robotcar-v1 - 表示された文字の修正

mbed_robotcar » Code » robotcar-v1

表示された文字の修正

main.cpp@58:cdfbedad5df6, 2020-09-03 (annotated)

Committer:: takuminomura
Date:: Thu Sep 03 07:18:03 2020 +0000
Revision:: 58:cdfbedad5df6
Parent:: 57:65dd71a6ce72
Child:: 59:72567654250f

Mbed Robot Car ; ; Publish

Who changed what in which revision?

User	Revision	Line number	New contents of line
yangtzuli	0:0d0037aabe41	1	/* mbed Microcontroller Library
yangtzuli	0:0d0037aabe41	2	* Copyright (c) 2019 ARM Limited
yangtzuli	0:0d0037aabe41	3	* SPDX-License-Identifier: Apache-2.0
yangtzuli	0:0d0037aabe41	4	*/
takuminomura	58:cdfbedad5df6	5
takuminomura	58:cdfbedad5df6	6	/*
takuminomura	58:cdfbedad5df6	7	Version 0.01
takuminomura	58:cdfbedad5df6	8	Date 2020/09/03
takuminomura	58:cdfbedad5df6	9	Uploader Takumi Nomura
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 MSR1SS // 低速旋回(Fastの時)
takuminomura	58:cdfbedad5df6	79	#define MSR5 MSR2SS // 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, MSR3REVERSE, MSR4REVERSE, MSR5REVERSE, MSR6REVERSE, MSR7REVERSE, MSR8REVERSE};
takuminomura	48:3003ea51c619	139	float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3REVERSE, MSR4REVERSE, 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, MSL3REVERSE, MSL4REVERSE, MSL5REVERSE, MSL6REVERSE, MSL7REVERSE, MSL8REVERSE};
takuminomura	48:3003ea51c619	142	float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3REVERSE, MSL4REVERSE, 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	24:9481c8f56a49	211	int port =80; // set server port
nishimura_taku_pet	24:9481c8f56a49	212	int SERVtimeout =5; // set server timeout in seconds in case link breaks.
takuminomura	48:3003ea51c619	213	char ssid[32] = "mbed05"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet	24:9481c8f56a49	214	char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
faker_71	57:65dd71a6ce72	215	bool click_log = false;
faker_71	57:65dd71a6ce72	216	DigitalOut pred(p16);
faker_71	57:65dd71a6ce72	217	DigitalOut pblue(p19);
yangtzuli	3:2ae6218973be	218
yangtzuli	3:2ae6218973be	219	/* プロトタイプ宣言 */
nishimura_taku_pet	33:a6f1090e0174	220	void decodeIR(/void const argument*/);
nishimura_taku_pet	33:a6f1090e0174	221	void motor(/void const argument*/);
yangtzuli	3:2ae6218973be	222	void changeSpeed();
nishimura_taku_pet	16:ffc732a3cf92	223	void avoidance(/void const argument*/);
nishimura_taku_pet	16:ffc732a3cf92	224	void trace(/void const argument*/);
nishimura_taku_pet	40:75e1ad7c27e4	225	void watchsurrounding3();
nishimura_taku_pet	40:75e1ad7c27e4	226	void watchsurrounding5();
yangtzuli	2:38825726cb1b	227	int watch();
takuminomura	48:3003ea51c619	228	char battery_ch[8];
yangtzuli	5:3fffb364744b	229	void bChange();
yangtzuli	3:2ae6218973be	230	void display();
yangtzuli	3:2ae6218973be	231	void lcdBacklight(void const *argument);
nishimura_taku_pet	45:76e8c07d76ef	232	void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
nishimura_taku_pet	43:243c1455f88a	233	void wifi(/void const argument*/);
takuminomura	48:3003ea51c619	234	Thread *deco_thread; // decodeIRをスレッド化：+3
nishimura_taku_pet	43:243c1455f88a	235	Thread *wifi_thread;
takuminomura	48:3003ea51c619	236	Thread *motor_thread; // motorをスレッド化：+2
takuminomura	48:3003ea51c619	237	RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
takuminomura	48:3003ea51c619	238	Thread *avoi_thread; // avoidanceをスレッド化：+2
takuminomura	48:3003ea51c619	239	Thread *trace_thread; // traceをスレッド化：+2
yangtzuli	2:38825726cb1b	240
nishimura_taku_pet	24:9481c8f56a49	241	DigitalOut led1(LED1);
nishimura_taku_pet	24:9481c8f56a49	242	DigitalOut led2(LED2);
nishimura_taku_pet	24:9481c8f56a49	243	DigitalOut led3(LED3);
nishimura_taku_pet	24:9481c8f56a49	244	DigitalOut led4(LED4);
yangtzuli	3:2ae6218973be	245
nishimura_taku_pet	33:a6f1090e0174	246	void setup(){
nishimura_taku_pet	33:a6f1090e0174	247	deco_thread = new Thread(decodeIR);
nishimura_taku_pet	33:a6f1090e0174	248	deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet	33:a6f1090e0174	249	motor_thread = new Thread(motor);
nishimura_taku_pet	33:a6f1090e0174	250	motor_thread -> set_priority(osPriorityHigh);
mori2020	50:ee78382fd399	251	wifi_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet	33:a6f1090e0174	252	display();
nishimura_taku_pet	33:a6f1090e0174	253	}
nishimura_taku_pet	33:a6f1090e0174	254
tomotsugu	8:a47dbf4fa455	255	/* リモコン受信スレッド */
