stephen smitherman / Mbed 2 deprecated m3pi_BlueUSB_PS3

A compilation of code from different sources to provide support for a Playstation 3 controller via bluetooth on the m3pi.

Dependencies:   TextLCD mbed

Fork of mbed_TANK_PS3 by Yasuhiko YAMAMOTO

main.cpp@2:895f70862eb9, 2013-01-01 (annotated)

Committer:
srsmitherman
Date:
Tue Jan 01 02:10:08 2013 +0000
Revision:
2:895f70862eb9
Parent:
1:ae49669c5e92 
M3pi support

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenbumono 0:44619612f575 1 /*
kenbumono 0:44619612f575 2 Copyright (c) 2010 Peter Barrett
kenbumono 0:44619612f575 3
kenbumono 0:44619612f575 4 Permission is hereby granted, free of charge, to any person obtaining a copy
kenbumono 0:44619612f575 5 of this software and associated documentation files (the "Software"), to deal
kenbumono 0:44619612f575 6 in the Software without restriction, including without limitation the rights
kenbumono 0:44619612f575 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
kenbumono 0:44619612f575 8 copies of the Software, and to permit persons to whom the Software is
kenbumono 0:44619612f575 9 furnished to do so, subject to the following conditions:
kenbumono 0:44619612f575 10
kenbumono 0:44619612f575 11 The above copyright notice and this permission notice shall be included in
kenbumono 0:44619612f575 12 all copies or substantial portions of the Software.
kenbumono 0:44619612f575 13
kenbumono 0:44619612f575 14 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
kenbumono 0:44619612f575 15 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
kenbumono 0:44619612f575 16 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
kenbumono 0:44619612f575 17 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
kenbumono 0:44619612f575 18 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
kenbumono 0:44619612f575 19 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
kenbumono 0:44619612f575 20 THE SOFTWARE.
kenbumono 0:44619612f575 21 */
kenbumono 0:44619612f575 22
kenbumono 0:44619612f575 23 #include "mbed.h"
kenbumono 0:44619612f575 24 #include "USBHost.h"
kenbumono 0:44619612f575 25 #include "Utils.h"
srsmitherman 1:ae49669c5e92 26 #include "m3pi.h"
srsmitherman 1:ae49669c5e92 27 #include "ps3BT.h"
kenbumono 0:44619612f575 28
srsmitherman 1:ae49669c5e92 29 typedef struct {
srsmitherman 1:ae49669c5e92 30 u8 ReportType; //Report Type 01
srsmitherman 1:ae49669c5e92 31 u8 Reserved1; // Unknown
srsmitherman 1:ae49669c5e92 32 u16 ButtonState; // Main buttons
srsmitherman 1:ae49669c5e92 33 u8 PSButtonState; // PS button
srsmitherman 1:ae49669c5e92 34 u8 Reserved2; // Unknown
srsmitherman 1:ae49669c5e92 35 u8 LeftStickX; // left Joystick X axis 0 - 255, 128 is mid
srsmitherman 1:ae49669c5e92 36 u8 LeftStickY; // left Joystick Y axis 0 - 255, 128 is mid
srsmitherman 1:ae49669c5e92 37 u8 RightStickX; // right Joystick X axis 0 - 255, 128 is mid
srsmitherman 1:ae49669c5e92 38 u8 RightStickY; // right Joystick Y axis 0 - 255, 128 is mid
srsmitherman 1:ae49669c5e92 39 u8 Reserved3[4]; // Unknown
srsmitherman 1:ae49669c5e92 40 u8 PressureUp; // digital Pad Up button Pressure 0 - 255
srsmitherman 1:ae49669c5e92 41 u8 PressureRight; // digital Pad Right button Pressure 0 - 255
srsmitherman 1:ae49669c5e92 42 u8 PressureDown; // digital Pad Down button Pressure 0 - 255
srsmitherman 1:ae49669c5e92 43 u8 PressureLeft; // digital Pad Left button Pressure 0 - 255
srsmitherman 1:ae49669c5e92 44 u8 PressureL2; // digital Pad L2 button Pressure 0 - 255
srsmitherman 1:ae49669c5e92 45 u8 PressureR2; // digital Pad R2 button Pressure 0 - 255
srsmitherman 1:ae49669c5e92 46 u8 PressureL1; // digital Pad L1 button Pressure 0 - 255
srsmitherman 1:ae49669c5e92 47 u8 PressureR1; // digital Pad R1 button Pressure 0 - 255
