Revision 0:4c4775017e8a, committed 2020-09-23

Comitter:

jiang111

Date:

Wed Sep 23 01:45:03 2020 +0000

Commit message:

1

Changed in this revision

diff -r 000000000000 -r 4c4775017e8a CONTRIBUTING.md
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CONTRIBUTING.md	Wed Sep 23 01:45:03 2020 +0000
@@ -0,0 +1,5 @@
+# Contributing to Mbed OS
+
+Mbed OS is an open-source, device software platform for the Internet of Things. Contributions are an important part of the platform, and our goal is to make it as simple as possible to become a contributor.
+
+To encourage productive collaboration, as well as robust, consistent and maintainable code, we have a set of guidelines for [contributing to Mbed OS](https://os.mbed.com/docs/mbed-os/latest/contributing/index.html).

diff -r 000000000000 -r 4c4775017e8a README.md
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/README.md	Wed Sep 23 01:45:03 2020 +0000
@@ -0,0 +1,64 @@
+![](./resources/official_armmbed_example_badge.png)
+# Blinky Mbed OS example
+
+The example project is part of the [Arm Mbed OS Official Examples](https://os.mbed.com/code/) and is the [getting started example for Mbed OS](https://os.mbed.com/docs/mbed-os/v5.14/quick-start/index.html). It contains an application that repeatedly blinks an LED on supported [Mbed boards](https://os.mbed.com/platforms/).
+
+You can build the project with all supported [Mbed OS build tools](https://os.mbed.com/docs/mbed-os/latest/tools/index.html). However, this example project specifically refers to the command-line interface tool [Arm Mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli).
+(Note: To see a rendered example you can import into the Arm Online Compiler, please see our [import quick start](https://os.mbed.com/docs/mbed-os/latest/quick-start/online-with-the-online-compiler.html#importing-the-code).)
+
+1. [Install Mbed CLI](https://os.mbed.com/docs/mbed-os/latest/quick-start/offline-with-mbed-cli.html).
+
+1. Clone this repository on your system, and change the current directory to where the project was cloned:
+
+    ```bash
+    $ git clone git@github.com:armmbed/mbed-os-example-blinky && cd mbed-os-example-blinky
+    ```
+
+    Alternatively, you can download the example project with Arm Mbed CLI using the `import` subcommand:
+
+    ```bash
+    $ mbed import mbed-os-example-blinky && cd mbed-os-example-blinky
+    ```
+
+
+## Application functionality
+
+The `main()` function is the single thread in the application. It toggles the state of a digital output connected to an LED on the board.
+
+## Building and running
+
+1. Connect a USB cable between the USB port on the board and the host computer.
+2. <a name="build_cmd"></a> Run the following command to build the example project and program the microcontroller flash memory:
+    ```bash
+    $ mbed compile -m <TARGET> -t <TOOLCHAIN> --flash
+    ```
+The binary is located at `./BUILD/<TARGET>/<TOOLCHAIN>/mbed-os-example-blinky.bin`.
+
+Alternatively, you can manually copy the binary to the board, which you mount on the host computer over USB.
+
+Depending on the target, you can build the example project with the `GCC_ARM`, `ARM` or `IAR` toolchain. After installing Arm Mbed CLI, run the command below to determine which toolchain supports your target:
+
+```bash
+$ mbed compile -S
+```
+
+## Expected output
+The LED on your target turns on and off every 500 milliseconds.
+
+
+## Troubleshooting
+If you have problems, you can review the [documentation](https://os.mbed.com/docs/latest/tutorials/debugging.html) for suggestions on what could be wrong and how to fix it.
+
+## Related Links
+
+* [Mbed OS Stats API](https://os.mbed.com/docs/latest/apis/mbed-statistics.html).
+* [Mbed OS Configuration](https://os.mbed.com/docs/latest/reference/configuration.html).
+* [Mbed OS Serial Communication](https://os.mbed.com/docs/latest/tutorials/serial-communication.html).
+* [Mbed OS bare metal](https://os.mbed.com/docs/mbed-os/latest/reference/mbed-os-bare-metal.html).
+* [Mbed boards](https://os.mbed.com/platforms/).
+
+### License and contributions
+
+The software is provided under Apache-2.0 license. Contributions to this project are accepted under the same license. Please see contributing.md for more info.
+
+This project contains code from other projects. The original license text is included in those source files. They must comply with our license guide.

diff -r 000000000000 -r 4c4775017e8a RemoteIR.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RemoteIR.lib	Wed Sep 23 01:45:03 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/shintamainjp/code/RemoteIR/#268cc2ab63bd

diff -r 000000000000 -r 4c4775017e8a TextLCD.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextLCD.lib	Wed Sep 23 01:45:03 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/mbed_robotcar/code/TextLCD/#fc3e73087a75

diff -r 000000000000 -r 4c4775017e8a main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Sep 23 01:45:03 2020 +0000
@@ -0,0 +1,1310 @@
+
+/* mbed Microcontroller Library
+ * Copyright (c) 2019 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "mbed.h"
+#include "ReceiverIR.h"
+#include "rtos.h"
+#include <stdint.h>
+#include "platform/mbed_thread.h"
+#include "TextLCD.h"
+
+RawSerial pc(USBTX, USBRX);
+
+/* マクロ定義、列挙型定義 */
+#define     MIN_V       2.0  // 電圧の最小値
+#define     MAX_V       2.67 // 電圧の最大値
+#define     LOW         0    // モーターOFF
+#define     HIGH        1    // モーターON
+#define     NORMAL      0    // 普通
