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@1:ae49669c5e92, 2012-12-30 (annotated)

Committer:
srsmitherman
Date:
Sun Dec 30 05:16:28 2012 +0000
Revision:
1:ae49669c5e92
Parent:
0:44619612f575 
Bluetooth PS3 interface for m3pi. User must pair bluetooth dongle address to PS3 controller with other program. Works but needs tweaking.

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 }