knaka _
Dependents: HoverboardTest RobotArmControl
Revision 2:9652195745e8, committed 2010-12-18
- Comitter:
- knaka
- Date:
- Sat Dec 18 11:19:14 2010 +0000
- Parent:
- 1:2fde37da31b9
- Commit message:
Changed in this revision
--- a/TexLCDP.lib Tue Nov 23 05:50:09 2010 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/pom911/code/TexLCDP/#cb784b022ec8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/WiiNunchuck.cpp Sat Dec 18 11:19:14 2010 +0000
@@ -0,0 +1,115 @@
+#include "mbed.h"
+#include "WiiNunchuck.h"
+
+WiiNunchuck::WiiNunchuck(PinName p_sda, PinName p_scl):i2c(p_sda, p_scl)
+{
+ WiiNunInitFlag = init();
+ timer.start();
+}
+
+
+bool WiiNunchuck::init()
+{
+ bool result = false;
+ unsigned char cmd[] = {NUNCHUCK_REGADDR, 0x00};
+ if (i2c.write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd)) == I2C_ACK) {
+ result = true;
+ }
+ return result;
+}
+
+
+void WiiNunchuck::read()
+{
+ int i;
+
+ if(timer.read_ms() < 50) return;
+
+ if(!WiiNunInitFlag) {
+ WiiNunInitFlag = init();
+ }
+
+ if(WiiNunInitFlag) {
+ const unsigned char cmd[] = {0x00};
+ if (i2c.write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd)) == I2C_ACK) {
+ wait(I2C_READ_DELAY);
+ if (i2c.read(NUNCHUCK_ADDR, readBuf, sizeof(readBuf)) == I2C_ACK) {
+ for(i = 0; i < NUNCHUCK_READLEN; ++i) {
+ readBuf[i] = (readBuf[i] ^ 0x17) + 0x17;
+ }
+ joyX = readBuf[Joy_X];
+ joyY = readBuf[Joy_Y];
+ accX = readBuf[Acc_X] << 2;
+ accY = readBuf[Acc_Y] << 2;
+ accZ = readBuf[Acc_Z] << 2;
+
+ if(readBuf[Button] & 0x01) {
+ buttonZ = 0;
+ } else {
+ buttonZ = 1;
+ }
+ if(readBuf[Button] & 0x02) {
+ buttonC = 0;
+ } else {
+ buttonC = 1;
+ }
+ if(readBuf[Button] & 0x04) accX += 1;
+ if(readBuf[Button] & 0x08) accX += 2;
+ if(readBuf[Button] & 0x10) accY += 1;
+ if(readBuf[Button] & 0x20) accY += 2;
+ if(readBuf[Button] & 0x40) accZ += 1;
+ if(readBuf[Button] & 0x80) accZ += 2;
+ }
+ }
+ }
+ timer.reset();
+}
+
+
+unsigned char WiiNunchuck::joyx()
+{
+ read();
+ return joyX;
+}
+
+
+unsigned char WiiNunchuck::joyy()
+{
+ read();
+ return joyY;
+}
+
+
+int WiiNunchuck::accx()
+{
+ read();
+ return accX;
+}
+
+
+int WiiNunchuck::accy()
+{
+ read();
+ return accY;
+}
+
+
+int WiiNunchuck::accz()
+{
+ read();
+ return accZ;
+}
+
+
+bool WiiNunchuck::buttonc()
+{
+ read();
+ return buttonC;
+}
+
+
+bool WiiNunchuck::buttonz()
+{
+ read();
+ return buttonZ;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/WiiNunchuck.h Sat Dec 18 11:19:14 2010 +0000
@@ -0,0 +1,44 @@
+#ifndef WII_NUNCHUCK_H
+#define WII_NUNCHUCK_H
+
+#include "mbed.h"
+
+// I2C
+#define NUNCHUCK_ADDR 0xA4 // 0x52 << 1
+#define NUNCHUCK_REGADDR 0x40 //
+#define NUNCHUCK_READLEN 0x06 //
+#define I2C_ACK 0
+#define I2C_READ_DELAY 0.01
+
+#define Joy_X 0
