Switch Science / Mbed 2 deprecated wifi_car_mbedLPC1114FN28

モータードライバとWi-FiモジュールESP-WROOM-02をmbed LPC1114FN28に繋げて、RCWControllerからコントロールするプログラム

Dependencies:   mbed

main.cpp@0:3c24a40c2343, 2016-07-22 (annotated)

Committer:
jksoft
Date:
Fri Jul 22 05:36:02 2016 +0000
Revision:
0:3c24a40c2343
??

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:3c24a40c2343 1 #include "mbed.h"
jksoft 0:3c24a40c2343 2
jksoft 0:3c24a40c2343 3 #include "ESP8266Interface.h"
jksoft 0:3c24a40c2343 4 #include "SoftSerialSendOnry.h"
jksoft 0:3c24a40c2343 5 #include "RCWController.h"
jksoft 0:3c24a40c2343 6
jksoft 0:3c24a40c2343 7 /************************* WiFi Setting *********************************/
jksoft 0:3c24a40c2343 8
jksoft 0:3c24a40c2343 9 #define WLAN_SSID "wifi_car"
jksoft 0:3c24a40c2343 10 #define WLAN_PASS "wifi_car"
jksoft 0:3c24a40c2343 11
jksoft 0:3c24a40c2343 12
jksoft 0:3c24a40c2343 13 /************************* UDP Setting *********************************/
jksoft 0:3c24a40c2343 14 #define SEND_PORT 10000
jksoft 0:3c24a40c2343 15
jksoft 0:3c24a40c2343 16 /************************* Port Class Setting *********************************/
jksoft 0:3c24a40c2343 17 SoftSerialSendOnry pc(dp10); // tx
jksoft 0:3c24a40c2343 18 ESP8266Interface wifi(dp16,dp15,dp4,WLAN_SSID,WLAN_PASS);
jksoft 0:3c24a40c2343 19 PwmOut motor_pwm_a(dp24);
jksoft 0:3c24a40c2343 20 DigitalOut motor_sw_a(dp18);
jksoft 0:3c24a40c2343 21 PwmOut motor_pwm_b(dp1);
jksoft 0:3c24a40c2343 22 DigitalOut motor_sw_b(dp2);
jksoft 0:3c24a40c2343 23
jksoft 0:3c24a40c2343 24 /************************* Variable Setting *********************************/
jksoft 0:3c24a40c2343 25 char recv_buf[10];
jksoft 0:3c24a40c2343 26 int recv_buf_p = 0;
jksoft 0:3c24a40c2343 27 int read_p = 0;
jksoft 0:3c24a40c2343 28 int recv_ana_phase = 0;
jksoft 0:3c24a40c2343 29
jksoft 0:3c24a40c2343 30 /************************* Controller value to PWM vlaue *********************************/
jksoft 0:3c24a40c2343 31 float Controll2Pwm(int value)
jksoft 0:3c24a40c2343 32 {
jksoft 0:3c24a40c2343 33 return(((float)value/128.0f)-1.0f);
jksoft 0:3c24a40c2343 34 }
jksoft 0:3c24a40c2343 35
jksoft 0:3c24a40c2343 36 /************************* Main func *********************************/
jksoft 0:3c24a40c2343 37 int main() {
jksoft 0:3c24a40c2343 38 char* ip;
jksoft 0:3c24a40c2343 39 int recv_p = 0;
jksoft 0:3c24a40c2343 40 int timeout_count = 0;
jksoft 0:3c24a40c2343 41
jksoft 0:3c24a40c2343 42 pc.printf("Start\r\n");
jksoft 0:3c24a40c2343 43