takuminomura	48:3003ea51c619	256	void decodeIR(/void const argument*/){
takuminomura	48:3003ea51c619	257	while(1){
yangtzuli	0:0d0037aabe41	258	// 受信待ち
tomotsugu	8:a47dbf4fa455	259	if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli	3:2ae6218973be	260	bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu	8:a47dbf4fa455	261	if(bitcount > 1){ // 受信成功
yangtzuli	1:5bb497a38344	262	code=0;
tomotsugu	15:5eef1955f6c2	263	for(int j = 0; j < 4; j++){
yangtzuli	1:5bb497a38344	264	code+=(buf[j]<<(8*(3-j)));
yangtzuli	1:5bb497a38344	265	}
tomotsugu	8:a47dbf4fa455	266	if(mode != SPEED){ // スピードモード以外なら
takuminomura	48:3003ea51c619	267	beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli	3:2ae6218973be	268	}
yangtzuli	0:0d0037aabe41	269	switch(code){
tomotsugu	8:a47dbf4fa455	270	case 0x40bf27d8: // クイック
yangtzuli	17:f7259ab2fe86	271	//pc.printf("mode = SPEED\r\n");
takuminomura	48:3003ea51c619	272	mode = SPEED; // スピードモード
tomotsugu	8:a47dbf4fa455	273	changeSpeed(); // 速度変更
tomotsugu	8:a47dbf4fa455	274	display(); // ディスプレイ表示
tomotsugu	8:a47dbf4fa455	275	mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli	1:5bb497a38344	276	break;
tomotsugu	8:a47dbf4fa455	277	case 0x40be34cb: // レグザリンク
yangtzuli	17:f7259ab2fe86	278	//pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet	16:ffc732a3cf92	279	if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	280	delete trace_thread;
nishimura_taku_pet	16:ffc732a3cf92	281	trace_thread = new Thread(trace);
nishimura_taku_pet	16:ffc732a3cf92	282	trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	16:ffc732a3cf92	283	}
tomotsugu	8:a47dbf4fa455	284	mode=LINE_TRACE; // ライントレースモード
tomotsugu	8:a47dbf4fa455	285	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	286	break;
tomotsugu	8:a47dbf4fa455	287	case 0x40bf6e91: // 番組表
yangtzuli	17:f7259ab2fe86	288	//pc.printf("mode = AVOIDANCE\r\n");
nishimura_taku_pet	16:ffc732a3cf92	289	if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	290	delete avoi_thread;
nishimura_taku_pet	16:ffc732a3cf92	291	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	16:ffc732a3cf92	292	avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	16:ffc732a3cf92	293	}
tomotsugu	18:6cca64c7dbc3	294	flag_a = 0;
tomotsugu	8:a47dbf4fa455	295	mode=AVOIDANCE; // 障害物回避モード
tomotsugu	13:1a7667d0aa78	296	run = ADVANCE; // 前進
tomotsugu	8:a47dbf4fa455	297	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	298	break;
takuminomura	48:3003ea51c619	299	case 0x40bf3ec1: // ↑
yangtzuli	17:f7259ab2fe86	300	//pc.printf("mode = ADVANCE\r\n");
tomotsugu	8:a47dbf4fa455	301	mode = ADVANCE; // 前進モード
tomotsugu	8:a47dbf4fa455	302	run = ADVANCE; // 前進
tomotsugu	8:a47dbf4fa455	303	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	304	break;
takuminomura	48:3003ea51c619	305	case 0x40bf3fc0: // ↓
yangtzuli	17:f7259ab2fe86	306	//pc.printf("mode = BACK\r\n");
tomotsugu	8:a47dbf4fa455	307	mode = BACK; // 後退モード
tomotsugu	8:a47dbf4fa455	308	run = BACK; // 後退
tomotsugu	8:a47dbf4fa455	309	display(); // ディスプレイ表示
yangtzuli	0:0d0037aabe41	310	break;
takuminomura	48:3003ea51c619	311	case 0x40bf5fa0: // ←
yangtzuli	17:f7259ab2fe86	312	//pc.printf("mode = LEFT\r\n");
tomotsugu	8:a47dbf4fa455	313	mode = LEFT; // 左折モード
tomotsugu	8:a47dbf4fa455	314	run = LEFT; // 左折
tomotsugu	8:a47dbf4fa455	315	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	316	break;
takuminomura	48:3003ea51c619	317	case 0x40bf5ba4: // →
yangtzuli	17:f7259ab2fe86	318	//pc.printf("mode = RIGHT\r\n");
tomotsugu	8:a47dbf4fa455	319	mode = RIGHT; // 右折モード
tomotsugu	8:a47dbf4fa455	320	run = RIGHT; // 右折
tomotsugu	8:a47dbf4fa455	321	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	322	break;
takuminomura	48:3003ea51c619	323	case 0x40bf3dc2: // 決定
yangtzuli	17:f7259ab2fe86	324	//pc.printf("mode = STOP\r\n");
tomotsugu	8:a47dbf4fa455	325	mode = STOP; // 停止モード
tomotsugu	8:a47dbf4fa455	326	run = STOP; // 停止
tomotsugu	8:a47dbf4fa455	327	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	328	break;
yangtzuli	0:0d0037aabe41	329	default:
yangtzuli	0:0d0037aabe41	330	;
yangtzuli	0:0d0037aabe41	331	}
nishimura_taku_pet	16:ffc732a3cf92	332	if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	333	trace_thread->terminate();
nishimura_taku_pet	16:ffc732a3cf92	334	}
nishimura_taku_pet	16:ffc732a3cf92	335	if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	336	avoi_thread->terminate();
