mbed_robotcar
/
lpc1768_Wifi_compleat
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Dependencies: mbed
Diff: main.cpp
- Revision:
- 4:28985bd8dd06
- Parent:
- 3:d4d9cc252417
--- a/main.cpp Mon Aug 03 07:13:36 2020 +0000
+++ b/main.cpp Mon Aug 03 08:13:03 2020 +0000
@@ -14,15 +14,30 @@
DigitalOut led2(LED2); // (PTB19)
DigitalOut led3(LED3); // (PTD1)
+enum MODE {
+ READY = -1,
+ ADVANCE = 1,
+ RIGHT,
+ LEFT,
+ BACK,
+ STOP,
+ 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
+};
// Digital Out and In pins, can be configured to any suitable pin depending on Platform
AnalogIn Ain1(p18);//battery
Timer t1;
Timer t2;
+int flag_sp = 0;
+
struct tm t;
-int bufflen, DataRX, count, getcount, replycount, servreq, timeout;
+int mode = ADVANCE;
+int beforeMode = mode;
+int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
int bufl, ipdLen, linkID, weberror, webcounter;
float temperature, AdcIn, Ht;
float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
@@ -42,7 +57,7 @@
//char webbuff[4096*4]; // Currently using 1986 characters, Increase this if more web page data added
void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck(),touchuan();
-void gettime(),gettemp(),getbattery(),setRTC(),beep();
+void gettime(),getbattery(),setRTC();
// manual set RTC values
int minute =00; // 0-59
@@ -63,8 +78,8 @@
//pc.printf("\n\r------------ callback is being called --------------\n\r");
led3=1;
while (esp.readable()) {
- webbuff[count] = esp.getc();
- count++;
+ webbuff[ount] = esp.getc();
+ ount++;
}
if(strlen(webbuff)>bufflen) {
pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
@@ -75,12 +90,10 @@
int main()
{
- reset=0;
pc.baud(115200);
pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
wait(0.5);
- reset=1;
led1=1,led2=0,led3=0;
timeout=6000;
getcount=500;
@@ -89,7 +102,6 @@
if (time(NULL) < 1420070400) {
setRTC();
}
- beep();
startserver();
while(1) {
@@ -97,7 +109,6 @@
pc.printf("\f\n\r------------ main while > if --------------\n\r");
ReadWebData();
- beep();
if (servreq == 1 && weberror == 0) {
pc.printf("\f\n\r------------ befor send page --------------\n\r");
sendpage();
@@ -115,7 +126,6 @@
// Static WEB page
void sendpage()
{
- gettemp();
getbattery();
gettime();
@@ -244,7 +254,7 @@
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
break;
- default:
+ default:
strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,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.id,this.value)' >LEFT");
@@ -264,32 +274,36 @@
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%3) {
+ //ready示速度だけ点灯
+ switch (flag_sp) {
case 0:
strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"SLOW\" onClick='send_mes_spe(this.id,this.value)' >SLOW");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"FAST\" onClick='send_mes_spe(this.id,this.value)' >FAST");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"FLY\" onClick='send_mes_spe(this.id,this.value)' >FLY");
+ break;
case 1:
strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"SLOW\" onClick='send_mes_spe(this.id,this.value)' >SLOW");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"FAST\" onClick='send_mes_spe(this.id,this.value)' >FAST");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"FLY\" onClick='send_mes_spe(this.id,this.value)' >FLY");
+ break;
case 2:
strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"SLOW\" onClick='send_mes_spe(this.id,this.value)' >SLOW");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"FAST\" onClick='send_mes_spe(this.id,this.value)' >FAST");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"FLY\" onClick='send_mes_spe(this.id,this.value)' >FLY");
+ break;
default:
strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"SLOW\" onClick='send_mes_spe(this.id,this.value)' >SLOW");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"FAST\" onClick='send_mes_spe(this.id,this.value)' >FAST");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"FLY\" onClick='send_mes_spe(this.id,this.value)' >FLY");
+ break;
}
strcat(webbuff, "</button></td></tr></table>");
@@ -312,15 +326,13 @@
strcat(webbuff, "htmlacs(url);");
strcat(webbuff, "console.log(url);");
strcat(webbuff, "}");
- strcat(webbuff, "}");
strcat(webbuff, "function send_mes_fun(btnmes,btnval){");
strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
strcat(webbuff, "htmlacs(url);");
strcat(webbuff, "console.log(url);");
strcat(webbuff, "}");
- strcat(webbuff, "}");
strcat(webbuff, "</script>");
-// end of WEB page data
+ // 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.
