Junichi Katsu / Mbed 2 deprecated WallbotTypeN

うおーるぼっと用プログラム Wiiリモコンからのダイレクト操作モードのみ BlueUSBをベースに使用しています。

Dependencies:   BD6211F mbed

main.cpp@0:425791fe4b42, 2011-05-01 (annotated)

Committer:
jksoft
Date:
Sun May 01 11:12:52 2011 +0000
Revision:
0:425791fe4b42

        

        
Who changed what in which revision?

        

            
                
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/*





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Copyright (c) 2011 JKSOFT





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Permission is hereby granted, free of charge, to any person obtaining a copy





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of this software and associated documentation files (the "Software"), to deal





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in the Software without restriction, including without limitation the rights





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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell





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copies of the Software, and to permit persons to whom the Software is





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furnished to do so, subject to the following conditions:





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The above copyright notice and this permission notice shall be included in





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all copies or substantial portions of the Software.





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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR





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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,





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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE





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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER





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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,





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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN





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THE SOFTWARE.





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*/





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#include "mbed.h"





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#include "USBHost.h"





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#include "Utils.h"





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#include "BD6211F.h"





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#include "Wiimote.h"





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// ----- Wallbot I/O Setting ----- 





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// Motor





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BD6211F      RightMotor(p21,p22);





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BD6211F      LeftMotor(p23,p24);





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// Direct control mode





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int DirectMode( Wiimote* wii, int stat )





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{





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    int ret = stat;





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    if( wii->left )





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    {





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        RightMotor = 1.0;





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        LeftMotor = -1.0;





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    }





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    else if( wii->right )





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    {





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        RightMotor = -1.0;





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        LeftMotor = 1.0;





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    }    





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    else if( wii->up )





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    {





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        RightMotor = 1.0;





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        LeftMotor = 1.0;





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    }





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    else if( wii->down )





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    {





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        RightMotor = -1.0;





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        LeftMotor = -1.0;





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    }





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    else





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    {





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        RightMotor = 0.0;





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        LeftMotor = 0.0;





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    }





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    float factor = wii->wheel / 150.0f; 





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    float left_factor = (factor >= 0.0) ? 1.0 : 1.0 - (-factor);





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    float right_factor = (factor <= 0.0) ? 1.0 : 1.0 - factor;





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    if( wii->one )





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    {





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        RightMotor = right_factor;





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        LeftMotor = left_factor;





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    }





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    if( wii->two )





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    {





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        RightMotor = -left_factor;





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        LeftMotor = -right_factor;





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    }





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    return(ret);





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}





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// Processing when receiving it from Wiiremote





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int wall_bot_remote(char *c,int stat)





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{





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    Wiimote wii;





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    int ret = stat;





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    wii.decode(c);





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    ret = DirectMode( &wii ,ret );





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    return(ret);





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}





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int GetConsoleChar()





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{





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    return(0);





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}





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int OnDiskInsert(int device)





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{





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    return(0);





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}





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int main()





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{





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    // USB Init is done for Bluetooth





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    USBInit();





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    while(1)





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    {





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       // USB Processing is done for Bluetooth





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       USBLoop();





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    }





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}