g= 0b1000000
+    // h= 0b10000000
+
+    while(1) {
+
+        if((ButtonState >> BUTTONUP)&1 == 1) { // ▲で燃料用アーム展開
+            a= 0b1;
+        } else {
+            a= 0;
+        }
+
+        if((ButtonState >> BUTTONTRIANGEL)&1 == 1) { // △で燃料回収
+            b= 0b10;
+        } else {
+            b= 0 ;
+        }
+
+        if((ButtonState >> BUTTONLEFT)&1 == 1) { // ◀で燃料掃き出し
+            c= 0b100;
+        } else {
+            c= 0;
+        }
+
+        if((ButtonState >> BUTTONCIRCLE)&1 == 1) { // 〇でタンク回収
+            d= 0b1000;
+        } else {
+            d= 0;
+        }
+
+        if((ButtonState >> BUTTONRIGHT)&1 == 1) { // ‣でタンク掃き出し
+            e= 0b10000;
+        } else {
+            e= 0;
+        }
+
+        if((ButtonState >> BUTTONDOWN)&1 == 1) { // ▼で待機
+            f= 0b100000;
+        } else {
+            f= 0;
+        }
+
+        if((ButtonState >> BUTTONCROSS)&1 == 1) { // ×でサンプル受け取り
+            g= 0b1000000;
+        } else {
+            g= 0;
+        }
+
+        if((ButtonState >> BUTTONSQUARE)&1 == 1) { // □でサンプル設置
+            h= 0b10000000;
+        } else {
+            h= 0;
+        }
+
+        cs= 0;
+        spi.write(send);
+        cs= 1;
+        printf("%d\r\n",send);
+
+    }
+}
\ No newline at end of file