{"id":6004,"date":"2014-07-03T16:05:51","date_gmt":"2014-07-02T22:05:51","guid":{"rendered":"http:\/\/www.moonmile.net\/blog\/?p=6004"},"modified":"2014-07-04T12:08:59","modified_gmt":"2014-07-04T03:08:59","slug":"brickpi-logo-mindstorms-ev3-%e3%82%92%e3%82%b2%e3%83%bc%e3%83%a0%e3%82%b3%e3%83%b3%e3%83%88%e3%83%ad%e3%83%bc%e3%83%a9%e3%83%bc%e3%81%a7%e3%82%b3%e3%83%b3%e3%83%88%e3%83%ad%e3%83%bc%e3%83%ab-2","status":"publish","type":"post","link":"http:\/\/www.moonmile.net\/blog\/archives\/6004","title":{"rendered":"BrickPi + LOGO Mindstorms EV3 \u3092\u30b2\u30fc\u30e0\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u3067\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3059\u308b\uff08\u5f8c\u7de8\uff09"},"content":{"rendered":"<p>\n\u624b\u3063\u53d6\u308a\u65e9\u304f\u52d5\u304b\u3059\u306b\u306f\u3001\u5148\u306e \u3042\u3057\u304c\u3089\u304c\u3089\u304f\u305f\u7814\u7a76\u6240 by \u3044\u3057\u308f\u305f\u3080\u306d\u304a \u3055\u3093\u306e\u3068\u3053\u308d\u304b\u3089\u3001<a href=\"http:\/\/cyberrobotics.codeplex.com\/SourceControl\/changeset\/view\/24160#RPi_Missile\/src\/RPi_DualShock3.c \">RPi_DualShock3.c<\/a> \u3092\u53d6\u5f97\u3057\u3066\u30d3\u30eb\u30c9\u3092\u3057\u307e\u3059\u3002\u52d5\u4f5c\u78ba\u8a8d\u304c\u3067\u304d\u305f\u3089\u3001BrickPiNet \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u8a66\u3057\u307e\u3059\u3002.NET\u7248\u306a\u306e\u3067\u3001apt-get install Mono \u3092\u3057\u306a\u3044\u3068\u30c0\u30e1\u306a\u3093\u3067\u3059\u3088\u306d&#8230;\u3068\u3044\u3046\u304b\u3001RasPi \u306e\u30ec\u30dd\u30b8\u30c8\u30ea\u306b 4.5 \u306e Mono \u304c\u5165\u3063\u3066\u3044\u305f\u304b\u78ba\u8a8d\u3057\u3066\u306a\u3044\u306e\u3067\u3001\u3053\u308c\u306f\u3042\u3068\u3067\u78ba\u8a8d\u3002\u624b\u5143\u306e\u3082\u306e\u306f 12\u6642\u9593\u304b\u3051\u3066\u30d3\u30eb\u30c9\u3092\u3057\u305f\u3082\u306e\u306a\u306e\u3067\u3001\u3061\u3087\u3063\u3068\u304a\u8a66\u3057\u3068\u3044\u3046\u8a33\u306b\u306f\u3044\u304b\u306a\u3044\u306e\u3067\u3002\u305d\u306e\u3046\u3061\u3001\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u308a\u307e\u3057\u3087\u3046\uff08\u3064\u30fc\u304b\u3001\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u4f5c\u308a\u65b9\u304b\u3089\u5b66\u3070\u306a\u3044\u3068\u30c0\u30e1\u306a\u3093\u3060\u3051\u3069\uff09\u3002\n<\/p>\n<p>\n\u25a0C# \u304b\u3089\u30b8\u30e7\u30a4\u30b9\u30b9\u30c6\u30a3\u30c3\u30af\u3092\u64cd\u4f5c\u3059\u308b\n<\/p>\n<p>\nC\u8a00\u8a9e\u3067IOCTL\u3057\u306a\u3044\u3068\u99c4\u76ee\u304b\u3068\u601d\u3063\u305f\u3093\u3067\u3059\u304c\u3001Linux\u3067\u306f \/dev\/input\/js0 \u306b\u30a2\u30af\u30bb\u30b9\u3055\u3048\u3059\u308c\u3070\u3001\u30dc\u30bf\u30f3\u3084\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u306e\u72b6\u614b\u304c\u53d6\u308c\u308b\u3053\u3068\u3092\u77e5\u308a\u307e\u3057\u305f linux\/joystick.h \u306b\u8a73\u3057\u3044\u60c5\u5831\u304c\u3042\u308a\u307e\u3059\u3002<br \/>\n\u3053\u306e\u30c7\u30d0\u30a4\u30b9\u306f\u3001\u305d\u306e\u307e\u307e C# \u306e\u30d5\u30a1\u30a4\u30eb\u30b9\u30c8\u30ea\u30fc\u30e0\u3067\u3082\u4f7f\u3048\u308b\u306e\u3067\u3001\u3053\u3093\u306a\u611f\u3058\u306b\u66f8\u3051\u307e\u3059\u3002\n<\/p>\n<p>\nRaspberry Pi Series ? Mono C# USB Joystick Handlermpolaczyk | software, robotics, engineering &amp; geeky stuff&#8230; | mpolaczyk | software, robotics, engineering &amp; geeky stuff&#8230;<br \/>\n<a href=\"http:\/\/mpolaczyk.pl\/raspberry-pi-mono-c-joystick-handler\/\">http:\/\/mpolaczyk.pl\/raspberry-pi-mono-c-joystick-handler\/<\/a><br \/>\nC# \u3067 joystick \u3092\u5229\u7528\u3059\u308b<br \/>\n<a href=\"https:\/\/gist.github.com\/moonmile\/7c44e5130617c7a76a87\">https:\/\/gist.github.com\/moonmile\/7c44e5130617c7a76a87<\/a>\n<\/p>\n<p>\n\u81ea\u524d\u306e\u307b\u3046\u306f\u3001Dualshock3 \u5c02\u7528\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002\u3069\u3046\u3084\u3089\u5404\u793e\u306e\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\/\u30b2\u30fc\u30e0\u30d1\u30c3\u30c9\u4e8b\u306b\u756a\u53f7\u304c\u7570\u306a\u3063\u3066\u3044\u3066\u3001\u5b9f\u5730\u3067\u691c\u8a3c\u3057\u306a\u3044\u3068\u3060\u3081\u306a\u305d\u3046\u3067\u3059\u3002\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u306e\u307b\u3046\u304c\u5bfe\u5fdc\u3059\u308b\u3068\u3044\u3046\u30d1\u30bf\u30fc\u30f3\u3089\u3057\u3044\u3067\u3059\u3002\n<\/p>\n<pre class=\"brush: csharp; title: ; notranslate\" title=\"\">\r\npublic struct js_event\r\n{\r\n    public UInt32 time;    \/* event timestamp in milliseconds *\/\r\n    public Int16 value;    \/* value *\/\r\n    public byte type;      \/* event type *\/\r\n    public byte number;    \/* axis\/button number *\/\r\n    public override string ToString()\r\n    {\r\n        return string.Format(&quot;time:{0} val:{1} type:{2} num:{3}&quot;, time, value, type, number);\r\n    }\r\n}\r\n<\/pre>\n<p>\ntype \u3067\u30dc\u30bf\u30f3\uff080x01\uff09\u304b\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af(0x02\uff09\u3092\u30c1\u30a7\u30c3\u30af\u3057\u3066\u3001number \u3067\u30dc\u30bf\u30f3\u306e\u4f4d\u7f6e\u3092\u8abf\u3079\u307e\u3059\u3002\u30b8\u30e7\u30a4\u30b9\u30c6\u30c3\u30af\u306e\u5834\u5408\u306f0\u304c\u30cb\u30e5\u30fc\u30c8\u30e9\u30eb\uff08\u4e2d\u592e\uff09\u3067\u3001\u30b9\u30c6\u30a3\u30c3\u30af\u3092\u5012\u3059\u3068\u305d\u308c\u305e\u308c +\/- \u306b\u632f\u308c\u307e\u3059\u3002<br \/>\n\u3053\u3053\u3067\u306f\u3001\u307e\u3060\u4f5c\u3063\u3066\u3044\u306a\u3044\u306e\u3067\u3059\u304c\u3001Dualshuck3 \u3067\u306f\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u81ea\u4f53\u306e\u50be\u304d\u691c\u77e5\u304c\u5165\u3063\u3066\u3044\u307e\u3059\u300223,24,25,26\u756a\u306b\u30c7\u30fc\u30bf\u304c\u5165\u3063\u3066\u6765\u308b\u306e\u3067\u3059\u304c\u3001\u3069\u306e\u8ef8\u306a\u3093\u3060\u308d\u3046\u3001\u3063\u3066\u306e\u306f\u5f8c\u3067\u8abf\u3079\u307e\u3057\u3087\u3046\u3002\n<\/p>\n<pre class=\"brush: csharp; title: ; notranslate\" title=\"\">\r\npublic bool SELECT { get { return Button0; } }\r\npublic bool LeftStick { get { return Button1; } }\r\npublic bool RightStick { get { return Button2; } }\r\npublic bool START { get { return Button3; } }\r\npublic bool Up { get { return Button4; } }\r\npublic bool Right { get { return Button5; } }\r\npublic bool Down { get { return Button6; } }\r\npublic bool Left { get { return Button7; } }\r\npublic bool L2 { get { return Button8; } }\r\npublic bool R2 { get { return Button9; } }\r\npublic bool L1 { get { return Button10; } }\r\npublic bool R1 { get { return Button11; } }\r\npublic bool Triangle { get { return Button12; } }\r\npublic bool Circle { get { return Button13; } }\r\npublic bool Cross { get { return Button14; } }\r\npublic bool Square { get { return Button15; } }\r\n\r\npublic int LeftAxisX { get { return Axis0; } }\r\npublic int LeftAxisY { get { return Axis1; } }\r\npublic int RightAxisX { get { return Axis2; } }\r\npublic int RightAxisY { get { return Axis3; } }\r\n<\/pre>\n<p>\n\u25a0BrickPiNet.dll \u3092\u4f7f\u3046\n<\/p>\n<p>\u305d\u3093\u306a\u8a33\u3067\u3001BrickPiNet <a href=\"https:\/\/github.com\/moonmile\/BrickPiNet\">https:\/\/github.com\/moonmile\/BrickPiNet<\/a> \u3092\u4f5c\u6210\u4e2d\u3067\u3059\u3002<\/p>\n<p>\n\/dev\/input\/js0 \u3092 read \u3057\u3066\u3001\u3061\u307e\u3061\u307e\u3068\u8abf\u3079\u3066\u3044\u3051\u3070\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u306e\u64cd\u4f5c\u306f\u3067\u304d\u308b\u306e\u3067\u3059\u304c\u3001\u30dc\u30bf\u30f3\u3092\u96e2\u3057\u305f\u30bf\u30a4\u30df\u30f3\u30b0\u3068\u304b\u3001\u540c\u6642\u62bc\u3057\u306e\u72b6\u614b\u3068\u304b\u304c\u9762\u5012\u3067\u3059\u3088\u306d\u3002<br \/>\n\u305d\u306e\u3042\u305f\u308a\u3001\u72b6\u614b\u304c\u5909\u304b\u3057\u305f\u3068\u304d\u306b\u30a4\u30d9\u30f3\u30c8\u3092\u767a\u751f\u3059\u308b\u306e\u304c\u3001BPiJoystick \u3067\u3059\u3002\n<\/p>\n<pre class=\"brush: csharp; title: ; notranslate\" title=\"\">\r\nusing System;\r\nusing Moonmile.BrickPiNet;\r\n\r\nnamespace Sample\r\n{\r\n    class simplebot_joystick\r\n    {\r\n        BPiMotor motor1, motor2;\r\n        BPiJoystick js;\r\n\r\n        public void main()\r\n        {\r\n            BPi.Setup();\r\n            BPi.AutoUpdate = true;\r\n            this.motor1 = new BPiMotor() { Port = BrickPi.PORT_B, Enabled = true };\r\n            this.motor2 = new BPiMotor() { Port = BrickPi.PORT_C, Enabled = true };\r\n\r\n            js = new BPiJoystick();\r\n            js.OnJoystickChanged += js_OnJoystickChanged;\r\n            js.Setup();\r\n\r\n            BPi.Timeout = 5000;\r\n            this.Go();\r\n        }\r\n\r\n        void js_OnJoystickChanged(object sender, JoystickEventArgs e)\r\n        {\r\n            int ly = e.Joystick.LeftAxisY;\r\n            int ry = e.Joystick.RightAxisY;\r\n            Console.WriteLine(&quot;joystick {0} {1}&quot;, ly, ry);\r\n\t    int sp1 = ly\/(32767\/200);\r\n\t    int sp2 = ry\/(32767\/200);\r\n\t    move_bot( sp1, sp2 );\r\n\r\n        }\r\n\r\n        void move_bot(int sp1, int sp2)\r\n        {\r\n            this.motor1.Speed = sp1;\r\n            this.motor2.Speed = sp2;\r\n        }\r\n        void Go()\r\n        {\r\n            var k = Console.ReadKey();\r\n        }\r\n    }\r\n}\r\n<\/pre>\n<p>\nBPiJoystick \u3092 new \u3057\u3066\u3001OnJoystickChanged \u3092\u767b\u9332\u3059\u308c\u3070\u3001\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u304c\u5909\u5316\u3057\u305f\u3068\u304d\u3060\u3051\u30a4\u30d9\u30f3\u30c8\u304c\u767a\u751f\u3057\u307e\u3059\u3002\u73fe\u5728\u306e\u3068\u3053\u308d\u3001\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3068\u30dc\u30bf\u30f3\u306e\u72b6\u614b\u5909\u5316\u304c\u4e00\u7dd2\u306b\u306a\u3063\u3066\u98db\u3093\u3067\u304f\u308b\u306e\u3067\u3001\u30dc\u30bf\u30f3\u3060\u3051\u4f7f\u3044\u305f\u3044\u3068\u304d\u306b\u4e0d\u4fbf\u306a\u306e\u3067\u3059\u304c&#8230;\u307e\u3042\u3001\u3072\u3068\u307e\u305a\u3001\u3053\u308c\u3067\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3092\u4f7f\u3063\u305f\u30ed\u30dc\u30c3\u30c8\u304c\u7c21\u5358\u306b\u4f5c\u308c\u307e\u3059\u3002\n<\/p>\n<p>\n\u25a0\u3055\u3089\u306b\u3001\u3082\u3046\u3072\u3068\u3064\u306e\u30e2\u30fc\u30bf\u30fc\u3092\u4f7f\u3046\u305f\u3081\u306b\n<\/p>\n<p><a