yoka konishi / Mbed 2 deprecated a1_SPI_master_arm_shudouki

手動機アーム、mbed基盤のspiをおくるだけのプログラムです（9/4）

Dependencies:   SPI_master_arm_shudouki mbed

Fork of SPI_master_arm_shudouki２ by F^3 RC 2班

User.cpp@0:76d1c7f13415, 2017-08-21 (annotated)

Committer:
yoka06
Date:
Mon Aug 21 08:49:06 2017 +0000
Revision:
0:76d1c7f13415
Child:
1:5b008a48a49c
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yoka06 0:76d1c7f13415 1 #include "Utils.h"
yoka06 0:76d1c7f13415 2 #include "USBHost.h"
yoka06 0:76d1c7f13415 3 #include "hci.h"
yoka06 0:76d1c7f13415 4 #include "ps3.h"
yoka06 0:76d1c7f13415 5 #include "User.h"
yoka06 0:76d1c7f13415 6
yoka06 0:76d1c7f13415 7 #include "rc-servo.h"
yoka06 0:76d1c7f13415 8 #include "motor_1.h"
yoka06 0:76d1c7f13415 9 #include "motor_2.h"
yoka06 0:76d1c7f13415 10
yoka06 0:76d1c7f13415 11 #include "mbed.h"
yoka06 0:76d1c7f13415 12 int RSX,RSY,LSX,LSY,BSU,BSL;
yoka06 0:76d1c7f13415 13 int a,b,c,d,e,f,g,h;
yoka06 0:76d1c7f13415 14 int send=0;
yoka06 0:76d1c7f13415 15
yoka06 0:76d1c7f13415 16
yoka06 0:76d1c7f13415 17
yoka06 0:76d1c7f13415 18 //これより下に関数外に書く要素を記入する
yoka06 0:76d1c7f13415 19 PwmOut led1(LED1);
yoka06 0:76d1c7f13415 20 PwmOut led2(LED2);
yoka06 0:76d1c7f13415 21 DigitalOut led3(LED3);
yoka06 0:76d1c7f13415 22 DigitalOut led4(LED4);
yoka06 0:76d1c7f13415 23
yoka06 0:76d1c7f13415 24 SPI spi(p5,p6,p7);
yoka06 0:76d1c7f13415 25 DigitalOut cs(p8);
yoka06 0:76d1c7f13415 26
yoka06 0:76d1c7f13415 27 void UserLoopSetting()
yoka06 0:76d1c7f13415 28 {
yoka06 0:76d1c7f13415 29 //一度だけ行いたい初期設定をここに書く
yoka06 0:76d1c7f13415 30 led1.period_ms(20);
yoka06 0:76d1c7f13415 31 }
yoka06 0:76d1c7f13415 32
yoka06 0:76d1c7f13415 33 void UserLoop(char n,const u8* data)
yoka06 0:76d1c7f13415 34 {
yoka06 0:76d1c7f13415 35 u16 ButtonState;
yoka06 0:76d1c7f13415 36 if(n==0) { //有線Ps3USB.cpp
yoka06 0:76d1c7f13415 37 RSX = ((ps3report*)data)->RightStickX;
yoka06 0:76d1c7f13415 38 RSY = ((ps3report*)data)->RightStickY;
yoka06 0:76d1c7f13415 39 LSX = ((ps3report*)data)->LeftStickX;
yoka06 0:76d1c7f13415 40 LSY = ((ps3report*)data)->LeftStickY;
yoka06 0:76d1c7f13415 41 BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff);
yoka06 0:76d1c7f13415 42 BSL = (u8)(((ps3report*)data)->ButtonState >> 8);
yoka06 0:76d1c7f13415 43 //ボタンの処理
yoka06 0:76d1c7f13415 44 ButtonState = ((ps3report*)data)->ButtonState;
yoka06 0:76d1c7f13415 45 } else {//無線TestShell.cpp
yoka06 0:76d1c7f13415 46 RSX = ((ps3report*)(data + 1))->RightStickX;
yoka06 0:76d1c7f13415 47 RSY = ((ps3report*)(data + 1))->RightStickY;
yoka06 0:76d1c7f13415 48 LSX = ((ps3report*)(data + 1))->LeftStickX;
yoka06 0:76d1c7f13415 49 LSY = ((ps3report*)(data + 1))->LeftStickY;
yoka06 0:76d1c7f13415 50 BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff);
yoka06 0:76d1c7f13415 51 BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8);
yoka06 0:76d1c7f13415 52 //ボタンの処理