nishimura_taku_pet	28:cb51cafca490	337	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	16:ffc732a3cf92	338	}
yangtzuli	0:0d0037aabe41	339	}
yangtzuli	0:0d0037aabe41	340	}
takuminomura	48:3003ea51c619	341	if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
takuminomura	48:3003ea51c619	342	viewTimer.stop(); // タイマーストップ
takuminomura	48:3003ea51c619	343	viewTimer.reset(); // タイマーリセット
takuminomura	48:3003ea51c619	344	display(); // ディスプレイ表示
yangtzuli	4:3f80c0180e2f	345	}
takuminomura	48:3003ea51c619	346	ThisThread::sleep_for(90); // 90ms待つ
takuminomura	48:3003ea51c619	347	}
yangtzuli	2:38825726cb1b	348	}
tomotsugu	8:a47dbf4fa455	349
tomotsugu	8:a47dbf4fa455	350	/* モーター制御スレッド */
nishimura_taku_pet	33:a6f1090e0174	351	void motor(/void const argument*/){
tomotsugu	8:a47dbf4fa455	352	while(1){
tomotsugu	8:a47dbf4fa455	353	/* 走行状態の場合分け */
nishimura_taku_pet	51:1baf4407f384	354	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	355	flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet	51:1baf4407f384	356	}
yangtzuli	3:2ae6218973be	357	switch(run){
tomotsugu	8:a47dbf4fa455	358	/* 前進 */
yangtzuli	3:2ae6218973be	359	case ADVANCE:
takuminomura	48:3003ea51c619	360	motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020	50:ee78382fd399	361	motorR2 = LOW; // 右後退モーターOFF
takuminomura	48:3003ea51c619	362	motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020	50:ee78382fd399	363	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	364	break;
tomotsugu	8:a47dbf4fa455	365	/* 右折 */
yangtzuli	3:2ae6218973be	366	case RIGHT:
mori2020	50:ee78382fd399	367	motorR1 = LOW; // 右前進モーターOFF
takuminomura	48:3003ea51c619	368	motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
takuminomura	48:3003ea51c619	369	motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020	50:ee78382fd399	370	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	371	break;
tomotsugu	8:a47dbf4fa455	372	/* 左折 */
yangtzuli	3:2ae6218973be	373	case LEFT:
takuminomura	48:3003ea51c619	374	motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020	50:ee78382fd399	375	motorR2 = LOW; // 右後退モーターOFF
mori2020	50:ee78382fd399	376	motorL1 = LOW; // 左前進モーターOFF
takuminomura	48:3003ea51c619	377	motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli	3:2ae6218973be	378	break;
tomotsugu	8:a47dbf4fa455	379	/* 後退 */
yangtzuli	3:2ae6218973be	380	case BACK:
mori2020	50:ee78382fd399	381	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	52:c868403753e8	382	motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
mori2020	50:ee78382fd399	383	motorL1 = LOW; // 左前進モーターOFF
takuminomura	48:3003ea51c619	384	motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli	3:2ae6218973be	385	break;
tomotsugu	8:a47dbf4fa455	386	/* 停止 */
yangtzuli	3:2ae6218973be	387	case STOP:
tomotsugu	8:a47dbf4fa455	388	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	8:a47dbf4fa455	389	motorR2 = LOW; // 右後退モーターOFF
tomotsugu	8:a47dbf4fa455	390	motorL1 = LOW; // 左前進モーターOFF
tomotsugu	8:a47dbf4fa455	391	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	392	break;
tomotsugu	52:c868403753e8	393	case A1RIGHT:
mori2020	50:ee78382fd399	394	motorR1 = LOW;
tomotsugu	52:c868403753e8	395	motorR2 = 0.55;
tomotsugu	52:c868403753e8	396	motorL1 = 0.57;
mori2020	50:ee78382fd399	397	motorL2 = LOW;
takuminomura	49:7224132f4b0e	398	break;
tomotsugu	53:debc8879ba5d	399	case A1LEFT:
tomotsugu	52:c868403753e8	400	motorR1 = 0.57;
mori2020	50:ee78382fd399	401	motorR2 = LOW;
mori2020	50:ee78382fd399	402	motorL1 = LOW;
tomotsugu	52:c868403753e8	403	motorL2 = 0.55;
tomotsugu	52:c868403753e8	404	break;
tomotsugu	52:c868403753e8	405	case A2RIGHT:
tomotsugu	52:c868403753e8	406	motorR1 = LOW;
tomotsugu	52:c868403753e8	407	motorR2 = 0.33;
tomotsugu	52:c868403753e8	408	motorL1 = 0.35;
tomotsugu	52:c868403753e8	409	motorL2 = LOW;
tomotsugu	52:c868403753e8	410	break;
tomotsugu	52:c868403753e8	411	case A2LEFT:
tomotsugu	52:c868403753e8	412	motorR1 = 0.35;
tomotsugu	52:c868403753e8	413	motorR2 = LOW;
tomotsugu	52:c868403753e8	414	motorL1 = LOW;
tomotsugu	52:c868403753e8	415	motorL2 = 0.33;
takuminomura	49:7224132f4b0e	416	break;
nishimura_taku_pet	54:f862caf08a7f	417	/* 低速右折 */
nishimura_taku_pet	54:f862caf08a7f	418	case LT_R:
nishimura_taku_pet	54:f862caf08a7f	419	motorR1 = motorSpeedR2[flag_sp]; // 右前進モーターON
nishimura_taku_pet	54:f862caf08a7f	420	motorR2 = LOW; // 右後退モーターOFF