+#define Joy_Y 1
+#define Acc_X 2
+#define Acc_Y 3
+#define Acc_Z 4
+#define Button 5
+
+class WiiNunchuck {
+public:
+ WiiNunchuck(PinName p_sda, PinName p_scl);
+ //read();
+ unsigned char joyx();
+ unsigned char joyy();
+ int accx();
+ int accy();
+ int accz();
+ bool buttonc();
+ bool buttonz();
+private:
+ I2C i2c;
+ Timer timer;
+ bool WiiNunInitFlag; //= false;
+ char readBuf[NUNCHUCK_READLEN];
+ unsigned char joyX, joyY;
+ int accX, accY, accZ;
+ bool buttonC, buttonZ;
+ bool init();
+ void read();
+};
+
+
+#endif
\ No newline at end of file
--- a/main.cpp Tue Nov 23 05:50:09 2010 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,92 +0,0 @@
-//
-// WiiNunchuck
-//
-
-#include "mbed.h"
-#include "TextLCD.h"
-
-// I2C
-#define NUNCHUCK_ADDR 0xA4 // 0x52 << 1
-#define NUNCHUCK_REGADDR 0x40 //
-#define NUNCHUCK_READLEN 0x06 //
-#define I2C_ACK 0
-#define I2C_READ_DELAY 0.01
-
-#define Joy_X 0
-#define Joy_Y 1
-#define Acc_X 2
-#define Acc_Y 3
-#define Acc_Z 4
-#define Button 5
-
-bool WiiNunInitFlag = false;
-int joyX = 0, joyY = 0, accX = 0, accY = 0, accZ = 0, buttonC = 0, buttonZ = 0;
-char readBuf[NUNCHUCK_READLEN];
-I2C WiiNun(p9, p10);
-
-TextLCD lcd(p24, p26, p27, p28, p29, p30);
-
-bool WiiNunInit()
-{
- bool result = false;
- unsigned char cmd[] = {NUNCHUCK_REGADDR, 0x00};
- if (WiiNun.write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd)) == I2C_ACK) {
- result = true;
- }
- return result;
-}
-
-void WiiNunRead()
-{
- int i;
-
- if(!WiiNunInitFlag) {
- WiiNunInitFlag = WiiNunInit();
- }
-
- if(WiiNunInitFlag) {
- const unsigned char cmd[] = {0x00};
- if (WiiNun.write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd)) == I2C_ACK) {
- wait(I2C_READ_DELAY);
- if (WiiNun.read(NUNCHUCK_ADDR, readBuf, sizeof(readBuf)) == I2C_ACK) {
- for(i = 0; i < NUNCHUCK_READLEN; ++i) {
- readBuf[i] = (readBuf[i] ^ 0x17) + 0x17;
- }
- joyX = readBuf[Joy_X];
- joyY = readBuf[Joy_Y];
- accX = readBuf[Acc_X] << 2;
- accY = readBuf[Acc_Y] << 2;
- accZ = readBuf[Acc_Z] << 2;
-
- if(readBuf[Button] & 0x01) {
- buttonZ = 0;
- } else {
- buttonZ = 1;
- }
- if(readBuf[Button] & 0x02) {
- buttonC = 0;
- } else {
- buttonC = 1;
- }
- if(readBuf[Button] & 0x04) accX += 1;
- if(readBuf[Button] & 0x08) accX += 2;
- if(readBuf[Button] & 0x10) accY += 1;
- if(readBuf[Button] & 0x20) accY += 2;
- if(readBuf[Button] & 0x40) accZ += 1;
- if(readBuf[Button] & 0x80) accZ += 2;
- }
- }
- }
-}
-
-
-int main() {
- while(1) {
- WiiNunRead();
- lcd.cls();
- lcd.printf("x%3d y%3d c%1d z%1d", joyX, joyY, buttonC, buttonZ);
- lcd.locate(0, 1);
- lcd.printf("x%d y%d z%d", accX, accY, accZ);
- wait(0.1);
- }
-}
--- a/mbed.bld Tue Nov 23 05:50:09 2010 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e