srsmitherman 1:ae49669c5e92 48 u8 PressureTriangle; // digital Pad Triangle button Pressure 0 - 255
srsmitherman 1:ae49669c5e92 49 u8 PressureCircle; // digital Pad Circle button Pressure 0 - 255
srsmitherman 1:ae49669c5e92 50 u8 PressureCross; // digital Pad Cross button Pressure 0 - 255
srsmitherman 1:ae49669c5e92 51 u8 PressureSquare; // digital Pad Square button Pressure 0 - 255
srsmitherman 1:ae49669c5e92 52 u8 Reserved4[3]; // Unknown
srsmitherman 1:ae49669c5e92 53 u8 Charge; // charging status ? 02 = charge, 03 = normal
srsmitherman 1:ae49669c5e92 54 u8 Power; // Battery status ?
srsmitherman 1:ae49669c5e92 55 u8 Connection; // Connection Type ?
srsmitherman 1:ae49669c5e92 56 u8 Reserved5[9]; // Unknown
srsmitherman 1:ae49669c5e92 57 u16 AccelX; // X axis accelerometer Big Endian 0 - 1023
srsmitherman 1:ae49669c5e92 58 u16 AccelY; // Y axis accelerometer Big Endian 0 - 1023
srsmitherman 1:ae49669c5e92 59 u16 AccelZ; // Z axis accelerometer Big Endian 0 - 1023
srsmitherman 1:ae49669c5e92 60 u16 GyroZ; // Z axis Gyro Big Endian 0 - 1023
kenbumono 0:44619612f575 61
srsmitherman 1:ae49669c5e92 62 } ps3report;
kenbumono 0:44619612f575 63
kenbumono 0:44619612f575 64 Serial pc(USBTX, USBRX);
srsmitherman 1:ae49669c5e92 65 m3pi m3pi;
srsmitherman 1:ae49669c5e92 66
srsmitherman 1:ae49669c5e92 67 void PS3_data(const u8* data) {
srsmitherman 1:ae49669c5e92 68 float speed;
srsmitherman 1:ae49669c5e92 69 ps3report* _ps3report = (ps3report*)data;
srsmitherman 1:ae49669c5e92 70 PS3BT ps3;
srsmitherman 1:ae49669c5e92 71 ps3.decode(data);
srsmitherman 1:ae49669c5e92 72 ps3.dump(data);
srsmitherman 1:ae49669c5e92 73 if(100 <= _ps3report->LeftStickY && _ps3report->LeftStickY <= 155)
srsmitherman 1:ae49669c5e92 74 {
srsmitherman 1:ae49669c5e92 75 m3pi.stop();
srsmitherman 1:ae49669c5e92 76 } else if(0 <= _ps3report->LeftStickY && _ps3report->LeftStickY <= 99) {
srsmitherman 1:ae49669c5e92 77 speed = (100 - _ps3report->LeftStickY) * 0.01;
srsmitherman 1:ae49669c5e92 78 m3pi.left_motor(speed);
srsmitherman 1:ae49669c5e92 79 printf("A:%f", speed);
srsmitherman 1:ae49669c5e92 80 } else {
srsmitherman 1:ae49669c5e92 81 speed = (155 - _ps3report->LeftStickY) * 0.01;
srsmitherman 1:ae49669c5e92 82 m3pi.left_motor(speed);
srsmitherman 1:ae49669c5e92 83 printf("A:%f", speed);
srsmitherman 1:ae49669c5e92 84 }
srsmitherman 1:ae49669c5e92 85
srsmitherman 1:ae49669c5e92 86 if(100 <= _ps3report->RightStickY && _ps3report->RightStickY <= 155)
srsmitherman 1:ae49669c5e92 87 {
srsmitherman 1:ae49669c5e92 88 m3pi.stop();
srsmitherman 1:ae49669c5e92 89 } else if(0 <= _ps3report->RightStickY && _ps3report->RightStickY <= 99) {
srsmitherman 1:ae49669c5e92 90 speed = (100 - _ps3report->RightStickY) * 0.01;
srsmitherman 1:ae49669c5e92 91 m3pi.right_motor(speed);
srsmitherman 1:ae49669c5e92 92 printf("B:%f", speed);
srsmitherman 1:ae49669c5e92 93 } else {
srsmitherman 1:ae49669c5e92 94 speed = (155 - _ps3report->RightStickY) * 0.01;
srsmitherman 1:ae49669c5e92 95 m3pi.right_motor(speed);
srsmitherman 1:ae49669c5e92 96 printf("B:%f", speed);
srsmitherman 1:ae49669c5e92 97 }
srsmitherman 1:ae49669c5e92 98
srsmitherman 1:ae49669c5e92 99
srsmitherman 1:ae49669c5e92 100
kenbumono 0:44619612f575 101 }
kenbumono 0:44619612f575 102 int main()
kenbumono 0:44619612f575 103 {
srsmitherman 1:ae49669c5e92 104 pc.baud(230400);
srsmitherman 1:ae49669c5e92 105
srsmitherman 1:ae49669c5e92 106 m3pi.locate(0,1);
srsmitherman 1:ae49669c5e92 107 m3pi.printf("M3pi - PS3");
srsmitherman 1:ae49669c5e92 108
srsmitherman 1:ae49669c5e92 109 USBInit();
srsmitherman 1:ae49669c5e92 110
srsmitherman 1:ae49669c5e92 111 while(1){
srsmitherman 1:ae49669c5e92 112 USBLoop();
srsmitherman 1:ae49669c5e92 113 }
kenbumono 0:44619612f575 114 }