+#define     FAST        1    // 速い
+#define     VERYFAST    2    // とても速い
+
+#define     SLOW        0.8
+#define     REVERSE     0.5
+
+#define     MBED04      0.781//Mbed04号機の左右のモーター速度比(R:L = 1: 0.781)
+#define     MBED05      0.953//Mbed05号機の左右のモーター速度比(R:L = 1: 0.953)
+#define     MSR0        0.6
+#define     MSR1        0.65
+#define     MSR2        0.7
+#define     MSR3        0.75
+#define     MSR4        0.8
+#define     MSR5        0.85
+#define     MSR6        0.9
+#define     MSR7        0.95
+#define     MSR8        1
+#define     MSL0        MSR0
+#define     MSL1        MSR1
+#define     MSL2        MSR2//*MBED05
+#define     MSL3        MSR3//*MBED05
+#define     MSL4        MSR4//*MBED05
+#define     MSL5        MSR5//*MBED05
+#define     MSL6        MSR6//*MBED05
+#define     MSL7        MSR7//*MBED05
+#define     MSL8        MSR8//*MBED05
+
+/* 操作モード定義 */
+enum MODE{
+    READY   = -1,   // -1：待ち
+    ADVANCE = 1,    //  1：前進
+    RIGHT,          //  2：右折
+    LEFT,           //  3：左折
+    BACK,           //  4：後退
+    STOP,           //  5：停止
+    LINE_TRACE,     //  6：ライントレース
+    AVOIDANCE,      //  7：障害物回避
+    SPEED,          //  8：スピード制御
+};
+
+/* ピン配置 */
+ReceiverIR   ir(p5);        // リモコン操作
+DigitalOut  trig(p6);       // 超音波センサtrigger
+DigitalIn   echo(p7);       // 超音波センサecho
+DigitalIn   ss1(p8);        // ライントレースセンサ(左)
+DigitalIn   ss2(p9);        // ライントレースセンサ
+DigitalIn   ss3(p10);       // ライントレースセンサ
+DigitalIn   ss4(p11);       // ライントレースセンサ
+DigitalIn   ss5(p12);       // ライントレースセンサ(右)
+RawSerial   esp(p13, p14);  // Wi-Fiモジュール(tx, rx)
+AnalogIn    battery(p15);   // 電池残量読み取り(Max 3.3V)
+PwmOut      motorR2(p22);   // 右モーター後退
+PwmOut      motorR1(p21);   // 右モーター前進
+PwmOut      motorL2(p23);   // 左モーター後退
+PwmOut      motorL1(p24);   // 左モーター前進
+PwmOut      servo(p25);     // サーボ
+I2C         i2c_lcd(p28,p27);   // LCD(tx, rx)
+
+
+
+/* 変数宣言 */
+int mode;                   // 操作モード
+int run;                    // 走行状態
+int beforeRun = STOP;       // 前回の走行状態
+int beforeMode;             // 前回のモード
+int flag_sp = 0;            // スピード変化フラグ
+Timer viewTimer;            // スピ―ド変更時に3秒計測タイマー
+
+float motorSpeedR1[9] = {MSR0, MSR1, MSR2, MSR3        , MSR4        , MSR5        , MSR6        , MSR7        , MSR8        };
+//float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3*REVERSE, MSR4*REVERSE, MSR5*REVERSE, MSR6*REVERSE, MSR7*REVERSE, MSR8*REVERSE};
+float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3, MSR4, MSR5, MSR6, MSR7, MSR8};
+float motorSpeedL1[9] = {MSL0, MSL1, MSL2, MSL3        , MSL4        , MSL5        , MSL6        , MSL7        , MSL8        };
+//float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3*REVERSE, MSL4*REVERSE, MSL5*REVERSE, MSL6*REVERSE, MSL7*REVERSE, MSL8*REVERSE};
+float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3, MSL4, MSL5, MSL6, MSL7, MSL8};
+                            // モーター速度設定(後半はライントレース用)
+                            // 0,1,2:基準速度
+                            // 3,4,5:低速
+                            // 6,7,8:高速
+                            // R1 : 右前, R2 : 右後, L1 : 左前, L2 : 左後
+                            
+Mutex  mutex;               // ミューテックス
+
+/* decodeIR用変数 */
+RemoteIR::Format format;
+uint8_t buf[32];
+uint32_t bitcount;
+uint32_t code;
+
+/* bChange, lcdbacklight用変数 */
+TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780);
+int b = 0;          // バッテリー残量
+int flag_b = 0;     // バックライト点滅フラグ
+int flag_t = 0;     // バックライトタイマーフラグ
+
+/* trace用変数 */
+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
+                     3,6,1,6,1,1,1,6,   // 0:前回動作継続
+                     7,1,7,1,3,1,1,1,   // 1:高速前進
+                     5,1,7,1,5,1,7,1};  // 2:低速右折
+                                        // 3:低速左折
+                                        // 4:中速右折
+                                        // 5:中速左折
+                                        // 6:高速右折
+                                        // 7:高速左折
+
+//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
+//                     0,6,1,6,1,1,1,6,   // 0:前回動作継続
+//                     7,1,7,1,0,1,1,1,   // 1:高速前進
+//                     5,1,7,1,5,1,7,1};  // 2:低速右折
+//                                        // 3:低速左折
+//                                        // 4:中速右折
+//                                        // 5:中速左折
+//                                        // 6:高速右折
+//                                        // 7:高速左折
+
+/* avoidance用変数 */
+Timer timer;            // 距離計測用タイマ
+int DT;                 // 距離
+int SC;                 // 正面
+int SL;                 // 左
+int SR;                 // 右
+int SLD;                // 左前
+int SRD;                // 右前
+int flag_a = 0;         // 障害物有無のフラグ
+const int limit = 17;   // 障害物の距離のリミット(単位：cm)
+int far;                // 最も遠い距離
+int houkou;             // 進行方向(1:前 2:左 3:右)
+int t1 = 0;
+
+/*WiFi用変数*/
+Timer time1;
+Timer time2;
+int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
+int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
+float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
+char webcount[8];
+char type[16];
+char channel[2];
+char cmdbuff[32];
+char replybuff[1024];
+char webdata[1024]; // This may need to be bigger depending on WEB browser used
+char webbuff[4096];     // Currently using 1986 characters, Increase this if more web page data added
+int port        =80;  // set server port
+int SERVtimeout =5;    // set server timeout in seconds in case link breaks.
