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arduino手柄.c
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arduino手柄.c
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#include <Wire.h>
#include <SoftwareSerial.h>
#include "MeOrion.h"
MeUSBHost joypad(PORT_3);
// 手柄代码(红灯亮模式)
// 默认:128-127-128-127-15-0-0-128
// 左一:128-127-128-127-15-1-0-128
// 右一:128-127-128-127-15-2-0-128
// 左二:128-127-128-127-15-4-0-128
// 右二:128-127-128-127-15-8-0-128
// 三角:128-127-128-127-31-0-0-128 (0001 1111)
// 方形:128-127-128-127-143-0-0-128 (1000 1111)
// 叉号:128-127-128-127-79-0-0-128 (0100 1111)
// 圆圈:128-127-128-127-47-0-0-128 (0010 1111)
// 向上:128-127-128-127-0-0-0-128 (0000 0000)
// 向下:128-127-128-127-4-0-0-128 (0000 0100)
// 向左:128-127-128-127-6-0-0-128 (0000 0110)
// 向右:128-127-128-127-2-0-0-128 (0000 0010)
// 左上:128-127-128-127-7-0-0-128 (0000 0111)
// 左下:128-127-128-127-5-0-0-128 (0000 0101)
// 右上:128-127-128-127-1-0-0-128 (0000 0001)
// 右下:128-127-128-127-3-0-0-128 (0000 0011)
// 选择:128-127-128-127-15-16-0-128
// 开始:128-127-128-127-15-32-0-128
// 摇杆:右X-右Y-左X-左Y-15-0-0-128
MeEncoderMotor motor1(0x02, SLOT2);
MeEncoderMotor motor2(0x02, SLOT1);
MeEncoderMotor motor3(0x0A, SLOT2);
MeEncoderMotor motor4(0x0A, SLOT1);
// 底盘:a = 130mm, b = 120mm
float linearSpeed = 100;
float angularSpeed = 100;
float maxLinearSpeed = 200;
float maxAngularSpeed = 200;
float minLinearSpeed = 30;
float minAngularSpeed = 30;
void setup()
{
// 要上电才能工作,不能只是插上 USB 线来调试。
motor1.begin();
motor2.begin();
motor3.begin();
motor4.begin();
Serial.begin(57600);
joypad.init(USB1_0);
}
void loop()
{
Serial.println("loop:");
//setEachMotorSpeed(100, 50, 50, 100);
if(!joypad.device_online)
{
// 若一直输出离线状态,重新拔插 USB Host 的 RJ25 线试一下。
Serial.println("Device offline.");
joypad.probeDevice();
delay(1000);
}
else
{
int len = joypad.host_recv();
parseJoystick(joypad.RECV_BUFFER);
delay(5);
}
//delay(500);
}
void setEachMotorSpeed(float speed1, float speed2, float speed3, float speed4)
{
motor1.runSpeed(speed1);
motor2.runSpeed(-speed2);
motor3.runSpeed(-speed3);
motor4.runSpeed(-speed4);
}
void parseJoystick(unsigned char *buf) //Analytic function, print 8 bytes from USB Host
{
// 输出手柄的数据,调试用
// int i = 0;
// for(i = 0; i < 7; i++)
// {
// Serial.print(buf[i]); //It won't work if you connect to the Makeblock Orion.
// Serial.print('-');
// }
// Serial.println(buf[7]);
// delay(10);
// 速度增减
switch (buf[5])
{
case 1:
linearSpeed += 5;
if (linearSpeed > maxLinearSpeed)
{
linearSpeed = maxLinearSpeed;
}
break;
case 2:
angularSpeed += 5;
if (angularSpeed > maxAngularSpeed)
{
angularSpeed = maxAngularSpeed;
}
break;
case 4:
linearSpeed -= 5;
if (linearSpeed < minLinearSpeed)
{
linearSpeed = minLinearSpeed;
}
break;
case 8:
angularSpeed -= 5;
if (angularSpeed < minAngularSpeed)
{
angularSpeed = minAngularSpeed;
}
break;
default:
break;
}
// 向上:128-127-128-127-0-0-0-128 (0000 0000)
// 向下:128-127-128-127-4-0-0-128 (0000 0100)
// 向左:128-127-128-127-6-0-0-128 (0000 0110)
// 向右:128-127-128-127-2-0-0-128 (0000 0010)
// 左上:128-127-128-127-7-0-0-128 (0000 0111)
// 左下:128-127-128-127-5-0-0-128 (0000 0101)
// 右上:128-127-128-127-1-0-0-128 (0000 0001)
// 右下:128-127-128-127-3-0-0-128 (0000 0011)
// 摇杆:右X-右Y-左X-左Y-15-0-0-128
if ((128 != buf[0]) || (127 != buf[1]) || (128 != buf[2]) || (127 != buf[3]))
{
// 处理摇杆
float x = ((float)(buf[2]) - 127) / 128;
float y = (127 - (float)(buf[3])) / 128;
float a = (127 - (float)(buf[0])) / 128;
mecanumRun(x * linearSpeed, y * linearSpeed, a * angularSpeed);
}
else
{
switch (buf[4])
{
case 0:
mecanumRun(0, linearSpeed, 0);
break;
case 4:
mecanumRun(0, -linearSpeed, 0);
break;
case 6:
mecanumRun(-linearSpeed, 0, 0);
break;
case 2:
mecanumRun(linearSpeed, 0, 0);
break;
case 7:
mecanumRun(-linearSpeed/2, linearSpeed/2, 0);
break;
case 5:
mecanumRun(-linearSpeed/2, -linearSpeed/2, 0);
break;
case 1:
mecanumRun(linearSpeed/2, linearSpeed/2, 0);
break;
case 3:
mecanumRun(linearSpeed/2, -linearSpeed/2, 0);
break;
default:
mecanumRun(0, 0, 0);
break;
}
}
}
void mecanumRun(float xSpeed, float ySpeed, float aSpeed)
{
float speed1 = ySpeed - xSpeed + aSpeed;
float speed2 = ySpeed + xSpeed - aSpeed;
float speed3 = ySpeed - xSpeed - aSpeed;
float speed4 = ySpeed + xSpeed + aSpeed;
float max = speed1;
if (max < speed2) max = speed2;
if (max < speed3) max = speed3;
if (max < speed4) max = speed4;
if (max > maxLinearSpeed)
{
speed1 = speed1 / max * maxLinearSpeed;
speed2 = speed2 / max * maxLinearSpeed;
speed3 = speed3 / max * maxLinearSpeed;
speed4 = speed4 / max * maxLinearSpeed;
}
setEachMotorSpeed(speed1, speed2, speed3, speed4);
}