mbed_robotcar / Mbed OS robotcar-v1

表示された文字の修正

Dependencies:   RemoteIR TextLCD

main.cpp@62:5b4e62edaac4, 2020-09-07 (annotated)

Committer:
nishimura_taku_pet
Date:
Mon Sep 07 06:28:58 2020 +0000
Revision:
62:5b4e62edaac4
Parent:
61:85daf80c7727
Child:
63:bddf342bce22
wifi update2

Who changed what in which revision?

UserRevisionLine numberNew 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 */
takuminomura 58:cdfbedad5df6 5
takuminomura 58:cdfbedad5df6 6 /*
nishimura_taku_pet 62:5b4e62edaac4 7 Version 0.05
nishimura_taku_pet 59:72567654250f 8 Date 2020/09/07
nishimura_taku_pet 61:85daf80c7727 9 Uploader Taku Nishimura
takuminomura 58:cdfbedad5df6 10
takuminomura 58:cdfbedad5df6 11 更新するときにここも変える！
takuminomura 58:cdfbedad5df6 12
takuminomura 58:cdfbedad5df6 13 */
takuminomura 58:cdfbedad5df6 14 // モーター電圧差チェック済み(PWM0.6)
takuminomura 58:cdfbedad5df6 15 // 2号機
takuminomura 58:cdfbedad5df6 16 // 4号機 右前進3.72V 右後退3.72V 左前進3.82V 左後退3.79V
takuminomura 58:cdfbedad5df6 17 // 6号機 右前進3.65V 右後退3.68V 左前進3.64V 左後退3.65V
takuminomura 58:cdfbedad5df6 18 // 9号機 右前進3.59V 右後退3.59V 左前進3.63V 左後退3.64V
yangtzuli 0:0d0037aabe41 19
yangtzuli 0:0d0037aabe41 20 #include "mbed.h"
yangtzuli 0:0d0037aabe41 21 #include "ReceiverIR.h"
yangtzuli 0:0d0037aabe41 22 #include "rtos.h"
yangtzuli 0:0d0037aabe41 23 #include <stdint.h>
yangtzuli 0:0d0037aabe41 24 #include "platform/mbed_thread.h"
yangtzuli 2:38825726cb1b 25 #include "TextLCD.h"
yangtzuli 0:0d0037aabe41 26
nishimura_taku_pet 27:90962c01bfeb 27 RawSerial pc(USBTX, USBRX);
yangtzuli 0:0d0037aabe41 28
yangtzuli 3:2ae6218973be 29 /* マクロ定義、列挙型定義 */
takuminomura 48:3003ea51c619 30 #define MIN_V 2.0 // 電圧の最小値
takuminomura 48:3003ea51c619 31 #define MAX_V 2.67 // 電圧の最大値
takuminomura 48:3003ea51c619 32 #define LOW 0 // モーターOFF
takuminomura 48:3003ea51c619 33 #define HIGH 1 // モーターON
takuminomura 48:3003ea51c619 34 #define NORMAL 0 // 普通
takuminomura 48:3003ea51c619 35 #define FAST 1 // 速い
takuminomura 48:3003ea51c619 36 #define VERYFAST 2 // とても速い
takuminomura 48:3003ea51c619 37
takuminomura 49:7224132f4b0e 38
takuminomura 49:7224132f4b0e 39
takuminomura 49:7224132f4b0e 40 /* // 右回り37.21[s]
takuminomura 49:7224132f4b0e 41 #define S 0.9
takuminomura 49:7224132f4b0e 42 #define VF 1.2
takuminomura 48:3003ea51c619 43 #define REVERSE 0.5
takuminomura 48:3003ea51c619 44
takuminomura 58:cdfbedad5df6 45 #define MBED04 0.781 //Mbed04号機の左右のモーター速度比(R:L = 1: 0.781)
takuminomura 58:cdfbedad5df6 46 #define MBED05 0.953 //Mbed05号機の左右のモーター速度比(R:L = 1: 0.953)
takuminomura 49:7224132f4b0e 47 #define MBED07 1
takuminomura 49:7224132f4b0e 48 // MSR = Motor Speed Right
takuminomura 49:7224132f4b0e 49 // MSL = Motor Speed Left
takuminomura 49:7224132f4b0e 50 #define MSR0 0.5 // 基準速度Normal
takuminomura 49:7224132f4b0e 51 #define MSR1 0.6 // 基準速度Fast
takuminomura 49:7224132f4b0e 52 #define MSR2 0.7 // 基準速度VeryFast
takuminomura 49:7224132f4b0e 53 */
takuminomura 49:7224132f4b0e 54
takuminomura 49:7224132f4b0e 55
takuminomura 58:cdfbedad5df6 56 #define S 0.9 //ライントレースの旋回速度を遅くする
takuminomura 58:cdfbedad5df6 57 #define VF 1 //ライントレースの前進速度,旋回速度を速くする
takuminomura 58:cdfbedad5df6 58 #define REVERSE 0.5 //ライントレースの旋回速度(逆転のみ)を遅くする
takuminomura 49:7224132f4b0e 59
takuminomura 58:cdfbedad5df6 60 // 使うロボットカーに合わせる
takuminomura 58:cdfbedad5df6 61 #define MBED01 1
nishimura_taku_pet 51:1baf4407f384 62 #define MBED02 0.719 //Mbed02号機の左右のモーター速度比(R:L = 1: 0.719)
takuminomura 58:cdfbedad5df6 63 #define MBED03 1
takuminomura 49:7224132f4b0e 64 #define MBED04 0.781 //Mbed04号機の左右のモーター速度比(R:L = 1: 0.781)
takuminomura 49:7224132f4b0e 65 #define MBED05 0.953 //Mbed05号機の左右のモーター速度比(R:L = 1: 0.953)
takuminomura 58:cdfbedad5df6 66 #define MBED06 1
takuminomura 58:cdfbedad5df6 67 #define MBED07 1 //Mbed07号機の左右のモーター速度比(R:L = 1: 1.000)
takuminomura 58:cdfbedad5df6 68 #define MBED08 1
takuminomura 58:cdfbedad5df6 69 #define MBED09 1
takuminomura 58:cdfbedad5df6 70 #define MBED MBED05 //使うロボットカーの番号にする
takuminomura 49:7224132f4b0e 71 // MSR = Motor Speed Right
takuminomura 49:7224132f4b0e 72 // MSL = Motor Speed Left
takuminomura 58:cdfbedad5df6 73 #define MSR0 0.5 // 基準速度Normal PWM0.50
takuminomura 58:cdfbedad5df6 74 #define MSR1 0.65 // 基準速度Fast PWM0.65
takuminomura 58:cdfbedad5df6 75 #define MSR2 0.8 // 基準速度VeryFast PWM0.80
takuminomura 49:7224132f4b0e 76
takuminomura 49:7224132f4b0e 77 #define MSR3 MSR0*S // 低速旋回(Normalの時)
takuminomura 49:7224132f4b0e 78 #define MSR4 MSR1*S*S // 低速旋回(Fastの時)
takuminomura 58:cdfbedad5df6 79 #define MSR5 MSR2*S*S // 低速旋回(VeryFastの時)
takuminomura 49:7224132f4b0e 80 #define MSR6 MSR0*VF // 高速(Normalの時)
takuminomura 49:7224132f4b0e 81 #define MSR7 MSR1*VF // 高速(Fastの時)
takuminomura 49:7224132f4b0e 82 #define MSR8 MSR2*VF // 高速(VeryFastの時)
takuminomura 58:cdfbedad5df6 83 #define MSL0 MSR0*MBED
takuminomura 58:cdfbedad5df6 84 #define MSL1 MSR1*MBED
takuminomura 58:cdfbedad5df6 85 #define MSL2 MSR2*MBED
takuminomura 58:cdfbedad5df6 86 #define MSL3 MSR3*MBED
takuminomura 58:cdfbedad5df6 87 #define MSL4 MSR4*MBED
takuminomura 58:cdfbedad5df6 88 #define MSL5 MSR5*MBED
takuminomura 58:cdfbedad5df6 89 #define MSL6 MSR6*MBED
takuminomura 58:cdfbedad5df6 90 #define MSL7 MSR7*MBED
takuminomura 58:cdfbedad5df6 91 #define MSL8 MSR8*MBED
yangtzuli 2:38825726cb1b 92
tomotsugu 8:a47dbf4fa455 93 /* 操作モード定義 */
yangtzuli 3:2ae6218973be 94 enum MODE{
tomotsugu 8:a47dbf4fa455 95 READY = -1, // -1：待ち
tomotsugu 8:a47dbf4fa455 96 ADVANCE = 1, // 1：前進
tomotsugu 8:a47dbf4fa455 97 RIGHT, // 2：右折
tomotsugu 8:a47dbf4fa455 98 LEFT, // 3：左折
tomotsugu 8:a47dbf4fa455 99 BACK, // 4：後退
tomotsugu 8:a47dbf4fa455 100 STOP, // 5：停止
tomotsugu 8:a47dbf4fa455 101 LINE_TRACE, // 6：ライントレース
tomotsugu 8:a47dbf4fa455 102 AVOIDANCE, // 7：障害物回避
tomotsugu 8:a47dbf4fa455 103 SPEED, // 8：スピード制御
takuminomura 49:7224132f4b0e 104 LT_R, // 9:低速右折(ライントレース時)
nishimura_taku_pet 56:d02c62149a19 105 LT_L, // 10:低速左折(ライントレース時)
tomotsugu 53:debc8879ba5d 106 A1RIGHT,
tomotsugu 53:debc8879ba5d 107 A1LEFT,
tomotsugu 53:debc8879ba5d 108 A2RIGHT,
tomotsugu 53:debc8879ba5d 109 A2LEFT,
yangtzuli 2:38825726cb1b 110 };
yangtzuli 2:38825726cb1b 111
yangtzuli 3:2ae6218973be 112 /* ピン配置 */
takuminomura 58:cdfbedad5df6 113 ReceiverIR ir(p5); // リモコン操作
takuminomura 58:cdfbedad5df6 114 DigitalOut trig(p6); // 超音波センサtrigger
takuminomura 58:cdfbedad5df6 115 DigitalIn echo(p7); // 超音波センサecho
takuminomura 58:cdfbedad5df6 116 DigitalIn ss1(p8); // ライントレースセンサ(左)
takuminomura 58:cdfbedad5df6 117 DigitalIn ss2(p9); // ライントレースセンサ
takuminomura 58:cdfbedad5df6 118 DigitalIn ss3(p10); // ライントレースセンサ
takuminomura 58:cdfbedad5df6 119 DigitalIn ss4(p11); // ライントレースセンサ
takuminomura 58:cdfbedad5df6 120 DigitalIn ss5(p12); // ライントレースセンサ(右)
takuminomura 58:cdfbedad5df6 121 RawSerial esp(p13, p14); // Wi-Fiモジュール(tx, rx)
takuminomura 58:cdfbedad5df6 122 AnalogIn battery(p15); // 電池残量読み取り(Max 3.3V)
takuminomura 58:cdfbedad5df6 123 PwmOut motorR2(p22); // 右モーター後退
takuminomura 58:cdfbedad5df6 124 PwmOut motorR1(p21); // 右モーター前進
takuminomura 58:cdfbedad5df6 125 PwmOut motorL2(p23); // 左モーター後退
takuminomura 58:cdfbedad5df6 126 PwmOut motorL1(p24); // 左モーター前進
takuminomura 58:cdfbedad5df6 127 PwmOut servo(p25); // サーボ
yangtzuli 3:2ae6218973be 128 I2C i2c_lcd(p28,p27); // LCD(tx, rx)
yangtzuli 2:38825726cb1b 129
yangtzuli 3:2ae6218973be 130 /* 変数宣言 */
takuminomura 58:cdfbedad5df6 131 MODE mode; // 操作モード
takuminomura 58:cdfbedad5df6 132 int run; // 走行状態
takuminomura 58:cdfbedad5df6 133 MODE beforeMode; // 前回のモード
takuminomura 58:cdfbedad5df6 134 int flag_sp = 0; // スピード変化フラグ
tomotsugu 8:a47dbf4fa455 135 Timer viewTimer; // スピ―ド変更時に3秒計測タイマー
takuminomura 48:3003ea51c619 136
takuminomura 48:3003ea51c619 137 float motorSpeedR1[9] = {MSR0, MSR1, MSR2, MSR3 , MSR4 , MSR5 , MSR6 , MSR7 , MSR8 };
takuminomura 48:3003ea51c619 138 //float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3*REVERSE, MSR4*REVERSE, MSR5*REVERSE, MSR6*REVERSE, MSR7*REVERSE, MSR8*REVERSE};
takuminomura 48:3003ea51c619 139 float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3*REVERSE, MSR4*REVERSE, MSR5*REVERSE, MSR6, MSR7, MSR8};
takuminomura 48:3003ea51c619 140 float motorSpeedL1[9] = {MSL0, MSL1, MSL2, MSL3 , MSL4 , MSL5 , MSL6 , MSL7 , MSL8 };
takuminomura 48:3003ea51c619 141 //float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3*REVERSE, MSL4*REVERSE, MSL5*REVERSE, MSL6*REVERSE, MSL7*REVERSE, MSL8*REVERSE};
takuminomura 48:3003ea51c619 142 float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3*REVERSE, MSL4*REVERSE, MSL5*REVERSE, MSL6, MSL7, MSL8};
takuminomura 58:cdfbedad5df6 143 // モーター速度設定(3以降はライントレース用)
takuminomura 48:3003ea51c619 144 // 0,1,2:基準速度
takuminomura 48:3003ea51c619 145 // 3,4,5:低速
takuminomura 48:3003ea51c619 146 // 6,7,8:高速
takuminomura 48:3003ea51c619 147 // R1 : 右前, R2 : 右後, L1 : 左前, L2 : 左後
tomotsugu 8:a47dbf4fa455 148
tomotsugu 8:a47dbf4fa455 149 Mutex mutex; // ミューテックス
takuminomura 48:3003ea51c619 150
tomotsugu 8:a47dbf4fa455 151 /* decodeIR用変数 */
yangtzuli 3:2ae6218973be 152 RemoteIR::Format format;
yangtzuli 3:2ae6218973be 153 uint8_t buf[32];
yangtzuli 3:2ae6218973be 154 uint32_t bitcount;
yangtzuli 3:2ae6218973be 155 uint32_t code;
yangtzuli 3:2ae6218973be 156
tomotsugu 8:a47dbf4fa455 157 /* bChange, lcdbacklight用変数 */
yangtzuli 3:2ae6218973be 158 TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780);
tomotsugu 8:a47dbf4fa455 159 int b = 0; // バッテリー残量
tomotsugu 8:a47dbf4fa455 160 int flag_b = 0; // バックライト点滅フラグ
tomotsugu 8:a47dbf4fa455 161 int flag_t = 0; // バックライトタイマーフラグ
yangtzuli 3:2ae6218973be 162
tomotsugu 8:a47dbf4fa455 163 /* trace用変数 */
takuminomura 49:7224132f4b0e 164 int sensArray[32] = {0,6,2,4,1,4,2,4, // ライントレースセンサパターン
takuminomura 49:7224132f4b0e 165 3,4,1,6,3,1,1,6, // 0:前回動作継続
takuminomura 49:7224132f4b0e 166 7,1,5,1,5,1,1,1, // 1:高速前進
takuminomura 48:3003ea51c619 167 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura 48:3003ea51c619 168 // 3:低速左折
takuminomura 48:3003ea51c619 169 // 4:中速右折
takuminomura 48:3003ea51c619 170 // 5:中速左折
takuminomura 48:3003ea51c619 171 // 6:高速右折
takuminomura 48:3003ea51c619 172 // 7:高速左折
takuminomura 48:3003ea51c619 173
takuminomura 48:3003ea51c619 174 //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 175 // 0,6,1,6,1,1,1,6, // 0:前回動作継続
takuminomura 48:3003ea51c619 176 // 7,1,7,1,0,1,1,1, // 1:高速前進
takuminomura 48:3003ea51c619 177 // 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura 48:3003ea51c619 178 // // 3:低速左折
takuminomura 48:3003ea51c619 179 // // 4:中速右折
takuminomura 48:3003ea51c619 180 // // 5:中速左折
takuminomura 48:3003ea51c619 181 // // 6:高速右折
