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main.cpp@50:8843bee40df5, 2020-09-01 (annotated)

Committer:: mori2020
Date:: Tue Sep 01 05:38:46 2020 +0000
Revision:: 50:8843bee40df5
Parent:: 49:178dcafb4f0e
Child:: 51:2d35f207d217

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User	Revision	Line number	New contents of line
yangtzuli	0:0d0037aabe41	1	/* mbed Microcontroller Library
yangtzuli	0:0d0037aabe41	2	* Copyright (c) 2019 ARM Limited
yangtzuli	0:0d0037aabe41	3	* SPDX-License-Identifier: Apache-2.0
yangtzuli	0:0d0037aabe41	4	*/
yangtzuli	0:0d0037aabe41	5
yangtzuli	0:0d0037aabe41	6	#include "mbed.h"
yangtzuli	0:0d0037aabe41	7	#include "ReceiverIR.h"
yangtzuli	0:0d0037aabe41	8	#include "rtos.h"
yangtzuli	0:0d0037aabe41	9	#include <stdint.h>
yangtzuli	0:0d0037aabe41	10	#include "platform/mbed_thread.h"
yangtzuli	2:38825726cb1b	11	#include "TextLCD.h"
yangtzuli	0:0d0037aabe41	12
nishimura_taku_pet	27:90962c01bfeb	13	RawSerial pc(USBTX, USBRX);
yangtzuli	0:0d0037aabe41	14
yangtzuli	3:2ae6218973be	15	/* マクロ定義、列挙型定義 */
takuminomura	48:3003ea51c619	16	#define MIN_V 2.0 // 電圧の最小値
takuminomura	48:3003ea51c619	17	#define MAX_V 2.67 // 電圧の最大値
takuminomura	48:3003ea51c619	18	#define LOW 0 // モーターOFF
takuminomura	48:3003ea51c619	19	#define HIGH 1 // モーターON
takuminomura	48:3003ea51c619	20	#define NORMAL 0 // 普通
takuminomura	48:3003ea51c619	21	#define FAST 1 // 速い
takuminomura	48:3003ea51c619	22	#define VERYFAST 2 // とても速い
takuminomura	48:3003ea51c619	23
takuminomura	48:3003ea51c619	24	#define SLOW 0.8
takuminomura	48:3003ea51c619	25	#define REVERSE 0.5
takuminomura	48:3003ea51c619	26
takuminomura	48:3003ea51c619	27	#define MBED04 0.781//Mbed04号機の左右のモーター速度比(R:L = 1: 0.781)
takuminomura	48:3003ea51c619	28	#define MBED05 0.953//Mbed05号機の左右のモーター速度比(R:L = 1: 0.953)
takuminomura	48:3003ea51c619	29	#define MSR0 0.4
takuminomura	48:3003ea51c619	30	#define MSR1 0.5
takuminomura	48:3003ea51c619	31	#define MSR2 0.6
takuminomura	48:3003ea51c619	32	#define MSR3 MSR0*SLOW
takuminomura	48:3003ea51c619	33	#define MSR4 MSR1*SLOW
takuminomura	48:3003ea51c619	34	#define MSR5 MSR2*SLOW
takuminomura	48:3003ea51c619	35	#define MSR6 0.7
takuminomura	48:3003ea51c619	36	#define MSR7 0.8
takuminomura	48:3003ea51c619	37	#define MSR8 0.9
takuminomura	48:3003ea51c619	38	#define MSL0 MSR0*MBED05
takuminomura	48:3003ea51c619	39	#define MSL1 MSR1*MBED05
takuminomura	48:3003ea51c619	40	#define MSL2 MSR2*MBED05
takuminomura	48:3003ea51c619	41	#define MSL3 MSR3*MBED05
takuminomura	48:3003ea51c619	42	#define MSL4 MSR4*MBED05
takuminomura	48:3003ea51c619	43	#define MSL5 MSR5*MBED05
takuminomura	48:3003ea51c619	44	#define MSL6 MSR6*MBED05
takuminomura	48:3003ea51c619	45	#define MSL7 MSR7*MBED05
takuminomura	48:3003ea51c619	46	#define MSL8 MSR8*MBED05
yangtzuli	2:38825726cb1b	47
tomotsugu	8:a47dbf4fa455	48	/* 操作モード定義 */
yangtzuli	3:2ae6218973be	49	enum MODE{
tomotsugu	8:a47dbf4fa455	50	READY = -1, // -1：待ち
tomotsugu	8:a47dbf4fa455	51	ADVANCE = 1, // 1：前進
tomotsugu	8:a47dbf4fa455	52	RIGHT, // 2：右折
tomotsugu	8:a47dbf4fa455	53	LEFT, // 3：左折
tomotsugu	8:a47dbf4fa455	54	BACK, // 4：後退
tomotsugu	8:a47dbf4fa455	55	STOP, // 5：停止
tomotsugu	8:a47dbf4fa455	56	LINE_TRACE, // 6：ライントレース
tomotsugu	8:a47dbf4fa455	57	AVOIDANCE, // 7：障害物回避
tomotsugu	8:a47dbf4fa455	58	SPEED, // 8：スピード制御
yangtzuli	2:38825726cb1b	59	};
yangtzuli	2:38825726cb1b	60
yangtzuli	3:2ae6218973be	61	/* ピン配置 */
yangtzuli	3:2ae6218973be	62	ReceiverIR ir(p5); // リモコン操作
yangtzuli	3:2ae6218973be	63	DigitalOut trig(p6); // 超音波センサtrigger
yangtzuli	5:3fffb364744b	64	DigitalIn echo(p7); // 超音波センサecho
yangtzuli	3:2ae6218973be	65	DigitalIn ss1(p8); // ライントレースセンサ(左)
yangtzuli	3:2ae6218973be	66	DigitalIn ss2(p9); // ライントレースセンサ
yangtzuli	3:2ae6218973be	67	DigitalIn ss3(p10); // ライントレースセンサ
yangtzuli	3:2ae6218973be	68	DigitalIn ss4(p11); // ライントレースセンサ
yangtzuli	3:2ae6218973be	69	DigitalIn ss5(p12); // ライントレースセンサ(右)
nishimura_taku_pet	24:9481c8f56a49	70	RawSerial esp(p13, p14); // Wi-Fiモジュール(tx, rx)
yangtzuli	3:2ae6218973be	71	AnalogIn battery(p15); // 電池残量読み取り(Max 3.3V)
takuminomura	48:3003ea51c619	72	PwmOut motorR2(p22); // 右モーター後退
takuminomura	48:3003ea51c619	73	PwmOut motorR1(p21); // 右モーター前進
yangtzuli	3:2ae6218973be	74	PwmOut motorL2(p23); // 左モーター後退
yangtzuli	3:2ae6218973be	75	PwmOut motorL1(p24); // 左モーター前進
yangtzuli	3:2ae6218973be	76	PwmOut servo(p25); // サーボ
yangtzuli	3:2ae6218973be	77	I2C i2c_lcd(p28,p27); // LCD(tx, rx)
yangtzuli	2:38825726cb1b	78
yangtzuli	3:2ae6218973be	79	/* 変数宣言 */
yangtzuli	3:2ae6218973be	80	int mode; // 操作モード
yangtzuli	3:2ae6218973be	81	int run; // 走行状態
takuminomura	48:3003ea51c619	82	int beforeRun = STOP; // 前回の走行状態
tomotsugu	8:a47dbf4fa455	83	int beforeMode; // 前回のモード
tomotsugu	8:a47dbf4fa455	84	int flag_sp = 0; // スピード変化フラグ
tomotsugu	8:a47dbf4fa455	85	Timer viewTimer; // スピ―ド変更時に3秒計測タイマー
takuminomura	48:3003ea51c619	86
takuminomura	48:3003ea51c619	87	float motorSpeedR1[9] = {MSR0, MSR1, MSR2, MSR3 , MSR4 , MSR5 , MSR6 , MSR7 , MSR8 };
takuminomura	48:3003ea51c619	88	//float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3REVERSE, MSR4REVERSE, MSR5REVERSE, MSR6REVERSE, MSR7REVERSE, MSR8REVERSE};
takuminomura	48:3003ea51c619	89	float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3REVERSE, MSR4REVERSE, MSR5*REVERSE, MSR6, MSR7, MSR8};
takuminomura	48:3003ea51c619	90	float motorSpeedL1[9] = {MSL0, MSL1, MSL2, MSL3 , MSL4 , MSL5 , MSL6 , MSL7 , MSL8 };
takuminomura	48:3003ea51c619	91	//float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3REVERSE, MSL4REVERSE, MSL5REVERSE, MSL6REVERSE, MSL7REVERSE, MSL8REVERSE};
takuminomura	48:3003ea51c619	92	float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3REVERSE, MSL4REVERSE, MSL5*REVERSE, MSL6, MSL7, MSL8};
yangtzuli	3:2ae6218973be	93	// モーター速度設定(後半はライントレース用)
takuminomura	48:3003ea51c619	94	// 0,1,2:基準速度
takuminomura	48:3003ea51c619	95	// 3,4,5:低速
takuminomura	48:3003ea51c619	96	// 6,7,8:高速
takuminomura	48:3003ea51c619	97	// R1 : 右前, R2 : 右後, L1 : 左前, L2 : 左後
tomotsugu	8:a47dbf4fa455	98
tomotsugu	8:a47dbf4fa455	99	Mutex mutex; // ミューテックス
takuminomura	48:3003ea51c619	100
tomotsugu	8:a47dbf4fa455	101	/* decodeIR用変数 */
yangtzuli	3:2ae6218973be	102	RemoteIR::Format format;
yangtzuli	3:2ae6218973be	103	uint8_t buf[32];
yangtzuli	3:2ae6218973be	104	uint32_t bitcount;
yangtzuli	3:2ae6218973be	105	uint32_t code;
yangtzuli	3:2ae6218973be	106
tomotsugu	8:a47dbf4fa455	107	/* bChange, lcdbacklight用変数 */
yangtzuli	3:2ae6218973be	108	TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780);
tomotsugu	8:a47dbf4fa455	109	int b = 0; // バッテリー残量
tomotsugu	8:a47dbf4fa455	110	int flag_b = 0; // バックライト点滅フラグ
tomotsugu	8:a47dbf4fa455	111	int flag_t = 0; // バックライトタイマーフラグ
yangtzuli	3:2ae6218973be	112
tomotsugu	8:a47dbf4fa455	113	/* trace用変数 */
takuminomura	48:3003ea51c619	114	int sensArray[32] = {0,6,2,4,1,2,1,4, // ライントレースセンサパターン
takuminomura	48:3003ea51c619	115	3,6,1,6,1,1,1,6, // 0:前回動作継続
takuminomura	48:3003ea51c619	116	7,1,7,1,3,1,1,1, // 1:高速前進
takuminomura	48:3003ea51c619	117	5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura	48:3003ea51c619	118	// 3:低速左折
takuminomura	48:3003ea51c619	119	// 4:中速右折
takuminomura	48:3003ea51c619	120	// 5:中速左折
takuminomura	48:3003ea51c619	121	// 6:高速右折
takuminomura	48:3003ea51c619	122	// 7:高速左折
takuminomura	48:3003ea51c619	123
takuminomura	48:3003ea51c619	124	//int sensArray[32] = {0,6,0,4,1,0,1,4, // ライントレースセンサパターン
takuminomura	48:3003ea51c619	125	// 0,6,1,6,1,1,1,6, // 0:前回動作継続
takuminomura	48:3003ea51c619	126	// 7,1,7,1,0,1,1,1, // 1:高速前進
takuminomura	48:3003ea51c619	127	// 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura	48:3003ea51c619	128	// // 3:低速左折
takuminomura	48:3003ea51c619	129	// // 4:中速右折
takuminomura	48:3003ea51c619	130	// // 5:中速左折
takuminomura	48:3003ea51c619	131	// // 6:高速右折
takuminomura	48:3003ea51c619	132	// // 7:高速左折
yangtzuli	0:0d0037aabe41	133
tomotsugu	8:a47dbf4fa455	134	/* avoidance用変数 */
yangtzuli	3:2ae6218973be	135	Timer timer; // 距離計測用タイマ
yangtzuli	3:2ae6218973be	136	int DT; // 距離
takuminomura	48:3003ea51c619	137	int SC; // 正面
yangtzuli	2:38825726cb1b	138	int SL; // 左
yangtzuli	2:38825726cb1b	139	int SR; // 右
yangtzuli	2:38825726cb1b	140	int SLD; // 左前
yangtzuli	2:38825726cb1b	141	int SRD; // 右前
tomotsugu	8:a47dbf4fa455	142	int flag_a = 0; // 障害物有無のフラグ
yangtzuli	2:38825726cb1b	143	const int limit = 20; // 障害物の距離のリミット(単位：cm)
yangtzuli	3:2ae6218973be	144	int far; // 最も遠い距離
yangtzuli	2:38825726cb1b	145	int houkou; // 進行方向(1:前 2:左 3:右)
nishimura_taku_pet	29:600e4b9b5c5b	146	int t1 = 0;
yangtzuli	2:38825726cb1b	147
nishimura_taku_pet	24:9481c8f56a49	148	/WiFi用変数/
nishimura_taku_pet	24:9481c8f56a49	149	Timer time1;
nishimura_taku_pet	24:9481c8f56a49	150	Timer time2;
nishimura_taku_pet	24:9481c8f56a49	151	int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
nishimura_taku_pet	24:9481c8f56a49	152	int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
nishimura_taku_pet	24:9481c8f56a49	153	float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet	24:9481c8f56a49	154	char webcount[8];
nishimura_taku_pet	24:9481c8f56a49	155	char type[16];
nishimura_taku_pet	24:9481c8f56a49	156	char channel[2];
nishimura_taku_pet	24:9481c8f56a49	157	char cmdbuff[32];
nishimura_taku_pet	24:9481c8f56a49	158	char replybuff[1024];
nishimura_taku_pet	24:9481c8f56a49	159	char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet	27:90962c01bfeb	160	char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet	24:9481c8f56a49	161	int port =80; // set server port
nishimura_taku_pet	24:9481c8f56a49	162	int SERVtimeout =5; // set server timeout in seconds in case link breaks.