nishimura_taku_pet	54:f862caf08a7f	421	motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
nishimura_taku_pet	54:f862caf08a7f	422	motorL2 = LOW; // 左後退モーターOFF
nishimura_taku_pet	54:f862caf08a7f	423	break;
nishimura_taku_pet	54:f862caf08a7f	424	/* 低速左折 */
nishimura_taku_pet	54:f862caf08a7f	425	case LT_L:
nishimura_taku_pet	54:f862caf08a7f	426	motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
nishimura_taku_pet	54:f862caf08a7f	427	motorR2 = LOW; // 右後退モーターOFF
nishimura_taku_pet	54:f862caf08a7f	428	motorL1 = motorSpeedL2[flag_sp]; // 左前進モーターON
nishimura_taku_pet	54:f862caf08a7f	429	motorL2 = LOW; // 左後退モーターOFF
nishimura_taku_pet	54:f862caf08a7f	430	break;
yangtzuli	3:2ae6218973be	431	}
nishimura_taku_pet	51:1baf4407f384	432	/*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	433	flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet	51:1baf4407f384	434	}*/
takuminomura	48:3003ea51c619	435	ThisThread::sleep_for(3); // 30ms待つ
yangtzuli	2:38825726cb1b	436	}
yangtzuli	2:38825726cb1b	437	}
tomotsugu	8:a47dbf4fa455	438
tomotsugu	8:a47dbf4fa455	439	/* スピード変更関数 */
yangtzuli	3:2ae6218973be	440	void changeSpeed(){
tomotsugu	8:a47dbf4fa455	441	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	442	flag_sp = 0; // スピード変更フラグを0にする
tomotsugu	8:a47dbf4fa455	443	}else{ // それ以外
takuminomura	48:3003ea51c619	444	flag_sp = flag_sp + 1; // スピード変更フラグを+1
takuminomura	48:3003ea51c619	445	}
yangtzuli	3:2ae6218973be	446	}
tomotsugu	8:a47dbf4fa455	447
tomotsugu	8:a47dbf4fa455	448	/* ライントレーススレッド */
takuminomura	49:7224132f4b0e	449	//void trace(){
takuminomura	49:7224132f4b0e	450	// // PID用
takuminomura	49:7224132f4b0e	451	// while(1){
takuminomura	49:7224132f4b0e	452	// ThisThread::sleep_for(3);
takuminomura	49:7224132f4b0e	453	// }
takuminomura	49:7224132f4b0e	454	//}
tomotsugu	20:02bb875a9b13	455	void trace(){
takuminomura	48:3003ea51c619	456	while(1){
takuminomura	48:3003ea51c619	457	/* 各センサー値読み取り */
takuminomura	48:3003ea51c619	458	int sensor1 = ss1;
takuminomura	48:3003ea51c619	459	int sensor2 = ss2;
takuminomura	48:3003ea51c619	460	int sensor3 = ss3;
takuminomura	48:3003ea51c619	461	int sensor4 = ss4;
takuminomura	48:3003ea51c619	462	int sensor5 = ss5;
takuminomura	48:3003ea51c619	463	int sensD = 0;
takuminomura	48:3003ea51c619	464
takuminomura	48:3003ea51c619	465	/* センサー値の決定 */
takuminomura	48:3003ea51c619	466	if(sensor1 > 0) sensD \|= 0x10;
takuminomura	48:3003ea51c619	467	if(sensor2 > 0) sensD \|= 0x08;
takuminomura	48:3003ea51c619	468	if(sensor3 > 0) sensD \|= 0x04;
takuminomura	48:3003ea51c619	469	if(sensor4 > 0) sensD \|= 0x02;
takuminomura	48:3003ea51c619	470	if(sensor5 > 0) sensD \|= 0x01;
takuminomura	48:3003ea51c619	471
takuminomura	48:3003ea51c619	472	/* センサー値によって場合分け */
takuminomura	48:3003ea51c619	473	switch(sensArray[sensD]){
takuminomura	48:3003ea51c619	474	case 1:
takuminomura	48:3003ea51c619	475	flag_sp = flag_sp % 3 + 6;
takuminomura	48:3003ea51c619	476	run = ADVANCE; // 高速で前進
takuminomura	48:3003ea51c619	477	break;
takuminomura	48:3003ea51c619	478	case 2:
takuminomura	48:3003ea51c619	479	flag_sp = flag_sp % 3 + 3;
takuminomura	49:7224132f4b0e	480	// run = RIGHT; // 低速で右折
takuminomura	49:7224132f4b0e	481	run = LT_R; // 低速で右折
takuminomura	48:3003ea51c619	482	break;
takuminomura	48:3003ea51c619	483	case 3:
takuminomura	48:3003ea51c619	484	flag_sp = flag_sp % 3 + 3;
takuminomura	49:7224132f4b0e	485	// run = LEFT; // 低速で左折
takuminomura	49:7224132f4b0e	486	run = LT_L; // 低速で左折
takuminomura	48:3003ea51c619	487	break;
takuminomura	48:3003ea51c619	488	case 4:
takuminomura	48:3003ea51c619	489	flag_sp = flag_sp % 3;
takuminomura	48:3003ea51c619	490	run = RIGHT; // 中速で右折
takuminomura	48:3003ea51c619	491	break;
takuminomura	48:3003ea51c619	492	case 5:
takuminomura	48:3003ea51c619	493	flag_sp = flag_sp % 3;
takuminomura	48:3003ea51c619	494	run = LEFT; // 中速で左折
takuminomura	48:3003ea51c619	495	break;
takuminomura	48:3003ea51c619	496	case 6:
takuminomura	48:3003ea51c619	497	flag_sp = flag_sp % 3 + 6;
takuminomura	48:3003ea51c619	498	run = RIGHT; // 高速で右折
takuminomura	48:3003ea51c619	499	break;
takuminomura	48:3003ea51c619	500	case 7:
takuminomura	48:3003ea51c619	501	flag_sp = flag_sp % 3 + 6;
takuminomura	48:3003ea51c619	502	run = LEFT; // 高速で左折
takuminomura	48:3003ea51c619	503	break;
takuminomura	48:3003ea51c619	504	default:
takuminomura	48:3003ea51c619	505	break; // 前回動作を継続
tomotsugu	18:6cca64c7dbc3	506	}