takuminomura 48:3003ea51c619 182 // // 7:高速左折
yangtzuli 0:0d0037aabe41 183
tomotsugu 8:a47dbf4fa455 184 /* avoidance用変数 */
yangtzuli 3:2ae6218973be 185 Timer timer; // 距離計測用タイマ
yangtzuli 3:2ae6218973be 186 int DT; // 距離
takuminomura 48:3003ea51c619 187 int SC; // 正面
yangtzuli 2:38825726cb1b 188 int SL; // 左
yangtzuli 2:38825726cb1b 189 int SR; // 右
yangtzuli 2:38825726cb1b 190 int SLD; // 左前
yangtzuli 2:38825726cb1b 191 int SRD; // 右前
tomotsugu 8:a47dbf4fa455 192 int flag_a = 0; // 障害物有無のフラグ
yangtzuli 2:38825726cb1b 193 const int limit = 20; // 障害物の距離のリミット(単位：cm)
yangtzuli 3:2ae6218973be 194 int far; // 最も遠い距離
yangtzuli 2:38825726cb1b 195 int houkou; // 進行方向(1:前 2:左 3:右)
nishimura_taku_pet 29:600e4b9b5c5b 196 int t1 = 0;
yangtzuli 2:38825726cb1b 197
nishimura_taku_pet 24:9481c8f56a49 198 /*WiFi用変数*/
nishimura_taku_pet 24:9481c8f56a49 199 Timer time1;
nishimura_taku_pet 24:9481c8f56a49 200 Timer time2;
nishimura_taku_pet 24:9481c8f56a49 201 int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
nishimura_taku_pet 24:9481c8f56a49 202 int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
nishimura_taku_pet 24:9481c8f56a49 203 float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet 24:9481c8f56a49 204 char webcount[8];
nishimura_taku_pet 24:9481c8f56a49 205 char type[16];
nishimura_taku_pet 24:9481c8f56a49 206 char channel[2];
nishimura_taku_pet 24:9481c8f56a49 207 char cmdbuff[32];
nishimura_taku_pet 24:9481c8f56a49 208 char replybuff[1024];
nishimura_taku_pet 24:9481c8f56a49 209 char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet 27:90962c01bfeb 210 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet 61:85daf80c7727 211 char httpbuff[4096];
nishimura_taku_pet 24:9481c8f56a49 212 int port =80; // set server port
nishimura_taku_pet 24:9481c8f56a49 213 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
takuminomura 48:3003ea51c619 214 char ssid[32] = "mbed05"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet 24:9481c8f56a49 215 char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
faker_71 57:65dd71a6ce72 216 bool click_log = false;
faker_71 57:65dd71a6ce72 217 DigitalOut pred(p16);
faker_71 57:65dd71a6ce72 218 DigitalOut pblue(p19);
yangtzuli 3:2ae6218973be 219
yangtzuli 3:2ae6218973be 220 /* プロトタイプ宣言 */
nishimura_taku_pet 33:a6f1090e0174 221 void decodeIR(/*void const *argument*/);
nishimura_taku_pet 33:a6f1090e0174 222 void motor(/*void const *argument*/);
yangtzuli 3:2ae6218973be 223 void changeSpeed();
nishimura_taku_pet 16:ffc732a3cf92 224 void avoidance(/*void const *argument*/);
nishimura_taku_pet 16:ffc732a3cf92 225 void trace(/*void const *argument*/);
nishimura_taku_pet 40:75e1ad7c27e4 226 void watchsurrounding3();
nishimura_taku_pet 40:75e1ad7c27e4 227 void watchsurrounding5();
yangtzuli 2:38825726cb1b 228 int watch();
takuminomura 48:3003ea51c619 229 char battery_ch[8];
yangtzuli 5:3fffb364744b 230 void bChange();
yangtzuli 3:2ae6218973be 231 void display();
yangtzuli 3:2ae6218973be 232 void lcdBacklight(void const *argument);
nishimura_taku_pet 45:76e8c07d76ef 233 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
nishimura_taku_pet 43:243c1455f88a 234 void wifi(/*void const *argument*/);
takuminomura 48:3003ea51c619 235 Thread *deco_thread; // decodeIRをスレッド化 ：+3
nishimura_taku_pet 43:243c1455f88a 236 Thread *wifi_thread;
takuminomura 48:3003ea51c619 237 Thread *motor_thread; // motorをスレッド化 ：+2
takuminomura 48:3003ea51c619 238 RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
takuminomura 48:3003ea51c619 239 Thread *avoi_thread; // avoidanceをスレッド化：+2
takuminomura 48:3003ea51c619 240 Thread *trace_thread; // traceをスレッド化 ：+2
yangtzuli 2:38825726cb1b 241
nishimura_taku_pet 24:9481c8f56a49 242 DigitalOut led1(LED1);
nishimura_taku_pet 24:9481c8f56a49 243 DigitalOut led2(LED2);
nishimura_taku_pet 24:9481c8f56a49 244 DigitalOut led3(LED3);
nishimura_taku_pet 24:9481c8f56a49 245 DigitalOut led4(LED4);
yangtzuli 3:2ae6218973be 246
nishimura_taku_pet 33:a6f1090e0174 247 void setup(){
nishimura_taku_pet 33:a6f1090e0174 248 deco_thread = new Thread(decodeIR);
nishimura_taku_pet 33:a6f1090e0174 249 deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 250 motor_thread = new Thread(motor);
nishimura_taku_pet 33:a6f1090e0174 251 motor_thread -> set_priority(osPriorityHigh);
mori2020 50:ee78382fd399 252 wifi_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 253 display();
nishimura_taku_pet 33:a6f1090e0174 254 }
nishimura_taku_pet 33:a6f1090e0174 255
tomotsugu 8:a47dbf4fa455 256 /* リモコン受信スレッド */
takuminomura 48:3003ea51c619 257 void decodeIR(/*void const *argument*/){
takuminomura 48:3003ea51c619 258 while(1){
yangtzuli 0:0d0037aabe41 259 // 受信待ち
tomotsugu 8:a47dbf4fa455 260 if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli 3:2ae6218973be 261 bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu 8:a47dbf4fa455 262 if(bitcount > 1){ // 受信成功
yangtzuli 1:5bb497a38344 263 code=0;
tomotsugu 15:5eef1955f6c2 264 for(int j = 0; j < 4; j++){
yangtzuli 1:5bb497a38344 265 code+=(buf[j]<<(8*(3-j)));
yangtzuli 1:5bb497a38344 266 }
tomotsugu 8:a47dbf4fa455 267 if(mode != SPEED){ // スピードモード以外なら
takuminomura 48:3003ea51c619 268 beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli 3:2ae6218973be 269 }
yangtzuli 0:0d0037aabe41 270 switch(code){
tomotsugu 8:a47dbf4fa455 271 case 0x40bf27d8: // クイック
yangtzuli 17:f7259ab2fe86 272 //pc.printf("mode = SPEED\r\n");
takuminomura 48:3003ea51c619 273 mode = SPEED; // スピードモード
tomotsugu 8:a47dbf4fa455 274 changeSpeed(); // 速度変更
tomotsugu 8:a47dbf4fa455 275 display(); // ディスプレイ表示
tomotsugu 8:a47dbf4fa455 276 mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli 1:5bb497a38344 277 break;
tomotsugu 8:a47dbf4fa455 278 case 0x40be34cb: // レグザリンク
yangtzuli 17:f7259ab2fe86 279 //pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 280 if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 281 delete trace_thread;
nishimura_taku_pet 16:ffc732a3cf92 282 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 283 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 284 }
tomotsugu 8:a47dbf4fa455 285 mode=LINE_TRACE; // ライントレースモード
tomotsugu 8:a47dbf4fa455 286 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 287 break;
tomotsugu 8:a47dbf4fa455 288 case 0x40bf6e91: // 番組表
yangtzuli 17:f7259ab2fe86 289 //pc.printf("mode = AVOIDANCE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 290 if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 291 delete avoi_thread;
nishimura_taku_pet 16:ffc732a3cf92 292 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 293 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 294 }
tomotsugu 18:6cca64c7dbc3 295 flag_a = 0;
tomotsugu 8:a47dbf4fa455 296 mode=AVOIDANCE; // 障害物回避モード
tomotsugu 13:1a7667d0aa78 297 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 298 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 299 break;
takuminomura 48:3003ea51c619 300 case 0x40bf3ec1: // ↑
yangtzuli 17:f7259ab2fe86 301 //pc.printf("mode = ADVANCE\r\n");
tomotsugu 8:a47dbf4fa455 302 mode = ADVANCE; // 前進モード
tomotsugu 8:a47dbf4fa455 303 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 304 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 305 break;
takuminomura 48:3003ea51c619 306 case 0x40bf3fc0: // ↓
yangtzuli 17:f7259ab2fe86 307 //pc.printf("mode = BACK\r\n");
tomotsugu 8:a47dbf4fa455 308 mode = BACK; // 後退モード
tomotsugu 8:a47dbf4fa455 309 run = BACK; // 後退
tomotsugu 8:a47dbf4fa455 310 display(); // ディスプレイ表示
yangtzuli 0:0d0037aabe41 311 break;
takuminomura 48:3003ea51c619 312 case 0x40bf5fa0: // ←
yangtzuli 17:f7259ab2fe86 313 //pc.printf("mode = LEFT\r\n");
tomotsugu 8:a47dbf4fa455 314 mode = LEFT; // 左折モード
tomotsugu 8:a47dbf4fa455 315 run = LEFT; // 左折
tomotsugu 8:a47dbf4fa455 316 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 317 break;
takuminomura 48:3003ea51c619 318 case 0x40bf5ba4: // →
yangtzuli 17:f7259ab2fe86 319 //pc.printf("mode = RIGHT\r\n");
tomotsugu 8:a47dbf4fa455 320 mode = RIGHT; // 右折モード
tomotsugu 8:a47dbf4fa455 321 run = RIGHT; // 右折
tomotsugu 8:a47dbf4fa455 322 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 323 break;
takuminomura 48:3003ea51c619 324 case 0x40bf3dc2: // 決定
yangtzuli 17:f7259ab2fe86 325 //pc.printf("mode = STOP\r\n");
tomotsugu 8:a47dbf4fa455 326 mode = STOP; // 停止モード
tomotsugu 8:a47dbf4fa455 327 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 328 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 329 break;
yangtzuli 0:0d0037aabe41 330 default:
yangtzuli 0:0d0037aabe41 331 ;
yangtzuli 0:0d0037aabe41 332 }
nishimura_taku_pet 16:ffc732a3cf92 333 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 334 trace_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 335 }
nishimura_taku_pet 16:ffc732a3cf92 336 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 337 avoi_thread->terminate();
nishimura_taku_pet 28:cb51cafca490 338 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 16:ffc732a3cf92 339 }
yangtzuli 0:0d0037aabe41 340 }
yangtzuli 0:0d0037aabe41 341 }
takuminomura 48:3003ea51c619 342 if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
takuminomura 48:3003ea51c619 343 viewTimer.stop(); // タイマーストップ
takuminomura 48:3003ea51c619 344 viewTimer.reset(); // タイマーリセット
takuminomura 48:3003ea51c619 345 display(); // ディスプレイ表示
yangtzuli 4:3f80c0180e2f 346 }
takuminomura 48:3003ea51c619 347 ThisThread::sleep_for(90); // 90ms待つ
takuminomura 48:3003ea51c619 348 }
yangtzuli 2:38825726cb1b 349 }
tomotsugu 8:a47dbf4fa455 350
tomotsugu 8:a47dbf4fa455 351 /* モーター制御スレッド */
nishimura_taku_pet 33:a6f1090e0174 352 void motor(/*void const *argument*/){
tomotsugu 8:a47dbf4fa455 353 while(1){
tomotsugu 8:a47dbf4fa455 354 /* 走行状態の場合分け */
nishimura_taku_pet 51:1baf4407f384 355 if(mode != LINE_TRACE){ // スピード変更フラグが2より大きいなら
nishimura_taku_pet 51:1baf4407f384 356 flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet 51:1baf4407f384 357 }
yangtzuli 3:2ae6218973be 358 switch(run){
tomotsugu 8:a47dbf4fa455 359 /* 前進 */
yangtzuli 3:2ae6218973be 360 case ADVANCE:
takuminomura 48:3003ea51c619 361 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020 50:ee78382fd399 362 motorR2 = LOW; // 右後退モーターOFF
takuminomura 48:3003ea51c619 363 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020 50:ee78382fd399 364 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 365 break;
tomotsugu 8:a47dbf4fa455 366 /* 右折 */
yangtzuli 3:2ae6218973be 367 case RIGHT:
mori2020 50:ee78382fd399 368 motorR1 = LOW; // 右前進モーターOFF
takuminomura 48:3003ea51c619 369 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