yoka06 0:76d1c7f13415 53 ButtonState = ((ps3report*)(data + 1))->ButtonState;
yoka06 0:76d1c7f13415 54 }
yoka06 0:76d1c7f13415 55 //ここより下にプログラムを書く
yoka06 0:76d1c7f13415 56
yoka06 0:76d1c7f13415 57 spi.format(8,3);
yoka06 0:76d1c7f13415 58 spi.frequency(1000000);
yoka06 0:76d1c7f13415 59
yoka06 0:76d1c7f13415 60 send =a+b+c+d+e+f+g+h;
yoka06 0:76d1c7f13415 61
yoka06 0:76d1c7f13415 62
yoka06 0:76d1c7f13415 63 // a= 0b1
yoka06 0:76d1c7f13415 64 // b= 0b10
yoka06 0:76d1c7f13415 65 // c= 0b100
yoka06 0:76d1c7f13415 66 // d= 0b1000
yoka06 0:76d1c7f13415 67 // e= 0b10000
yoka06 0:76d1c7f13415 68 // f= 0b100000
yoka06 0:76d1c7f13415 69 // g= 0b1000000
yoka06 0:76d1c7f13415 70 // h= 0b10000000
yoka06 0:76d1c7f13415 71
yoka06 0:76d1c7f13415 72 while(1) {
yoka06 0:76d1c7f13415 73
yoka06 0:76d1c7f13415 74 if((ButtonState >> BUTTONUP)&1 == 1) { // ▲で燃料用アーム展開
yoka06 0:76d1c7f13415 75 a= 0b1;
yoka06 0:76d1c7f13415 76 } else {
yoka06 0:76d1c7f13415 77 a= 0;
yoka06 0:76d1c7f13415 78 }
yoka06 0:76d1c7f13415 79
yoka06 0:76d1c7f13415 80 if((ButtonState >> BUTTONTRIANGEL)&1 == 1) { // △で燃料回収
yoka06 0:76d1c7f13415 81 b= 0b10;
yoka06 0:76d1c7f13415 82 } else {
yoka06 0:76d1c7f13415 83 b= 0 ;
yoka06 0:76d1c7f13415 84 }
yoka06 0:76d1c7f13415 85
yoka06 0:76d1c7f13415 86 if((ButtonState >> BUTTONLEFT)&1 == 1) { // ◀で燃料掃き出し
yoka06 0:76d1c7f13415 87 c= 0b100;
yoka06 0:76d1c7f13415 88 } else {
yoka06 0:76d1c7f13415 89 c= 0;
yoka06 0:76d1c7f13415 90 }
yoka06 0:76d1c7f13415 91
yoka06 0:76d1c7f13415 92 if((ButtonState >> BUTTONCIRCLE)&1 == 1) { // 〇でタンク回収
yoka06 0:76d1c7f13415 93 d= 0b1000;
yoka06 0:76d1c7f13415 94 } else {
yoka06 0:76d1c7f13415 95 d= 0;
yoka06 0:76d1c7f13415 96 }
yoka06 0:76d1c7f13415 97
yoka06 0:76d1c7f13415 98 if((ButtonState >> BUTTONRIGHT)&1 == 1) { // ‣でタンク掃き出し
yoka06 0:76d1c7f13415 99 e= 0b10000;
yoka06 0:76d1c7f13415 100 } else {
yoka06 0:76d1c7f13415 101 e= 0;
yoka06 0:76d1c7f13415 102 }
yoka06 0:76d1c7f13415 103
yoka06 0:76d1c7f13415 104 if((ButtonState >> BUTTONDOWN)&1 == 1) { // ▼で待機
yoka06 0:76d1c7f13415 105 f= 0b100000;
yoka06 0:76d1c7f13415 106 } else {
yoka06 0:76d1c7f13415 107 f= 0;
yoka06 0:76d1c7f13415 108 }
yoka06 0:76d1c7f13415 109
yoka06 0:76d1c7f13415 110 if((ButtonState >> BUTTONCROSS)&1 == 1) { // ×でサンプル受け取り
yoka06 0:76d1c7f13415 111 g= 0b1000000;
yoka06 0:76d1c7f13415 112 } else {
yoka06 0:76d1c7f13415 113 g= 0;
yoka06 0:76d1c7f13415 114 }
yoka06 0:76d1c7f13415 115
yoka06 0:76d1c7f13415 116 if((ButtonState >> BUTTONSQUARE)&1 == 1) { // □でサンプル設置
yoka06 0:76d1c7f13415 117 h= 0b10000000;
yoka06 0:76d1c7f13415 118 } else {
yoka06 0:76d1c7f13415 119 h= 0;
yoka06 0:76d1c7f13415 120 }
yoka06 0:76d1c7f13415 121
yoka06 0:76d1c7f13415 122 cs= 0;
yoka06 0:76d1c7f13415 123 spi.write(send);
yoka06 0:76d1c7f13415 124 cs= 1;
yoka06 0:76d1c7f13415 125 printf("%d\r\n",send);
yoka06 0:76d1c7f13415 126
yoka06 0:76d1c7f13415 127 }
yoka06 0:76d1c7f13415 128 }