takuminomura	48:3003ea51c619	507	// ThisThread::sleep_for(30); // 30ms待つ
takuminomura	48:3003ea51c619	508	ThisThread::sleep_for(3);
takuminomura	48:3003ea51c619	509	}
yangtzuli	3:2ae6218973be	510	}
yangtzuli	3:2ae6218973be	511
tomotsugu	8:a47dbf4fa455	512	/* 障害物回避走行スレッド */
tomotsugu	20:02bb875a9b13	513	void avoidance(){
nishimura_taku_pet	46:c6deb699160b	514	int i;
yangtzuli	3:2ae6218973be	515	while(1){
nishimura_taku_pet	40:75e1ad7c27e4	516	watchsurrounding3();
mori2020	50:ee78382fd399	517	if(flag_a == 0){ // 障害物がない場合
mori2020	50:ee78382fd399	518	run = ADVANCE; // 前進
mori2020	50:ee78382fd399	519	// if(SLD < 25){ // 正面15cm以内に障害物が現れた場合
mori2020	50:ee78382fd399	520	// run = RIGHT; // 右折
mori2020	50:ee78382fd399	521	// ThisThread::sleep_for(100); // 100ms待つ
mori2020	50:ee78382fd399	522	// run = STOP; // 停止
mori2020	50:ee78382fd399	523	// }else if(SRD < 25){
mori2020	50:ee78382fd399	524	// run = LEFT; // 左折
mori2020	50:ee78382fd399	525	// ThisThread::sleep_for(100); // 100ms待つ
mori2020	50:ee78382fd399	526	// run = STOP; // 停止
mori2020	50:ee78382fd399	527	// }
mori2020	50:ee78382fd399	528	}else{ // 障害物がある場合
tomotsugu	18:6cca64c7dbc3	529	i = 0;
mori2020	50:ee78382fd399	530	int cnt_kyori;
mori2020	50:ee78382fd399	531	int kyori;
mori2020	50:ee78382fd399	532	if(SC < 15){
mori2020	50:ee78382fd399	533	servo.pulsewidth_us(1425); // サーボを中央位置に戻す
nishimura_taku_pet	41:3c58a4be1199	534	ThisThread::sleep_for(100); // 100ms待つ
mori2020	50:ee78382fd399	535	run = STOP;
mori2020	50:ee78382fd399	536	ThisThread::sleep_for(80);
mori2020	50:ee78382fd399	537	run = BACK;
mori2020	50:ee78382fd399	538	// switch(flag_sp){
mori2020	50:ee78382fd399	539	// case 0:
mori2020	50:ee78382fd399	540	// ThisThread::sleep_for(200);
mori2020	50:ee78382fd399	541	// break;
mori2020	50:ee78382fd399	542	// case 1:
mori2020	50:ee78382fd399	543	// ThisThread::sleep_for(150);
mori2020	50:ee78382fd399	544	// break;
mori2020	50:ee78382fd399	545	// case 2:
mori2020	50:ee78382fd399	546	// ThisThread::sleep_for(120);
mori2020	50:ee78382fd399	547	// break;
mori2020	50:ee78382fd399	548	// default:
mori2020	50:ee78382fd399	549	// break;
mori2020	50:ee78382fd399	550	// }
mori2020	50:ee78382fd399	551	cnt_kyori = 0;
mori2020	50:ee78382fd399	552	kyori = watch();
mori2020	50:ee78382fd399	553	while(kyori < limit){ // 正面20cm以内に障害物がある間
mori2020	50:ee78382fd399	554	if(kyori == -1){
nishimura_taku_pet	40:75e1ad7c27e4	555	cnt_kyori++;
mori2020	50:ee78382fd399	556	if(cnt_kyori > 15){
mori2020	50:ee78382fd399	557	cnt_kyori = 0;
nishimura_taku_pet	40:75e1ad7c27e4	558	break;
nishimura_taku_pet	40:75e1ad7c27e4	559	}
nishimura_taku_pet	40:75e1ad7c27e4	560	}
nishimura_taku_pet	40:75e1ad7c27e4	561	kyori = watch();
tomotsugu	18:6cca64c7dbc3	562	}
mori2020	50:ee78382fd399	563	run = STOP;
mori2020	50:ee78382fd399	564	}
nishimura_taku_pet	40:75e1ad7c27e4	565	watchsurrounding5();
takuminomura	48:3003ea51c619	566	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	567	run = A1LEFT; // 左折
tomotsugu	52:c868403753e8	568	while(i < 15){ // 進行方向確認
tomotsugu	18:6cca64c7dbc3	569	if(watch() > limit){
mori2020	50:ee78382fd399	570	break;
nishimura_taku_pet	28:cb51cafca490	571	}else{
mori2020	50:ee78382fd399	572	i++;
yangtzuli	2:38825726cb1b	573	}
yangtzuli	2:38825726cb1b	574	}
nishimura_taku_pet	28:cb51cafca490	575	run = STOP; // 停止
mori2020	50:ee78382fd399	576	}else { // 全方向以外
nishimura_taku_pet	28:cb51cafca490	577	far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	578	houkou = 1; // 進行方向を前に設定
mori2020	50:ee78382fd399	579	if(SC < limit){
mori2020	50:ee78382fd399	580	if(far < SLD \|\| far < SL){ // 左または左前がより遠い場合
mori2020	50:ee78382fd399	581	if(SL < SLD){ // 左前が左より遠い場合
mori2020	50:ee78382fd399	582	far = SLD; // 左前を最も遠い距離に設定
mori2020	50:ee78382fd399	583	}else{ // 左が左前より遠い場合
mori2020	50:ee78382fd399	584	far = SL; // 左を最も遠い距離に設定
mori2020	50:ee78382fd399	585	}
mori2020	50:ee78382fd399	586	houkou = 2; // 進行方向を左に設定
nishimura_taku_pet	28:cb51cafca490	587	}
mori2020	50:ee78382fd399	588	if(far < SRD \|\| far < SR){ // 右または右前がより遠い場合
mori2020	50:ee78382fd399	589	if(SR < SRD){ // 右前が右より遠い場合
mori2020	50:ee78382fd399	590	far = SRD; // 右前を最も遠い距離に設定
mori2020	50:ee78382fd399	591	}else{ // 右が右前よりも遠い場合
mori2020	50:ee78382fd399	592	far = SR; // 右を最も遠い距離に設定
mori2020	50:ee78382fd399	593	}
mori2020	50:ee78382fd399	594	houkou = 3; // 進行方向を右に設定
nishimura_taku_pet	28:cb51cafca490	595	}
nishimura_taku_pet	28:cb51cafca490	596	}