+char ssid[32] = "mbed05"; // enter WiFi router ssid inside the quotes
+char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
+
+/* プロトタイプ宣言 */
+void decodeIR(/*void const *argument*/);
+void motor(/*void const *argument*/);
+void changeSpeed();
+void avoidance(/*void const *argument*/);
+void trace(/*void const *argument*/);
+void watchsurrounding3();
+void watchsurrounding5();
+int watch();
+char battery_ch[8];
+void bChange();
+void display();
+void lcdBacklight(void const *argument);
+void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
+void wifi(/*void const *argument*/);
+Thread *deco_thread;                                        // decodeIRをスレッド化 ：+3
+Thread *wifi_thread;
+//wifi_thread(wifi,NULL,osPriorityHigh);                    // wifiをスレッド化
+Thread *motor_thread;                                       // motorをスレッド化    ：+2
+RtosTimer bTimer(lcdBacklight, osTimerPeriodic);            // lcdBacklightをタイマー割り込みで設定
+Thread *avoi_thread;                                        // avoidanceをスレッド化：+2
+Thread *trace_thread;                                       // traceをスレッド化    ：+2
+
+DigitalOut  led1(LED1);
+DigitalOut  led2(LED2);
+DigitalOut  led3(LED3);
+DigitalOut  led4(LED4);
+
+void setup(){
+    deco_thread = new Thread(decodeIR);
+    deco_thread -> set_priority(osPriorityRealtime);
+    motor_thread = new Thread(motor);
+    motor_thread -> set_priority(osPriorityHigh);
+    //wifi_thread -> set_priority(osPriorityRealtime);
+    display();
+}
+
+/* リモコン受信スレッド */
+void decodeIR(/*void const *argument*/){
+   while(1){
+        // 受信待ち
+        if (ir.getState() == ReceiverIR::Received){ // コード受信
+            bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
+            if(bitcount > 1){        // 受信成功
+                code=0;
+                for(int j = 0; j < 4; j++){
+                    code+=(buf[j]<<(8*(3-j)));
+                }
+                if(mode != SPEED){   // スピードモード以外なら
+                    beforeMode=mode; // 前回のモードに現在のモードを設定
+                }
+                switch(code){
+                    case 0x40bf27d8:    // クイック
+                        ////*-*-*-5("mode = SPEED\r\n");
+                        mode = SPEED;       // スピードモード
+                        changeSpeed();      // 速度変更
+                        display();          // ディスプレイ表示
+                        mode = beforeMode;  // 現在のモードに前回のモードを設定
+                        break;
+                    case 0x40be34cb:    // レグザリンク
+                        ////*-*-*-5("mode = LINE_TRACE\r\n");
+                        if(trace_thread->get_state() == Thread::Deleted){
+                            delete trace_thread;
+                            trace_thread = new Thread(trace);
+                            trace_thread -> set_priority(osPriorityHigh);
+                        }
+                        mode=LINE_TRACE;    // ライントレースモード
+                        display();          // ディスプレイ表示
+                        break;
+                    case 0x40bf6e91:    // 番組表
+                        ////*-*-*-5("mode = AVOIDANCE\r\n");
+                        if(avoi_thread->get_state() == Thread::Deleted){
+                            delete avoi_thread;
+                            avoi_thread = new Thread(avoidance);
+                            avoi_thread -> set_priority(osPriorityHigh);
+                        }
+                        flag_a = 0;
+                        mode=AVOIDANCE;     // 障害物回避モード
+                        run = ADVANCE;      // 前進
+                        display();          // ディスプレイ表示
+                        break;
+                    case 0x40bf3ec1:        // ↑
+                        ////*-*-*-5("mode = ADVANCE\r\n");
+                        mode = ADVANCE;     // 前進モード
+                        run = ADVANCE;      // 前進
+                        display();          // ディスプレイ表示
+                        break;
+                    case 0x40bf3fc0:        // ↓
+                        ////*-*-*-5("mode = BACK\r\n");
+                        mode = BACK;        // 後退モード
+                        run = BACK;         // 後退
+                        display();          // ディスプレイ表示
+                        break;
+                    case 0x40bf5fa0:        // ←
+                        ////*-*-*-5("mode = LEFT\r\n");
+                        mode = LEFT;        // 左折モード
+                        run = LEFT;         // 左折
+                        display();          // ディスプレイ表示
+                        break;
+                    case 0x40bf5ba4:        // →
+                        ////*-*-*-5("mode = RIGHT\r\n");
+                        mode = RIGHT;       // 右折モード
+                        run = RIGHT;        // 右折
+                        display();          // ディスプレイ表示
+                        break;
+                    case 0x40bf3dc2:        // 決定
+                        ////*-*-*-5("mode = STOP\r\n");
+                        mode = STOP;        // 停止モード
+                        run = STOP;         // 停止
+                        display();          // ディスプレイ表示
+                        break;
+                    default:
+                        ;
+                }
+                if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
+                    trace_thread->terminate();
+                }
+                if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
+                    avoi_thread->terminate();
+                    servo.pulsewidth_us(1450);      // サーボを中央位置に戻す
+                }
+            }
+        }
+        if(viewTimer.read_ms()>=3000){      // スピードモードのまま3秒経過
+            viewTimer.stop();               // タイマーストップ
+            viewTimer.reset();              // タイマーリセット
+            display();                      // ディスプレイ表示
+        }
+        ThisThread::sleep_for(90);          // 90ms待つ
+    }
+}
+
+/* モーター制御スレッド */
+void motor(/*void const *argument*/){
+    while(1){
+        /* 走行状態の場合分け */
+        switch(run){
+            /* 前進 */
+            case ADVANCE:
+                motorR1 = motorSpeedR1[flag_sp];  // 右前進モーターON
+                motorR2 = LOW;                    // 右後退モーターOFF
+                motorL1 = motorSpeedL1[flag_sp];  // 左前進モーターON
+                motorL2 = LOW;                    // 左後退モーターOFF
+                break;
+            /* 右折 */
+            case RIGHT:
+                motorR1 = LOW;                    // 右前進モーターOFF
+                motorR2 = motorSpeedR2[flag_sp];  // 右後退モーターON
+                motorL1 = motorSpeedL1[flag_sp];  // 左前進モーターON
+                motorL2 = LOW;                    // 左後退モーターOFF
+                
+                break;
+            /* 左折 */
+            case LEFT:
+               motorR1 = motorSpeedR1[flag_sp];  // 右前進モーターON
+                motorR2 = LOW;                    // 右後退モーターOFF
+                motorL1 = LOW;                    // 左前進モーターOFF
+                motorL2 = motorSpeedL2[flag_sp];  // 左後退モーターON
+                
+                break;
+            /* 後退 */
+            case BACK:
+                motorR1 = LOW;                    // 右前進モーターOFF
