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Nebel 2012-09-02 02:24:53 +09:00
parent f0b0f370cc
commit 48a302e9f0
3 changed files with 81 additions and 19 deletions
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37
arduino/catchrobo2012/WiiNun.cpp Executable file
View file

@ -0,0 +1,37 @@
/*
WiiNun.cpp
(c)2012 kou029w - MIT License [http://kou029w.appspot.com/mit-license.txt]
*/
#if defined(ARDUINO) && ARDUINO >= 100
#include <Arduino.h>
#else
#include <WProgram.h>
#endif
#include <Wire.h>
#include "WiiNun.h"
void WiiNun::begin(){
Wire.begin();
Wire.beginTransmission(0x52);
Wire.write(0x40); // sends memory address
Wire.write(0x00);
Wire.endTransmission();
}
byte WiiNun::_decodeByte(byte x){
x = (x ^ 0x17) + 0x17;
return x;
}
void WiiNun::get(){
byte i=0;
Wire.requestFrom(0x52, 6);
while(Wire.available() || i<6){
WiiNun::data[i] = WiiNun::_decodeByte(Wire.read());
i++;
}
Wire.beginTransmission(0x52);
Wire.write(0x00);
Wire.endTransmission();
}

25
arduino/catchrobo2012/WiiNun.h Executable file
View file

@ -0,0 +1,25 @@
/*
WiiNun.h
(c)2012 kou029w - MIT License [http://kou029w.appspot.com/mit-license.txt]
*/
#ifndef WiiNun_h
#define WiiNun_h
#if defined(ARDUINO) && ARDUINO >= 100
#include <Arduino.h>
#else
#include <WProgram.h>
#endif
#include <Wire.h>
class WiiNun{
public:
byte data[6];
void begin();
void get();
private:
byte _decodeByte(byte x);
};
#endif

38
arduino/catchrobo2012/catchrobo2012.ino Normal file → Executable file
View file

@ -1,6 +1,6 @@
#include <Servo.h> #include <Servo.h>
#include <Wire.h> #include <Wire.h>
#include <WiiNun.h> #include "WiiNun.h"
#include "Motor.h" #include "Motor.h"
#define PIN_LED 13 #define PIN_LED 13
@ -18,7 +18,7 @@
Servo base; Servo base;
Servo catcher; Servo catcher;
WiiNun wiiNun; WiiNun WiiNun;
Motor horMotor; Motor horMotor;
Motor verMotor; Motor verMotor;
@ -29,7 +29,7 @@ void setup(){
digitalWrite(PIN_GND, LOW); digitalWrite(PIN_GND, LOW);
delay(100); delay(100);
// Serial.begin(19200); // Serial.begin(19200);
wiiNun.begin(); WiiNun.begin();
base.attach(PIN_SERVO_BASE); base.attach(PIN_SERVO_BASE);
catcher.attach(PIN_SERVO_CATCHER); catcher.attach(PIN_SERVO_CATCHER);
pinMode(PIN_LED, OUTPUT); pinMode(PIN_LED, OUTPUT);
@ -39,20 +39,20 @@ void setup(){
void loop(){ void loop(){
// ヌンチャクを読む // ヌンチャクを読む
wiiNun.get(); WiiNun.get();
byte joyx = wiiNun.data[0]; byte joyx = WiiNun.data[0];
byte joyy = wiiNun.data[1]; byte joyy = WiiNun.data[1];
byte accx = wiiNun.data[2]; byte accx = WiiNun.data[2];
byte accy = wiiNun.data[3]; byte accy = WiiNun.data[3];
byte accz = wiiNun.data[4]; byte accz = WiiNun.data[4];
byte zbut = ((~wiiNun.data[5] >> 0) & 1); byte zbut = ((~WiiNun.data[5] >> 0) & 1);
byte cbut = ((~wiiNun.data[5] >> 1) & 1); byte cbut = ((~WiiNun.data[5] >> 1) & 1);
if((wiiNun.data[5] >> 2) & 1) accx += 2; if((WiiNun.data[5] >> 2) & 1) accx += 2;
if((wiiNun.data[5] >> 3) & 1) accx += 1; if((WiiNun.data[5] >> 3) & 1) accx += 1;
if((wiiNun.data[5] >> 4) & 1) accy += 2; if((WiiNun.data[5] >> 4) & 1) accy += 2;
if((wiiNun.data[5] >> 5) & 1) accy += 1; if((WiiNun.data[5] >> 5) & 1) accy += 1;
if((wiiNun.data[5] >> 6) & 1) accz += 2; if((WiiNun.data[5] >> 6) & 1) accz += 2;
if((wiiNun.data[5] >> 7) & 1) accz += 1; if((WiiNun.data[5] >> 7) & 1) accz += 1;
// ヌンチャクおわり // ヌンチャクおわり
char x = (char)(joyx-0x7F); // スティックの中心を0にする char x = (char)(joyx-0x7F); // スティックの中心を0にする
@ -80,9 +80,9 @@ void loop(){
else if(ay < -0x10) verMotor.speed(-0xCC); else if(ay < -0x10) verMotor.speed(-0xCC);
else verMotor.mode(STOP); else verMotor.mode(STOP);
byte catcherDeg = 100; byte catcherDeg = 135;
if(cbut){ // cボタン押すとキャッチャーを離す if(cbut){ // cボタン押すとキャッチャーを離す
catcherDeg = 30; catcherDeg = 45;
} }
catcher.write(catcherDeg); catcher.write(catcherDeg);