takuminomura 48:3003ea51c619 370 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020 50:ee78382fd399 371 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 372 break;
tomotsugu 8:a47dbf4fa455 373 /* 左折 */
yangtzuli 3:2ae6218973be 374 case LEFT:
takuminomura 48:3003ea51c619 375 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020 50:ee78382fd399 376 motorR2 = LOW; // 右後退モーターOFF
mori2020 50:ee78382fd399 377 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 378 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 379 break;
tomotsugu 8:a47dbf4fa455 380 /* 後退 */
yangtzuli 3:2ae6218973be 381 case BACK:
mori2020 50:ee78382fd399 382 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 52:c868403753e8 383 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
mori2020 50:ee78382fd399 384 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 385 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 386 break;
tomotsugu 8:a47dbf4fa455 387 /* 停止 */
yangtzuli 3:2ae6218973be 388 case STOP:
tomotsugu 8:a47dbf4fa455 389 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 390 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 391 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 392 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 393 break;
tomotsugu 52:c868403753e8 394 case A1RIGHT:
mori2020 50:ee78382fd399 395 motorR1 = LOW;
tomotsugu 52:c868403753e8 396 motorR2 = 0.55;
tomotsugu 52:c868403753e8 397 motorL1 = 0.57;
mori2020 50:ee78382fd399 398 motorL2 = LOW;
takuminomura 49:7224132f4b0e 399 break;
tomotsugu 53:debc8879ba5d 400 case A1LEFT:
tomotsugu 52:c868403753e8 401 motorR1 = 0.57;
mori2020 50:ee78382fd399 402 motorR2 = LOW;
mori2020 50:ee78382fd399 403 motorL1 = LOW;
tomotsugu 52:c868403753e8 404 motorL2 = 0.55;
tomotsugu 52:c868403753e8 405 break;
tomotsugu 52:c868403753e8 406 case A2RIGHT:
tomotsugu 52:c868403753e8 407 motorR1 = LOW;
tomotsugu 52:c868403753e8 408 motorR2 = 0.33;
tomotsugu 52:c868403753e8 409 motorL1 = 0.35;
tomotsugu 52:c868403753e8 410 motorL2 = LOW;
tomotsugu 52:c868403753e8 411 break;
tomotsugu 52:c868403753e8 412 case A2LEFT:
tomotsugu 52:c868403753e8 413 motorR1 = 0.35;
tomotsugu 52:c868403753e8 414 motorR2 = LOW;
tomotsugu 52:c868403753e8 415 motorL1 = LOW;
tomotsugu 52:c868403753e8 416 motorL2 = 0.33;
takuminomura 49:7224132f4b0e 417 break;
nishimura_taku_pet 54:f862caf08a7f 418 /* 低速右折 */
nishimura_taku_pet 54:f862caf08a7f 419 case LT_R:
nishimura_taku_pet 54:f862caf08a7f 420 motorR1 = motorSpeedR2[flag_sp]; // 右前進モーターON
nishimura_taku_pet 54:f862caf08a7f 421 motorR2 = LOW; // 右後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 422 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
nishimura_taku_pet 54:f862caf08a7f 423 motorL2 = LOW; // 左後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 424 break;
nishimura_taku_pet 54:f862caf08a7f 425 /* 低速左折 */
nishimura_taku_pet 54:f862caf08a7f 426 case LT_L:
nishimura_taku_pet 54:f862caf08a7f 427 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
nishimura_taku_pet 54:f862caf08a7f 428 motorR2 = LOW; // 右後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 429 motorL1 = motorSpeedL2[flag_sp]; // 左前進モーターON
nishimura_taku_pet 54:f862caf08a7f 430 motorL2 = LOW; // 左後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 431 break;
yangtzuli 3:2ae6218973be 432 }
nishimura_taku_pet 51:1baf4407f384 433 /*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 434 flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet 51:1baf4407f384 435 }*/
takuminomura 48:3003ea51c619 436 ThisThread::sleep_for(3); // 30ms待つ
yangtzuli 2:38825726cb1b 437 }
yangtzuli 2:38825726cb1b 438 }
tomotsugu 8:a47dbf4fa455 439
tomotsugu 8:a47dbf4fa455 440 /* スピード変更関数 */
yangtzuli 3:2ae6218973be 441 void changeSpeed(){
tomotsugu 8:a47dbf4fa455 442 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 443 flag_sp = 0; // スピード変更フラグを0にする
tomotsugu 8:a47dbf4fa455 444 }else{ // それ以外
takuminomura 48:3003ea51c619 445 flag_sp = flag_sp + 1; // スピード変更フラグを+1
takuminomura 48:3003ea51c619 446 }
yangtzuli 3:2ae6218973be 447 }
tomotsugu 8:a47dbf4fa455 448
tomotsugu 8:a47dbf4fa455 449 /* ライントレーススレッド */
takuminomura 49:7224132f4b0e 450 //void trace(){
takuminomura 49:7224132f4b0e 451 // // PID用
takuminomura 49:7224132f4b0e 452 // while(1){
takuminomura 49:7224132f4b0e 453 // ThisThread::sleep_for(3);
takuminomura 49:7224132f4b0e 454 // }
takuminomura 49:7224132f4b0e 455 //}
tomotsugu 20:02bb875a9b13 456 void trace(){
takuminomura 48:3003ea51c619 457 while(1){
takuminomura 48:3003ea51c619 458 /* 各センサー値読み取り */
takuminomura 48:3003ea51c619 459 int sensor1 = ss1;
takuminomura 48:3003ea51c619 460 int sensor2 = ss2;
takuminomura 48:3003ea51c619 461 int sensor3 = ss3;
takuminomura 48:3003ea51c619 462 int sensor4 = ss4;
takuminomura 48:3003ea51c619 463 int sensor5 = ss5;
takuminomura 48:3003ea51c619 464 int sensD = 0;
takuminomura 48:3003ea51c619 465
takuminomura 48:3003ea51c619 466 /* センサー値の決定 */
takuminomura 48:3003ea51c619 467 if(sensor1 > 0) sensD |= 0x10;
takuminomura 48:3003ea51c619 468 if(sensor2 > 0) sensD |= 0x08;
takuminomura 48:3003ea51c619 469 if(sensor3 > 0) sensD |= 0x04;
takuminomura 48:3003ea51c619 470 if(sensor4 > 0) sensD |= 0x02;
takuminomura 48:3003ea51c619 471 if(sensor5 > 0) sensD |= 0x01;
takuminomura 48:3003ea51c619 472
takuminomura 48:3003ea51c619 473 /* センサー値によって場合分け */
takuminomura 48:3003ea51c619 474 switch(sensArray[sensD]){
takuminomura 48:3003ea51c619 475 case 1:
takuminomura 48:3003ea51c619 476 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 477 run = ADVANCE; // 高速で前進
takuminomura 48:3003ea51c619 478 break;
takuminomura 48:3003ea51c619 479 case 2:
takuminomura 48:3003ea51c619 480 flag_sp = flag_sp % 3 + 3;
takuminomura 49:7224132f4b0e 481 // run = RIGHT; // 低速で右折
takuminomura 49:7224132f4b0e 482 run = LT_R; // 低速で右折
takuminomura 48:3003ea51c619 483 break;
takuminomura 48:3003ea51c619 484 case 3:
takuminomura 48:3003ea51c619 485 flag_sp = flag_sp % 3 + 3;
takuminomura 49:7224132f4b0e 486 // run = LEFT; // 低速で左折
takuminomura 49:7224132f4b0e 487 run = LT_L; // 低速で左折
takuminomura 48:3003ea51c619 488 break;
takuminomura 48:3003ea51c619 489 case 4:
takuminomura 48:3003ea51c619 490 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 491 run = RIGHT; // 中速で右折
takuminomura 48:3003ea51c619 492 break;
takuminomura 48:3003ea51c619 493 case 5:
takuminomura 48:3003ea51c619 494 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 495 run = LEFT; // 中速で左折
takuminomura 48:3003ea51c619 496 break;
takuminomura 48:3003ea51c619 497 case 6:
takuminomura 48:3003ea51c619 498 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 499 run = RIGHT; // 高速で右折
takuminomura 48:3003ea51c619 500 break;
takuminomura 48:3003ea51c619 501 case 7:
takuminomura 48:3003ea51c619 502 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 503 run = LEFT; // 高速で左折
takuminomura 48:3003ea51c619 504 break;
takuminomura 48:3003ea51c619 505 default:
takuminomura 48:3003ea51c619 506 break; // 前回動作を継続
tomotsugu 18:6cca64c7dbc3 507 }
takuminomura 48:3003ea51c619 508 // ThisThread::sleep_for(30); // 30ms待つ
takuminomura 48:3003ea51c619 509 ThisThread::sleep_for(3);
takuminomura 48:3003ea51c619 510 }
yangtzuli 3:2ae6218973be 511 }
yangtzuli 3:2ae6218973be 512
tomotsugu 8:a47dbf4fa455 513 /* 障害物回避走行スレッド */
tomotsugu 20:02bb875a9b13 514 void avoidance(){
nishimura_taku_pet 46:c6deb699160b 515 int i;
yangtzuli 3:2ae6218973be 516 while(1){
nishimura_taku_pet 40:75e1ad7c27e4 517 watchsurrounding3();
mori2020 50:ee78382fd399 518 if(flag_a == 0){ // 障害物がない場合
mori2020 50:ee78382fd399 519 run = ADVANCE; // 前進
mori2020 50:ee78382fd399 520 // if(SLD < 25){ // 正面15cm以内に障害物が現れた場合
mori2020 50:ee78382fd399 521 // run = RIGHT; // 右折
mori2020 50:ee78382fd399 522 // ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 523 // run = STOP; // 停止
mori2020 50:ee78382fd399 524 // }else if(SRD < 25){
mori2020 50:ee78382fd399 525 // run = LEFT; // 左折
mori2020 50:ee78382fd399 526 // ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 527 // run = STOP; // 停止
mori2020 50:ee78382fd399 528 // }
mori2020 50:ee78382fd399 529 }else{ // 障害物がある場合
tomotsugu 18:6cca64c7dbc3 530 i = 0;
mori2020 50:ee78382fd399 531 int cnt_kyori;
mori2020 50:ee78382fd399 532 int kyori;
mori2020 50:ee78382fd399 533 if(SC < 15){
tomotsugu 60:8a4869455ee6 534 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 41:3c58a4be1199 535 ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 536 run = STOP;
mori2020 50:ee78382fd399 537 ThisThread::sleep_for(80);
mori2020 50:ee78382fd399 538 run = BACK;
mori2020 50:ee78382fd399 539 // switch(flag_sp){
mori2020 50:ee78382fd399 540 // case 0:
mori2020 50:ee78382fd399 541 // ThisThread::sleep_for(200);
mori2020 50:ee78382fd399 542 // break;
mori2020 50:ee78382fd399 543 // case 1:
mori2020 50:ee78382fd399 544 // ThisThread::sleep_for(150);
mori2020 50:ee78382fd399 545 // break;
mori2020 50:ee78382fd399 546 // case 2:
mori2020 50:ee78382fd399 547 // ThisThread::sleep_for(120);
mori2020 50:ee78382fd399 548 // break;
mori2020 50:ee78382fd399 549 // default:
mori2020 50:ee78382fd399 550 // break;
mori2020 50:ee78382fd399 551 // }
mori2020 50:ee78382fd399 552 cnt_kyori = 0;
mori2020 50:ee78382fd399 553 kyori = watch();
mori2020 50:ee78382fd399 554 while(kyori < limit){ // 正面20cm以内に障害物がある間
mori2020 50:ee78382fd399 555 if(kyori == -1){
nishimura_taku_pet 40:75e1ad7c27e4 556 cnt_kyori++;
mori2020 50:ee78382fd399 557 if(cnt_kyori > 15){
mori2020 50:ee78382fd399 558 cnt_kyori = 0;
nishimura_taku_pet 40:75e1ad7c27e4 559 break;
nishimura_taku_pet 40:75e1ad7c27e4 560 }
nishimura_taku_pet 40:75e1ad7c27e4 561 }
nishimura_taku_pet 40:75e1ad7c27e4 562 kyori = watch();
tomotsugu 18:6cca64c7dbc3 563 }
mori2020 50:ee78382fd399 564 run = STOP;
mori2020 50:ee78382fd399 565 }
nishimura_taku_pet 40:75e1ad7c27e4 566 watchsurrounding5();
takuminomura 48:3003ea51c619 567 if(SC < limit && SLD < limit && SL < limit && SRD < limit && SR < limit){ // 全方向に障害物がある場合
tomotsugu 52:c868403753e8 568 run = A1LEFT; // 左折
tomotsugu 52:c868403753e8 569 while(i < 15){ // 進行方向確認
tomotsugu 18:6cca64c7dbc3 570 if(watch() > limit){
mori2020 50:ee78382fd399 571 break;
nishimura_taku_pet 28:cb51cafca490 572 }else{
mori2020 50:ee78382fd399 573 i++;
yangtzuli 2:38825726cb1b 574 }
yangtzuli 2:38825726cb1b 575 }
nishimura_taku_pet 28:cb51cafca490 576 run = STOP; // 停止
mori2020 50:ee78382fd399 577 }else { // 全方向以外
nishimura_taku_pet 28:cb51cafca490 578 far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 579 houkou = 1; // 進行方向を前に設定