+                motorR2 = motorSpeedR2[flag_sp];  // 右後退モーターON
+                motorL1 = LOW;                    // 左前進モーターOFF
+                motorL2 = motorSpeedL2[flag_sp];  // 左後退モーターON
+                break;
+            /* 停止 */
+            case STOP:
+                motorR1 = LOW;                  // 右前進モーターOFF
+                motorR2 = LOW;                  // 右後退モーターOFF
+                motorL1 = LOW;                  // 左前進モーターOFF
+                motorL2 = LOW;                  // 左後退モーターOFF
+                break;
+        }
+        if(flag_sp > VERYFAST){             // スピード変更フラグが2より大きいなら
+            flag_sp %= 3;   // スピード変更フラグ調整
+        }
+        ThisThread::sleep_for(3);          // 30ms待つ
+    }
+}
+
+/* スピード変更関数 */
+void changeSpeed(){
+                        // それ以外
+        flag_sp = flag_sp + 3;  // スピード変更フラグを+1
+        if(flag_sp>6)flag_sp=0;
+}
+
+/* ライントレーススレッド */
+void trace(){
+    while(1){
+        /* 各センサー値読み取り */
+        int sensor1 = ss1;
+        int sensor2 = ss2;
+        int sensor3 = ss3;
+        int sensor4 = ss4;
+        int sensor5 = ss5;
+        ////*-*-*-5("%d  %d  %d  %d  %d  \r\n",sensor1,sensor2,sensor3,sensor4,sensor5);
+        int sensD = 0;
+        /* センサー値の決定 */
+        if(sensor1 > 0) sensD |= 0x10;
+        if(sensor2 > 0) sensD |= 0x08;
+        if(sensor3 > 0) sensD |= 0x04;
+        if(sensor4 > 0) sensD |= 0x02;
+        if(sensor5 > 0) sensD |= 0x01;
+        pc.printf("%d  \r\n",sensArray[sensD]);
+        /* センサー値によって場合分け */
+        switch(sensArray[sensD]){
+            case 1:
+                flag_sp =  6;
+                beforeRun = run;
+                run = ADVANCE;      // 高速で前進
+                break;
+            case 2:
+                flag_sp =  2;
+                beforeRun = run;
+                run = RIGHT;        
+                break;
+            case 3:
+                flag_sp =  2;
+                beforeRun = run;
+                run = LEFT;         
+                break;
+            case 4:
+                flag_sp = 0;
+                beforeRun = run;
+                run = RIGHT;        
+                break;
+            case 5:
+                flag_sp = 0;
+                beforeRun = run;
+                run = LEFT;         
+                break;
+            case 6:
+                flag_sp =  4;
+                beforeRun = run;
+                run = RIGHT;        
+                break;
+            case 7:
+                flag_sp =  4;
+                beforeRun = run;
+                run = LEFT;         
+                break;
+            default:
+                break;              
+        }
+//            ThisThread::sleep_for(30);      // 30ms待つ
+        ThisThread::sleep_for(3);
+    }
+}
+
+/* 障害物回避走行スレッド */
+void avoidance(){
+    int i;
+    watchsurrounding3();
+    while(1){ 
+    if(flag_a==0){run=ADVANCE;watchsurrounding3();} 
+    else{
+              i=0;
+              watchsurrounding5();
+              if(SLD>=SC&&SRD>=SC){
+                  if(SL>=SR){
+                      run = BACK;                 
+                      ThisThread::sleep_for(200-flag_sp*10);
+                      
+                      run = LEFT;                 
+                      ThisThread::sleep_for(480-flag_sp*25);
+                      run=STOP;
+                      }
+                  if(SL<SR){
+                      run = BACK;                 
+                      ThisThread::sleep_for(200-flag_sp*10);
+                      run = RIGHT;                 
+                      ThisThread::sleep_for(480-flag_sp*25);
+                      run=STOP;}
+                }
+                if(SLD<SC){
+                    run = BACK;                 
+                      ThisThread::sleep_for(200-flag_sp*10);
+                    run = RIGHT;                 
+                      ThisThread::sleep_for(250-flag_sp*10);
+                      run=STOP;
+                      }
+                if(SRD<SC){
+                    run = BACK;                 
+                      ThisThread::sleep_for(200-flag_sp*10);
+                    run = LEFT;                 
+                      ThisThread::sleep_for(250-flag_sp*10);
+                      run=STOP; 
+                      }
+                      
+                      flag_a=0;   
+                                 
+}
+}
+}
+/* 距離計測関数 */
+int watch(){
+    do{
+        trig = 0;
+        ThisThread::sleep_for(5);       // 5ms待つ
+        trig = 1;
+        ThisThread::sleep_for(15);      // 15ms待つ
+        trig = 0;
+        timer.start();
+        t1=timer.read_ms();
+        while(echo.read() == 0 && t1<10){
+            t1=timer.read_ms();
+            led1 = 1;
+        }
+        timer.stop();
+        timer.reset();
+        /*if((t1-t2) >= 10){
+        run = STOP;*/
+    }while(t1 >= 10);
+    timer.start();                  // 距離計測タイマースタート
+    while(echo.read() == 1){
+    }
+    timer.stop();                   // 距離計測タイマーストップ
+    DT = (int)(timer.read_us()*0.01657);   // 距離計算
+    if(DT > 1000){
+        DT = -1;    
+    }else if(DT > 150){                   // 検知範囲外なら100cmに設定
+        DT = 150;
+    }
+    timer.reset();                  // 距離計測タイマーリセット
+    led1 = 0;
+    return DT;
+}
+
+/* 障害物検知関数 */
+void watchsurrounding3(){
+    //servo.pulsewidth_us(1450);      // サーボを中央位置に戻す
+    //ThisThread::sleep_for(200);     // 100ms待つ
+    SC = watch();
+    if(SC < limit){         // 正面20cm以内に障害物がある場合
+        if(SC!=-1){
+            run = STOP;     // 停止  
+            flag_a = 1;    
+            return; 
+        }                
+    }
+    servo.pulsewidth_us(1925);      // サーボを左に40度回転
+    ThisThread::sleep_for(100);     // 250ms待つ
+    SLD = watch();
+    if(SLD < limit){                // 左前20cm以内に障害物がある場合
+        run = STOP;             // 停止
+        flag_a = 1;
+        return; 
+    }
+    servo.pulsewidth_us(1450);
+    ThisThread::sleep_for(150);
+    SC = watch();
+    if(SC < limit){
+        if(SC!=-1){
+            run = STOP;     // 停止
+            flag_a = 1;
+            return;
+        } 
+    }
+    servo.pulsewidth_us(925);       // サーボを右に40度回転
+    ThisThread::sleep_for(100);     // 250ms待つ
+    SRD = watch();
+    if(SRD < limit){                // 右前20cm以内に障害物がある場合
+        run = STOP;             // 停止
+        flag_a = 1;
+        return; 
+    }
+    servo.pulsewidth_us(1450);      // サーボを中央位置に戻す
+    ThisThread::sleep_for(100);     // 100ms待つ
+    /*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
+        flag_a = 1;                 // 障害物有無フラグに1をセット
+    }*/
+}
+
+/* 障害物検知関数 */
+void watchsurrounding5(){
+    servo.pulsewidth_us(1450);      // サーボを中央位置に戻す
+    ThisThread::sleep_for(200);     // 100ms待つ
+    SC = watch();
+    servo.pulsewidth_us(1925);      // サーボを左に40度回転
+    ThisThread::sleep_for(100);     // 250ms待つ
+    SLD = watch();
+    servo.pulsewidth_us(2400);      // サーボを左に90度回転
+    ThisThread::sleep_for(100);     // 250ms待つ
+    SL = watch();
+    servo.pulsewidth_us(1450);
+    ThisThread::sleep_for(250);
+    SC = watch();
