File content as of revision 0:76d1c7f13415:

#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);

    }
}