tomotsugu 60:8a4869455ee6 580 if(SC < limit + 5){
mori2020 50:ee78382fd399 581 if(far < SLD || far < SL){ // 左または左前がより遠い場合
mori2020 50:ee78382fd399 582 if(SL < SLD){ // 左前が左より遠い場合
mori2020 50:ee78382fd399 583 far = SLD; // 左前を最も遠い距離に設定
mori2020 50:ee78382fd399 584 }else{ // 左が左前より遠い場合
mori2020 50:ee78382fd399 585 far = SL; // 左を最も遠い距離に設定
mori2020 50:ee78382fd399 586 }
mori2020 50:ee78382fd399 587 houkou = 2; // 進行方向を左に設定
nishimura_taku_pet 28:cb51cafca490 588 }
mori2020 50:ee78382fd399 589 if(far < SRD || far < SR){ // 右または右前がより遠い場合
mori2020 50:ee78382fd399 590 if(SR < SRD){ // 右前が右より遠い場合
mori2020 50:ee78382fd399 591 far = SRD; // 右前を最も遠い距離に設定
mori2020 50:ee78382fd399 592 }else{ // 右が右前よりも遠い場合
mori2020 50:ee78382fd399 593 far = SR; // 右を最も遠い距離に設定
mori2020 50:ee78382fd399 594 }
mori2020 50:ee78382fd399 595 houkou = 3; // 進行方向を右に設定
nishimura_taku_pet 28:cb51cafca490 596 }
nishimura_taku_pet 28:cb51cafca490 597 }
nishimura_taku_pet 28:cb51cafca490 598 switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet 28:cb51cafca490 599 case 1: // 前の場合
nishimura_taku_pet 28:cb51cafca490 600 run = ADVANCE; // 前進
mori2020 50:ee78382fd399 601 switch(flag_sp){
mori2020 50:ee78382fd399 602 case 0:
mori2020 50:ee78382fd399 603 ThisThread::sleep_for(300); // 0.5秒待つ
mori2020 50:ee78382fd399 604 break;
mori2020 50:ee78382fd399 605 case 1:
mori2020 50:ee78382fd399 606 ThisThread::sleep_for(200);
mori2020 50:ee78382fd399 607 break;
mori2020 50:ee78382fd399 608 case 2:
mori2020 50:ee78382fd399 609 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 610 break;
mori2020 50:ee78382fd399 611 }
nishimura_taku_pet 28:cb51cafca490 612 break;
mori2020 50:ee78382fd399 613 case 2: // 左の場合
tomotsugu 52:c868403753e8 614 run = A1LEFT; // 左折
mori2020 50:ee78382fd399 615 while(i < 15){ // 進行方向確認
nishimura_taku_pet 28:cb51cafca490 616 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)
mori2020 50:ee78382fd399 617 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 618 }else{
nishimura_taku_pet 40:75e1ad7c27e4 619 i++;
nishimura_taku_pet 28:cb51cafca490 620 }
nishimura_taku_pet 28:cb51cafca490 621 }
mori2020 50:ee78382fd399 622 run = ADVANCE; // 停止
nishimura_taku_pet 28:cb51cafca490 623 break;
mori2020 50:ee78382fd399 624 case 3: // 右の場合
tomotsugu 52:c868403753e8 625 run = A1RIGHT; // 右折
mori2020 50:ee78382fd399 626 while(i < 15){ // 進行方向確認
mori2020 50:ee78382fd399 627 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)
nishimura_taku_pet 40:75e1ad7c27e4 628 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 629 }else{
nishimura_taku_pet 40:75e1ad7c27e4 630 i++;
nishimura_taku_pet 28:cb51cafca490 631 }
nishimura_taku_pet 28:cb51cafca490 632 }
mori2020 50:ee78382fd399 633 run = ADVANCE; // 停止
nishimura_taku_pet 28:cb51cafca490 634 break;
nishimura_taku_pet 28:cb51cafca490 635 }
yangtzuli 5:3fffb364744b 636 }
nishimura_taku_pet 28:cb51cafca490 637 }
nishimura_taku_pet 28:cb51cafca490 638 flag_a = 0; // 障害物有無フラグを0にセット
mori2020 50:ee78382fd399 639 if(SLD < 30 && SRD > 30){ // 正面15cm以内に障害物が現れた場合
tomotsugu 52:c868403753e8 640 run = A2RIGHT; // 右折
tomotsugu 52:c868403753e8 641 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 642 run = ADVANCE;
mori2020 50:ee78382fd399 643 }else if(SRD < 30 && SLD > 30){
tomotsugu 52:c868403753e8 644 run = A2LEFT; // 左折
tomotsugu 52:c868403753e8 645 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 646 run = ADVANCE;
mori2020 50:ee78382fd399 647 }
mori2020 50:ee78382fd399 648 }
mori2020 50:ee78382fd399 649 }
mori2020 50:ee78382fd399 650
tomotsugu 8:a47dbf4fa455 651 /* 距離計測関数 */
yangtzuli 2:38825726cb1b 652 int watch(){
mori2020 50:ee78382fd399 653 do{
mori2020 50:ee78382fd399 654 do{
mori2020 50:ee78382fd399 655 trig = 0;
mori2020 50:ee78382fd399 656 ThisThread::sleep_for(5); // 5ms待つ
mori2020 50:ee78382fd399 657 trig = 1;
mori2020 50:ee78382fd399 658 ThisThread::sleep_for(15); // 15ms待つ
mori2020 50:ee78382fd399 659 trig = 0;
mori2020 50:ee78382fd399 660 timer.start();
tomotsugu 21:68d38e8f64b5 661 t1=timer.read_ms();
mori2020 50:ee78382fd399 662 while(echo.read() == 0 && t1<10){
mori2020 50:ee78382fd399 663 t1=timer.read_ms();
mori2020 50:ee78382fd399 664 led1 = 1;
mori2020 50:ee78382fd399 665 }
mori2020 50:ee78382fd399 666 timer.stop();
mori2020 50:ee78382fd399 667 timer.reset();
mori2020 50:ee78382fd399 668 }while(t1 >= 10);
mori2020 50:ee78382fd399 669 timer.start(); // 距離計測タイマースタート
mori2020 50:ee78382fd399 670 while(echo.read() == 1){
tomotsugu 21:68d38e8f64b5 671 }
mori2020 50:ee78382fd399 672 timer.stop(); // 距離計測タイマーストップ
mori2020 50:ee78382fd399 673 DT = (int)(timer.read_us()*0.01657); // 距離計算
mori2020 50:ee78382fd399 674 if(timer.read_ms() > 1000){
mori2020 50:ee78382fd399 675 DT = -1;
mori2020 50:ee78382fd399 676 break;
mori2020 50:ee78382fd399 677 }
mori2020 50:ee78382fd399 678 }while(DT > 1000);
mori2020 50:ee78382fd399 679 if(DT > 400){
mori2020 50:ee78382fd399 680 DT = 400;
mori2020 50:ee78382fd399 681 }
tomotsugu 21:68d38e8f64b5 682 timer.reset();
mori2020 50:ee78382fd399 683 led1 = 0;
mori2020 50:ee78382fd399 684 return DT;
yangtzuli 0:0d0037aabe41 685 }
mori2020 50:ee78382fd399 686
tomotsugu 8:a47dbf4fa455 687 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 688 void watchsurrounding3(){
yangtzuli 2:38825726cb1b 689 SC = watch();
nishimura_taku_pet 28:cb51cafca490 690 if(SC < limit){ // 正面20cm以内に障害物がある場合
mori2020 50:ee78382fd399 691 if(SC!=-1){
nishimura_taku_pet 28:cb51cafca490 692 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 693 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 694 return;
nishimura_taku_pet 28:cb51cafca490 695 }
yangtzuli 2:38825726cb1b 696 }
mori2020 50:ee78382fd399 697 servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet 28:cb51cafca490 698 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 699 SLD = watch();
mori2020 50:ee78382fd399 700 if(SLD < 18){ // 左前20cm以内に障害物がある場合
mori2020 50:ee78382fd399 701 run = STOP;
mori2020 50:ee78382fd399 702 ThisThread::sleep_for(90);
mori2020 50:ee78382fd399 703 run = BACK;
tomotsugu 60:8a4869455ee6 704 switch(flag_sp){
tomotsugu 60:8a4869455ee6 705 case 0:
tomotsugu 60:8a4869455ee6 706 ThisThread::sleep_for(200);
tomotsugu 60:8a4869455ee6 707 break;
tomotsugu 60:8a4869455ee6 708 case 1:
tomotsugu 60:8a4869455ee6 709 ThisThread::sleep_for(170);
tomotsugu 60:8a4869455ee6 710 break;
tomotsugu 60:8a4869455ee6 711 case 2:
tomotsugu 60:8a4869455ee6 712 ThisThread::sleep_for(150);
tomotsugu 60:8a4869455ee6 713 break;
tomotsugu 60:8a4869455ee6 714 }
tomotsugu 52:c868403753e8 715 run = A2RIGHT;
tomotsugu 60:8a4869455ee6 716 ThisThread::sleep_for(150);
mori2020 50:ee78382fd399 717 return;
yangtzuli 2:38825726cb1b 718 }
tomotsugu 60:8a4869455ee6 719 servo.pulsewidth_us(1450);
mori2020 50:ee78382fd399 720 ThisThread::sleep_for(100);
tomotsugu 19:c6f9f010bd9e 721 SC = watch();
tomotsugu 19:c6f9f010bd9e 722 if(SC < limit){
mori2020 50:ee78382fd399 723 if(SC != -1){
mori2020 50:ee78382fd399 724 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 725 flag_a = 1;
takuminomura 48:3003ea51c619 726 return;
mori2020 50:ee78382fd399 727 }
tomotsugu 19:c6f9f010bd9e 728 }
mori2020 50:ee78382fd399 729 servo.pulsewidth_us(923); // サーボを右に40度回転
nishimura_taku_pet 28:cb51cafca490 730 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 731 SRD = watch();
mori2020 50:ee78382fd399 732 if(SRD < 18){ // 右前20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 733 run = STOP; // 停止
mori2020 50:ee78382fd399 734 ThisThread::sleep_for(90);
mori2020 50:ee78382fd399 735 run = BACK;
tomotsugu 60:8a4869455ee6 736 switch(flag_sp){
tomotsugu 60:8a4869455ee6 737 case 0:
tomotsugu 60:8a4869455ee6 738 ThisThread::sleep_for(200);
tomotsugu 60:8a4869455ee6 739 break;
tomotsugu 60:8a4869455ee6 740 case 1:
tomotsugu 60:8a4869455ee6 741 ThisThread::sleep_for(170);
tomotsugu 60:8a4869455ee6 742 break;
tomotsugu 60:8a4869455ee6 743 case 2:
tomotsugu 60:8a4869455ee6 744 ThisThread::sleep_for(150);
tomotsugu 60:8a4869455ee6 745 break;
tomotsugu 60:8a4869455ee6 746 }
tomotsugu 52:c868403753e8 747 run = A2LEFT;
tomotsugu 60:8a4869455ee6 748 ThisThread::sleep_for(150);
mori2020 50:ee78382fd399 749 return;
yangtzuli 2:38825726cb1b 750 }
tomotsugu 60:8a4869455ee6 751 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 40:75e1ad7c27e4 752 ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 753 }
mori2020 50:ee78382fd399 754
nishimura_taku_pet 40:75e1ad7c27e4 755 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 756 void watchsurrounding5(){
nishimura_taku_pet 40:75e1ad7c27e4 757 SC = watch();
mori2020 50:ee78382fd399 758 servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 759 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 760 SLD = watch();
nishimura_taku_pet 40:75e1ad7c27e4 761 servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet 40:75e1ad7c27e4 762 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 763 SL = watch();
tomotsugu 60:8a4869455ee6 764 servo.pulsewidth_us(1450);
nishimura_taku_pet 40:75e1ad7c27e4 765 ThisThread::sleep_for(250);
nishimura_taku_pet 40:75e1ad7c27e4 766 SC = watch();
mori2020 50:ee78382fd399 767 servo.pulsewidth_us(923); // サーボを右に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 768 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 769 SRD = watch();
yangtzuli 2:38825726cb1b 770 servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet 28:cb51cafca490 771 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 772 SR = watch();
tomotsugu 60:8a4869455ee6 773 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 774 ThisThread::sleep_for(250); // 100ms待つ
yangtzuli 3:2ae6218973be 775 }
yangtzuli 3:2ae6218973be 776
tomotsugu 8:a47dbf4fa455 777 /* ディスプレイ表示関数 */
yangtzuli 3:2ae6218973be 778 void display(){
faker_71 57:65dd71a6ce72 779 // pblue=!pblue;
tomotsugu 8:a47dbf4fa455 780 mutex.lock(); // ミューテックスロック
yangtzuli 3:2ae6218973be 781 lcd.setAddress(0,1);
tomotsugu 8:a47dbf4fa455 782
tomotsugu 8:a47dbf4fa455 783 /* 操作モードによる場合分け */
yangtzuli 3:2ae6218973be 784 switch(mode){
tomotsugu 8:a47dbf4fa455 785 /* 前進 */
yangtzuli 3:2ae6218973be 786 case ADVANCE:
yangtzuli 3:2ae6218973be 787 lcd.printf("Mode:Advance ");
yangtzuli 3:2ae6218973be 788 break;
tomotsugu 8:a47dbf4fa455 789 /* 右折 */
yangtzuli 3:2ae6218973be 790 case RIGHT:
yangtzuli 5:3fffb364744b 791 lcd.printf("Mode:TurnRight ");
yangtzuli 3:2ae6218973be 792 break;
tomotsugu 8:a47dbf4fa455 793 /* 左折 */
yangtzuli 3:2ae6218973be 794 case LEFT:
yangtzuli 5:3fffb364744b 795 lcd.printf("Mode:TurnLeft ");
yangtzuli 3:2ae6218973be 796 break;