+    servo.pulsewidth_us(925);       // サーボを右に40度回転
+    ThisThread::sleep_for(100);     // 250ms待つ
+    SRD = watch();
+    servo.pulsewidth_us(500);       // サーボを右に90度回転
+    ThisThread::sleep_for(100);     // 250ms待つ
+    SR = watch();
+    servo.pulsewidth_us(1450);      // サーボを中央位置に戻す
+    ThisThread::sleep_for(250);     // 100ms待つ
+}
+
+/* ディスプレイ表示関数 */
+void display(){
+        mutex.lock();         // ミューテックスロック
+        lcd.setAddress(0,1);
+        
+        /* 操作モードによる場合分け */
+        switch(mode){
+            /* 前進 */
+            case ADVANCE:
+                lcd.printf("Mode:Advance    ");
+                break;
+            /* 右折 */
+            case RIGHT:
+                lcd.printf("Mode:TurnRight  ");
+                break;
+            /* 左折 */
+            case LEFT:
+                lcd.printf("Mode:TurnLeft   ");
+                break;
+            /* 後退 */
+            case BACK:
+                lcd.printf("Mode:Back       ");
+                break;
+            /* 停止 */
+            case STOP:
+                lcd.printf("Mode:Stop       ");
+                break;
+            /* 待ち */
+            case READY:
+                lcd.printf("Mode:Ready      ");
+                break;
+            /* ライントレース */
+            case LINE_TRACE:
+                lcd.printf("Mode:LineTrace  ");
+                break;
+            /* 障害物回避 */
+            case AVOIDANCE:
+                lcd.printf("Mode:Avoidance  ");
+                break;
+            /* スピード制御 */
+            case SPEED:
+                /* スピードの状態で場合分け */
+                switch(flag_sp % 3){
+                    /* 普通 */
+                    case(NORMAL):
+                        lcd.printf("Speed:Normal    ");
+                        break;
+                    /* 速い */
+                    case(FAST):
+                        lcd.printf("Speed:Fast      ");
+                        break;
+                    /* とても速い */
+                    case(VERYFAST):
+                        lcd.printf("Speed:VeryFast  ");
+                        break;
+                }
+                viewTimer.reset();  // タイマーリセット
+                viewTimer.start();  // タイマースタート
+                break;
+        }
+        mutex.unlock();     // ミューテックスアンロック
+}
+
+/* バックライト点滅 */
+void lcdBacklight(void const *argument){
+    if(flag_b == 1){                         // バックライト点滅フラグが1なら
+        lcd.setBacklight(TextLCD::LightOn);  // バックライトON
+    }else{                                   // バックライト点滅フラグが0なら
+        lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
+    }
+    flag_b = !flag_b;   // バックライト点滅フラグ切り替え
+}
+
+/* バッテリー残量更新関数 */
+void bChange(){
+    ////*-*-*-5("                                                                              bChange1\r\n");
+    b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10;
+    if(b <= 0){                      // バッテリー残量0%なら全ての機能停止
+        b = 0;
+        //lcd.setBacklight(TextLCD::LightOff);
+        //run = STOP;
+        //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。
+    }
+    mutex.lock();                    // ミューテックスロック
+    lcd.setAddress(0,0);
+    lcd.printf("Battery:%3d%%",b);   // バッテリー残量表示
+    mutex.unlock();                  // ミューテックスアンロック
+    if(b <= 30){                     // バッテリー残量30%以下なら
+        if(flag_t == 0){             // バックライトタイマーフラグが0なら
+            //bTimer.attach(lcdBacklight,0.5);
+            bTimer.start(500);       // 0.5秒周期でバックライトタイマー割り込み
+            flag_t = 1;              // バックライトタイマーフラグを1に切り替え
+        }
+    }else{
+        if(flag_t == 1){             // バックライトタイマーフラグが1なら
+            //bTimer.detach();
+            bTimer.stop();           // バックライトタイマーストップ
+            lcd.setBacklight(TextLCD::LightOn); // バックライトON
+            flag_t = 0;              // バックライトタイマーフラグを0に切り替え
+        }
+    } 
+}
+// Serial Interrupt read ESP data
+void callback()
+{
+    ////*-*-*-5("\n\r------------ callback is being called --------------\n\r");
+    led3=1;
+    while (esp.readable()) {
+        webbuff[ount] = esp.getc();
+        ount++;
+    }
+    if(strlen(webbuff)>bufflen) {
+//        //*-*-*-5("\f\n\r------------ webbuff over bufflen --------------\n\r");
+        DataRX=1;
+        led3=0;
+    }
+}
+
+void wifi(/*void const *argument*/)
+{
+    //*-*-*-5("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
+    ThisThread::sleep_for(100);
+    led1=1,led2=0,led3=0;
+    timeout=6000;
+    getcount=500;
+    getreply();
+    esp.baud(115200);   // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
+    startserver();
+ 
+    while(1) {
+        if(DataRX==1) {
+            //*-*-*-5("\f\n\r------------ main while > if --------------\n\r");
+            click_flag = 1;
+            ReadWebData();
+            //*-*-*-5("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
+            //if ((servreq == 1 && weberror == 0) && click_flag == 1) {
+            if (servreq == 1 && weberror == 0) {
+                //*-*-*-5("\f\n\r------------ befor send page --------------\n\r");
+                sendpage();
+            }
+            //*-*-*-5("\f\n\r------------ send_check begin --------------\n\r");
+ 
+            //sendcheck();
+            //*-*-*-5("\f\n\r------------ ssend_check end--------------\n\r");
+ 
+            esp.attach(&callback);
+            //*-*-*-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);
+            //*-*-*-5("\n\n  HTTP Packet: \n\n%s\n", webdata);
+            //*-*-*-5("  Web Characters sent : %d\n\n", bufl);
+            //*-*-*-5("  -------------------------------------\n\n");
+            servreq=0;
+        }
+        ThisThread::sleep_for(100);
+    }
+}
+// Static WEB page
+void sendpage()
+{
+// WEB page data
+ 
+    strcpy(webbuff, "<!DOCTYPE html>");
+    strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
+    //strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >");
+    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>");
+    strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
+    strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
+    if(b > 30) {    //残電量表示
+        sprintf(webbuff, "%s%3d", webbuff, b);
+    } else {        //30%より下の場合残電量を赤文字
+        strcat(webbuff, "<font color=\"red\">");
+        sprintf(webbuff, "%s%3d", webbuff, b);
+        strcat(webbuff, "</font>");
+    }
+    strcat(webbuff, "%</strong>");
+    strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"location.reload()\">RELOAD</button>");
+    strcat(webbuff, "</td></p>");
+    strcat(webbuff, "<br>");
+    strcat(webbuff, "<table><tr><td></td><td>");
+ 
+    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
+        case ADVANCE:   //前進
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"light\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "</button></td></tr><td></td><td>");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
+            strcat(webbuff, "<strong>Mode</strong>");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "AVOIDANCE</button></td><td>");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            break;