takuminomura	48:3003ea51c619	163	char ssid[32] = "mbed05"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet	24:9481c8f56a49	164	char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
yangtzuli	3:2ae6218973be	165
yangtzuli	3:2ae6218973be	166	/* プロトタイプ宣言 */
nishimura_taku_pet	33:a6f1090e0174	167	void decodeIR(/void const argument*/);
nishimura_taku_pet	33:a6f1090e0174	168	void motor(/void const argument*/);
yangtzuli	3:2ae6218973be	169	void changeSpeed();
nishimura_taku_pet	16:ffc732a3cf92	170	void avoidance(/void const argument*/);
nishimura_taku_pet	16:ffc732a3cf92	171	void trace(/void const argument*/);
nishimura_taku_pet	40:75e1ad7c27e4	172	void watchsurrounding3();
nishimura_taku_pet	40:75e1ad7c27e4	173	void watchsurrounding5();
yangtzuli	2:38825726cb1b	174	int watch();
takuminomura	48:3003ea51c619	175	char battery_ch[8];
yangtzuli	5:3fffb364744b	176	void bChange();
yangtzuli	3:2ae6218973be	177	void display();
yangtzuli	3:2ae6218973be	178	void lcdBacklight(void const *argument);
nishimura_taku_pet	45:76e8c07d76ef	179	void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
nishimura_taku_pet	43:243c1455f88a	180	void wifi(/void const argument*/);
takuminomura	48:3003ea51c619	181	Thread *deco_thread; // decodeIRをスレッド化：+3
nishimura_taku_pet	43:243c1455f88a	182	Thread *wifi_thread;
takuminomura	48:3003ea51c619	183	//wifi_thread(wifi,NULL,osPriorityHigh); // wifiをスレッド化
takuminomura	48:3003ea51c619	184	Thread *motor_thread; // motorをスレッド化：+2
takuminomura	48:3003ea51c619	185	RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
takuminomura	48:3003ea51c619	186	Thread *avoi_thread; // avoidanceをスレッド化：+2
takuminomura	48:3003ea51c619	187	Thread *trace_thread; // traceをスレッド化：+2
yangtzuli	2:38825726cb1b	188
nishimura_taku_pet	24:9481c8f56a49	189	DigitalOut led1(LED1);
nishimura_taku_pet	24:9481c8f56a49	190	DigitalOut led2(LED2);
nishimura_taku_pet	24:9481c8f56a49	191	DigitalOut led3(LED3);
nishimura_taku_pet	24:9481c8f56a49	192	DigitalOut led4(LED4);
yangtzuli	3:2ae6218973be	193
nishimura_taku_pet	33:a6f1090e0174	194	void setup(){
nishimura_taku_pet	33:a6f1090e0174	195	deco_thread = new Thread(decodeIR);
nishimura_taku_pet	33:a6f1090e0174	196	deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet	33:a6f1090e0174	197	motor_thread = new Thread(motor);
nishimura_taku_pet	33:a6f1090e0174	198	motor_thread -> set_priority(osPriorityHigh);
mori2020	49:178dcafb4f0e	199	wifi_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet	33:a6f1090e0174	200	display();
nishimura_taku_pet	33:a6f1090e0174	201	}
nishimura_taku_pet	33:a6f1090e0174	202
tomotsugu	8:a47dbf4fa455	203	/* リモコン受信スレッド */
takuminomura	48:3003ea51c619	204	void decodeIR(/void const argument*/){
takuminomura	48:3003ea51c619	205	while(1){
yangtzuli	0:0d0037aabe41	206	// 受信待ち
tomotsugu	8:a47dbf4fa455	207	if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli	3:2ae6218973be	208	bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu	8:a47dbf4fa455	209	if(bitcount > 1){ // 受信成功
yangtzuli	1:5bb497a38344	210	code=0;
tomotsugu	15:5eef1955f6c2	211	for(int j = 0; j < 4; j++){
yangtzuli	1:5bb497a38344	212	code+=(buf[j]<<(8*(3-j)));
yangtzuli	1:5bb497a38344	213	}
tomotsugu	8:a47dbf4fa455	214	if(mode != SPEED){ // スピードモード以外なら
takuminomura	48:3003ea51c619	215	beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli	3:2ae6218973be	216	}
yangtzuli	0:0d0037aabe41	217	switch(code){
tomotsugu	8:a47dbf4fa455	218	case 0x40bf27d8: // クイック
mori2020	50:8843bee40df5	219	////--*-5("mode = SPEED\r\n");
takuminomura	48:3003ea51c619	220	mode = SPEED; // スピードモード
tomotsugu	8:a47dbf4fa455	221	changeSpeed(); // 速度変更
tomotsugu	8:a47dbf4fa455	222	display(); // ディスプレイ表示
tomotsugu	8:a47dbf4fa455	223	mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli	1:5bb497a38344	224	break;
tomotsugu	8:a47dbf4fa455	225	case 0x40be34cb: // レグザリンク
mori2020	50:8843bee40df5	226	////--*-5("mode = LINE_TRACE\r\n");
nishimura_taku_pet	16:ffc732a3cf92	227	if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	228	delete trace_thread;
nishimura_taku_pet	16:ffc732a3cf92	229	trace_thread = new Thread(trace);
nishimura_taku_pet	16:ffc732a3cf92	230	trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	16:ffc732a3cf92	231	}
tomotsugu	8:a47dbf4fa455	232	mode=LINE_TRACE; // ライントレースモード
tomotsugu	8:a47dbf4fa455	233	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	234	break;
tomotsugu	8:a47dbf4fa455	235	case 0x40bf6e91: // 番組表
mori2020	50:8843bee40df5	236	////--*-5("mode = AVOIDANCE\r\n");
nishimura_taku_pet	16:ffc732a3cf92	237	if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	238	delete avoi_thread;
nishimura_taku_pet	16:ffc732a3cf92	239	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	16:ffc732a3cf92	240	avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	16:ffc732a3cf92	241	}
tomotsugu	18:6cca64c7dbc3	242	flag_a = 0;
tomotsugu	8:a47dbf4fa455	243	mode=AVOIDANCE; // 障害物回避モード
tomotsugu	13:1a7667d0aa78	244	run = ADVANCE; // 前進
tomotsugu	8:a47dbf4fa455	245	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	246	break;
takuminomura	48:3003ea51c619	247	case 0x40bf3ec1: // ↑
mori2020	50:8843bee40df5	248	////--*-5("mode = ADVANCE\r\n");
tomotsugu	8:a47dbf4fa455	249	mode = ADVANCE; // 前進モード
tomotsugu	8:a47dbf4fa455	250	run = ADVANCE; // 前進
tomotsugu	8:a47dbf4fa455	251	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	252	break;
takuminomura	48:3003ea51c619	253	case 0x40bf3fc0: // ↓
mori2020	50:8843bee40df5	254	////--*-5("mode = BACK\r\n");
tomotsugu	8:a47dbf4fa455	255	mode = BACK; // 後退モード
tomotsugu	8:a47dbf4fa455	256	run = BACK; // 後退
tomotsugu	8:a47dbf4fa455	257	display(); // ディスプレイ表示
yangtzuli	0:0d0037aabe41	258	break;
takuminomura	48:3003ea51c619	259	case 0x40bf5fa0: // ←
mori2020	50:8843bee40df5	260	////--*-5("mode = LEFT\r\n");
tomotsugu	8:a47dbf4fa455	261	mode = LEFT; // 左折モード
tomotsugu	8:a47dbf4fa455	262	run = LEFT; // 左折
tomotsugu	8:a47dbf4fa455	263	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	264	break;
takuminomura	48:3003ea51c619	265	case 0x40bf5ba4: // →
mori2020	50:8843bee40df5	266	////--*-5("mode = RIGHT\r\n");
tomotsugu	8:a47dbf4fa455	267	mode = RIGHT; // 右折モード
tomotsugu	8:a47dbf4fa455	268	run = RIGHT; // 右折
tomotsugu	8:a47dbf4fa455	269	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	270	break;
takuminomura	48:3003ea51c619	271	case 0x40bf3dc2: // 決定
mori2020	50:8843bee40df5	272	////--*-5("mode = STOP\r\n");
tomotsugu	8:a47dbf4fa455	273	mode = STOP; // 停止モード
tomotsugu	8:a47dbf4fa455	274	run = STOP; // 停止
tomotsugu	8:a47dbf4fa455	275	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	276	break;
yangtzuli	0:0d0037aabe41	277	default:
yangtzuli	0:0d0037aabe41	278	;
yangtzuli	0:0d0037aabe41	279	}
nishimura_taku_pet	16:ffc732a3cf92	280	if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	281	trace_thread->terminate();
nishimura_taku_pet	16:ffc732a3cf92	282	}
nishimura_taku_pet	16:ffc732a3cf92	283	if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	284	avoi_thread->terminate();
nishimura_taku_pet	28:cb51cafca490	285	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	16:ffc732a3cf92	286	}
yangtzuli	0:0d0037aabe41	287	}
yangtzuli	0:0d0037aabe41	288	}
takuminomura	48:3003ea51c619	289	if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
takuminomura	48:3003ea51c619	290	viewTimer.stop(); // タイマーストップ
takuminomura	48:3003ea51c619	291	viewTimer.reset(); // タイマーリセット
takuminomura	48:3003ea51c619	292	display(); // ディスプレイ表示
yangtzuli	4:3f80c0180e2f	293	}
takuminomura	48:3003ea51c619	294	ThisThread::sleep_for(90); // 90ms待つ
takuminomura	48:3003ea51c619	295	}
yangtzuli	2:38825726cb1b	296	}
tomotsugu	8:a47dbf4fa455	297
tomotsugu	8:a47dbf4fa455	298	/* モーター制御スレッド */
nishimura_taku_pet	33:a6f1090e0174	299	void motor(/void const argument*/){
tomotsugu	8:a47dbf4fa455	300	while(1){
tomotsugu	8:a47dbf4fa455	301	/* 走行状態の場合分け */
yangtzuli	3:2ae6218973be	302	switch(run){
tomotsugu	8:a47dbf4fa455	303	/* 前進 */
yangtzuli	3:2ae6218973be	304	case ADVANCE:
takuminomura	48:3003ea51c619	305	motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
takuminomura	48:3003ea51c619	306	motorR2 = LOW; // 右後退モーターOFF
takuminomura	48:3003ea51c619	307	motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
takuminomura	48:3003ea51c619	308	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	309	break;
tomotsugu	8:a47dbf4fa455	310	/* 右折 */
yangtzuli	3:2ae6218973be	311	case RIGHT:
takuminomura	48:3003ea51c619	312	motorR1 = LOW; // 右前進モーターOFF
takuminomura	48:3003ea51c619	313	motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
takuminomura	48:3003ea51c619	314	motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
takuminomura	48:3003ea51c619	315	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	316	break;
tomotsugu	8:a47dbf4fa455	317	/* 左折 */
yangtzuli	3:2ae6218973be	318	case LEFT:
takuminomura	48:3003ea51c619	319	motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
takuminomura	48:3003ea51c619	320	motorR2 = LOW; // 右後退モーターOFF
takuminomura	48:3003ea51c619	321	motorL1 = LOW; // 左前進モーターOFF
takuminomura	48:3003ea51c619	322	motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli	3:2ae6218973be	323	break;
tomotsugu	8:a47dbf4fa455	324	/* 後退 */
yangtzuli	3:2ae6218973be	325	case BACK:
takuminomura	48:3003ea51c619	326	motorR1 = LOW; // 右前進モーターOFF
takuminomura	48:3003ea51c619	327	motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
takuminomura	48:3003ea51c619	328	motorL1 = LOW; // 左前進モーターOFF
takuminomura	48:3003ea51c619	329	motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli	3:2ae6218973be	330	break;
tomotsugu	8:a47dbf4fa455	331	/* 停止 */
yangtzuli	3:2ae6218973be	332	case STOP:
tomotsugu	8:a47dbf4fa455	333	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	8:a47dbf4fa455	334	motorR2 = LOW; // 右後退モーターOFF
tomotsugu	8:a47dbf4fa455	335	motorL1 = LOW; // 左前進モーターOFF
tomotsugu	8:a47dbf4fa455	336	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	337	break;
yangtzuli	3:2ae6218973be	338	}
tomotsugu	8:a47dbf4fa455	339	if(flag_sp > VERYFAST){ // スピード変更フラグが2より大きいなら
nishimura_taku_pet	47:8a5a4275480a	340	flag_sp %= 3; // スピード変更フラグ調整
yangtzuli	6:800a745c7f2e	341	}
takuminomura	48:3003ea51c619	342	ThisThread::sleep_for(3); // 30ms待つ
yangtzuli	2:38825726cb1b	343	}