jksoft 0:3c24a40c2343 44 motor_pwm_a = 0.0;
jksoft 0:3c24a40c2343 45 motor_pwm_b = 0.0;
jksoft 0:3c24a40c2343 46
jksoft 0:3c24a40c2343 47 wifi.init();
jksoft 0:3c24a40c2343 48 pc.printf("Wifi init OK\r\n");
jksoft 0:3c24a40c2343 49
jksoft 0:3c24a40c2343 50 wifi.single_ap();
jksoft 0:3c24a40c2343 51 //while(!wifi.connect());
jksoft 0:3c24a40c2343 52 pc.printf("Wifi Connect OK\r\n");
jksoft 0:3c24a40c2343 53
jksoft 0:3c24a40c2343 54 ip = wifi.getIPAddress();
jksoft 0:3c24a40c2343 55 if(ip != NULL)
jksoft 0:3c24a40c2343 56 {
jksoft 0:3c24a40c2343 57 pc.printf("IP:%s\r\n",ip);
jksoft 0:3c24a40c2343 58 }
jksoft 0:3c24a40c2343 59 else
jksoft 0:3c24a40c2343 60 {
jksoft 0:3c24a40c2343 61 pc.printf("IP:ERROR\r\n");
jksoft 0:3c24a40c2343 62 }
jksoft 0:3c24a40c2343 63
jksoft 0:3c24a40c2343 64 if(wifi.start(ESP_UDP_TYPE,ip, SEND_PORT) != false )
jksoft 0:3c24a40c2343 65 {
jksoft 0:3c24a40c2343 66 pc.printf("UDP Port open OK\r\n");
jksoft 0:3c24a40c2343 67 }
jksoft 0:3c24a40c2343 68 else
jksoft 0:3c24a40c2343 69 {
jksoft 0:3c24a40c2343 70 pc.printf("UDP Port open NG\r\n");
jksoft 0:3c24a40c2343 71 }
jksoft 0:3c24a40c2343 72
jksoft 0:3c24a40c2343 73 pc.printf("init All OK\r\n");
jksoft 0:3c24a40c2343 74
jksoft 0:3c24a40c2343 75 while(1)
jksoft 0:3c24a40c2343 76 {
jksoft 0:3c24a40c2343 77 while(wifi.readable()!=0)
jksoft 0:3c24a40c2343 78 {
jksoft 0:3c24a40c2343 79 recv_buf[recv_p] = wifi.getc();
jksoft 0:3c24a40c2343 80 //pc.printf("recv[%d]:\r\n",recv_buf[recv_p]);
jksoft 0:3c24a40c2343 81 recv_p++;
jksoft 0:3c24a40c2343 82
jksoft 0:3c24a40c2343 83 if(recv_p>=10)
jksoft 0:3c24a40c2343 84 {
jksoft 0:3c24a40c2343 85 float left,right;
jksoft 0:3c24a40c2343 86 RCWController *controller;
jksoft 0:3c24a40c2343 87 #if 0
jksoft 0:3c24a40c2343 88 pc.printf("recv[%d]:",recv_p);
jksoft 0:3c24a40c2343 89 for(int i=0;i<recv_p;i++)
jksoft 0:3c24a40c2343 90 {
jksoft 0:3c24a40c2343 91 pc.printf("%02X ",recv_buf[i]);
jksoft 0:3c24a40c2343 92 }
jksoft 0:3c24a40c2343 93 pc.printf("\r\n");
jksoft 0:3c24a40c2343 94 #endif
jksoft 0:3c24a40c2343 95 // Set Table
jksoft 0:3c24a40c2343 96 controller = (RCWController*)&recv_buf[0];
jksoft 0:3c24a40c2343 97
jksoft 0:3c24a40c2343 98 // Change Servo Value
jksoft 0:3c24a40c2343 99 if( (controller->status.LeftAnalogUD != 128)||(controller->status.RightAnalogUD != 128) )
jksoft 0:3c24a40c2343 100 {
jksoft 0:3c24a40c2343 101 left = Controll2Pwm(controller->status.LeftAnalogUD);
jksoft 0:3c24a40c2343 102 right = Controll2Pwm(controller->status.RightAnalogUD);