+        case LEFT:  //左折
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "</button></td></tr><td></td><td>");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
+            strcat(webbuff, "<strong>Mode</strong>");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "AVOIDANCE</button></td><td>");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            break;
+        case STOP:  //停止
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "</button></td></tr><td></td><td>");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
+            strcat(webbuff, "<strong>Mode</strong>");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "AVOIDANCE</button></td><td>");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            break;
+        case RIGHT: //右折
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "</button></td></tr><td></td><td>");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
+            strcat(webbuff, "<strong>Mode</strong>");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "AVOIDANCE</button></td><td>");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            break;
+        case BACK:  //後進
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "</button></td></tr><td></td><td>");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
+            strcat(webbuff, "<strong>Mode</strong>");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "AVOIDANCE</button></td><td>");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            break;
+        case AVOIDANCE:     //障害物回避
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "</button></td></tr><td></td><td>");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
+            strcat(webbuff, "<strong>Mode</strong>");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "AVOIDANCE</button></td><td>");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            break;
+        case LINE_TRACE:    //ライントレース
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "</button></td></tr><td></td><td>");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
+            strcat(webbuff, "<strong>Mode</strong>");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "AVOIDANCE</button></td><td>");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            break;
+        default:    //その他
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "</button></td></tr><td></td><td>");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
+            strcat(webbuff, "<strong>Mode</strong>");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "AVOIDANCE</button></td><td>");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            break;
+    }
+    strcat(webbuff, "</button></td></tr></table>");
+    strcat(webbuff, "<strong>Speed</strong>");
+    strcat(webbuff, "<table><tr><td>");
+    //ready示速度だけ点灯
+    switch (flag_sp) {  //現在の速度のボタン表示
+        case 0:         //ノーマル
+            strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\"  onClick='send_mes_spe(this.value)' >Normal");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\"  onClick='send_mes_spe(this.value)' >Fast");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\"  onClick='send_mes_spe(this.value)' >VeryFast");
+            break;
+        case 1:         //ファスト
+            strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\"  onClick='send_mes_spe(this.value)' >Normal");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\"  onClick='send_mes_spe(this.value)' >Fast");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\"  onClick='send_mes_spe(this.value)' >VeryFast");
+            break;
+        case 2:         //ベリーファスト
+            strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\"  onClick='send_mes_spe(this.value)' >Normal");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\"  onClick='send_mes_spe(this.value)' >Fast");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\"  onClick='send_mes_spe(this.value)' >VeryFast");
+            break;
+        default:        //その他
+            strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\"  onClick='send_mes_spe(this.value)' >Normal");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\"  onClick='send_mes_spe(this.value)' >Fast");
+            strcat(webbuff, "</button></td><td>");
+            strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\"  onClick='send_mes_spe(this.value)' >VeryFast");
+            break;
+    }
+    strcat(webbuff, "</button></td></tr></table>");
+ 
+    strcat(webbuff, "</center>");
+    strcat(webbuff, "</body>");
+    strcat(webbuff, "</html>");
+    
+    strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");       //機能
+    
+    strcat(webbuff, "var button_9 = document.getElementsByTagName(\"button\");");
+    
+//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
+    strcat(webbuff, "function htmlacs(url) {");
+        strcat(webbuff, "for(var m=0;m<11;m++){button_9[m].disabled=true;}");  
+        strcat(webbuff, "var xhr = new XMLHttpRequest();");
+        strcat(webbuff, "xhr.open(\"GET\", url);");
+        strcat(webbuff, "xhr.onreadystatechange = function(){");
+            strcat(webbuff, "if(this.readyState == 4 || this.status == 200){");
+                strcat(webbuff, "for(var m=0;m<11;m++){button_9[m].disabled=false;}");
+            strcat(webbuff, "}");
+        strcat(webbuff, "};");
+        strcat(webbuff, "xhr.send(\"\");");
+    strcat(webbuff, "}");
+    
+//mode変更ボタン入力時動作 //sendmes
+    strcat(webbuff, "function send_mes(btnval){");       //mode変更ボタン入力時の点灯消灯判定
+    strcat(webbuff, "console.log(btnval);");
+    strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
+    strcat(webbuff, "htmlacs(url);");
+    strcat(webbuff, "console.log(url);");
+    strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
+    strcat(webbuff, "for(var i=1;i<8;i++){");
+    strcat(webbuff, "if(buttons[i].value == btnval){");
+    strcat(webbuff, "buttons[i].className=\"light\";");
+    strcat(webbuff, "}else{");
+    strcat(webbuff, "buttons[i].className=\"noselect\";");
+    strcat(webbuff, "}");
+    strcat(webbuff, "}");
+    strcat(webbuff, "}");
+    
+    strcat(webbuff, "function send_mes_spe(btnval){");       //speed変更ボタン入力時の点灯消灯判定
+    strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
+    strcat(webbuff, "htmlacs(url);");
+    strcat(webbuff, "console.log(url);");
+    strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
+    strcat(webbuff, "for(var i=8;i<11;i++){");
+    strcat(webbuff, "if(buttons[i].value == btnval){");
+    strcat(webbuff, "buttons[i].className=\"light\";");
+    strcat(webbuff, "}else{");
+    strcat(webbuff, "buttons[i].className=\"noselect\";");
+    strcat(webbuff, "}");
+    strcat(webbuff, "}");
+    strcat(webbuff, "}");
+    strcat(webbuff, "</script>");
+    
+    
+// end of WEB page data
+    bufl = strlen(webbuff); // get total page buffer length
+    //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
+ 
+    sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl>2048?2048:bufl)); // send IPD link channel and buffer character length.