yangtzuli	2:38825726cb1b	344	}
tomotsugu	8:a47dbf4fa455	345
tomotsugu	8:a47dbf4fa455	346	/* スピード変更関数 */
yangtzuli	3:2ae6218973be	347	void changeSpeed(){
tomotsugu	8:a47dbf4fa455	348	if(flag_sp%3 == 2){ // スピード変更フラグを3で割った余りが2なら
takuminomura	48:3003ea51c619	349	flag_sp = 0; // スピード変更フラグを0にする
tomotsugu	8:a47dbf4fa455	350	}else{ // それ以外
takuminomura	48:3003ea51c619	351	flag_sp = flag_sp + 1; // スピード変更フラグを+1
takuminomura	48:3003ea51c619	352	}
yangtzuli	3:2ae6218973be	353	}
tomotsugu	8:a47dbf4fa455	354
tomotsugu	8:a47dbf4fa455	355	/* ライントレーススレッド */
tomotsugu	20:02bb875a9b13	356	void trace(){
takuminomura	48:3003ea51c619	357	while(1){
takuminomura	48:3003ea51c619	358	/* 各センサー値読み取り */
takuminomura	48:3003ea51c619	359	int sensor1 = ss1;
takuminomura	48:3003ea51c619	360	int sensor2 = ss2;
takuminomura	48:3003ea51c619	361	int sensor3 = ss3;
takuminomura	48:3003ea51c619	362	int sensor4 = ss4;
takuminomura	48:3003ea51c619	363	int sensor5 = ss5;
mori2020	50:8843bee40df5	364	////--*-5("%d %d %d %d %d \r\n",sensor1,sensor2,sensor3,sensor4,sensor5);
takuminomura	48:3003ea51c619	365	int sensD = 0;
takuminomura	48:3003ea51c619	366
takuminomura	48:3003ea51c619	367	/* センサー値の決定 */
takuminomura	48:3003ea51c619	368	if(sensor1 > 0) sensD \|= 0x10;
takuminomura	48:3003ea51c619	369	if(sensor2 > 0) sensD \|= 0x08;
takuminomura	48:3003ea51c619	370	if(sensor3 > 0) sensD \|= 0x04;
takuminomura	48:3003ea51c619	371	if(sensor4 > 0) sensD \|= 0x02;
takuminomura	48:3003ea51c619	372	if(sensor5 > 0) sensD \|= 0x01;
takuminomura	48:3003ea51c619	373
takuminomura	48:3003ea51c619	374	/* センサー値によって場合分け */
takuminomura	48:3003ea51c619	375	switch(sensArray[sensD]){
takuminomura	48:3003ea51c619	376	case 1:
takuminomura	48:3003ea51c619	377	flag_sp = flag_sp % 3 + 6;
takuminomura	48:3003ea51c619	378	beforeRun = run;
takuminomura	48:3003ea51c619	379	run = ADVANCE; // 高速で前進
takuminomura	48:3003ea51c619	380	break;
takuminomura	48:3003ea51c619	381	case 2:
takuminomura	48:3003ea51c619	382	flag_sp = flag_sp % 3 + 3;
takuminomura	48:3003ea51c619	383	beforeRun = run;
takuminomura	48:3003ea51c619	384	run = RIGHT; // 低速で右折
takuminomura	48:3003ea51c619	385	break;
takuminomura	48:3003ea51c619	386	case 3:
takuminomura	48:3003ea51c619	387	flag_sp = flag_sp % 3 + 3;
takuminomura	48:3003ea51c619	388	beforeRun = run;
takuminomura	48:3003ea51c619	389	run = LEFT; // 低速で左折
takuminomura	48:3003ea51c619	390	break;
takuminomura	48:3003ea51c619	391	case 4:
takuminomura	48:3003ea51c619	392	flag_sp = flag_sp % 3;
takuminomura	48:3003ea51c619	393	beforeRun = run;
takuminomura	48:3003ea51c619	394	run = RIGHT; // 中速で右折
takuminomura	48:3003ea51c619	395	break;
takuminomura	48:3003ea51c619	396	case 5:
takuminomura	48:3003ea51c619	397	flag_sp = flag_sp % 3;
takuminomura	48:3003ea51c619	398	beforeRun = run;
takuminomura	48:3003ea51c619	399	run = LEFT; // 中速で左折
takuminomura	48:3003ea51c619	400	break;
takuminomura	48:3003ea51c619	401	case 6:
takuminomura	48:3003ea51c619	402	flag_sp = flag_sp % 3 + 6;
takuminomura	48:3003ea51c619	403	beforeRun = run;
takuminomura	48:3003ea51c619	404	run = RIGHT; // 高速で右折
takuminomura	48:3003ea51c619	405	break;
takuminomura	48:3003ea51c619	406	case 7:
takuminomura	48:3003ea51c619	407	flag_sp = flag_sp % 3 + 6;
takuminomura	48:3003ea51c619	408	beforeRun = run;
takuminomura	48:3003ea51c619	409	run = LEFT; // 高速で左折
takuminomura	48:3003ea51c619	410	break;
takuminomura	48:3003ea51c619	411	default:
takuminomura	48:3003ea51c619	412	break; // 前回動作を継続
tomotsugu	18:6cca64c7dbc3	413	}
takuminomura	48:3003ea51c619	414	// ThisThread::sleep_for(30); // 30ms待つ
takuminomura	48:3003ea51c619	415	ThisThread::sleep_for(3);
takuminomura	48:3003ea51c619	416	}
yangtzuli	3:2ae6218973be	417	}
yangtzuli	3:2ae6218973be	418
tomotsugu	8:a47dbf4fa455	419	/* 障害物回避走行スレッド */
tomotsugu	20:02bb875a9b13	420	void avoidance(){
nishimura_taku_pet	46:c6deb699160b	421	int i;
yangtzuli	3:2ae6218973be	422	while(1){
nishimura_taku_pet	40:75e1ad7c27e4	423	watchsurrounding3();
mori2020	50:8843bee40df5	424	// //--*-5("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR);
takuminomura	48:3003ea51c619	425	if(flag_a == 0){ // 障害物がない場合
takuminomura	48:3003ea51c619	426	run = ADVANCE; // 前進
takuminomura	48:3003ea51c619	427	}else{ // 障害物がある場合
tomotsugu	18:6cca64c7dbc3	428	i = 0;
takuminomura	48:3003ea51c619	429	if(SC < 15){ // 正面15cm以内に障害物が現れた場合
nishimura_taku_pet	41:3c58a4be1199	430	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	41:3c58a4be1199	431	ThisThread::sleep_for(100); // 100ms待つ
takuminomura	48:3003ea51c619	432	run = BACK; // 後退
nishimura_taku_pet	40:75e1ad7c27e4	433	int cnt_kyori=0;
nishimura_taku_pet	40:75e1ad7c27e4	434	int kyori = watch();
takuminomura	48:3003ea51c619	435	while(kyori < limit){ // 正面20cm以内に障害物がある間
nishimura_taku_pet	40:75e1ad7c27e4	436	if(kyori==-1){
nishimura_taku_pet	40:75e1ad7c27e4	437	cnt_kyori++;
nishimura_taku_pet	40:75e1ad7c27e4	438	if(cnt_kyori>15){
nishimura_taku_pet	40:75e1ad7c27e4	439	cnt_kyori=0;
nishimura_taku_pet	40:75e1ad7c27e4	440	break;
nishimura_taku_pet	40:75e1ad7c27e4	441	}
nishimura_taku_pet	40:75e1ad7c27e4	442	}
nishimura_taku_pet	40:75e1ad7c27e4	443	kyori = watch();
tomotsugu	18:6cca64c7dbc3	444	}
nishimura_taku_pet	40:75e1ad7c27e4	445	/*while(i < 30){ // 正面20cm以内に障害物がある間
nishimura_taku_pet	40:75e1ad7c27e4	446	if(watch() < limit){
nishimura_taku_pet	40:75e1ad7c27e4	447	break;
nishimura_taku_pet	40:75e1ad7c27e4	448	}
nishimura_taku_pet	40:75e1ad7c27e4	449	i++;
nishimura_taku_pet	40:75e1ad7c27e4	450	}
nishimura_taku_pet	40:75e1ad7c27e4	451	i = 0;*/
takuminomura	48:3003ea51c619	452	run = STOP; // 停止
yangtzuli	3:2ae6218973be	453	}
nishimura_taku_pet	40:75e1ad7c27e4	454	watchsurrounding5();
takuminomura	48:3003ea51c619	455	if(SC < limit && SLD < limit && SL < limit && SRD < limit && SR < limit){ // 全方向に障害物がある場合
takuminomura	48:3003ea51c619	456	run = LEFT; // 左折
nishimura_taku_pet	28:cb51cafca490	457	while(i < 1){ // 進行方向確認
tomotsugu	18:6cca64c7dbc3	458	if(watch() > limit){
tomotsugu	18:6cca64c7dbc3	459	i++;
nishimura_taku_pet	28:cb51cafca490	460	}else{
nishimura_taku_pet	28:cb51cafca490	461	i = 0;
yangtzuli	2:38825726cb1b	462	}
yangtzuli	2:38825726cb1b	463	}
nishimura_taku_pet	28:cb51cafca490	464	run = STOP; // 停止
takuminomura	48:3003ea51c619	465	}else { // 全方向以外
nishimura_taku_pet	28:cb51cafca490	466	far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	467	houkou = 1; // 進行方向を前に設定
nishimura_taku_pet	28:cb51cafca490	468	if(far < SLD \|\| far < SL){ // 左または左前がより遠い場合
nishimura_taku_pet	28:cb51cafca490	469	if(SL < SLD){ // 左前が左より遠い場合
nishimura_taku_pet	28:cb51cafca490	470	far = SLD; // 左前を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	471	}else{ // 左が左前より遠い場合
nishimura_taku_pet	28:cb51cafca490	472	far = SL; // 左を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	473	}
nishimura_taku_pet	28:cb51cafca490	474	houkou = 2; // 進行方向を左に設定
nishimura_taku_pet	28:cb51cafca490	475	}
nishimura_taku_pet	28:cb51cafca490	476	if(far < SRD \|\| far < SR){ // 右または右前がより遠い場合
nishimura_taku_pet	28:cb51cafca490	477	if(SR < SRD){ // 右前が右より遠い場合
nishimura_taku_pet	28:cb51cafca490	478	far = SRD; // 右前を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	479	}else{ // 右が右前よりも遠い場合
nishimura_taku_pet	28:cb51cafca490	480	far = SR; // 右を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	481	}
nishimura_taku_pet	28:cb51cafca490	482	houkou = 3; // 進行方向を右に設定
nishimura_taku_pet	28:cb51cafca490	483	}
nishimura_taku_pet	28:cb51cafca490	484	switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet	28:cb51cafca490	485	case 1: // 前の場合
nishimura_taku_pet	28:cb51cafca490	486	run = ADVANCE; // 前進
nishimura_taku_pet	40:75e1ad7c27e4	487	ThisThread::sleep_for(500); // 0.5秒待つ
nishimura_taku_pet	28:cb51cafca490	488	break;
takuminomura	48:3003ea51c619	489	case 2: // 左の場合
nishimura_taku_pet	28:cb51cafca490	490	run = LEFT; // 左折
nishimura_taku_pet	40:75e1ad7c27e4	491	//int kyori = watch();
nishimura_taku_pet	40:75e1ad7c27e4	492	//int kyori_f=0;
nishimura_taku_pet	40:75e1ad7c27e4	493	while(i < 20){ // 進行方向確認
nishimura_taku_pet	40:75e1ad7c27e4	494	/*if(kyori > (far - 2) \|\| kyori_f == 2){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
takuminomura	48:3003ea51c619	495	break; // ループ+
nishimura_taku_pet	40:75e1ad7c27e4	496	}else if(kyori==-1){
nishimura_taku_pet	40:75e1ad7c27e4	497	kyori_f++;
nishimura_taku_pet	40:75e1ad7c27e4	498	}else{
nishimura_taku_pet	40:75e1ad7c27e4	499	kyori_f = 0;
nishimura_taku_pet	40:75e1ad7c27e4	500	i++;
nishimura_taku_pet	40:75e1ad7c27e4	501	}*/
nishimura_taku_pet	28:cb51cafca490	502	if(watch() > (far - 2)){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
takuminomura	48:3003ea51c619	503	break; // ループ+
nishimura_taku_pet	28:cb51cafca490	504	}else{
nishimura_taku_pet	40:75e1ad7c27e4	505	i++;
nishimura_taku_pet	28:cb51cafca490	506	}
nishimura_taku_pet	28:cb51cafca490	507	}
nishimura_taku_pet	28:cb51cafca490	508	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	509	break;
takuminomura	48:3003ea51c619	510	case 3: // 右の場合
nishimura_taku_pet	28:cb51cafca490	511	run = RIGHT; // 右折
nishimura_taku_pet	45:76e8c07d76ef	512	//int kyori = watch();
nishimura_taku_pet	45:76e8c07d76ef	513	//int kyori_f=0;
nishimura_taku_pet	40:75e1ad7c27e4	514	while(i < 20){ // 進行方向確認
nishimura_taku_pet	40:75e1ad7c27e4	515	/*if(kyori > (far - 2) \|\| kyori_f == 2){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
nishimura_taku_pet	40:75e1ad7c27e4	516	break; // ループ+
nishimura_taku_pet	40:75e1ad7c27e4	517	}else if(kyori==-1){
nishimura_taku_pet	40:75e1ad7c27e4	518	kyori_f++;
nishimura_taku_pet	40:75e1ad7c27e4	519	}else{
nishimura_taku_pet	40:75e1ad7c27e4	520	kyori_f = 0;
nishimura_taku_pet	40:75e1ad7c27e4	521	i++;
nishimura_taku_pet	40:75e1ad7c27e4	522	}*/
nishimura_taku_pet	28:cb51cafca490	523	if(watch() > (far - 2)){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
takuminomura	48:3003ea51c619	524	break; // ループ+
nishimura_taku_pet	28:cb51cafca490	525	}else{
nishimura_taku_pet	40:75e1ad7c27e4	526	i++;
nishimura_taku_pet	28:cb51cafca490	527	}
nishimura_taku_pet	28:cb51cafca490	528	}
nishimura_taku_pet	28:cb51cafca490	529	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	530	break;
nishimura_taku_pet	28:cb51cafca490	531	}
yangtzuli	5:3fffb364744b	532	}