nishimura_taku_pet	28:cb51cafca490	597	switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet	28:cb51cafca490	598	case 1: // 前の場合
nishimura_taku_pet	28:cb51cafca490	599	run = ADVANCE; // 前進
mori2020	50:ee78382fd399	600	switch(flag_sp){
mori2020	50:ee78382fd399	601	case 0:
mori2020	50:ee78382fd399	602	ThisThread::sleep_for(300); // 0.5秒待つ
mori2020	50:ee78382fd399	603	break;
mori2020	50:ee78382fd399	604	case 1:
mori2020	50:ee78382fd399	605	ThisThread::sleep_for(200);
mori2020	50:ee78382fd399	606	break;
mori2020	50:ee78382fd399	607	case 2:
mori2020	50:ee78382fd399	608	ThisThread::sleep_for(100);
mori2020	50:ee78382fd399	609	break;
mori2020	50:ee78382fd399	610	}
nishimura_taku_pet	28:cb51cafca490	611	break;
mori2020	50:ee78382fd399	612	case 2: // 左の場合
tomotsugu	52:c868403753e8	613	run = A1LEFT; // 左折
mori2020	50:ee78382fd399	614	while(i < 15){ // 進行方向確認
nishimura_taku_pet	28:cb51cafca490	615	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	616	break; // ループ+
nishimura_taku_pet	28:cb51cafca490	617	}else{
nishimura_taku_pet	40:75e1ad7c27e4	618	i++;
nishimura_taku_pet	28:cb51cafca490	619	}
nishimura_taku_pet	28:cb51cafca490	620	}
mori2020	50:ee78382fd399	621	run = ADVANCE; // 停止
nishimura_taku_pet	28:cb51cafca490	622	break;
mori2020	50:ee78382fd399	623	case 3: // 右の場合
tomotsugu	52:c868403753e8	624	run = A1RIGHT; // 右折
mori2020	50:ee78382fd399	625	while(i < 15){ // 進行方向確認
mori2020	50:ee78382fd399	626	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	627	break; // ループ+
nishimura_taku_pet	28:cb51cafca490	628	}else{
nishimura_taku_pet	40:75e1ad7c27e4	629	i++;
nishimura_taku_pet	28:cb51cafca490	630	}
nishimura_taku_pet	28:cb51cafca490	631	}
mori2020	50:ee78382fd399	632	run = ADVANCE; // 停止
nishimura_taku_pet	28:cb51cafca490	633	break;
nishimura_taku_pet	28:cb51cafca490	634	}
yangtzuli	5:3fffb364744b	635	}
nishimura_taku_pet	28:cb51cafca490	636	}
nishimura_taku_pet	28:cb51cafca490	637	flag_a = 0; // 障害物有無フラグを0にセット
mori2020	50:ee78382fd399	638	if(SLD < 30 && SRD > 30){ // 正面15cm以内に障害物が現れた場合
tomotsugu	52:c868403753e8	639	run = A2RIGHT; // 右折
tomotsugu	52:c868403753e8	640	ThisThread::sleep_for(100);
mori2020	50:ee78382fd399	641	run = ADVANCE;
mori2020	50:ee78382fd399	642	}else if(SRD < 30 && SLD > 30){
tomotsugu	52:c868403753e8	643	run = A2LEFT; // 左折
tomotsugu	52:c868403753e8	644	ThisThread::sleep_for(100);
mori2020	50:ee78382fd399	645	run = ADVANCE;
mori2020	50:ee78382fd399	646	}
mori2020	50:ee78382fd399	647	}
mori2020	50:ee78382fd399	648	}
mori2020	50:ee78382fd399	649
tomotsugu	8:a47dbf4fa455	650	/* 距離計測関数 */
yangtzuli	2:38825726cb1b	651	int watch(){
mori2020	50:ee78382fd399	652	do{
mori2020	50:ee78382fd399	653	do{
mori2020	50:ee78382fd399	654	trig = 0;
mori2020	50:ee78382fd399	655	ThisThread::sleep_for(5); // 5ms待つ
mori2020	50:ee78382fd399	656	trig = 1;
mori2020	50:ee78382fd399	657	ThisThread::sleep_for(15); // 15ms待つ
mori2020	50:ee78382fd399	658	trig = 0;
mori2020	50:ee78382fd399	659	timer.start();
tomotsugu	21:68d38e8f64b5	660	t1=timer.read_ms();
mori2020	50:ee78382fd399	661	while(echo.read() == 0 && t1<10){
mori2020	50:ee78382fd399	662	t1=timer.read_ms();
mori2020	50:ee78382fd399	663	led1 = 1;
mori2020	50:ee78382fd399	664	}
mori2020	50:ee78382fd399	665	timer.stop();
mori2020	50:ee78382fd399	666	timer.reset();
mori2020	50:ee78382fd399	667	}while(t1 >= 10);
mori2020	50:ee78382fd399	668	timer.start(); // 距離計測タイマースタート
mori2020	50:ee78382fd399	669	while(echo.read() == 1){
tomotsugu	21:68d38e8f64b5	670	}
mori2020	50:ee78382fd399	671	timer.stop(); // 距離計測タイマーストップ
mori2020	50:ee78382fd399	672	DT = (int)(timer.read_us()*0.01657); // 距離計算
mori2020	50:ee78382fd399	673	if(timer.read_ms() > 1000){
mori2020	50:ee78382fd399	674	DT = -1;
mori2020	50:ee78382fd399	675	break;
mori2020	50:ee78382fd399	676	}
mori2020	50:ee78382fd399	677	}while(DT > 1000);
mori2020	50:ee78382fd399	678	if(DT > 400){
mori2020	50:ee78382fd399	679	DT = 400;
mori2020	50:ee78382fd399	680	}
tomotsugu	21:68d38e8f64b5	681	timer.reset();
mori2020	50:ee78382fd399	682	led1 = 0;
mori2020	50:ee78382fd399	683	return DT;
yangtzuli	0:0d0037aabe41	684	}
mori2020	50:ee78382fd399	685
tomotsugu	8:a47dbf4fa455	686	/* 障害物検知関数 */
nishimura_taku_pet	40:75e1ad7c27e4	687	void watchsurrounding3(){
yangtzuli	2:38825726cb1b	688	SC = watch();
nishimura_taku_pet	28:cb51cafca490	689	if(SC < limit){ // 正面20cm以内に障害物がある場合
mori2020	50:ee78382fd399	690	if(SC!=-1){