tomotsugu 8:a47dbf4fa455 797 /* 後退 */
yangtzuli 3:2ae6218973be 798 case BACK:
yangtzuli 3:2ae6218973be 799 lcd.printf("Mode:Back ");
yangtzuli 3:2ae6218973be 800 break;
tomotsugu 8:a47dbf4fa455 801 /* 停止 */
yangtzuli 3:2ae6218973be 802 case STOP:
yangtzuli 3:2ae6218973be 803 lcd.printf("Mode:Stop ");
yangtzuli 3:2ae6218973be 804 break;
tomotsugu 8:a47dbf4fa455 805 /* 待ち */
yangtzuli 3:2ae6218973be 806 case READY:
yangtzuli 3:2ae6218973be 807 lcd.printf("Mode:Ready ");
yangtzuli 3:2ae6218973be 808 break;
tomotsugu 8:a47dbf4fa455 809 /* ライントレース */
yangtzuli 3:2ae6218973be 810 case LINE_TRACE:
yangtzuli 3:2ae6218973be 811 lcd.printf("Mode:LineTrace ");
yangtzuli 3:2ae6218973be 812 break;
tomotsugu 8:a47dbf4fa455 813 /* 障害物回避 */
yangtzuli 3:2ae6218973be 814 case AVOIDANCE:
yangtzuli 3:2ae6218973be 815 lcd.printf("Mode:Avoidance ");
yangtzuli 3:2ae6218973be 816 break;
tomotsugu 8:a47dbf4fa455 817 /* スピード制御 */
yangtzuli 3:2ae6218973be 818 case SPEED:
tomotsugu 8:a47dbf4fa455 819 /* スピードの状態で場合分け */
takuminomura 48:3003ea51c619 820 switch(flag_sp % 3){
tomotsugu 8:a47dbf4fa455 821 /* 普通 */
yangtzuli 3:2ae6218973be 822 case(NORMAL):
yangtzuli 3:2ae6218973be 823 lcd.printf("Speed:Normal ");
yangtzuli 3:2ae6218973be 824 break;
tomotsugu 8:a47dbf4fa455 825 /* 速い */
yangtzuli 3:2ae6218973be 826 case(FAST):
yangtzuli 3:2ae6218973be 827 lcd.printf("Speed:Fast ");
yangtzuli 3:2ae6218973be 828 break;
tomotsugu 8:a47dbf4fa455 829 /* とても速い */
yangtzuli 3:2ae6218973be 830 case(VERYFAST):
yangtzuli 3:2ae6218973be 831 lcd.printf("Speed:VeryFast ");
yangtzuli 3:2ae6218973be 832 break;
yangtzuli 3:2ae6218973be 833 }
tomotsugu 8:a47dbf4fa455 834 viewTimer.reset(); // タイマーリセット
tomotsugu 8:a47dbf4fa455 835 viewTimer.start(); // タイマースタート
takuminomura 48:3003ea51c619 836 break;
nishimura_taku_pet 56:d02c62149a19 837 default:
nishimura_taku_pet 56:d02c62149a19 838 lcd.printf("Mode:ModeError ");
nishimura_taku_pet 56:d02c62149a19 839 break;
yangtzuli 3:2ae6218973be 840 }
tomotsugu 8:a47dbf4fa455 841 mutex.unlock(); // ミューテックスアンロック
faker_71 57:65dd71a6ce72 842 // pblue=!pblue;
faker_71 57:65dd71a6ce72 843
yangtzuli 3:2ae6218973be 844 }
yangtzuli 3:2ae6218973be 845
tomotsugu 8:a47dbf4fa455 846 /* バックライト点滅 */
yangtzuli 3:2ae6218973be 847 void lcdBacklight(void const *argument){
tomotsugu 8:a47dbf4fa455 848 if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu 8:a47dbf4fa455 849 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 8:a47dbf4fa455 850 }else{ // バックライト点滅フラグが0なら
tomotsugu 8:a47dbf4fa455 851 lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli 3:2ae6218973be 852 }
tomotsugu 8:a47dbf4fa455 853 flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli 3:2ae6218973be 854 }
yangtzuli 2:38825726cb1b 855
tomotsugu 8:a47dbf4fa455 856 /* バッテリー残量更新関数 */
yangtzuli 5:3fffb364744b 857 void bChange(){
yangtzuli 17:f7259ab2fe86 858 //pc.printf(" bChange1\r\n");
nishimura_taku_pet 51:1baf4407f384 859 if(run == STOP){
nishimura_taku_pet 54:f862caf08a7f 860 b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10;
nishimura_taku_pet 51:1baf4407f384 861 }
tomotsugu 10:d193030ce672 862 if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu 10:d193030ce672 863 b = 0;
tomotsugu 10:d193030ce672 864 //lcd.setBacklight(TextLCD::LightOff);
tomotsugu 10:d193030ce672 865 //run = STOP;
tomotsugu 10:d193030ce672 866 //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 867 }
tomotsugu 10:d193030ce672 868 mutex.lock(); // ミューテックスロック
tomotsugu 10:d193030ce672 869 lcd.setAddress(0,0);
tomotsugu 10:d193030ce672 870 lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
takuminomura 48:3003ea51c619 871 mutex.unlock(); // ミューテックスアンロック
tomotsugu 10:d193030ce672 872 if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu 10:d193030ce672 873 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 874 //bTimer.attach(lcdBacklight,0.5);
tomotsugu 10:d193030ce672 875 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 876 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 877 }
tomotsugu 10:d193030ce672 878 }else{
tomotsugu 10:d193030ce672 879 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 880 //bTimer.detach();
tomotsugu 10:d193030ce672 881 bTimer.stop(); // バックライトタイマーストップ
tomotsugu 10:d193030ce672 882 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 10:d193030ce672 883 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 884 }
tomotsugu 10:d193030ce672 885 }
yangtzuli 2:38825726cb1b 886 }
mori2020 50:ee78382fd399 887
mori2020 50:ee78382fd399 888
nishimura_taku_pet 24:9481c8f56a49 889 // Serial Interrupt read ESP data
nishimura_taku_pet 24:9481c8f56a49 890 void callback()
nishimura_taku_pet 24:9481c8f56a49 891 {
mori2020 50:ee78382fd399 892 ////*-*-*-5("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 893 led3=1;
nishimura_taku_pet 24:9481c8f56a49 894 while (esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 895 webbuff[ount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 896 ount++;
nishimura_taku_pet 24:9481c8f56a49 897 }
nishimura_taku_pet 24:9481c8f56a49 898 if(strlen(webbuff)>bufflen) {
mori2020 50:ee78382fd399 899 // //*-*-*-5("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 900 DataRX=1;
nishimura_taku_pet 24:9481c8f56a49 901 led3=0;
nishimura_taku_pet 24:9481c8f56a49 902 }
nishimura_taku_pet 24:9481c8f56a49 903 }
mori2020 50:ee78382fd399 904
nishimura_taku_pet 43:243c1455f88a 905 void wifi(/*void const *argument*/)
nishimura_taku_pet 24:9481c8f56a49 906 {
mori2020 50:ee78382fd399 907 //*-*-*-5("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet 33:a6f1090e0174 908 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 909 led1=1,led2=0,led3=0;
nishimura_taku_pet 24:9481c8f56a49 910 timeout=6000;
nishimura_taku_pet 24:9481c8f56a49 911 getcount=500;
nishimura_taku_pet 24:9481c8f56a49 912 getreply();
nishimura_taku_pet 24:9481c8f56a49 913 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet 24:9481c8f56a49 914 startserver();
mori2020 50:ee78382fd399 915
nishimura_taku_pet 24:9481c8f56a49 916 while(1) {
nishimura_taku_pet 24:9481c8f56a49 917 if(DataRX==1) {
mori2020 50:ee78382fd399 918 //*-*-*-5("\f\n\r------------ main while > if --------------\n\r");
faker_71 57:65dd71a6ce72 919 // click_flag = 1;
faker_71 57:65dd71a6ce72 920 click_log=false;
nishimura_taku_pet 24:9481c8f56a49 921 ReadWebData();
mori2020 50:ee78382fd399 922 //*-*-*-5("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
mori2020 50:ee78382fd399 923 //if ((servreq == 1 && weberror == 0) && click_flag == 1) {
faker_71 57:65dd71a6ce72 924 if (servreq == 1 && weberror == 0 && click_log == false) {
mori2020 50:ee78382fd399 925 //*-*-*-5("\f\n\r------------ befor send page --------------\n\r");
faker_71 57:65dd71a6ce72 926 sendpage(); }
mori2020 50:ee78382fd399 927 //*-*-*-5("\f\n\r------------ send_check begin --------------\n\r");
mori2020 50:ee78382fd399 928
mori2020 50:ee78382fd399 929 //sendcheck();
mori2020 50:ee78382fd399 930 //*-*-*-5("\f\n\r------------ ssend_check end--------------\n\r");
faker_71 57:65dd71a6ce72 931 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 932 esp.attach(&callback);
mori2020 50:ee78382fd399 933 //*-*-*-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:ee78382fd399 934 //*-*-*-5("\n\n HTTP Packet: \n\n%s\n", webdata);
mori2020 50:ee78382fd399 935 //*-*-*-5(" Web Characters sent : %d\n\n", bufl);
mori2020 50:ee78382fd399 936 //*-*-*-5(" -------------------------------------\n\n");
nishimura_taku_pet 24:9481c8f56a49 937 servreq=0;
nishimura_taku_pet 24:9481c8f56a49 938 }
nishimura_taku_pet 24:9481c8f56a49 939 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 940 }
nishimura_taku_pet 24:9481c8f56a49 941 }
nishimura_taku_pet 24:9481c8f56a49 942 // Static WEB page
nishimura_taku_pet 24:9481c8f56a49 943 void sendpage()
nishimura_taku_pet 24:9481c8f56a49 944 {
nishimura_taku_pet 24:9481c8f56a49 945 // WEB page data
mori2020 50:ee78382fd399 946
nishimura_taku_pet 61:85daf80c7727 947 //strcpy(webbuff, "HTTP/1.1 200 OK\nDate: Thu, 03 Sep 2020 07:43:28 GMT\nContent-Type: text/html\nContent-Length: 2843\nConnection: keep-alive\n\n");
nishimura_taku_pet 61:85daf80c7727 948 strcpy(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet 24:9481c8f56a49 949 strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
mori2020 50:ee78382fd399 950 //strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >");
nishimura_taku_pet 62:5b4e62edaac4 951 strcat(webbuff, "<style type=\"text/css\">.noselect{ width:100px;height:60px;border-radius: 25px;outline:0;}.light{ width:100px;height:60px;background-color:#00ff66;border-radius: 25px;outline:0;}.load{ width: 50px; height: 30px;font-size:10px}</style>");
nishimura_taku_pet 24:9481c8f56a49 952 strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet 24:9481c8f56a49 953 strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
nishimura_taku_pet 62:5b4e62edaac4 954 if(b<=30){ //30%より下の場合残電量を赤文字
mori2020 50:ee78382fd399 955 strcat(webbuff, "<font color=\"red\">");
mori2020 50:ee78382fd399 956 sprintf(webbuff, "%s%3d", webbuff, b);
mori2020 50:ee78382fd399 957 strcat(webbuff, "</font>");
nishimura_taku_pet 62:5b4e62edaac4 958 }else{
nishimura_taku_pet 62:5b4e62edaac4 959 sprintf(webbuff, "%s%3d", webbuff, b);
mori2020 50:ee78382fd399 960 }
mori2020 50:ee78382fd399 961 strcat(webbuff, "%</strong>");
mori2020 50:ee78382fd399 962 strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"location.reload()\">RELOAD</button>");
nishimura_taku_pet 24:9481c8f56a49 963 strcat(webbuff, "</td></p>");
nishimura_taku_pet 24:9481c8f56a49 964 strcat(webbuff, "<br>");
nishimura_taku_pet 24:9481c8f56a49 965 strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 966
molberry 35:4cda290bdb87 967 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 968 case ADVANCE: //前進
mori2020 50:ee78382fd399 969 strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 970 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 971 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 972 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 973 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 974 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 975 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 976 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 977 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 978 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 979 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 980 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 981 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 982 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 983 break;
