int main(int argc, char* argv[])
{
printf("Press Maru-Button to Exit Process.\n");
int iRet = 0;
CJoystickDrv* pJoystick = NULL;
try
{
// ready GPIO
if( wiringPiSetupGpio() == -1 ){
printf("failed to wiringPiSetupGpio()\n");
return 1;
}
// ready PWM
pinMode(GPIO_NO, PWM_OUTPUT);
pwmSetMode(PWM_MODE_MS);
pwmSetClock(DEF_PWM_CLOCK);
pwmSetRange(DEF_PWM_RANGE);
// ready Joystick
pJoystick = CJoystickDrv::createInstance();
if(!pJoystick){
throw 0;
}
if(pJoystick->connectJoystick()!=0){
printf("failed to connectJoystick()\n");
throw 0;
}
const int axis_min = DUALSHOCK_ANALOG_VAL_MIN;
const int axis_max = DUALSHOCK_ANALOG_VAL_MAX;
const int axis_mid = DUALSHOCK_ANALOG_VAL_MID;
const int servo_min = SERVO_MIN;
const int servo_max = SERVO_MAX;
const int servo_mid = SERVO_MID;
pwmWrite(GPIO_NO, servo_mid);
printf("begin loop \n");
int pre_val = servo_mid;
while(1){
// Joystickの状態を更新
if( pJoystick->readJoystick()!=0 ){
printf("faile to readJoystick()\n");
throw 0;
}
int roll = pJoystick->getAxisState(0);
int val = servo_mid;
if(roll==axis_mid){ // 中間値
val = servo_mid;
}else if(roll > axis_mid){ // 右
double rate = fabs( (double)roll / (double)(axis_max) );
int delta = (int)( (double)( servo_mid - servo_min) * rate );
val = servo_mid - delta;
if(val < servo_min){
val = servo_min;
}
}else if(roll < axis_mid){ // 左
double rate = fabs( (double)roll / (double)(axis_min) );
int delta = (int)( (double)( servo_max - servo_mid ) * rate );
val = servo_mid + delta;
if(val > servo_max){
val = servo_max;
}
}
if( pre_val != val ){
pwmWrite(GPIO_NO, val);
usleep(DELAY_USEC);
pre_val = val;
}
//Maru
if(pJoystick->getButtonState(JOY_MARU) == BUTTON_ON){
printf("pushed Maru-Button\n");
break;
}
sleep(0);
}
printf("end loop\n");
pwmWrite(GPIO_NO, servo_mid);
if(pJoystick){
delete pJoystick;
pJoystick = NULL;
}
}
catch(...)
{
printf("catch!! \n");
iRet = -1;
if(pJoystick){
delete pJoystick;
pJoystick = NULL;
}
}
return iRet;
}
int main(int argc, char* argv[])
{
int iRet = 0;
CJoystickDrv* pJoystick = NULL;
try
{
// GPIOを初期化
if( RPiGpioDrv::init(RPI_VER_TWO) != 0 ){
printf("failed to RPiGpioDrv::init().\n");
throw 0;
}
// GPIO_Aを出力に設定
if( RPiGpioDrv::setPinMode(GPIO_A, GPIO_OUTPUT) != 0 ){
printf("failed to RPiGpioDrv::setPinMode(GPIO_OUTPUT).\n");
throw 0;
}
// GPIO_Bを入力に設定
if( RPiGpioDrv::setPinMode(GPIO_B, GPIO_INPUT) != 0 ){
printf("failed to RPiGpioDrv::setPinMode(GPIO_INPUT).\n");
throw 0;
}
// ready DUALSHOCK
pJoystick = CJoystickDrv::createInstance();
if(!pJoystick){
throw 0;
}
if(pJoystick->connectJoystick()!=0){
printf("failed to connectJoystick()\n");
throw 0;
}
printf("begin loop \n");
// EXEC_CNT分処理を繰り返す
int i=0;
while(1){//(i<=EXEC_CNT){
// DUALSHOCKの状態を更新
if( pJoystick->readJoystick()!=0 ){
printf("faile to readJoystick()\n");
throw 0;
}
//Left
if(pJoystick->getButtonState(JOY_LEFT) == BUTTON_ON)
{
printf("pushed Left-Button\n");
// GPIO_AをON(Highレベル)にする
if( RPiGpioDrv::setOutLevel(GPIO_A, GPIO_LV_HIGH) != 0 ){
printf("failed to setOutLevel(GPIO_LV_HIGH).\n");
throw 0;
}
usleep(DELAY_USEC);
}
//Right
if(pJoystick->getButtonState(JOY_RIGHT) == BUTTON_ON)
{
printf("pushed Right-Button\n");
// GPIO_AをOFF(Lowレベル)にする
if( RPiGpioDrv::setOutLevel(GPIO_A, GPIO_LV_LOW) != 0 ){
printf("failed to setOutLevel(GPIO_LV_LOW).\n");
throw 0;
}
usleep(DELAY_USEC);
}
//Up
if(pJoystick->getButtonState(JOY_UP) == BUTTON_ON)
{
printf("pushed Up-Button\n");
}
//Down
if(pJoystick->getButtonState(JOY_DOWN) == BUTTON_ON)
{
printf("pushed Down-Button\n");
}
//Maru
if(pJoystick->getButtonState(JOY_MARU) == BUTTON_ON)
{
printf("pushed Maru-Button\n");
break;
}
i++;
sleep(0);
}
printf("end loop\n");
if(pJoystick){
delete pJoystick;
pJoystick = NULL;
}
}
catch(...)
{
printf("catch!! \n");
iRet = -1;
if(pJoystick){
delete pJoystick;
pJoystick = NULL;
}
}
return iRet;
}