nishimura_taku_pet	28:cb51cafca490	691	run = STOP; // 停止
nishimura_taku_pet	40:75e1ad7c27e4	692	flag_a = 1;
nishimura_taku_pet	40:75e1ad7c27e4	693	return;
nishimura_taku_pet	28:cb51cafca490	694	}
yangtzuli	2:38825726cb1b	695	}
mori2020	50:ee78382fd399	696	servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet	28:cb51cafca490	697	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	698	SLD = watch();
mori2020	50:ee78382fd399	699	if(SLD < 18){ // 左前20cm以内に障害物がある場合
mori2020	50:ee78382fd399	700	run = STOP;
mori2020	50:ee78382fd399	701	ThisThread::sleep_for(90);
mori2020	50:ee78382fd399	702	run = BACK;
mori2020	50:ee78382fd399	703	ThisThread::sleep_for(150);
tomotsugu	52:c868403753e8	704	run = A2RIGHT;
tomotsugu	52:c868403753e8	705	ThisThread::sleep_for(130);
mori2020	50:ee78382fd399	706	return;
yangtzuli	2:38825726cb1b	707	}
mori2020	50:ee78382fd399	708	servo.pulsewidth_us(1425);
mori2020	50:ee78382fd399	709	ThisThread::sleep_for(100);
tomotsugu	19:c6f9f010bd9e	710	SC = watch();
tomotsugu	19:c6f9f010bd9e	711	if(SC < limit){
mori2020	50:ee78382fd399	712	if(SC != -1){
mori2020	50:ee78382fd399	713	run = STOP; // 停止
nishimura_taku_pet	40:75e1ad7c27e4	714	flag_a = 1;
takuminomura	48:3003ea51c619	715	return;
mori2020	50:ee78382fd399	716	}
tomotsugu	19:c6f9f010bd9e	717	}
mori2020	50:ee78382fd399	718	servo.pulsewidth_us(923); // サーボを右に40度回転
nishimura_taku_pet	28:cb51cafca490	719	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	720	SRD = watch();
mori2020	50:ee78382fd399	721	if(SRD < 18){ // 右前20cm以内に障害物がある場合
tomotsugu	20:02bb875a9b13	722	run = STOP; // 停止
mori2020	50:ee78382fd399	723	ThisThread::sleep_for(90);
mori2020	50:ee78382fd399	724	run = BACK;
mori2020	50:ee78382fd399	725	ThisThread::sleep_for(150);
tomotsugu	52:c868403753e8	726	run = A2LEFT;
tomotsugu	52:c868403753e8	727	ThisThread::sleep_for(130);
mori2020	50:ee78382fd399	728	return;
yangtzuli	2:38825726cb1b	729	}
mori2020	50:ee78382fd399	730	servo.pulsewidth_us(1425); // サーボを中央位置に戻す
nishimura_taku_pet	40:75e1ad7c27e4	731	ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	732	}
mori2020	50:ee78382fd399	733
nishimura_taku_pet	40:75e1ad7c27e4	734	/* 障害物検知関数 */
nishimura_taku_pet	40:75e1ad7c27e4	735	void watchsurrounding5(){
nishimura_taku_pet	40:75e1ad7c27e4	736	SC = watch();
mori2020	50:ee78382fd399	737	servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet	40:75e1ad7c27e4	738	ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	739	SLD = watch();
nishimura_taku_pet	40:75e1ad7c27e4	740	servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet	40:75e1ad7c27e4	741	ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	742	SL = watch();
mori2020	50:ee78382fd399	743	servo.pulsewidth_us(1425);
nishimura_taku_pet	40:75e1ad7c27e4	744	ThisThread::sleep_for(250);
nishimura_taku_pet	40:75e1ad7c27e4	745	SC = watch();
mori2020	50:ee78382fd399	746	servo.pulsewidth_us(923); // サーボを右に40度回転
nishimura_taku_pet	40:75e1ad7c27e4	747	ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	748	SRD = watch();
yangtzuli	2:38825726cb1b	749	servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet	28:cb51cafca490	750	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	751	SR = watch();
mori2020	50:ee78382fd399	752	servo.pulsewidth_us(1425); // サーボを中央位置に戻す
nishimura_taku_pet	28:cb51cafca490	753	ThisThread::sleep_for(250); // 100ms待つ
yangtzuli	3:2ae6218973be	754	}
yangtzuli	3:2ae6218973be	755
tomotsugu	8:a47dbf4fa455	756	/* ディスプレイ表示関数 */
yangtzuli	3:2ae6218973be	757	void display(){
faker_71	57:65dd71a6ce72	758	// pblue=!pblue;
tomotsugu	8:a47dbf4fa455	759	mutex.lock(); // ミューテックスロック
yangtzuli	3:2ae6218973be	760	lcd.setAddress(0,1);
tomotsugu	8:a47dbf4fa455	761
tomotsugu	8:a47dbf4fa455	762	/* 操作モードによる場合分け */
yangtzuli	3:2ae6218973be	763	switch(mode){
tomotsugu	8:a47dbf4fa455	764	/* 前進 */
yangtzuli	3:2ae6218973be	765	case ADVANCE:
yangtzuli	3:2ae6218973be	766	lcd.printf("Mode:Advance ");
yangtzuli	3:2ae6218973be	767	break;
tomotsugu	8:a47dbf4fa455	768	/* 右折 */
yangtzuli	3:2ae6218973be	769	case RIGHT:
yangtzuli	5:3fffb364744b	770	lcd.printf("Mode:TurnRight ");
yangtzuli	3:2ae6218973be	771	break;
tomotsugu	8:a47dbf4fa455	772	/* 左折 */
yangtzuli	3:2ae6218973be	773	case LEFT:
yangtzuli	5:3fffb364744b	774	lcd.printf("Mode:TurnLeft ");
yangtzuli	3:2ae6218973be	775	break;
tomotsugu	8:a47dbf4fa455	776	/* 後退 */
yangtzuli	3:2ae6218973be	777	case BACK:
