Diff: main.cpp

Revision:

0:127b9ca59547

Child:

1:03c8bc666945

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Aug 24 11:58:09 2010 +0000
@@ -0,0 +1,178 @@
+/**
+ * StarBoard Orange - Example application No.3 (Version 0.0.1)
+ * Drive a CHORO Q HYBRID with wii nunchuk
+ *
+ * See also ... http://mbed.org/users/shintamainjp/notebook/starboard_example3_ja/
+ * See also ... http://mbed.org/users/shintamainjp/notebook/starboard_example3_en/
+ *
+ * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
+ * http://shinta.main.jp/
+ */
+ 
+#include <mbed.h>
+#include <algorithm>
+#include <RemoteIR.h>
+#include <TransmitterIR.h>
+#include <I2CConfig.h>
+#include <WiiNunchuckReader.h>
+#include <TextLCD.h>
+#include "ChoroQ.h"
+
+WiiNunchuckReader wn(I2CPort_A::SDA, I2CPort_A::SCL);
+ChoroQ cq(p21, ChoroQ::ChC);
+TextLCD lcd(p24, p26, p27, p28, p29, p30);
+BusOut led(LED4, LED3, LED2, LED1);
+
+ChoroQ::Action getAction(const int x, const int y, bool dash) {
+    static const int MAX_X = 200;
+    static const int MIN_X = 20;
+    static const int MAX_Y = 200;
+    static const int MIN_Y = 20;
+    int px = ((x - MIN_X) * 100) / (MAX_X - MIN_X);
+    int py = ((y - MIN_Y) * 100) / (MAX_Y - MIN_Y);
+    px = std::max(0, std::min(100, px)) - 50;   // Range of a value is -50 to +50
+    py = std::max(0, std::min(100, py)) - 50;   // Range of a value is -50 to +50
+
+    if ((std::abs(px) <= 10) && (std::abs(py) <= 10)) {
+        return ChoroQ::Stop;
+    }
+
+    if (std::abs(px) < 10) {
+        if (py < 0) {
+            if (dash) {
+                return ChoroQ::DownDash;
+            } else {
+                return ChoroQ::Down;
+            }
+        } else {
+            if (dash) {
+                return ChoroQ::UpDash;
+            } else {
+                return ChoroQ::Up;
+            }
+        }
+    }
+    if (std::abs(py) < 10) {
+        if (px < -20) {
+#if 0
+            return ChoroQ::Left;
+#else
+        if (dash) {
+            return ChoroQ::UpLeftDash;
+        } else {
+            return ChoroQ::UpLeft;
+        }
+#endif
+        }
+        if (20 < px) {
+#if 0
+            return ChoroQ::Right;
+#else
+        if (dash) {
+            return ChoroQ::UpRightDash;
+        } else {
+            return ChoroQ::UpRight;
+        }
+#endif
+        }
+    }
+    if ((10 < px) && (10 < py)) {
+        if (dash) {
+            return ChoroQ::UpRightDash;
+        } else {
+            return ChoroQ::UpRight;
+        }
+    }
+    if ((px < -10) && (10 < py)) {
+        if (dash) {
+            return ChoroQ::UpLeftDash;
+        } else {
+            return ChoroQ::UpLeft;
+        }
+    }
+    if ((px < -10) && (py < -10)) {
+        if (dash) {
+            return ChoroQ::DownLeftDash;
+        } else {
+            return ChoroQ::DownLeft;
+        }
+    }
+    if ((10 < px) && (py < -10)) {
+        if (dash) {
+            return ChoroQ::DownRightDash;
+        } else {
+            return ChoroQ::DownRight;
+        }
+    }
+    return ChoroQ::Stop;
+}
+
+int main() {
+    lcd.cls();
+    while (true) {
+        wn.RequestRead();
+
+        ChoroQ::Action ac = getAction(wn.getJoyX(), wn.getJoyY(), (wn.getButtonZ() == 1) ? true : false);
+        cq.execute(ac);
+
+        lcd.locate(0, 0);
+        lcd.printf("(%3d,%3d) %-6.6s", wn.getJoyX(), wn.getJoyY(), ((wn.getButtonZ() == 1) ? "-Dash-" : "      "));
+
+        lcd.locate(0, 1);
+        switch (ac) {
+            case ChoroQ::Undef:
+                lcd.printf("%-16.16s", "Undef");
+                break;
+            case ChoroQ::Up:
+                lcd.printf("%-16.16s", "Up");
+                break;
+            case ChoroQ::Down:
+                lcd.printf("%-16.16s", "Down");
+                break;
+            case ChoroQ::Left:
+                lcd.printf("%-16.16s", "Left");
+                break;
+            case ChoroQ::Right:
+                lcd.printf("%-16.16s", "Right");
+                break;
+            case ChoroQ::UpDash:
+                lcd.printf("%-16.16s", "UpDash");
+                break;
+            case ChoroQ::UpLeft:
+                lcd.printf("%-16.16s", "UpLeft");
+                break;
+            case ChoroQ::UpRight:
+                lcd.printf("%-16.16s", "UpRight");
+                break;
+            case ChoroQ::UpRightDash:
+                lcd.printf("%-16.16s", "UpRightDash");
+                break;
+            case ChoroQ::UpLeftDash:
+                lcd.printf("%-16.16s", "UpLeftDash");
+                break;
+            case ChoroQ::DownLeft:
+                lcd.printf("%-16.16s", "DownLeft");
+                break;
+            case ChoroQ::DownRight:
+                lcd.printf("%-16.16s", "DownRight");
+                break;
+            case ChoroQ::DownDash:
+                lcd.printf("%-16.16s", "DownDash");
+                break;
+            case ChoroQ::DownLeftDash:
+                lcd.printf("%-16.16s", "DownLeftDash");
+                break;
+            case ChoroQ::DownRightDash:
+                lcd.printf("%-16.16s", "DownRightDash");
+                break;
+            case ChoroQ::Stop:
+                lcd.printf("%-16.16s", "Stop");
+                break;
+        }
+
+        wait_ms(50);
+        led = led + 1;
+    }
+
+    return EXIT_SUCCESS;
+}