nishimura_taku_pet	28:cb51cafca490	533	}
nishimura_taku_pet	28:cb51cafca490	534	flag_a = 0; // 障害物有無フラグを0にセット
nishimura_taku_pet	40:75e1ad7c27e4	535	if(SLD < 29){ // 正面15cm以内に障害物が現れた場合
nishimura_taku_pet	40:75e1ad7c27e4	536	run = RIGHT; // 右折
nishimura_taku_pet	41:3c58a4be1199	537	ThisThread::sleep_for(200); // 100ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	538	run = STOP; // 停止
nishimura_taku_pet	40:75e1ad7c27e4	539	}else if(SRD < 29){
nishimura_taku_pet	40:75e1ad7c27e4	540	run = LEFT; // 左折
nishimura_taku_pet	41:3c58a4be1199	541	ThisThread::sleep_for(200); // 100ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	542	run = STOP; // 停止
nishimura_taku_pet	40:75e1ad7c27e4	543	}
yangtzuli	2:38825726cb1b	544	}
yangtzuli	2:38825726cb1b	545	}
tomotsugu	8:a47dbf4fa455	546
tomotsugu	8:a47dbf4fa455	547	/* 距離計測関数 */
yangtzuli	2:38825726cb1b	548	int watch(){
tomotsugu	21:68d38e8f64b5	549	do{
tomotsugu	21:68d38e8f64b5	550	trig = 0;
tomotsugu	21:68d38e8f64b5	551	ThisThread::sleep_for(5); // 5ms待つ
tomotsugu	21:68d38e8f64b5	552	trig = 1;
tomotsugu	21:68d38e8f64b5	553	ThisThread::sleep_for(15); // 15ms待つ
tomotsugu	21:68d38e8f64b5	554	trig = 0;
tomotsugu	21:68d38e8f64b5	555	timer.start();
yangtzuli	17:f7259ab2fe86	556	t1=timer.read_ms();
nishimura_taku_pet	29:600e4b9b5c5b	557	while(echo.read() == 0 && t1<10){
tomotsugu	21:68d38e8f64b5	558	t1=timer.read_ms();
tomotsugu	21:68d38e8f64b5	559	led1 = 1;
tomotsugu	21:68d38e8f64b5	560	}
tomotsugu	21:68d38e8f64b5	561	timer.stop();
tomotsugu	21:68d38e8f64b5	562	timer.reset();
nishimura_taku_pet	28:cb51cafca490	563	/*if((t1-t2) >= 10){
nishimura_taku_pet	28:cb51cafca490	564	run = STOP;*/
nishimura_taku_pet	29:600e4b9b5c5b	565	}while(t1 >= 10);
tomotsugu	21:68d38e8f64b5	566	timer.start(); // 距離計測タイマースタート
tomotsugu	21:68d38e8f64b5	567	while(echo.read() == 1){
yangtzuli	5:3fffb364744b	568	}
tomotsugu	21:68d38e8f64b5	569	timer.stop(); // 距離計測タイマーストップ
tomotsugu	21:68d38e8f64b5	570	DT = (int)(timer.read_us()*0.01657); // 距離計算
nishimura_taku_pet	28:cb51cafca490	571	if(DT > 1000){
nishimura_taku_pet	28:cb51cafca490	572	DT = -1;
nishimura_taku_pet	28:cb51cafca490	573	}else if(DT > 150){ // 検知範囲外なら100cmに設定
tomotsugu	22:c6e2a3b9aa14	574	DT = 150;
yangtzuli	2:38825726cb1b	575	}
tomotsugu	21:68d38e8f64b5	576	timer.reset(); // 距離計測タイマーリセット
tomotsugu	8:a47dbf4fa455	577	led1 = 0;
yangtzuli	2:38825726cb1b	578	return DT;
yangtzuli	0:0d0037aabe41	579	}
yangtzuli	0:0d0037aabe41	580
tomotsugu	8:a47dbf4fa455	581	/* 障害物検知関数 */
nishimura_taku_pet	40:75e1ad7c27e4	582	void watchsurrounding3(){
nishimura_taku_pet	28:cb51cafca490	583	//servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	28:cb51cafca490	584	//ThisThread::sleep_for(200); // 100ms待つ
yangtzuli	2:38825726cb1b	585	SC = watch();
nishimura_taku_pet	28:cb51cafca490	586	if(SC < limit){ // 正面20cm以内に障害物がある場合
takuminomura	48:3003ea51c619	587	if(SC!=-1){
nishimura_taku_pet	28:cb51cafca490	588	run = STOP; // 停止
nishimura_taku_pet	40:75e1ad7c27e4	589	flag_a = 1;
nishimura_taku_pet	40:75e1ad7c27e4	590	return;
nishimura_taku_pet	28:cb51cafca490	591	}
yangtzuli	2:38825726cb1b	592	}
yangtzuli	2:38825726cb1b	593	servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet	28:cb51cafca490	594	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	595	SLD = watch();
yangtzuli	2:38825726cb1b	596	if(SLD < limit){ // 左前20cm以内に障害物がある場合
tomotsugu	20:02bb875a9b13	597	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	598	flag_a = 1;
nishimura_taku_pet	40:75e1ad7c27e4	599	return;
yangtzuli	2:38825726cb1b	600	}
tomotsugu	19:c6f9f010bd9e	601	servo.pulsewidth_us(1450);
nishimura_taku_pet	42:56022456ef23	602	ThisThread::sleep_for(150);
tomotsugu	19:c6f9f010bd9e	603	SC = watch();
tomotsugu	19:c6f9f010bd9e	604	if(SC < limit){
takuminomura	48:3003ea51c619	605	if(SC!=-1){
takuminomura	48:3003ea51c619	606	run = STOP; // 停止
nishimura_taku_pet	40:75e1ad7c27e4	607	flag_a = 1;
takuminomura	48:3003ea51c619	608	return;
nishimura_taku_pet	28:cb51cafca490	609	}
tomotsugu	19:c6f9f010bd9e	610	}
yangtzuli	2:38825726cb1b	611	servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet	28:cb51cafca490	612	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	613	SRD = watch();
yangtzuli	2:38825726cb1b	614	if(SRD < limit){ // 右前20cm以内に障害物がある場合
tomotsugu	20:02bb875a9b13	615	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	616	flag_a = 1;
nishimura_taku_pet	40:75e1ad7c27e4	617	return;
yangtzuli	2:38825726cb1b	618	}
nishimura_taku_pet	40:75e1ad7c27e4	619	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	40:75e1ad7c27e4	620	ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	621	/*if(SC < limit \|\| SLD < limit \|\| SL < limit \|\| SRD < limit \|\| SR < limit){ // 20cm以内に障害物を検知した場合
nishimura_taku_pet	40:75e1ad7c27e4	622	flag_a = 1; // 障害物有無フラグに1をセット
nishimura_taku_pet	40:75e1ad7c27e4	623	}*/
nishimura_taku_pet	40:75e1ad7c27e4	624	}
nishimura_taku_pet	40:75e1ad7c27e4	625
nishimura_taku_pet	40:75e1ad7c27e4	626	/* 障害物検知関数 */
nishimura_taku_pet	40:75e1ad7c27e4	627	void watchsurrounding5(){
nishimura_taku_pet	40:75e1ad7c27e4	628	//servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	40:75e1ad7c27e4	629	//ThisThread::sleep_for(200); // 100ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	630	SC = watch();
nishimura_taku_pet	40:75e1ad7c27e4	631	servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet	40:75e1ad7c27e4	632	ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	633	SLD = watch();
nishimura_taku_pet	40:75e1ad7c27e4	634	servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet	40:75e1ad7c27e4	635	ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	636	SL = watch();
nishimura_taku_pet	40:75e1ad7c27e4	637	servo.pulsewidth_us(1450);
nishimura_taku_pet	40:75e1ad7c27e4	638	ThisThread::sleep_for(250);
nishimura_taku_pet	40:75e1ad7c27e4	639	SC = watch();
nishimura_taku_pet	40:75e1ad7c27e4	640	servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet	40:75e1ad7c27e4	641	ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	642	SRD = watch();
yangtzuli	2:38825726cb1b	643	servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet	28:cb51cafca490	644	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	645	SR = watch();
yangtzuli	2:38825726cb1b	646	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	28:cb51cafca490	647	ThisThread::sleep_for(250); // 100ms待つ
yangtzuli	3:2ae6218973be	648	}
yangtzuli	3:2ae6218973be	649
tomotsugu	8:a47dbf4fa455	650	/* ディスプレイ表示関数 */
yangtzuli	3:2ae6218973be	651	void display(){
tomotsugu	8:a47dbf4fa455	652	mutex.lock(); // ミューテックスロック
yangtzuli	3:2ae6218973be	653	lcd.setAddress(0,1);
tomotsugu	8:a47dbf4fa455	654
tomotsugu	8:a47dbf4fa455	655	/* 操作モードによる場合分け */
yangtzuli	3:2ae6218973be	656	switch(mode){
tomotsugu	8:a47dbf4fa455	657	/* 前進 */
yangtzuli	3:2ae6218973be	658	case ADVANCE:
yangtzuli	3:2ae6218973be	659	lcd.printf("Mode:Advance ");
yangtzuli	3:2ae6218973be	660	break;
tomotsugu	8:a47dbf4fa455	661	/* 右折 */
yangtzuli	3:2ae6218973be	662	case RIGHT:
yangtzuli	5:3fffb364744b	663	lcd.printf("Mode:TurnRight ");
yangtzuli	3:2ae6218973be	664	break;
tomotsugu	8:a47dbf4fa455	665	/* 左折 */
yangtzuli	3:2ae6218973be	666	case LEFT:
yangtzuli	5:3fffb364744b	667	lcd.printf("Mode:TurnLeft ");
yangtzuli	3:2ae6218973be	668	break;
tomotsugu	8:a47dbf4fa455	669	/* 後退 */
yangtzuli	3:2ae6218973be	670	case BACK:
yangtzuli	3:2ae6218973be	671	lcd.printf("Mode:Back ");
yangtzuli	3:2ae6218973be	672	break;
tomotsugu	8:a47dbf4fa455	673	/* 停止 */
yangtzuli	3:2ae6218973be	674	case STOP:
yangtzuli	3:2ae6218973be	675	lcd.printf("Mode:Stop ");
yangtzuli	3:2ae6218973be	676	break;
tomotsugu	8:a47dbf4fa455	677	/* 待ち */
yangtzuli	3:2ae6218973be	678	case READY:
yangtzuli	3:2ae6218973be	679	lcd.printf("Mode:Ready ");
yangtzuli	3:2ae6218973be	680	break;
tomotsugu	8:a47dbf4fa455	681	/* ライントレース */
yangtzuli	3:2ae6218973be	682	case LINE_TRACE:
yangtzuli	3:2ae6218973be	683	lcd.printf("Mode:LineTrace ");
yangtzuli	3:2ae6218973be	684	break;
tomotsugu	8:a47dbf4fa455	685	/* 障害物回避 */
yangtzuli	3:2ae6218973be	686	case AVOIDANCE:
yangtzuli	3:2ae6218973be	687	lcd.printf("Mode:Avoidance ");
yangtzuli	3:2ae6218973be	688	break;
tomotsugu	8:a47dbf4fa455	689	/* スピード制御 */
yangtzuli	3:2ae6218973be	690	case SPEED:
tomotsugu	8:a47dbf4fa455	691	/* スピードの状態で場合分け */
takuminomura	48:3003ea51c619	692	switch(flag_sp % 3){
tomotsugu	8:a47dbf4fa455	693	/* 普通 */
yangtzuli	3:2ae6218973be	694	case(NORMAL):
yangtzuli	3:2ae6218973be	695	lcd.printf("Speed:Normal ");
yangtzuli	3:2ae6218973be	696	break;
tomotsugu	8:a47dbf4fa455	697	/* 速い */
yangtzuli	3:2ae6218973be	698	case(FAST):
yangtzuli	3:2ae6218973be	699	lcd.printf("Speed:Fast ");
yangtzuli	3:2ae6218973be	700	break;
tomotsugu	8:a47dbf4fa455	701	/* とても速い */
yangtzuli	3:2ae6218973be	702	case(VERYFAST):
yangtzuli	3:2ae6218973be	703	lcd.printf("Speed:VeryFast ");
yangtzuli	3:2ae6218973be	704	break;
yangtzuli	3:2ae6218973be	705	}
tomotsugu	8:a47dbf4fa455	706	viewTimer.reset(); // タイマーリセット
tomotsugu	8:a47dbf4fa455	707	viewTimer.start(); // タイマースタート
takuminomura	48:3003ea51c619	708	break;
yangtzuli	3:2ae6218973be	709	}
tomotsugu	8:a47dbf4fa455	710	mutex.unlock(); // ミューテックスアンロック
yangtzuli	3:2ae6218973be	711	}
yangtzuli	3:2ae6218973be	712
tomotsugu	8:a47dbf4fa455	713	/* バックライト点滅 */
yangtzuli	3:2ae6218973be	714	void lcdBacklight(void const *argument){
tomotsugu	8:a47dbf4fa455	715	if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu	8:a47dbf4fa455	716	lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu	8:a47dbf4fa455	717	}else{ // バックライト点滅フラグが0なら
tomotsugu	8:a47dbf4fa455	718	lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli	3:2ae6218973be	719	}
tomotsugu	8:a47dbf4fa455	720	flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli	3:2ae6218973be	721	}
yangtzuli	2:38825726cb1b	722
tomotsugu	8:a47dbf4fa455	723	/* バッテリー残量更新関数 */
yangtzuli	5:3fffb364744b	724	void bChange(){
mori2020	50:8843bee40df5	725	////--*-5(" bChange1\r\n");
tomotsugu	10:d193030ce672	726	b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)10+0.5)10;
tomotsugu	10:d193030ce672	727	if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu	10:d193030ce672	728	b = 0;
tomotsugu	10:d193030ce672	729	//lcd.setBacklight(TextLCD::LightOff);
