Diff: Ps3USB.cpp

Revision:

1:b2063ffa4927

Parent:

0:99a111b75cb4

--- a/Ps3USB.cpp	Tue Apr 26 16:09:17 2011 +0000
+++ b/Ps3USB.cpp	Thu Jan 11 07:47:26 2018 +0000
@@ -36,10 +36,61 @@
 #define AUTOEVT(_class,_subclass,_protocol) (((_class) << 16) | ((_subclass) << 8) | _protocol)
 #define PS3EVT AUTOEVT(CLASS_HID,0,0)
 #define byteswap(x) ((x >> 8) | (x << 8))
+#define device_baud 115200      //上のマイコンにするバンド数
+#define send_device_rate 0.03   //割り込みレート
+
 
 u8 ps3_data[48];
+Serial order_device(p28,p27);//上のマイコンに反応させるための初期化宣言
 
 
+//*************追加項目ピン設定
+PwmOut led1(LED1);
+PwmOut led2(LED2);
+PwmOut led3(LED3);
+PwmOut led4(LED4);
+int joyL_x  =0;
+int joyL_y  =0;
+int joyR_x  =0;
+int joyR_y  =0;
+int L1      =0;
+int R1      =0;
+int up      =0; 
+int down    =0;
+int right   =0;
+int left    =0;
+int Xmove       =0;
+int Ymove       =0;
+int angle_omni  =0;
+
+int speed_mode    =1;
+
+void omni_move(double x_speed,double y_speed,double angle); 
+char Buf[8];
+
+
+//**************
+
+//以下項目上への指令を送るためのBuf
+/*
+void send_device(){
+    char Buf[8];
+    Buf[0] = up;
+    Buf[1] = down;
+    Buf[2] = right;
+    Buf[3] = left;
+    Buf[4] = 0;
+    Buf[5] = 0;
+    order_device.putc(Buf[0]);
+    order_device.putc(Buf[1]);
+    order_device.putc(Buf[2]);
+    order_device.putc(Buf[3]);
+    order_device.putc(Buf[4]);
+    order_device.putc(Buf[5]);
+}
+*/
+//*********まで
+
 Ps3USB::Ps3USB(int device, int configuration, int interfaceNumber)
 {
         printf("Creating new sixaxis \r\n");
@@ -211,9 +262,18 @@
         wait_ms(4);
 
     }
+    /*
+    void Connect(){
+        order_device.baud(device_baud);//上のマイコンとのbaud指定
+        tick_device.attach(&send_device,send_device_rate);//割り込み
+        }
+    */
+    
+    
     
     int ParsePs3Result(const u8* data,int len,int count)
-    {
+    {   
+        order_device.baud(device_baud);
         ps3report* _ps3report = (ps3report*)data;    
         if (count == 24) printf("LSX LSY RSX RSY UPA RPA DPA RPA L2  R2  L1  R1  TRI CIR CRO SQU  ACX  ACY  ACZ  GYZ  \r\n");
         printf("%3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %4d %4d %4d %4d \r\n",
@@ -238,6 +298,59 @@
                             (_ps3report->AccelZ),
                             (_ps3report->GyroZ));
         //printfBytes("data",data,len);
-    }
+        joyL_x  =_ps3report->LeftStickX;
+        joyL_y  =_ps3report->LeftStickY;
+        joyR_x  =_ps3report->RightStickY;
+        joyR_y  =_ps3report->RightStickX;
+        L1      =_ps3report->PressureL1;
+        R1      =_ps3report->PressureR1;
+        up      =_ps3report->PressureUp;
+        down    =_ps3report->PressureDown;
+        right   =_ps3report->PressureRight;
+        left    =_ps3report->PressureLeft;
+        
+        
+        //デットバンドの設定
+        if(120<=joyL_x&&joyL_x<=129)
+        {
+            joyL_x=126;
+            }
+        if(120<=joyL_y&&joyL_y<=129)
+        {
+            joyL_y=126;
+            }
+        if(120<=joyR_x&&joyR_x<=129)
+        {
+            joyR_x=126;
+            }
+        if(120<=joyR_y&&joyR_y<=129)
+        {
+            joyR_y=126;
+            }
+        
+        
+        //低速モードと高速モード設定
+        if(L1>=100){
+            speed_mode=2;
+            }
+        else{
+            speed_mode=20;
+            }
+        
+        
+        order_device.printf("%d,%d,%d,%d\n", up, down, right, left);
+        
+        
+        Xmove       =(joyL_x-126)*speed_mode;
+        Ymove       =(joyL_y-126)*speed_mode;
+        angle_omni  =(joyR_y-126)*speed_mode;
+        
+        omni_move(angle_omni,Ymove,Xmove);
+        led1=joyL_x/255.0;
+        led2=joyL_y/255.0;
+        led3=joyR_y/255.0;
+        
+        printf("joyL_x:%d joyL_y:%d angle_omni:%d \r\n" , Xmove, Ymove, angle_omni);
+                    }