molberry 35:4cda290bdb87 984 case LEFT: //左折
mori2020 50:ee78382fd399 985 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 986 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 987 strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 988 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 989 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 990 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 991 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 992 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 993 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 994 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 995 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 996 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 997 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 998 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 999 break;
molberry 35:4cda290bdb87 1000 case STOP: //停止
mori2020 50:ee78382fd399 1001 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 1002 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 1003 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 1004 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1005 strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 1006 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1007 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 1008 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 1009 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 1010 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1011 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 1012 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 1013 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 1014 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1015 break;
molberry 35:4cda290bdb87 1016 case RIGHT: //右折
mori2020 50:ee78382fd399 1017 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 1018 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 1019 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 1020 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1021 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 1022 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1023 strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 1024 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 1025 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 1026 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1027 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 1028 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 1029 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 1030 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1031 break;
molberry 35:4cda290bdb87 1032 case BACK: //後進
mori2020 50:ee78382fd399 1033 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 1034 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 1035 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 1036 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1037 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 1038 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1039 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 1040 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 1041 strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 1042 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet 24:9481c8f56a49 1043 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 1044 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 1045 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 1046 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1047 break;
molberry 35:4cda290bdb87 1048 case AVOIDANCE: //障害物回避
mori2020 50:ee78382fd399 1049 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 1050 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 1051 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 1052 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1053 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 1054 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1055 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 1056 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 1057 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 1058 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1059 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 1060 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 1061 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 1062 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1063 break;
molberry 35:4cda290bdb87 1064 case LINE_TRACE: //ライントレース
mori2020 50:ee78382fd399 1065 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 1066 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 1067 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 1068 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1069 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 1070 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1071 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 1072 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 1073 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 1074 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1075 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 1076 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 1077 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 1078 strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1079 break;
molberry 35:4cda290bdb87 1080 default: //その他
mori2020 50:ee78382fd399 1081 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 1082 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 1083 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 1084 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1085 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 1086 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1087 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 1088 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 1089 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 1090 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1091 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 1092 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 1093 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 1094 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1095 break;
nishimura_taku_pet 24:9481c8f56a49 1096 }
nishimura_taku_pet 24:9481c8f56a49 1097 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1098 strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet 24:9481c8f56a49 1099 strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 1100 //ready示速度だけ点灯
molberry 35:4cda290bdb87 1101 switch (flag_sp) { //現在の速度のボタン表示
molberry 35:4cda290bdb87 1102 case 0: //ノーマル
mori2020 50:ee78382fd399 1103 strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1104 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1105 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1106 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1107 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1108 break;
molberry 35:4cda290bdb87 1109 case 1: //ファスト
mori2020 50:ee78382fd399 1110 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1111 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1112 strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1113 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1114 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1115 break;
molberry 35:4cda290bdb87 1116 case 2: //ベリーファスト
mori2020 50:ee78382fd399 1117 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1118 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1119 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1120 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1121 strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1122 break;
molberry 35:4cda290bdb87 1123 default: //その他
mori2020 50:ee78382fd399 1124 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1125 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1126 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1127 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1128 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1129 break;
nishimura_taku_pet 24:9481c8f56a49 1130 }
nishimura_taku_pet 24:9481c8f56a49 1131 strcat(webbuff, "</button></td></tr></table>");
mori2020 50:ee78382fd399 1132
nishimura_taku_pet 24:9481c8f56a49 1133 strcat(webbuff, "</center>");
nishimura_taku_pet 24:9481c8f56a49 1134 strcat(webbuff, "</body>");
nishimura_taku_pet 24:9481c8f56a49 1135 strcat(webbuff, "</html>");
mori2020 50:ee78382fd399 1136
molberry 35:4cda290bdb87 1137 strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
faker_71 57:65dd71a6ce72 1138
mori2020 50:ee78382fd399 1139 //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
faker_71 57:65dd71a6ce72 1140 strcat(webbuff, "function htmlacs(url) {");
faker_71 57:65dd71a6ce72 1141 strcat(webbuff, "var xhr = new XMLHttpRequest();");
faker_71 57:65dd71a6ce72 1142 strcat(webbuff, "xhr.open(\"GET\", url, true);");
faker_71 57:65dd71a6ce72 1143 strcat(webbuff, "xhr.send();");
faker_71 57:65dd71a6ce72 1144 strcat(webbuff, "setTimeout(function(){xhr.abort();},100);");
nishimura_taku_pet 24:9481c8f56a49 1145 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1146
mori2020 50:ee78382fd399 1147 //mode変更ボタン入力時動作 //sendmes
mori2020 50:ee78382fd399 1148 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 1149 strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet 24:9481c8f56a49 1150 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1151 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1152 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1153 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1154 strcat(webbuff, "for(var i=1;i<8;i++){");
nishimura_taku_pet 24:9481c8f56a49 1155 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1156 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1157 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1158 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1159 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1160 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1161 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1162