tomotsugu	10:d193030ce672	730	//run = STOP;
tomotsugu	10:d193030ce672	731	//exit(1); // 電池残量が5%未満の時、LCDを消灯し、モーターを停止し、プログラムを終了する。
tomotsugu	10:d193030ce672	732	}
tomotsugu	10:d193030ce672	733	mutex.lock(); // ミューテックスロック
tomotsugu	10:d193030ce672	734	lcd.setAddress(0,0);
tomotsugu	10:d193030ce672	735	lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
takuminomura	48:3003ea51c619	736	mutex.unlock(); // ミューテックスアンロック
tomotsugu	10:d193030ce672	737	if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu	10:d193030ce672	738	if(flag_t == 0){ // バックライトタイマーフラグが0なら
nishimura_taku_pet	43:243c1455f88a	739	//bTimer.attach(lcdBacklight,0.5);
tomotsugu	10:d193030ce672	740	bTimer.start(500); // 0.5秒周期でバックライトタイマー割り込み
tomotsugu	10:d193030ce672	741	flag_t = 1; // バックライトタイマーフラグを1に切り替え
yangtzuli	3:2ae6218973be	742	}
tomotsugu	10:d193030ce672	743	}else{
tomotsugu	10:d193030ce672	744	if(flag_t == 1){ // バックライトタイマーフラグが1なら
nishimura_taku_pet	43:243c1455f88a	745	//bTimer.detach();
tomotsugu	10:d193030ce672	746	bTimer.stop(); // バックライトタイマーストップ
tomotsugu	10:d193030ce672	747	lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu	10:d193030ce672	748	flag_t = 0; // バックライトタイマーフラグを0に切り替え
yangtzuli	3:2ae6218973be	749	}
tomotsugu	10:d193030ce672	750	}
yangtzuli	2:38825726cb1b	751	}
nishimura_taku_pet	24:9481c8f56a49	752	// Serial Interrupt read ESP data
nishimura_taku_pet	24:9481c8f56a49	753	void callback()
nishimura_taku_pet	24:9481c8f56a49	754	{
mori2020	50:8843bee40df5	755	////--*-5("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	756	led3=1;
nishimura_taku_pet	24:9481c8f56a49	757	while (esp.readable()) {
nishimura_taku_pet	24:9481c8f56a49	758	webbuff[ount] = esp.getc();
nishimura_taku_pet	24:9481c8f56a49	759	ount++;
nishimura_taku_pet	24:9481c8f56a49	760	}
nishimura_taku_pet	24:9481c8f56a49	761	if(strlen(webbuff)>bufflen) {
mori2020	50:8843bee40df5	762	// //--*-5("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	763	DataRX=1;
nishimura_taku_pet	24:9481c8f56a49	764	led3=0;
nishimura_taku_pet	24:9481c8f56a49	765	}
nishimura_taku_pet	24:9481c8f56a49	766	}
takuminomura	48:3003ea51c619	767
nishimura_taku_pet	43:243c1455f88a	768	void wifi(/void const argument*/)
nishimura_taku_pet	24:9481c8f56a49	769	{
mori2020	50:8843bee40df5	770	//--*-5("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet	33:a6f1090e0174	771	ThisThread::sleep_for(100);
nishimura_taku_pet	24:9481c8f56a49	772	led1=1,led2=0,led3=0;
nishimura_taku_pet	24:9481c8f56a49	773	timeout=6000;
nishimura_taku_pet	24:9481c8f56a49	774	getcount=500;
nishimura_taku_pet	24:9481c8f56a49	775	getreply();
nishimura_taku_pet	24:9481c8f56a49	776	esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet	24:9481c8f56a49	777	startserver();
mori2020	49:178dcafb4f0e	778
nishimura_taku_pet	24:9481c8f56a49	779	while(1) {
nishimura_taku_pet	24:9481c8f56a49	780	if(DataRX==1) {
mori2020	50:8843bee40df5	781	//--*-5("\f\n\r------------ main while > if --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	782	click_flag = 1;
nishimura_taku_pet	24:9481c8f56a49	783	ReadWebData();
mori2020	50:8843bee40df5	784	//--*-5("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
mori2020	49:178dcafb4f0e	785	//if ((servreq == 1 && weberror == 0) && click_flag == 1) {
mori2020	49:178dcafb4f0e	786	if (servreq == 1 && weberror == 0) {
mori2020	50:8843bee40df5	787	//--*-5("\f\n\r------------ befor send page --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	788	sendpage();
nishimura_taku_pet	24:9481c8f56a49	789	}
mori2020	50:8843bee40df5	790	//--*-5("\f\n\r------------ send_check begin --------------\n\r");
mori2020	49:178dcafb4f0e	791
mori2020	49:178dcafb4f0e	792	//sendcheck();
mori2020	50:8843bee40df5	793	//--*-5("\f\n\r------------ ssend_check end--------------\n\r");
mori2020	49:178dcafb4f0e	794
nishimura_taku_pet	24:9481c8f56a49	795	esp.attach(&callback);
mori2020	50:8843bee40df5	796	//--*-5(" IPD Data:\r\n\n Link ID = %d,\r\n IPD Header Length = %d \r\n IPD Type = %s\r\n", linkID, ipdLen, type);
mori2020	50:8843bee40df5	797	//--*-5("\n\n HTTP Packet: \n\n%s\n", webdata);
mori2020	50:8843bee40df5	798	//--*-5(" Web Characters sent : %d\n\n", bufl);
mori2020	50:8843bee40df5	799	//--*-5(" -------------------------------------\n\n");
nishimura_taku_pet	24:9481c8f56a49	800	servreq=0;
nishimura_taku_pet	24:9481c8f56a49	801	}
nishimura_taku_pet	24:9481c8f56a49	802	ThisThread::sleep_for(100);
nishimura_taku_pet	24:9481c8f56a49	803	}
nishimura_taku_pet	24:9481c8f56a49	804	}
nishimura_taku_pet	24:9481c8f56a49	805	// Static WEB page
nishimura_taku_pet	24:9481c8f56a49	806	void sendpage()
nishimura_taku_pet	24:9481c8f56a49	807	{
nishimura_taku_pet	24:9481c8f56a49	808	// WEB page data
mori2020	49:178dcafb4f0e	809
nishimura_taku_pet	24:9481c8f56a49	810	strcpy(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet	24:9481c8f56a49	811	strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
mori2020	49:178dcafb4f0e	812	//strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >");
molberry	38:39db3f7450c2	813	strcat(webbuff, "<style type=\"text/css\">.noselect{ width:100px;height:60px;}.light{ width:100px;height:60px;background-color:#00ff66;}.load{ width: 50px; height: 30px;font-size:10px}</style>");
nishimura_taku_pet	24:9481c8f56a49	814	strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet	24:9481c8f56a49	815	strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
mori2020	49:178dcafb4f0e	816	if(b > 30) { //残電量表示
mori2020	49:178dcafb4f0e	817	sprintf(webbuff, "%s%3d", webbuff, b);
mori2020	49:178dcafb4f0e	818	} else { //30%より下の場合残電量を赤文字
mori2020	49:178dcafb4f0e	819	strcat(webbuff, "<font color=\"red\">");
mori2020	49:178dcafb4f0e	820	sprintf(webbuff, "%s%3d", webbuff, b);
mori2020	49:178dcafb4f0e	821	strcat(webbuff, "</font>");
mori2020	49:178dcafb4f0e	822	}
mori2020	49:178dcafb4f0e	823	strcat(webbuff, "%</strong>");
mori2020	50:8843bee40df5	824	strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"location.reload()\">RELOAD</button>");
nishimura_taku_pet	24:9481c8f56a49	825	strcat(webbuff, "</td></p>");
nishimura_taku_pet	24:9481c8f56a49	826	strcat(webbuff, "<br>");
nishimura_taku_pet	24:9481c8f56a49	827	strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	828
molberry	35:4cda290bdb87	829	switch(mode) { //ブラウザ更新時の現在の車の状態からボタンの点灯判定
molberry	35:4cda290bdb87	830	case ADVANCE: //前進
mori2020	50:8843bee40df5	831	strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	832	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:8843bee40df5	833	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	834	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	835	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	836	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	837	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	838	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:8843bee40df5	839	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	840	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	841	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:8843bee40df5	842	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	843	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:8843bee40df5	844	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	845	break;
molberry	35:4cda290bdb87	846	case LEFT: //左折
mori2020	50:8843bee40df5	847	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	848	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:8843bee40df5	849	strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	850	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	851	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	852	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	853	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	854	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:8843bee40df5	855	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	856	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	857	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:8843bee40df5	858	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	859	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:8843bee40df5	860	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	861	break;
molberry	35:4cda290bdb87	862	case STOP: //停止
mori2020	50:8843bee40df5	863	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	864	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:8843bee40df5	865	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	866	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	867	strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	868	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	869	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	870	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:8843bee40df5	871	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	872	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	873	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:8843bee40df5	874	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	875	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:8843bee40df5	876	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	877	break;
molberry	35:4cda290bdb87	878	case RIGHT: //右折
mori2020	50:8843bee40df5	879	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	880	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:8843bee40df5	881	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	882	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	883	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	884	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	885	strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	886	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:8843bee40df5	887	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	888	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	889	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:8843bee40df5	890	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	891	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:8843bee40df5	892	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	893	break;
molberry	35:4cda290bdb87	894	case BACK: //後進