@@ -457,7 +469,7 @@
{
wait_ms(200);
esp.attach(NULL);
- count=0;
+ ount=0;
DataRX=0;
weberror=0;
memset(webdata, '\0', sizeof(webdata));
@@ -474,78 +486,78 @@
if( strstr(webdata, "GO") != NULL ) {
pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n");
- run = ADVANCE; // 前進
+ //run = ADVANCE; // 前進
mode = READY; // モードs変更
- display(); // ディスプレイ表示
+// display(); // ディスプレイ表示
}
if( strstr(webdata, "LEFT") != NULL ) {
pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n");
- run = LEFT;
+ //run = LEFT;
mode = READY;
- display(); // ディスプレイ表示
+// display(); // ディスプレイ表示
}
if( strstr(webdata, "STOP") != NULL ) {
pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n");
- run = STOP;
+// run = STOP;
mode = READY;
- display(); // ディスプレイ表示
+// display(); // ディスプレイ表示
}
if( strstr(webdata, "RIGHT") != NULL ) {
pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n");
- run = RIGHT;
+// run = RIGHT;
mode = READY;
- display(); // ディスプレイ表示
+// display(); // ディスプレイ表示
}
if( strstr(webdata, "BACK") != NULL ) {
pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n");
- run = BACK;
+// run = BACK;
mode = READY;
- display(); // ディスプレイ表示
+// display(); // ディスプレイ表示
}
pc.printf("+++++++++++++++++succed+++++++++++++++++++++");
if( strstr(webdata, "AVOIDANCE") != NULL ) {
pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
mode=AVOIDANCE;
- run = ADVANCE;
- display(); // ディスプレイ表示
+// run = ADVANCE;
+// display(); // ディスプレイ表示
}
if( strstr(webdata, "LINE TRACE") != NULL ) {
pc.printf("+++++++++++++++++LINET RACE+++++++++++++++++++++");
mode=LINE_TRACE;
- display(); // ディスプレイ表示
+// display(); // ディスプレイ表示
}
if( strstr(webdata, "DEFAULT") != NULL ) {//プログラムなくね
pc.printf("+++++++++++++++++DEFAULT+++++++++++++++++++++");
- run = STOP;
+// run = STOP;
mode = READY;
- display(); // ディスプレイ表示
+// display(); // ディスプレイ表示
}
if( strstr(webdata, "SLOW") != NULL ) {
pc.printf("++++++++++++++++++SLOW++++++++++++++++++++");
mode = SPEED; // スピードモード
flag_sp = 0;
- display(); // ディスプレイ表示
+// 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
}
if( strstr(webdata, "FAST") != NULL ) {
pc.printf("++++++++++++++++++++FAST++++++++++++++++++");
mode = SPEED; // スピードモード
flag_sp = 1;
- display(); // ディスプレイ表示
+// 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
}
if( strstr(webdata, "FLY") != NULL ) {
pc.printf("+++++++++++++++++++BERYFAST+++++++++++++++++++");
mode = SPEED; // スピードモード d
flag_sp = 2;
- display(); // ディスプレイ表示
+// 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
}
sprintf(channel, "%d",linkID);
@@ -566,7 +578,6 @@
// Starts and restarts webserver if errors detected.
void startserver()
{
- gettemp();
gettime();
pc.printf("\n\n RTC time %s\r\n\n",timebuf);
pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
@@ -576,7 +587,7 @@
SendCMD();
getreply();
pc.printf(replybuff);
- pc.printf("%d",count);
+ pc.printf("%d",ount);
if (strstr(replybuff, "OK") != NULL) {
pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
@@ -618,7 +629,7 @@
pc.printf(webdata);
led2=1;
bufflen=200;
- count=0;
+ ount=0;
pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
esp.attach(&callback);
} else {
@@ -627,7 +638,6 @@
}
t2.reset();
t2.start();
- beep();
}
// ESP Command data send
void SendCMD()