Junichi Katsu
ロボコンマガジン 2013年1月号に掲載されている 「第３回お手軽mbedではじめるロボットプロトタイピング」 で紹介しているうおーるぼっとをマウスで動かすプログラムです。
Dependencies: FatFileSystem TB6612FNG2 mbed
Fork of
BlueUSB
by 
Peter Barrett
Revision 1:2526b2c89256, committed 2012-12-14
- Comitter:
- jksoft
- Date:
- Fri Dec 14 03:34:00 2012 +0000
- Parent:
- 0:606b230e5b4a
- Commit message:
- Rev1
Changed in this revision
--- a/AutoEvents.cpp Sat Apr 10 00:30:24 2010 +0000
+++ b/AutoEvents.cpp Fri Dec 14 03:34:00 2012 +0000
@@ -24,6 +24,7 @@
#include "mbed.h"
#include "USBHost.h"
#include "Utils.h"
+#include "TB6612.h"
#define AUTOEVT(_class,_subclass,_protocol) (((_class) << 16) | ((_subclass) << 8) | _protocol)
#define AUTO_KEYBOARD AUTOEVT(CLASS_HID,1,1)
@@ -33,8 +34,12 @@
u8 auto_keyboard[8]; // modifiers,reserved,keycode1..keycode6
u8 auto_joystick[4]; // x,y,buttons,throttle
+TB6612 left(p21,p12,p11);
+TB6612 right(p22,p14,p13);
+
void AutoEventCallback(int device, int endpoint, int status, u8* data, int len, void* userData)
{
+ static int speed = 100;
int evt = (int)userData;
switch (evt)
{
@@ -47,6 +52,31 @@
default:
printf("HUH ");
}
+
+ if( (data[0] & 0x01) != 0 )
+ {
+ left = speed;
+ }
+ else
+ {
+ left = 0;
+ }
+ if( (data[0] & 0x02) != 0 )
+ {
+ right = speed;
+ }
+ else
+ {
+ right = 0;
+ }
+
+ speed = speed + (signed char)data[3];
+
+ if( speed > 100 ) speed = 100;
+ if( speed < -100 ) speed = -100;
+
+ printf("speed = %d ",speed);
+
printfBytes("data",data,len);
USBInterruptTransfer(device,endpoint,data,len,AutoEventCallback,userData);
}
--- a/FATFileSystem.lib Sat Apr 10 00:30:24 2010 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/mbed_unsupported/code/fatfilesystem/ \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FatFileSystem.lib Fri Dec 14 03:34:00 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/AdamGreen/code/FatFileSystem/#6ceefe1c53e4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TB6612FNG2.lib Fri Dec 14 03:34:00 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/jksoft/code/TB6612FNG2/#051a7ecff13e