+    timeout=500;
+    getcount=40;
+    SendCMD();
+    getreply();
+    //*-*-*-5(replybuff);
+    ////*-*-*-5("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
+ 
+    //*-*-*-5("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
+ 
+    //pastthrough mode
+    SendWEB();  // send web page
+    //*-*-*-5("\n++++++++++ webbuff clear  ++++++++++\r\n");
+ 
+    memset(webbuff, '\0', sizeof(webbuff));
+    sendcheck();
+}
+ 
+// Large WEB buffer data send
+void SendWEB()
+{
+    int i=0;
+    if(esp.writeable()) {
+        while(webbuff[i]!='\0') {
+            esp.putc(webbuff[i]);
+ 
+            //****
+            //output at command when 2000
+            if(((i%2047)==0) && (i>0)) {
+                //wait_ms(10);
+                ThisThread::sleep_for(100);
+                sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); // send IPD link channel and buffer character length.
+                ////*-*-*-5("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
+                timeout=600;
+                getcount=50;
+                SendCMD();
+                getreply();
+                ////*-*-*-5(replybuff);
+                ////*-*-*-5("\r\n+++++++++++++++++++\r\n");
+            }
+            //****
+            i++;
+            ////*-*-*-5("%c",webbuff[i]);
+        }
+    }
+    //*-*-*-5("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
+}
+ 
+ 
+void sendcheck()
+{
+    weberror=1;
+    timeout=500;
+    getcount=24;
+    time2.reset();
+    time2.start();
+ 
+    /*
+    while(weberror==1 && time2.read() <5) {
+        getreply();
+        if (strstr(replybuff, "SEND OK") != NULL) {
+            weberror=0;   // wait for valid SEND OK
+        }
+    }
+    */
+    if(weberror==1) { // restart connection
+        strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
+        timeout=500;
+        getcount=10;
+        SendCMD();
+        getreply();
+        //*-*-*-5(replybuff);
+        sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
+        timeout=500;
+        getcount=10;
+        SendCMD();
+        getreply();
+        //*-*-*-5(replybuff);
+    } else {
+        sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
+        SendCMD();
+        getreply();
+        //*-*-*-5(replybuff);
+    }
+    time2.reset();
+}
+ 
+// Reads and processes GET and POST web data
+void ReadWebData()
+{
+    //*-*-*-5("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
+    ThisThread::sleep_for(200);
+    esp.attach(NULL);
+    ount=0;
+    DataRX=0;
+    weberror=0;
+    memset(webdata, '\0', sizeof(webdata));
+    int x = strcspn (webbuff,"+");
+    if(x) {
+        strcpy(webdata, webbuff + x);
+        weberror=0;
+        int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
+        //int i=0;
+        //*-*-*-5("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
+        //*-*-*-5("%s",webdata);
+        //*-*-*-5("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
+        if( strstr(webdata, "Normal") != NULL ) {
+            //*-*-*-5("++++++++++++++++++Normal++++++++++++++++++++");
+            mode = SPEED;       // スピードモード
+            flag_sp = 0;
+            display();          // ディスプレイ表示
+            mode = beforeMode;  // 現在のモードに前回のモードを設定
+        }else if( strstr(webdata, "VeryFast") != NULL ) {
+            //*-*-*-5("+++++++++++++++++++VeryFast+++++++++++++++++++");
+            mode = SPEED;       // スピードモード 
+            flag_sp = 2;
+            display();          // ディスプレイ表示
+            mode = beforeMode;  // 現在のモードに前回のモードを設定
+        }else if( strstr(webdata, "Fast") != NULL ) {
+            //*-*-*-5("++++++++++++++++++++Fast++++++++++++++++++");
+            mode = SPEED;       // スピードモード
+            flag_sp = 1;
+            display();          // ディスプレイ表示
+            mode = beforeMode;  // 現在のモードに前回のモードを設定
+        }else{
+            beforeMode = mode;
+        }
+        if( strstr(webdata, "GO") != NULL ) {
+            //*-*-*-5("+++++++++++++++++前進+++++++++++++++++++++\r\n");
+            //delete avoi_thread;     //障害物回避スレッド停止
+            //delete trace_thread;    //ライントレーススレッド停止
+            run = ADVANCE;          // 前進
+            mode = ADVANCE;         // モード変更
+            display();              // ディスプレイ表示
+        }
+
+        if( strstr(webdata, "LEFT") != NULL ) {
+            //*-*-*-5("+++++++++++++++++左折+++++++++++++++++++++\r\n");
+            //delete avoi_thread;     //障害物回避スレッド停止
+            //delete trace_thread;    //ライントレーススレッド停止
+            run = LEFT;             // 左折
+            mode = LEFT;            // モード変更
+            display();              // ディスプレイ表示
+        }
+ 
+        if( strstr(webdata, "STOP") != NULL ) {
+            //*-*-*-5("+++++++++++++++++停止+++++++++++++++++++++\r\n");
+            //delete avoi_thread;     //障害物回避スレッド停止
+            //delete trace_thread;    //ライントレーススレッド停止
+            run = STOP;             // 停止
+            mode = STOP;            // モード変更
+            display();              // ディスプレイ表示
+        }
+ 
+        if( strstr(webdata, "RIGHT") != NULL ) {
+            //*-*-*-5("+++++++++++++++++右折+++++++++++++++++++++\r\n");
+            //delete avoi_thread;     //障害物回避スレッド停止
+            //delete trace_thread;    //ライントレーススレッド停止
+            run = RIGHT;            // 右折
+            mode = RIGHT;           // モード変更
+            display();              // ディスプレイ表示
+        }
+ 
+        if( strstr(webdata, "BACK") != NULL ) {
+            //*-*-*-5("+++++++++++++++++後進+++++++++++++++++++++\r\n");
+            //delete avoi_thread;     //障害物回避スレッド停止
+            //delete trace_thread;    //ライントレーススレッド停止
+            run = BACK;             // 後進
+            mode = BACK;            // モード変更