mori2020 50:ee78382fd399 1163 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 1164 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1165 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1166 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1167 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1168 strcat(webbuff, "for(var i=8;i<11;i++){");
nishimura_taku_pet 24:9481c8f56a49 1169 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1170 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1171 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1172 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1173 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1174 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1175 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1176 strcat(webbuff, "</script>");
mori2020 50:ee78382fd399 1177
nishimura_taku_pet 61:85daf80c7727 1178 bufl = strlen(webbuff); // get total page buffer length
nishimura_taku_pet 61:85daf80c7727 1179
nishimura_taku_pet 61:85daf80c7727 1180 sprintf(httpbuff, "%s",webbuff);
nishimura_taku_pet 61:85daf80c7727 1181 sprintf(webbuff, "HTTP/1.1 200 OK\nDate: Thu, 03 Sep 2020 07:43:28 GMT\nContent-Type: text/html\nContent-Length: %d\nConnection: keep-alive\n\n%s",bufl,httpbuff);
nishimura_taku_pet 61:85daf80c7727 1182 //pc.printf("\r\n*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-\r\n%s\r\n",webbuff);
mori2020 50:ee78382fd399 1183
nishimura_taku_pet 24:9481c8f56a49 1184 // end of WEB page data
nishimura_taku_pet 24:9481c8f56a49 1185 bufl = strlen(webbuff); // get total page buffer length
mori2020 50:ee78382fd399 1186 //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet 24:9481c8f56a49 1187
nishimura_taku_pet 24:9481c8f56a49 1188 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 1189 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1190 getcount=40;
nishimura_taku_pet 24:9481c8f56a49 1191 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1192 getreply();
mori2020 50:ee78382fd399 1193 //*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1194 ////*-*-*-5("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
mori2020 50:ee78382fd399 1195
mori2020 50:ee78382fd399 1196 //*-*-*-5("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
mori2020 50:ee78382fd399 1197
nishimura_taku_pet 24:9481c8f56a49 1198 //pastthrough mode
nishimura_taku_pet 24:9481c8f56a49 1199 SendWEB(); // send web page
mori2020 50:ee78382fd399 1200 //*-*-*-5("\n++++++++++ webbuff clear ++++++++++\r\n");
mori2020 50:ee78382fd399 1201
nishimura_taku_pet 24:9481c8f56a49 1202 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1203 sendcheck();
nishimura_taku_pet 24:9481c8f56a49 1204 }
nishimura_taku_pet 24:9481c8f56a49 1205
nishimura_taku_pet 24:9481c8f56a49 1206 // Large WEB buffer data send
nishimura_taku_pet 24:9481c8f56a49 1207 void SendWEB()
nishimura_taku_pet 24:9481c8f56a49 1208 {
nishimura_taku_pet 24:9481c8f56a49 1209 int i=0;
nishimura_taku_pet 24:9481c8f56a49 1210 if(esp.writeable()) {
nishimura_taku_pet 24:9481c8f56a49 1211 while(webbuff[i]!='\0') {
nishimura_taku_pet 24:9481c8f56a49 1212 esp.putc(webbuff[i]);
mori2020 50:ee78382fd399 1213
nishimura_taku_pet 24:9481c8f56a49 1214 //****
nishimura_taku_pet 24:9481c8f56a49 1215 //output at command when 2000
nishimura_taku_pet 24:9481c8f56a49 1216 if(((i%2047)==0) && (i>0)) {
mori2020 50:ee78382fd399 1217 //wait_ms(10);
takuminomura 48:3003ea51c619 1218 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 1219 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:ee78382fd399 1220 ////*-*-*-5("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet 24:9481c8f56a49 1221 timeout=600;
nishimura_taku_pet 24:9481c8f56a49 1222 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1223 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1224 getreply();
mori2020 50:ee78382fd399 1225 ////*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1226 ////*-*-*-5("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1227 }
nishimura_taku_pet 24:9481c8f56a49 1228 //****
nishimura_taku_pet 24:9481c8f56a49 1229 i++;
mori2020 50:ee78382fd399 1230 ////*-*-*-5("%c",webbuff[i]);
nishimura_taku_pet 24:9481c8f56a49 1231 }
nishimura_taku_pet 24:9481c8f56a49 1232 }
mori2020 50:ee78382fd399 1233 //*-*-*-5("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet 24:9481c8f56a49 1234 }
nishimura_taku_pet 24:9481c8f56a49 1235
nishimura_taku_pet 24:9481c8f56a49 1236
nishimura_taku_pet 24:9481c8f56a49 1237 void sendcheck()
nishimura_taku_pet 24:9481c8f56a49 1238 {
nishimura_taku_pet 24:9481c8f56a49 1239 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1240 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1241 getcount=24;
nishimura_taku_pet 24:9481c8f56a49 1242 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1243 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1244
mori2020 50:ee78382fd399 1245 /*
mori2020 50:ee78382fd399 1246 while(weberror==1 && time2.read() <5) {
mori2020 50:ee78382fd399 1247 getreply();
mori2020 50:ee78382fd399 1248 if (strstr(replybuff, "SEND OK") != NULL) {
mori2020 50:ee78382fd399 1249 weberror=0; // wait for valid SEND OK
mori2020 50:ee78382fd399 1250 }
mori2020 50:ee78382fd399 1251 }
mori2020 50:ee78382fd399 1252 */
nishimura_taku_pet 24:9481c8f56a49 1253 if(weberror==1) { // restart connection
nishimura_taku_pet 24:9481c8f56a49 1254 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet 24:9481c8f56a49 1255 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1256 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1257 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1258 getreply();
mori2020 50:ee78382fd399 1259 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1260 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1261 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1262 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1263 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1264 getreply();
mori2020 50:ee78382fd399 1265 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1266 } else {
nishimura_taku_pet 24:9481c8f56a49 1267 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet 24:9481c8f56a49 1268 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1269 getreply();
mori2020 50:ee78382fd399 1270 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1271 }
nishimura_taku_pet 24:9481c8f56a49 1272 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1273 }
nishimura_taku_pet 24:9481c8f56a49 1274
nishimura_taku_pet 24:9481c8f56a49 1275 // Reads and processes GET and POST web data
nishimura_taku_pet 24:9481c8f56a49 1276 void ReadWebData()
nishimura_taku_pet 24:9481c8f56a49 1277 {
mori2020 50:ee78382fd399 1278 //*-*-*-5("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet 30:c80da0ecc260 1279 ThisThread::sleep_for(200);
nishimura_taku_pet 24:9481c8f56a49 1280 esp.attach(NULL);
nishimura_taku_pet 24:9481c8f56a49 1281 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1282 DataRX=0;
nishimura_taku_pet 24:9481c8f56a49 1283 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1284 memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet 24:9481c8f56a49 1285 int x = strcspn (webbuff,"+");
nishimura_taku_pet 24:9481c8f56a49 1286 if(x) {
nishimura_taku_pet 24:9481c8f56a49 1287 strcpy(webdata, webbuff + x);
nishimura_taku_pet 24:9481c8f56a49 1288 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1289 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
mori2020 50:ee78382fd399 1290 //int i=0;
mori2020 50:ee78382fd399 1291 //*-*-*-5("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
mori2020 50:ee78382fd399 1292 //*-*-*-5("%s",webdata);
mori2020 50:ee78382fd399 1293 //*-*-*-5("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet 51:1baf4407f384 1294 beforeMode = mode;
nishimura_taku_pet 43:243c1455f88a 1295 if( strstr(webdata, "Normal") != NULL ) {
faker_71 57:65dd71a6ce72 1296 click_log=true;
mori2020 50:ee78382fd399 1297 //*-*-*-5("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1298 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1299 flag_sp = 0;
nishimura_taku_pet 43:243c1455f88a 1300 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1301 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1302 }else if( strstr(webdata, "VeryFast") != NULL ) {
faker_71 57:65dd71a6ce72 1303 click_log=true;
mori2020 50:ee78382fd399 1304 //*-*-*-5("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1305 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1306 flag_sp = 2;
nishimura_taku_pet 43:243c1455f88a 1307 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1308 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1309 }else if( strstr(webdata, "Fast") != NULL ) {
faker_71 57:65dd71a6ce72 1310 click_log=true;
mori2020 50:ee78382fd399 1311 //*-*-*-5("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1312 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1313 flag_sp = 1;
nishimura_taku_pet 43:243c1455f88a 1314 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1315 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1316 }
nishimura_taku_pet 24:9481c8f56a49 1317 if( strstr(webdata, "GO") != NULL ) {
faker_71 57:65dd71a6ce72 1318 pred=!pred;
faker_71 57:65dd71a6ce72 1319 click_log=true;
mori2020 50:ee78382fd399 1320 //*-*-*-5("+++++++++++++++++前進+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1321 run = ADVANCE; // 前進
molberry 35:4cda290bdb87 1322 mode = ADVANCE; // モード変更
molberry 35:4cda290bdb87 1323 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1324 }
takuminomura 48:3003ea51c619 1325
nishimura_taku_pet 24:9481c8f56a49 1326 if( strstr(webdata, "LEFT") != NULL ) {
faker_71 57:65dd71a6ce72 1327 click_log=true;
mori2020 50:ee78382fd399 1328 //*-*-*-5("+++++++++++++++++左折+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1329 run = LEFT; // 左折
molberry 35:4cda290bdb87 1330 mode = LEFT; // モード変更
molberry 35:4cda290bdb87 1331 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1332 }
nishimura_taku_pet 24:9481c8f56a49 1333
nishimura_taku_pet 24:9481c8f56a49 1334 if( strstr(webdata, "STOP") != NULL ) {
faker_71 57:65dd71a6ce72 1335 click_log=true;
mori2020 50:ee78382fd399 1336 //*-*-*-5("+++++++++++++++++停止+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1337 run = STOP; // 停止
molberry 35:4cda290bdb87 1338 mode = STOP; // モード変更
molberry 35:4cda290bdb87 1339 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1340 }
nishimura_taku_pet 24:9481c8f56a49 1341
nishimura_taku_pet 24:9481c8f56a49 1342 if( strstr(webdata, "RIGHT") != NULL ) {
faker_71 57:65dd71a6ce72 1343 click_log=true;
mori2020 50:ee78382fd399 1344 //*-*-*-5("+++++++++++++++++右折+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1345 run = RIGHT; // 右折