jksoft 0:3c24a40c2343 103
jksoft 0:3c24a40c2343 104
jksoft 0:3c24a40c2343 105 }
jksoft 0:3c24a40c2343 106 else
jksoft 0:3c24a40c2343 107 {
jksoft 0:3c24a40c2343 108 if( controller->status.UP == 1 )
jksoft 0:3c24a40c2343 109 {
jksoft 0:3c24a40c2343 110 left = 1.0f;
jksoft 0:3c24a40c2343 111 right = 1.0f;
jksoft 0:3c24a40c2343 112 }
jksoft 0:3c24a40c2343 113 else if( controller->status.DOWN == 1 )
jksoft 0:3c24a40c2343 114 {
jksoft 0:3c24a40c2343 115 left = -1.0f;
jksoft 0:3c24a40c2343 116 right = -1.0f;
jksoft 0:3c24a40c2343 117 }
jksoft 0:3c24a40c2343 118 else if( controller->status.RIGHT == 1 )
jksoft 0:3c24a40c2343 119 {
jksoft 0:3c24a40c2343 120 left = 1.0f;
jksoft 0:3c24a40c2343 121 right = -1.0f;
jksoft 0:3c24a40c2343 122 }
jksoft 0:3c24a40c2343 123 else if( controller->status.LEFT == 1 )
jksoft 0:3c24a40c2343 124 {
jksoft 0:3c24a40c2343 125 left = -1.0f;
jksoft 0:3c24a40c2343 126 right = 1.0f;
jksoft 0:3c24a40c2343 127 }
jksoft 0:3c24a40c2343 128 else
jksoft 0:3c24a40c2343 129 {
jksoft 0:3c24a40c2343 130 left = 0.0f;
jksoft 0:3c24a40c2343 131 right = 0.0f;
jksoft 0:3c24a40c2343 132 }
jksoft 0:3c24a40c2343 133 }
jksoft 0:3c24a40c2343 134
jksoft 0:3c24a40c2343 135 if(left > 0 )
jksoft 0:3c24a40c2343 136 {
jksoft 0:3c24a40c2343 137 motor_pwm_a = left;
jksoft 0:3c24a40c2343 138 motor_sw_a = 1;
jksoft 0:3c24a40c2343 139 }
jksoft 0:3c24a40c2343 140 else
jksoft 0:3c24a40c2343 141 {
jksoft 0:3c24a40c2343 142 motor_pwm_a = -left;
jksoft 0:3c24a40c2343 143 motor_sw_a = 0;
jksoft 0:3c24a40c2343 144 }
jksoft 0:3c24a40c2343 145 if(right > 0 )
jksoft 0:3c24a40c2343 146 {
jksoft 0:3c24a40c2343 147 motor_pwm_b = right;
jksoft 0:3c24a40c2343 148 motor_sw_b = 1;
jksoft 0:3c24a40c2343 149 }
jksoft 0:3c24a40c2343 150 else
jksoft 0:3c24a40c2343 151 {
jksoft 0:3c24a40c2343 152 motor_pwm_b = -right;
jksoft 0:3c24a40c2343 153 motor_sw_b = 0;
jksoft 0:3c24a40c2343 154 }
jksoft 0:3c24a40c2343 155
jksoft 0:3c24a40c2343 156 //pc.printf("left = %f right = %f\r\n",left,right);
jksoft 0:3c24a40c2343 157
jksoft 0:3c24a40c2343 158 recv_p = 0;
jksoft 0:3c24a40c2343 159 timeout_count = 0;
jksoft 0:3c24a40c2343 160 }
jksoft 0:3c24a40c2343 161 }
jksoft 0:3c24a40c2343 162 wait(0.005);
jksoft 0:3c24a40c2343 163 timeout_count++;
jksoft 0:3c24a40c2343 164 if( timeout_count > 1000 )
jksoft 0:3c24a40c2343 165 {
jksoft 0:3c24a40c2343 166 // Time out Reset
jksoft 0:3c24a40c2343 167 timeout_count = 0;
jksoft 0:3c24a40c2343 168 recv_p = 0;
jksoft 0:3c24a40c2343 169 }
jksoft 0:3c24a40c2343 170 }
jksoft 0:3c24a40c2343 171 }