+            display();              // ディスプレイ表示
+        }
+        //*-*-*-5("+++++++++++++++++succed+++++++++++++++++++++");
+ 
+        if( strstr(webdata, "AVOIDANCE") != NULL ) {
+            //*-*-*-5("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
+            if(avoi_thread->get_state() == Thread::Deleted) {
+                delete avoi_thread;     //障害物回避スレッド停止
+                avoi_thread = new Thread(avoidance);
+                avoi_thread -> set_priority(osPriorityHigh);
+            }
+            mode=AVOIDANCE;
+            run = ADVANCE;
+            display();          // ディスプレイ表示
+        }
+        if( strstr(webdata, "LINE_TRACE") != NULL ) {
+            //*-*-*-5("+++++++++++++++++LINET RACE+++++++++++++++++++++");
+            //*-*-*-5("mode = LINE_TRACE\r\n");
+            if(trace_thread->get_state() == Thread::Deleted) {
+                delete trace_thread;    //ライントレーススレッド停止
+                trace_thread = new Thread(trace);
+                trace_thread -> set_priority(osPriorityHigh);
+            }
+            mode=LINE_TRACE;
+            display();          // ディスプレイ表示
+        }
+        if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
+            trace_thread->terminate();
+        }
+        if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
+            avoi_thread->terminate();
+            servo.pulsewidth_us(1450);      // サーボを中央位置に戻す
+        }
+        sprintf(channel, "%d",linkID);
+        if (strstr(webdata, "GET") != NULL) {
+            servreq=1;
+        }
+        if (strstr(webdata, "POST") != NULL) {
+            servreq=1;
+        }
+        webcounter++;
+        sprintf(webcount, "%d",webcounter);
+    } else {
+        memset(webbuff, '\0', sizeof(webbuff));
+        esp.attach(&callback);
+        weberror=1;
+    }
+}
+// Starts and restarts webserver if errors detected.
+void startserver()
+{
+    //*-*-*-5("++++++++++ Resetting ESP ++++++++++\r\n");
+    strcpy(cmdbuff,"AT+RST\r\n");
+    timeout=8000;
+    getcount=1000;
+    SendCMD();
+    getreply();
+    //*-*-*-5(replybuff);
+    //*-*-*-5("%d",ount);
+    if (strstr(replybuff, "OK") != NULL) {
+        //*-*-*-5("\n++++++++++ Starting Server ++++++++++\r\n");
+        strcpy(cmdbuff, "AT+CIPMUX=1\r\n");  // set multiple connections.
+        timeout=500;
+        getcount=20;
+        SendCMD();
+        getreply();
+        //*-*-*-5(replybuff);
+        sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
+        timeout=500;
+        getcount=20;
+        SendCMD();
+        getreply();
+        //*-*-*-5(replybuff);
+        ThisThread::sleep_for(500);
+        sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
+        timeout=500;
+        getcount=50;
+        SendCMD();
+        getreply();
+        //*-*-*-5(replybuff);
+        ThisThread::sleep_for(5000);
+        //*-*-*-5("\n Getting Server IP \r\n");
+        strcpy(cmdbuff, "AT+CIFSR\r\n");
+        timeout=2500;
+        getcount=200;
+        while(weberror==0) {
+            SendCMD();
+            getreply();
+            if (strstr(replybuff, "0.0.0.0") == NULL) {
+                weberror=1;   // wait for valid IP
+            }
+        }
+        //*-*-*-5("\n Enter WEB address (IP) found below in your browser \r\n\n");
+        //*-*-*-5("\n The MAC address is also shown below,if it is needed \r\n\n");
+        replybuff[strlen(replybuff)-1] = '\0';
+        //char* IP = replybuff + 5;
+        sprintf(webdata,"%s", replybuff);
+        //*-*-*-5(webdata);
+        led2=1;
+        bufflen=200;
+        //bufflen=100;
+        ount=0;
+        //*-*-*-5("\n\n++++++++++ Ready ++++++++++\r\n\n");
+        setup();
+        esp.attach(&callback);
+    } else {
+        //*-*-*-5("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
+        led1=1;
+        led2=1;
+        led3=1;
+        led4=1;
+        while(1) {
+            led1=!led1;
+            led2=!led2;
+            led3=!led3;
+            led4=!led4;
+            ThisThread::sleep_for(1000);
+        }
+    }
+    time2.reset();
+    time2.start();
+}
+
+// ESP Command data send
+void SendCMD()
+{
+    esp.printf("%s", cmdbuff);
+}
+// Get Command and ESP status replies
+void getreply()
+{
+    memset(replybuff, '\0', sizeof(replybuff));
+    time1.reset();
+    time1.start();
+    replycount=0;
+    while(time1.read_ms()< timeout && replycount < getcount) {
+        if(esp.readable()) {
+            replybuff[replycount] = esp.getc();
+            replycount++;
+        }
+    }
+    time1.stop();
+}
+ 
+/* mainスレッド */
+int main() {
+    /* 初期設定 */
+    //wifi_thread = new Thread(wifi);
+    //wifi_thread -> set_priority(osPriorityHigh);
+    motorR2.period_us(40);
+    motorR1.period_us(40);
+    motorL2.period_us(40);
+    motorL1.period_us(40);
+    setup();
+    avoi_thread = new Thread(avoidance);
+    avoi_thread->terminate();
+    trace_thread = new Thread(trace);
+    trace_thread->terminate();
+    mode = READY;           // 現在待ちモード
+    beforeMode = READY;     // 前回待ちモード
+    run = STOP;             // 停止
+    flag_sp = NORMAL;       // スピード(普通)
+    lcd.setBacklight(TextLCD::LightOn);  // バックライトON
+    lcd.setAddress(0,1);
+    lcd.printf("Mode:ready");
+//    display();              // ディスプレイ表示
+    
+    while(1){
+        bChange();          // バッテリー残量更新
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r 4c4775017e8a mbed-os.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Wed Sep 23 01:45:03 2020 +0000
@@ -0,0 +1,1 @@
+https://github.com/ARMmbed/mbed-os/#cf4f12a123c05fcae83fc56d76442015cb8a39e9

diff -r 000000000000 -r 4c4775017e8a resources/official_armmbed_example_badge.png
Binary file resources/official_armmbed_example_badge.png has changed