molberry 35:4cda290bdb87 1346 mode = RIGHT; // モード変更
molberry 35:4cda290bdb87 1347 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1348 }
nishimura_taku_pet 24:9481c8f56a49 1349
nishimura_taku_pet 24:9481c8f56a49 1350 if( strstr(webdata, "BACK") != NULL ) {
faker_71 57:65dd71a6ce72 1351 click_log=true;
mori2020 50:ee78382fd399 1352 //*-*-*-5("+++++++++++++++++後進+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1353 run = BACK; // 後進
molberry 35:4cda290bdb87 1354 mode = BACK; // モード変更
molberry 35:4cda290bdb87 1355 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1356 }
mori2020 50:ee78382fd399 1357 //*-*-*-5("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1358
nishimura_taku_pet 24:9481c8f56a49 1359 if( strstr(webdata, "AVOIDANCE") != NULL ) {
faker_71 57:65dd71a6ce72 1360 click_log=true;
mori2020 50:ee78382fd399 1361 //*-*-*-5("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet 26:0badbc9f9cb3 1362 if(avoi_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1363 delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1364 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 26:0badbc9f9cb3 1365 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1366 }
nishimura_taku_pet 24:9481c8f56a49 1367 mode=AVOIDANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1368 run = ADVANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1369 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1370 }
nishimura_taku_pet 24:9481c8f56a49 1371 if( strstr(webdata, "LINE_TRACE") != NULL ) {
faker_71 57:65dd71a6ce72 1372 click_log=true;
mori2020 50:ee78382fd399 1373 //*-*-*-5("+++++++++++++++++LINET RACE+++++++++++++++++++++");
mori2020 50:ee78382fd399 1374 //*-*-*-5("mode = LINE_TRACE\r\n");
nishimura_taku_pet 26:0badbc9f9cb3 1375 if(trace_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1376 delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1377 trace_thread = new Thread(trace);
nishimura_taku_pet 26:0badbc9f9cb3 1378 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1379 }
nishimura_taku_pet 24:9481c8f56a49 1380 mode=LINE_TRACE;
nishimura_taku_pet 26:0badbc9f9cb3 1381 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1382 }
nishimura_taku_pet 26:0badbc9f9cb3 1383 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1384 trace_thread->terminate();
nishimura_taku_pet 26:0badbc9f9cb3 1385 }
nishimura_taku_pet 26:0badbc9f9cb3 1386 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1387 avoi_thread->terminate();
nishimura_taku_pet 31:3665282561d6 1388 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 26:0badbc9f9cb3 1389 }
nishimura_taku_pet 24:9481c8f56a49 1390 sprintf(channel, "%d",linkID);
nishimura_taku_pet 24:9481c8f56a49 1391 if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1392 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1393 }
nishimura_taku_pet 24:9481c8f56a49 1394 if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1395 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1396 }
nishimura_taku_pet 24:9481c8f56a49 1397 webcounter++;
nishimura_taku_pet 24:9481c8f56a49 1398 sprintf(webcount, "%d",webcounter);
nishimura_taku_pet 24:9481c8f56a49 1399 } else {
nishimura_taku_pet 24:9481c8f56a49 1400 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1401 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1402 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1403 }
nishimura_taku_pet 24:9481c8f56a49 1404 }
nishimura_taku_pet 24:9481c8f56a49 1405 // Starts and restarts webserver if errors detected.
nishimura_taku_pet 24:9481c8f56a49 1406 void startserver()
nishimura_taku_pet 24:9481c8f56a49 1407 {
mori2020 50:ee78382fd399 1408 //*-*-*-5("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1409 strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet 24:9481c8f56a49 1410 timeout=8000;
nishimura_taku_pet 24:9481c8f56a49 1411 getcount=1000;
nishimura_taku_pet 24:9481c8f56a49 1412 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1413 getreply();
mori2020 50:ee78382fd399 1414 //*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1415 //*-*-*-5("%d",ount);
nishimura_taku_pet 24:9481c8f56a49 1416 if (strstr(replybuff, "OK") != NULL) {
mori2020 50:ee78382fd399 1417 //*-*-*-5("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1418 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet 24:9481c8f56a49 1419 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1420 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1421 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1422 getreply();
mori2020 50:ee78382fd399 1423 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1424 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1425 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1426 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1427 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1428 getreply();
mori2020 50:ee78382fd399 1429 //*-*-*-5(replybuff);
nishimura_taku_pet 33:a6f1090e0174 1430 ThisThread::sleep_for(500);
nishimura_taku_pet 24:9481c8f56a49 1431 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet 24:9481c8f56a49 1432 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1433 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1434 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1435 getreply();
mori2020 50:ee78382fd399 1436 //*-*-*-5(replybuff);
nishimura_taku_pet 25:8ed98982faa7 1437 ThisThread::sleep_for(5000);
mori2020 50:ee78382fd399 1438 //*-*-*-5("\n Getting Server IP \r\n");
nishimura_taku_pet 24:9481c8f56a49 1439 strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet 24:9481c8f56a49 1440 timeout=2500;
nishimura_taku_pet 24:9481c8f56a49 1441 getcount=200;
nishimura_taku_pet 24:9481c8f56a49 1442 while(weberror==0) {
nishimura_taku_pet 24:9481c8f56a49 1443 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1444 getreply();
nishimura_taku_pet 24:9481c8f56a49 1445 if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet 24:9481c8f56a49 1446 weberror=1; // wait for valid IP
nishimura_taku_pet 24:9481c8f56a49 1447 }
nishimura_taku_pet 24:9481c8f56a49 1448 }
mori2020 50:ee78382fd399 1449 //*-*-*-5("\n Enter WEB address (IP) found below in your browser \r\n\n");
mori2020 50:ee78382fd399 1450 //*-*-*-5("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1451 replybuff[strlen(replybuff)-1] = '\0';
mori2020 50:ee78382fd399 1452 //char* IP = replybuff + 5;
nishimura_taku_pet 24:9481c8f56a49 1453 sprintf(webdata,"%s", replybuff);
mori2020 50:ee78382fd399 1454 //*-*-*-5(webdata);
nishimura_taku_pet 24:9481c8f56a49 1455 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1456 bufflen=200;
mori2020 50:ee78382fd399 1457 //bufflen=100;
nishimura_taku_pet 24:9481c8f56a49 1458 ount=0;
mori2020 50:ee78382fd399 1459 //*-*-*-5("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet 33:a6f1090e0174 1460 setup();
nishimura_taku_pet 24:9481c8f56a49 1461 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1462 } else {
mori2020 50:ee78382fd399 1463 //*-*-*-5("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1464 led1=1;
nishimura_taku_pet 24:9481c8f56a49 1465 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1466 led3=1;
nishimura_taku_pet 24:9481c8f56a49 1467 led4=1;
nishimura_taku_pet 24:9481c8f56a49 1468 while(1) {
nishimura_taku_pet 24:9481c8f56a49 1469 led1=!led1;
nishimura_taku_pet 24:9481c8f56a49 1470 led2=!led2;
nishimura_taku_pet 24:9481c8f56a49 1471 led3=!led3;
nishimura_taku_pet 24:9481c8f56a49 1472 led4=!led4;
nishimura_taku_pet 56:d02c62149a19 1473 mutex.lock(); // ミューテックスロック
nishimura_taku_pet 56:d02c62149a19 1474 lcd.setAddress(0,1);
nishimura_taku_pet 56:d02c62149a19 1475 lcd.printf("Mode:WiFiError ");
nishimura_taku_pet 56:d02c62149a19 1476 mutex.unlock();
nishimura_taku_pet 25:8ed98982faa7 1477 ThisThread::sleep_for(1000);
nishimura_taku_pet 24:9481c8f56a49 1478 }
nishimura_taku_pet 24:9481c8f56a49 1479 }
nishimura_taku_pet 24:9481c8f56a49 1480 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1481 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1482 }
mori2020 50:ee78382fd399 1483
nishimura_taku_pet 24:9481c8f56a49 1484 // ESP Command data send
nishimura_taku_pet 24:9481c8f56a49 1485 void SendCMD()
nishimura_taku_pet 24:9481c8f56a49 1486 {
nishimura_taku_pet 24:9481c8f56a49 1487 esp.printf("%s", cmdbuff);
nishimura_taku_pet 24:9481c8f56a49 1488 }
nishimura_taku_pet 24:9481c8f56a49 1489 // Get Command and ESP status replies
nishimura_taku_pet 24:9481c8f56a49 1490 void getreply()
nishimura_taku_pet 24:9481c8f56a49 1491 {
nishimura_taku_pet 24:9481c8f56a49 1492 memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet 24:9481c8f56a49 1493 time1.reset();
nishimura_taku_pet 24:9481c8f56a49 1494 time1.start();
nishimura_taku_pet 24:9481c8f56a49 1495 replycount=0;
nishimura_taku_pet 24:9481c8f56a49 1496 while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet 24:9481c8f56a49 1497 if(esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 1498 replybuff[replycount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 1499 replycount++;
nishimura_taku_pet 24:9481c8f56a49 1500 }
nishimura_taku_pet 24:9481c8f56a49 1501 }
nishimura_taku_pet 24:9481c8f56a49 1502 time1.stop();
nishimura_taku_pet 24:9481c8f56a49 1503 }
takuminomura 48:3003ea51c619 1504
tomotsugu 8:a47dbf4fa455 1505 /* mainスレッド */
yangtzuli 0:0d0037aabe41 1506 int main() {
tomotsugu 8:a47dbf4fa455 1507 /* 初期設定 */
mori2020 50:ee78382fd399 1508 wifi_thread = new Thread(wifi);
mori2020 50:ee78382fd399 1509 wifi_thread -> set_priority(osPriorityHigh);
mori2020 50:ee78382fd399 1510 // setup();
nishimura_taku_pet 16:ffc732a3cf92 1511 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 1512 avoi_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 1513 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 1514 trace_thread->terminate();
tomotsugu 8:a47dbf4fa455 1515 mode = READY; // 現在待ちモード
tomotsugu 8:a47dbf4fa455 1516 beforeMode = READY; // 前回待ちモード
tomotsugu 8:a47dbf4fa455 1517 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 1518 flag_sp = NORMAL; // スピード(普通)
tomotsugu 10:d193030ce672 1519 lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet 33:a6f1090e0174 1520 lcd.setAddress(0,1);
nishimura_taku_pet 33:a6f1090e0174 1521 lcd.printf("Mode:SetUp");
nishimura_taku_pet 51:1baf4407f384 1522 //display(); // ディスプレイ表示
yangtzuli 2:38825726cb1b 1523
yangtzuli 0:0d0037aabe41 1524 while(1){
tomotsugu 8:a47dbf4fa455 1525 bChange(); // バッテリー残量更新
yangtzuli 0:0d0037aabe41 1526 }
yangtzuli 0:0d0037aabe41 1527 }