mori2020	50:8843bee40df5	895	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	896	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:8843bee40df5	897	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	898	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	899	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	900	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	901	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	902	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:8843bee40df5	903	strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	904	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet	24:9481c8f56a49	905	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:8843bee40df5	906	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	907	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:8843bee40df5	908	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	909	break;
molberry	35:4cda290bdb87	910	case AVOIDANCE: //障害物回避
mori2020	50:8843bee40df5	911	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	912	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:8843bee40df5	913	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	914	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	915	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	916	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	917	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	918	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:8843bee40df5	919	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	920	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	921	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:8843bee40df5	922	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	923	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:8843bee40df5	924	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	925	break;
molberry	35:4cda290bdb87	926	case LINE_TRACE: //ライントレース
mori2020	50:8843bee40df5	927	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	928	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:8843bee40df5	929	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	930	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	931	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	932	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	933	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	934	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:8843bee40df5	935	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	936	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	937	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:8843bee40df5	938	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	939	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:8843bee40df5	940	strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	941	break;
molberry	35:4cda290bdb87	942	default: //その他
mori2020	50:8843bee40df5	943	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	944	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:8843bee40df5	945	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	946	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	947	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	948	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	949	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	950	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:8843bee40df5	951	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	952	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	953	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:8843bee40df5	954	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	955	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:8843bee40df5	956	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	957	break;
nishimura_taku_pet	24:9481c8f56a49	958	}
nishimura_taku_pet	24:9481c8f56a49	959	strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	960	strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet	24:9481c8f56a49	961	strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	962	//ready示速度だけ点灯
molberry	35:4cda290bdb87	963	switch (flag_sp) { //現在の速度のボタン表示
molberry	35:4cda290bdb87	964	case 0: //ノーマル
mori2020	50:8843bee40df5	965	strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet	24:9481c8f56a49	966	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	967	strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet	24:9481c8f56a49	968	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	969	strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet	24:9481c8f56a49	970	break;
molberry	35:4cda290bdb87	971	case 1: //ファスト
mori2020	50:8843bee40df5	972	strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet	24:9481c8f56a49	973	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	974	strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet	24:9481c8f56a49	975	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	976	strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet	24:9481c8f56a49	977	break;
molberry	35:4cda290bdb87	978	case 2: //ベリーファスト
mori2020	50:8843bee40df5	979	strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet	24:9481c8f56a49	980	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	981	strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet	24:9481c8f56a49	982	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	983	strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet	24:9481c8f56a49	984	break;
molberry	35:4cda290bdb87	985	default: //その他
mori2020	50:8843bee40df5	986	strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet	24:9481c8f56a49	987	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	988	strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet	24:9481c8f56a49	989	strcat(webbuff, "</button></td><td>");
mori2020	50:8843bee40df5	990	strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet	24:9481c8f56a49	991	break;
nishimura_taku_pet	24:9481c8f56a49	992	}
nishimura_taku_pet	24:9481c8f56a49	993	strcat(webbuff, "</button></td></tr></table>");
mori2020	49:178dcafb4f0e	994
nishimura_taku_pet	24:9481c8f56a49	995	strcat(webbuff, "</center>");
nishimura_taku_pet	24:9481c8f56a49	996	strcat(webbuff, "</body>");
nishimura_taku_pet	24:9481c8f56a49	997	strcat(webbuff, "</html>");
mori2020	49:178dcafb4f0e	998
molberry	35:4cda290bdb87	999	strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
mori2020	49:178dcafb4f0e	1000
mori2020	49:178dcafb4f0e	1001	strcat(webbuff, "var button_9 = document.getElementsByTagName(\"button\");");
mori2020	49:178dcafb4f0e	1002
mori2020	49:178dcafb4f0e	1003	//ボタン入力時それぞれの関数から呼び出されサーバーとの通信を行う
nishimura_taku_pet	24:9481c8f56a49	1004	strcat(webbuff, "function htmlacs(url) {");
mori2020	49:178dcafb4f0e	1005	strcat(webbuff, "for(var m=0;m<11;m++){button_9[m].disabled=true;}");
mori2020	49:178dcafb4f0e	1006	strcat(webbuff, "var xhr = new XMLHttpRequest();");
mori2020	49:178dcafb4f0e	1007	strcat(webbuff, "xhr.open(\"GET\", url);");
mori2020	49:178dcafb4f0e	1008	strcat(webbuff, "xhr.onreadystatechange = function(){");
mori2020	49:178dcafb4f0e	1009	//strcat(webbuff, "if(this.readyState == 4 && this.status == 200){");
mori2020	49:178dcafb4f0e	1010	strcat(webbuff, "if(this.readyState == 4){");
mori2020	50:8843bee40df5	1011	strcat(webbuff, "for(var m=0;m<11;m++){button_9[m].disabled=false;}");
mori2020	49:178dcafb4f0e	1012	strcat(webbuff, "}");
mori2020	49:178dcafb4f0e	1013	strcat(webbuff, "};");
mori2020	49:178dcafb4f0e	1014	strcat(webbuff, "xhr.send(\"\");");
nishimura_taku_pet	24:9481c8f56a49	1015	strcat(webbuff, "}");
mori2020	49:178dcafb4f0e	1016
mori2020	50:8843bee40df5	1017	//mode変更ボタン入力時動作 //sendmes
mori2020	50:8843bee40df5	1018	strcat(webbuff, "function send_mes(btnval){"); //mode変更ボタン入力時の点灯消灯判定
nishimura_taku_pet	24:9481c8f56a49	1019	strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet	24:9481c8f56a49	1020	strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet	24:9481c8f56a49	1021	strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet	24:9481c8f56a49	1022	strcat(webbuff, "console.log(url);");
nishimura_taku_pet	24:9481c8f56a49	1023	strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet	43:243c1455f88a	1024	strcat(webbuff, "for(var i=1;i<8;i++){");
nishimura_taku_pet	24:9481c8f56a49	1025	strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet	24:9481c8f56a49	1026	strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet	24:9481c8f56a49	1027	strcat(webbuff, "}else{");
nishimura_taku_pet	24:9481c8f56a49	1028	strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet	24:9481c8f56a49	1029	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1030	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1031	strcat(webbuff, "}");
mori2020	49:178dcafb4f0e	1032
mori2020	50:8843bee40df5	1033	strcat(webbuff, "function send_mes_spe(btnval){"); //speed変更ボタン入力時の点灯消灯判定
nishimura_taku_pet	24:9481c8f56a49	1034	strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet	24:9481c8f56a49	1035	strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet	24:9481c8f56a49	1036	strcat(webbuff, "console.log(url);");
nishimura_taku_pet	24:9481c8f56a49	1037	strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet	43:243c1455f88a	1038	strcat(webbuff, "for(var i=8;i<11;i++){");
nishimura_taku_pet	24:9481c8f56a49	1039	strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet	24:9481c8f56a49	1040	strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet	24:9481c8f56a49	1041	strcat(webbuff, "}else{");
nishimura_taku_pet	24:9481c8f56a49	1042	strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet	24:9481c8f56a49	1043	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1044	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1045	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1046	strcat(webbuff, "</script>");
mori2020	49:178dcafb4f0e	1047
mori2020	49:178dcafb4f0e	1048
nishimura_taku_pet	24:9481c8f56a49	1049	// end of WEB page data
nishimura_taku_pet	24:9481c8f56a49	1050	bufl = strlen(webbuff); // get total page buffer length
mori2020	49:178dcafb4f0e	1051	//sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet	24:9481c8f56a49	1052
nishimura_taku_pet	24:9481c8f56a49	1053	sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl>2048?2048:bufl)); // send IPD link channel and buffer character length.