href='http:\/\/www.moonmile.net\/blog\/wp-content\/uploads\/2014\/07\/wpid-dworkblogimage20140703_02org.jpg'><img border='0' src='http:\/\/www.moonmile.net\/blog\/wp-content\/uploads\/2014\/07\/wpid-dworkblogimage20140703_02thum.jpg'\/><\/a><\/p>\n<p>\n\u3053\u308c\u306f\u6b21\u306e\u8ab2\u984c\u3067\u3059\u304c\u3001BrickPi\/LEGO mindstorms EV3 \u306b\u306f\u3001\u30e2\u30fc\u30bf\u30fc\u7528\u306e\u30dd\u30fc\u30c8\u304c4\u3064\u3064\u3044\u3066\u3044\u307e\u3059\u3002\u73fe\u5728\u3001\u8eca\u8f2a\u7528\u306b2\u3064\u4f7f\u3063\u3066\u3044\u307e\u3059\u304c\u3001\u4ed6\u306b\u3082\u30e2\u30fc\u30bf\u30fc\u3092\u4f7f\u3048\u3070\u30af\u30ec\u30fc\u30f3\u7528\u3068\u304b\u306b\u4f7f\u3048\u307e\u3059\u3002\u3053\u308c\u306f\u3042\u3068\u3067\u5b9f\u9a13\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002\u4ed6\u306b\u63a5\u89e6\u30bb\u30f3\u30b5\u30fc\u3068\u304b\u30ab\u30e9\u30fc\u30bb\u30f3\u30b5\u30fc\u3082\u3064\u3044\u3066\u3044\u308b\u306e\u3067\u3001\u305d\u308c\u3082\u78ba\u8a8d\u3057\u3066\u5b9f\u88c5\u3057\u3066\u3044\u304d\u307e\u3059\u3002\n<\/p>\n<p>\n\u307e\u305f\u3001GPIO \u3092\u76f4\u63a5\u64cd\u4f5c\u3059\u308b\u3053\u3068\u3067\u30b5\u30fc\u30dc\u3082\u52d5\u304b\u305b\u307e\u3059\u3002\u3053\u306e\u3042\u305f\u308a\u306f\u3001wiringPi http:\/\/wiringpi.com\/ \u3092\u5229\u7528\u3057\u3066 BrickPiNet \u304b\u3089\u5236\u5fa1\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u624b\u3063\u53d6\u308a\u65e9\u304f\u52d5\u304b\u3059\u306b\u306f\u3001\u5148\u306e \u3042\u3057\u304c\u3089\u304c\u3089\u304f\u305f\u7814\u7a76\u6240 by \u3044\u3057\u308f\u305f\u3080\u306d\u304a \u3055\u3093\u306e\u3068\u3053\u308d\u304b\u3089\u3001RPi_DualShock3.c \u3092\u53d6\u5f97\u3057\u3066\u30d3\u30eb\u30c9\u3092\u3057\u307e\u3059\u3002\u52d5\u4f5c\u78ba\u8a8d\u304c\u3067\u304d\u305f\u3089\u3001BrickPiNet \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u8a66\u3057\u307e &hellip; <a href=\"http:\/\/www.moonmile.net\/blog\/archives\/6004\">\u7d9a\u304d\u3092\u8aad\u3080 <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":2,"featured_media":5999,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[67],"tags":[],"class_list":["post-6004","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-raspberrypi"],"jetpack_featured_media_url":"http:\/\/www.moonmile.net\/blog\/wp-content\/uploads\/2014\/06\/title-raspi.png","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts\/6004","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/comments?post=6004"}],"version-history":[{"count":4,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts\/6004\/revisions"}],"predecessor-version":[{"id":6008,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts\/6004\/revisions\/6008"}],"wp:featuredmedia":[{"embeddable":true,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/media\/5999"}],"wp:attachment":[{"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/media?parent=6004"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/categories?post=6004"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/tags?post=6004"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}