nishimura_taku_pet	24:9481c8f56a49	1054	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1055	getcount=40;
nishimura_taku_pet	24:9481c8f56a49	1056	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1057	getreply();
mori2020	50:8843bee40df5	1058	//--*-5(replybuff);
mori2020	50:8843bee40df5	1059	////--*-5("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
mori2020	49:178dcafb4f0e	1060
mori2020	50:8843bee40df5	1061	//--*-5("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
mori2020	49:178dcafb4f0e	1062
nishimura_taku_pet	24:9481c8f56a49	1063	//pastthrough mode
nishimura_taku_pet	24:9481c8f56a49	1064	SendWEB(); // send web page
mori2020	50:8843bee40df5	1065	//--*-5("\n++++++++++ webbuff clear ++++++++++\r\n");
mori2020	49:178dcafb4f0e	1066
nishimura_taku_pet	24:9481c8f56a49	1067	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	1068	sendcheck();
nishimura_taku_pet	24:9481c8f56a49	1069	}
nishimura_taku_pet	24:9481c8f56a49	1070
nishimura_taku_pet	24:9481c8f56a49	1071	// Large WEB buffer data send
nishimura_taku_pet	24:9481c8f56a49	1072	void SendWEB()
nishimura_taku_pet	24:9481c8f56a49	1073	{
nishimura_taku_pet	24:9481c8f56a49	1074	int i=0;
nishimura_taku_pet	24:9481c8f56a49	1075	if(esp.writeable()) {
nishimura_taku_pet	24:9481c8f56a49	1076	while(webbuff[i]!='\0') {
nishimura_taku_pet	24:9481c8f56a49	1077	esp.putc(webbuff[i]);
mori2020	49:178dcafb4f0e	1078
nishimura_taku_pet	24:9481c8f56a49	1079	//****
nishimura_taku_pet	24:9481c8f56a49	1080	//output at command when 2000
nishimura_taku_pet	24:9481c8f56a49	1081	if(((i%2047)==0) && (i>0)) {
mori2020	49:178dcafb4f0e	1082	//wait_ms(10);
takuminomura	48:3003ea51c619	1083	ThisThread::sleep_for(100);
mori2020	49:178dcafb4f0e	1084	sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); // send IPD link channel and buffer character length.
mori2020	50:8843bee40df5	1085	////--*-5("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet	24:9481c8f56a49	1086	timeout=600;
nishimura_taku_pet	24:9481c8f56a49	1087	getcount=50;
nishimura_taku_pet	24:9481c8f56a49	1088	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1089	getreply();
mori2020	50:8843bee40df5	1090	////--*-5(replybuff);
mori2020	50:8843bee40df5	1091	////--*-5("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1092	}
nishimura_taku_pet	24:9481c8f56a49	1093	//****
nishimura_taku_pet	24:9481c8f56a49	1094	i++;
mori2020	50:8843bee40df5	1095	////--*-5("%c",webbuff[i]);
nishimura_taku_pet	24:9481c8f56a49	1096	}
nishimura_taku_pet	24:9481c8f56a49	1097	}
mori2020	50:8843bee40df5	1098	//--*-5("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet	24:9481c8f56a49	1099	}
nishimura_taku_pet	24:9481c8f56a49	1100
nishimura_taku_pet	24:9481c8f56a49	1101
nishimura_taku_pet	24:9481c8f56a49	1102	void sendcheck()
nishimura_taku_pet	24:9481c8f56a49	1103	{
nishimura_taku_pet	24:9481c8f56a49	1104	weberror=1;
nishimura_taku_pet	24:9481c8f56a49	1105	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1106	getcount=24;
nishimura_taku_pet	24:9481c8f56a49	1107	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1108	time2.start();
nishimura_taku_pet	24:9481c8f56a49	1109
mori2020	49:178dcafb4f0e	1110	/*
mori2020	49:178dcafb4f0e	1111	while(weberror==1 && time2.read() <5) {
mori2020	49:178dcafb4f0e	1112	getreply();
mori2020	49:178dcafb4f0e	1113	if (strstr(replybuff, "SEND OK") != NULL) {
mori2020	49:178dcafb4f0e	1114	weberror=0; // wait for valid SEND OK
mori2020	49:178dcafb4f0e	1115	}
mori2020	49:178dcafb4f0e	1116	}
mori2020	49:178dcafb4f0e	1117	*/
nishimura_taku_pet	24:9481c8f56a49	1118	if(weberror==1) { // restart connection
nishimura_taku_pet	24:9481c8f56a49	1119	strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet	24:9481c8f56a49	1120	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1121	getcount=10;
nishimura_taku_pet	24:9481c8f56a49	1122	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1123	getreply();
mori2020	50:8843bee40df5	1124	//--*-5(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1125	sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet	24:9481c8f56a49	1126	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1127	getcount=10;
nishimura_taku_pet	24:9481c8f56a49	1128	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1129	getreply();
mori2020	50:8843bee40df5	1130	//--*-5(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1131	} else {
nishimura_taku_pet	24:9481c8f56a49	1132	sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet	24:9481c8f56a49	1133	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1134	getreply();
mori2020	50:8843bee40df5	1135	//--*-5(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1136	}
nishimura_taku_pet	24:9481c8f56a49	1137	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1138	}
nishimura_taku_pet	24:9481c8f56a49	1139
nishimura_taku_pet	24:9481c8f56a49	1140	// Reads and processes GET and POST web data
nishimura_taku_pet	24:9481c8f56a49	1141	void ReadWebData()
nishimura_taku_pet	24:9481c8f56a49	1142	{
mori2020	50:8843bee40df5	1143	//--*-5("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet	30:c80da0ecc260	1144	ThisThread::sleep_for(200);
nishimura_taku_pet	24:9481c8f56a49	1145	esp.attach(NULL);
nishimura_taku_pet	24:9481c8f56a49	1146	ount=0;
nishimura_taku_pet	24:9481c8f56a49	1147	DataRX=0;
nishimura_taku_pet	24:9481c8f56a49	1148	weberror=0;
nishimura_taku_pet	24:9481c8f56a49	1149	memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet	24:9481c8f56a49	1150	int x = strcspn (webbuff,"+");
nishimura_taku_pet	24:9481c8f56a49	1151	if(x) {
nishimura_taku_pet	24:9481c8f56a49	1152	strcpy(webdata, webbuff + x);
nishimura_taku_pet	24:9481c8f56a49	1153	weberror=0;
nishimura_taku_pet	24:9481c8f56a49	1154	int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
mori2020	49:178dcafb4f0e	1155	//int i=0;
mori2020	50:8843bee40df5	1156	//--*-5("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
mori2020	50:8843bee40df5	1157	//--*-5("%s",webdata);
mori2020	50:8843bee40df5	1158	//--*-5("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet	43:243c1455f88a	1159	if( strstr(webdata, "Normal") != NULL ) {
mori2020	50:8843bee40df5	1160	//--*-5("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet	43:243c1455f88a	1161	mode = SPEED; // スピードモード
nishimura_taku_pet	43:243c1455f88a	1162	flag_sp = 0;
nishimura_taku_pet	43:243c1455f88a	1163	display(); // ディスプレイ表示
nishimura_taku_pet	43:243c1455f88a	1164	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	43:243c1455f88a	1165	}else if( strstr(webdata, "VeryFast") != NULL ) {
mori2020	50:8843bee40df5	1166	//--*-5("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet	43:243c1455f88a	1167	mode = SPEED; // スピードモード
nishimura_taku_pet	43:243c1455f88a	1168	flag_sp = 2;
nishimura_taku_pet	43:243c1455f88a	1169	display(); // ディスプレイ表示
nishimura_taku_pet	43:243c1455f88a	1170	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	43:243c1455f88a	1171	}else if( strstr(webdata, "Fast") != NULL ) {
mori2020	50:8843bee40df5	1172	//--*-5("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet	43:243c1455f88a	1173	mode = SPEED; // スピードモード
nishimura_taku_pet	43:243c1455f88a	1174	flag_sp = 1;
nishimura_taku_pet	43:243c1455f88a	1175	display(); // ディスプレイ表示
nishimura_taku_pet	43:243c1455f88a	1176	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	43:243c1455f88a	1177	}else{
nishimura_taku_pet	43:243c1455f88a	1178	beforeMode = mode;
nishimura_taku_pet	43:243c1455f88a	1179	}
nishimura_taku_pet	24:9481c8f56a49	1180	if( strstr(webdata, "GO") != NULL ) {
mori2020	50:8843bee40df5	1181	//--*-5("+++++++++++++++++前進+++++++++++++++++++++\r\n");
yangtzuli	37:0cde453dce7d	1182	//delete avoi_thread; //障害物回避スレッド停止
yangtzuli	37:0cde453dce7d	1183	//delete trace_thread; //ライントレーススレッド停止
molberry	35:4cda290bdb87	1184	run = ADVANCE; // 前進
molberry	35:4cda290bdb87	1185	mode = ADVANCE; // モード変更
molberry	35:4cda290bdb87	1186	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1187	}
mori2020	49:178dcafb4f0e	1188
nishimura_taku_pet	24:9481c8f56a49	1189	if( strstr(webdata, "LEFT") != NULL ) {
mori2020	50:8843bee40df5	1190	//--*-5("+++++++++++++++++左折+++++++++++++++++++++\r\n");
yangtzuli	37:0cde453dce7d	1191	//delete avoi_thread; //障害物回避スレッド停止
yangtzuli	37:0cde453dce7d	1192	//delete trace_thread; //ライントレーススレッド停止
molberry	35:4cda290bdb87	1193	run = LEFT; // 左折
molberry	35:4cda290bdb87	1194	mode = LEFT; // モード変更
molberry	35:4cda290bdb87	1195	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1196	}
nishimura_taku_pet	24:9481c8f56a49	1197
nishimura_taku_pet	24:9481c8f56a49	1198	if( strstr(webdata, "STOP") != NULL ) {
mori2020	50:8843bee40df5	1199	//--*-5("+++++++++++++++++停止+++++++++++++++++++++\r\n");
yangtzuli	37:0cde453dce7d	1200	//delete avoi_thread; //障害物回避スレッド停止
yangtzuli	37:0cde453dce7d	1201	//delete trace_thread; //ライントレーススレッド停止
molberry	35:4cda290bdb87	1202	run = STOP; // 停止
molberry	35:4cda290bdb87	1203	mode = STOP; // モード変更
molberry	35:4cda290bdb87	1204	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1205	}
nishimura_taku_pet	24:9481c8f56a49	1206
nishimura_taku_pet	24:9481c8f56a49	1207	if( strstr(webdata, "RIGHT") != NULL ) {
mori2020	50:8843bee40df5	1208	//--*-5("+++++++++++++++++右折+++++++++++++++++++++\r\n");
yangtzuli	37:0cde453dce7d	1209	//delete avoi_thread; //障害物回避スレッド停止
yangtzuli	37:0cde453dce7d	1210	//delete trace_thread; //ライントレーススレッド停止
molberry	35:4cda290bdb87	1211	run = RIGHT; // 右折
molberry	35:4cda290bdb87	1212	mode = RIGHT; // モード変更
molberry	35:4cda290bdb87	1213	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1214	}
nishimura_taku_pet	24:9481c8f56a49	1215
nishimura_taku_pet	24:9481c8f56a49	1216	if( strstr(webdata, "BACK") != NULL ) {
mori2020	50:8843bee40df5	1217	//--*-5("+++++++++++++++++後進+++++++++++++++++++++\r\n");
yangtzuli	37:0cde453dce7d	1218	//delete avoi_thread; //障害物回避スレッド停止
yangtzuli	37:0cde453dce7d	1219	//delete trace_thread; //ライントレーススレッド停止
molberry	35:4cda290bdb87	1220	run = BACK; // 後進
molberry	35:4cda290bdb87	1221	mode = BACK; // モード変更
molberry	35:4cda290bdb87	1222	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1223	}
mori2020	50:8843bee40df5	1224	//--*-5("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1225
nishimura_taku_pet	24:9481c8f56a49	1226	if( strstr(webdata, "AVOIDANCE") != NULL ) {
mori2020	50:8843bee40df5	1227	//--*-5("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet	26:0badbc9f9cb3	1228	if(avoi_thread->get_state() == Thread::Deleted) {
molberry	35:4cda290bdb87	1229	delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet	26:0badbc9f9cb3	1230	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	26:0badbc9f9cb3	1231	avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	26:0badbc9f9cb3	1232	}
nishimura_taku_pet	24:9481c8f56a49	1233	mode=AVOIDANCE;
nishimura_taku_pet	26:0badbc9f9cb3	1234	run = ADVANCE;
nishimura_taku_pet	26:0badbc9f9cb3	1235	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1236	}
nishimura_taku_pet	24:9481c8f56a49	1237	if( strstr(webdata, "LINE_TRACE") != NULL ) {
mori2020	50:8843bee40df5	1238	//--*-5("+++++++++++++++++LINET RACE+++++++++++++++++++++");
mori2020	50:8843bee40df5	1239	//--*-5("mode = LINE_TRACE\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1240	if(trace_thread->get_state() == Thread::Deleted) {
molberry	35:4cda290bdb87	1241	delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet	26:0badbc9f9cb3	1242	trace_thread = new Thread(trace);
nishimura_taku_pet	26:0badbc9f9cb3	1243	trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	26:0badbc9f9cb3	1244	}
nishimura_taku_pet	24:9481c8f56a49	1245	mode=LINE_TRACE;
nishimura_taku_pet	26:0badbc9f9cb3	1246	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1247	}
nishimura_taku_pet	26:0badbc9f9cb3	1248	if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	26:0badbc9f9cb3	1249	trace_thread->terminate();
nishimura_taku_pet	26:0badbc9f9cb3	1250	}
nishimura_taku_pet	26:0badbc9f9cb3	1251	if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	26:0badbc9f9cb3	1252	avoi_thread->terminate();
nishimura_taku_pet	31:3665282561d6	1253	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	26:0badbc9f9cb3	1254	}
nishimura_taku_pet	24:9481c8f56a49	1255	sprintf(channel, "%d",linkID);
nishimura_taku_pet	24:9481c8f56a49	1256	if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1257	servreq=1;
nishimura_taku_pet	24:9481c8f56a49	1258	}
nishimura_taku_pet	24:9481c8f56a49	1259	if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1260	servreq=1;
nishimura_taku_pet	24:9481c8f56a49	1261	}
nishimura_taku_pet	24:9481c8f56a49	1262	webcounter++;
nishimura_taku_pet	24:9481c8f56a49	1263	sprintf(webcount, "%d",webcounter);
nishimura_taku_pet	24:9481c8f56a49	1264	} else {
nishimura_taku_pet	24:9481c8f56a49	1265	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	1266	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	1267	weberror=1;
nishimura_taku_pet	24:9481c8f56a49	1268	}
nishimura_taku_pet	24:9481c8f56a49	1269	}
nishimura_taku_pet	24:9481c8f56a49	1270	// Starts and restarts webserver if errors detected.
nishimura_taku_pet	24:9481c8f56a49	1271	void startserver()
nishimura_taku_pet	24:9481c8f56a49	1272	{
mori2020	50:8843bee40df5	1273	//--*-5("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1274	strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet	24:9481c8f56a49	1275	timeout=8000;
nishimura_taku_pet	24:9481c8f56a49	1276	getcount=1000;
nishimura_taku_pet	24:9481c8f56a49	1277	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1278	getreply();
mori2020	50:8843bee40df5	1279	//--*-5(replybuff);
mori2020	50:8843bee40df5	1280	//--*-5("%d",ount);
nishimura_taku_pet	24:9481c8f56a49	1281	if (strstr(replybuff, "OK") != NULL) {
mori2020	50:8843bee40df5	1282	//--*-5("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1283	strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet	24:9481c8f56a49	1284	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1285	getcount=20;
nishimura_taku_pet	24:9481c8f56a49	1286	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1287	getreply();
mori2020	50:8843bee40df5	1288	//--*-5(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1289	sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet	24:9481c8f56a49	1290	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1291	getcount=20;
nishimura_taku_pet	24:9481c8f56a49	1292	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1293	getreply();
mori2020	50:8843bee40df5	1294	//--*-5(replybuff);
nishimura_taku_pet	33:a6f1090e0174	1295	ThisThread::sleep_for(500);
nishimura_taku_pet	24:9481c8f56a49	1296	sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet	24:9481c8f56a49	1297	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1298	getcount=50;
nishimura_taku_pet	24:9481c8f56a49	1299	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1300	getreply();
mori2020	50:8843bee40df5	1301	//--*-5(replybuff);
nishimura_taku_pet	25:8ed98982faa7	1302	ThisThread::sleep_for(5000);
mori2020	50:8843bee40df5	1303	//--*-5("\n Getting Server IP \r\n");
nishimura_taku_pet	24:9481c8f56a49	1304	strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet	24:9481c8f56a49	1305	timeout=2500;
nishimura_taku_pet	24:9481c8f56a49	1306	getcount=200;
nishimura_taku_pet	24:9481c8f56a49	1307	while(weberror==0) {
nishimura_taku_pet	24:9481c8f56a49	1308	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1309	getreply();
nishimura_taku_pet	24:9481c8f56a49	1310	if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet	24:9481c8f56a49	1311	weberror=1; // wait for valid IP
nishimura_taku_pet	24:9481c8f56a49	1312	}
nishimura_taku_pet	24:9481c8f56a49	1313	}
mori2020	50:8843bee40df5	1314	//--*-5("\n Enter WEB address (IP) found below in your browser \r\n\n");
mori2020	50:8843bee40df5	1315	//--*-5("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet	24:9481c8f56a49	1316	replybuff[strlen(replybuff)-1] = '\0';
mori2020	49:178dcafb4f0e	1317	//char* IP = replybuff + 5;
nishimura_taku_pet	24:9481c8f56a49	1318	sprintf(webdata,"%s", replybuff);
mori2020	50:8843bee40df5	1319	//--*-5(webdata);
nishimura_taku_pet	24:9481c8f56a49	1320	led2=1;
nishimura_taku_pet	24:9481c8f56a49	1321	bufflen=200;
mori2020	49:178dcafb4f0e	1322	//bufflen=100;
nishimura_taku_pet	24:9481c8f56a49	1323	ount=0;
mori2020	50:8843bee40df5	1324	//--*-5("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet	33:a6f1090e0174	1325	setup();
nishimura_taku_pet	24:9481c8f56a49	1326	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	1327	} else {
mori2020	50:8843bee40df5	1328	//--*-5("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1329	led1=1;
nishimura_taku_pet	24:9481c8f56a49	1330	led2=1;
nishimura_taku_pet	24:9481c8f56a49	1331	led3=1;
nishimura_taku_pet	24:9481c8f56a49	1332	led4=1;
nishimura_taku_pet	24:9481c8f56a49	1333	while(1) {
nishimura_taku_pet	24:9481c8f56a49	1334	led1=!led1;
nishimura_taku_pet	24:9481c8f56a49	1335	led2=!led2;
nishimura_taku_pet	24:9481c8f56a49	1336	led3=!led3;
nishimura_taku_pet	24:9481c8f56a49	1337	led4=!led4;
nishimura_taku_pet	25:8ed98982faa7	1338	ThisThread::sleep_for(1000);
nishimura_taku_pet	24:9481c8f56a49	1339	}
nishimura_taku_pet	24:9481c8f56a49	1340	}
nishimura_taku_pet	24:9481c8f56a49	1341	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1342	time2.start();
nishimura_taku_pet	24:9481c8f56a49	1343	}
mori2020	50:8843bee40df5	1344
nishimura_taku_pet	24:9481c8f56a49	1345	// ESP Command data send
nishimura_taku_pet	24:9481c8f56a49	1346	void SendCMD()
nishimura_taku_pet	24:9481c8f56a49	1347	{
nishimura_taku_pet	24:9481c8f56a49	1348	esp.printf("%s", cmdbuff);
nishimura_taku_pet	24:9481c8f56a49	1349	}
nishimura_taku_pet	24:9481c8f56a49	1350	// Get Command and ESP status replies
nishimura_taku_pet	24:9481c8f56a49	1351	void getreply()
nishimura_taku_pet	24:9481c8f56a49	1352	{
nishimura_taku_pet	24:9481c8f56a49	1353	memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet	24:9481c8f56a49	1354	time1.reset();
nishimura_taku_pet	24:9481c8f56a49	1355	time1.start();
nishimura_taku_pet	24:9481c8f56a49	1356	replycount=0;
nishimura_taku_pet	24:9481c8f56a49	1357	while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet	24:9481c8f56a49	1358	if(esp.readable()) {
nishimura_taku_pet	24:9481c8f56a49	1359	replybuff[replycount] = esp.getc();
nishimura_taku_pet	24:9481c8f56a49	1360	replycount++;
nishimura_taku_pet	24:9481c8f56a49	1361	}
nishimura_taku_pet	24:9481c8f56a49	1362	}
nishimura_taku_pet	24:9481c8f56a49	1363	time1.stop();
nishimura_taku_pet	24:9481c8f56a49	1364	}
takuminomura	48:3003ea51c619	1365
tomotsugu	8:a47dbf4fa455	1366	/* mainスレッド */
yangtzuli	0:0d0037aabe41	1367	int main() {
tomotsugu	8:a47dbf4fa455	1368	/* 初期設定 */
mori2020	49:178dcafb4f0e	1369	wifi_thread = new Thread(wifi);
mori2020	49:178dcafb4f0e	1370	wifi_thread -> set_priority(osPriorityHigh);
mori2020	49:178dcafb4f0e	1371	// setup();
nishimura_taku_pet	16:ffc732a3cf92	1372	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	16:ffc732a3cf92	1373	avoi_thread->terminate();
nishimura_taku_pet	16:ffc732a3cf92	1374	trace_thread = new Thread(trace);
nishimura_taku_pet	16:ffc732a3cf92	1375	trace_thread->terminate();
tomotsugu	8:a47dbf4fa455	1376	mode = READY; // 現在待ちモード
tomotsugu	8:a47dbf4fa455	1377	beforeMode = READY; // 前回待ちモード
tomotsugu	8:a47dbf4fa455	1378	run = STOP; // 停止
tomotsugu	8:a47dbf4fa455	1379	flag_sp = NORMAL; // スピード(普通)
tomotsugu	10:d193030ce672	1380	lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet	33:a6f1090e0174	1381	lcd.setAddress(0,1);
nishimura_taku_pet	33:a6f1090e0174	1382	lcd.printf("Mode:SetUp");
mori2020	49:178dcafb4f0e	1383	// display(); // ディスプレイ表示
yangtzuli	2:38825726cb1b	1384
yangtzuli	0:0d0037aabe41	1385	while(1){
tomotsugu	8:a47dbf4fa455	1386	bChange(); // バッテリー残量更新
yangtzuli	0:0d0037aabe41	1387	}
yangtzuli	0:0d0037aabe41	1388	}

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Type:	Program
Mbed OS support:	Mbed OS
Created:	02 Sep 2020
Imports:	4
Forks:	0
Commits:	52
Dependents:	0
Dependencies:	2
Followers:	3

main.cpp@50:8843bee40df5, 2020-09-01 (annotated)

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