yangtzuli	3:2ae6218973be	778	lcd.printf("Mode:Back ");
yangtzuli	3:2ae6218973be	779	break;
tomotsugu	8:a47dbf4fa455	780	/* 停止 */
yangtzuli	3:2ae6218973be	781	case STOP:
yangtzuli	3:2ae6218973be	782	lcd.printf("Mode:Stop ");
yangtzuli	3:2ae6218973be	783	break;
tomotsugu	8:a47dbf4fa455	784	/* 待ち */
yangtzuli	3:2ae6218973be	785	case READY:
yangtzuli	3:2ae6218973be	786	lcd.printf("Mode:Ready ");
yangtzuli	3:2ae6218973be	787	break;
tomotsugu	8:a47dbf4fa455	788	/* ライントレース */
yangtzuli	3:2ae6218973be	789	case LINE_TRACE:
yangtzuli	3:2ae6218973be	790	lcd.printf("Mode:LineTrace ");
yangtzuli	3:2ae6218973be	791	break;
tomotsugu	8:a47dbf4fa455	792	/* 障害物回避 */
yangtzuli	3:2ae6218973be	793	case AVOIDANCE:
yangtzuli	3:2ae6218973be	794	lcd.printf("Mode:Avoidance ");
yangtzuli	3:2ae6218973be	795	break;
tomotsugu	8:a47dbf4fa455	796	/* スピード制御 */
yangtzuli	3:2ae6218973be	797	case SPEED:
tomotsugu	8:a47dbf4fa455	798	/* スピードの状態で場合分け */
takuminomura	48:3003ea51c619	799	switch(flag_sp % 3){
tomotsugu	8:a47dbf4fa455	800	/* 普通 */
yangtzuli	3:2ae6218973be	801	case(NORMAL):
yangtzuli	3:2ae6218973be	802	lcd.printf("Speed:Normal ");
yangtzuli	3:2ae6218973be	803	break;
tomotsugu	8:a47dbf4fa455	804	/* 速い */
yangtzuli	3:2ae6218973be	805	case(FAST):
yangtzuli	3:2ae6218973be	806	lcd.printf("Speed:Fast ");
yangtzuli	3:2ae6218973be	807	break;
tomotsugu	8:a47dbf4fa455	808	/* とても速い */
yangtzuli	3:2ae6218973be	809	case(VERYFAST):
yangtzuli	3:2ae6218973be	810	lcd.printf("Speed:VeryFast ");
yangtzuli	3:2ae6218973be	811	break;
yangtzuli	3:2ae6218973be	812	}
tomotsugu	8:a47dbf4fa455	813	viewTimer.reset(); // タイマーリセット
tomotsugu	8:a47dbf4fa455	814	viewTimer.start(); // タイマースタート
takuminomura	48:3003ea51c619	815	break;
nishimura_taku_pet	56:d02c62149a19	816	default:
nishimura_taku_pet	56:d02c62149a19	817	lcd.printf("Mode:ModeError ");
nishimura_taku_pet	56:d02c62149a19	818	break;
yangtzuli	3:2ae6218973be	819	}
tomotsugu	8:a47dbf4fa455	820	mutex.unlock(); // ミューテックスアンロック
faker_71	57:65dd71a6ce72	821	// pblue=!pblue;
faker_71	57:65dd71a6ce72	822
yangtzuli	3:2ae6218973be	823	}
yangtzuli	3:2ae6218973be	824
tomotsugu	8:a47dbf4fa455	825	/* バックライト点滅 */
yangtzuli	3:2ae6218973be	826	void lcdBacklight(void const *argument){
tomotsugu	8:a47dbf4fa455	827	if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu	8:a47dbf4fa455	828	lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu	8:a47dbf4fa455	829	}else{ // バックライト点滅フラグが0なら
tomotsugu	8:a47dbf4fa455	830	lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli	3:2ae6218973be	831	}
tomotsugu	8:a47dbf4fa455	832	flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli	3:2ae6218973be	833	}
yangtzuli	2:38825726cb1b	834
tomotsugu	8:a47dbf4fa455	835	/* バッテリー残量更新関数 */
yangtzuli	5:3fffb364744b	836	void bChange(){
yangtzuli	17:f7259ab2fe86	837	//pc.printf(" bChange1\r\n");
nishimura_taku_pet	51:1baf4407f384	838	if(run == STOP){
nishimura_taku_pet	54:f862caf08a7f	839	b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)10+0.5)10;
nishimura_taku_pet	51:1baf4407f384	840	}
tomotsugu	10:d193030ce672	841	if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu	10:d193030ce672	842	b = 0;
tomotsugu	10:d193030ce672	843	//lcd.setBacklight(TextLCD::LightOff);
tomotsugu	10:d193030ce672	844	//run = STOP;
tomotsugu	10:d193030ce672	845	//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	846	}
tomotsugu	10:d193030ce672	847	mutex.lock(); // ミューテックスロック
tomotsugu	10:d193030ce672	848	lcd.setAddress(0,0);
tomotsugu	10:d193030ce672	849	lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
takuminomura	48:3003ea51c619	850	mutex.unlock(); // ミューテックスアンロック
tomotsugu	10:d193030ce672	851	if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu	10:d193030ce672	852	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	853	//bTimer.attach(lcdBacklight,0.5);
tomotsugu	10:d193030ce672	854	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	855	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	856	}
tomotsugu	10:d193030ce672	857	}else{
tomotsugu	10:d193030ce672	858	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	859	//bTimer.detach();
tomotsugu	10:d193030ce672	860	bTimer.stop(); // バックライトタイマーストップ
tomotsugu	10:d193030ce672	861	lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu	10:d193030ce672	862	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	863	}
tomotsugu	10:d193030ce672	864	}
yangtzuli	2:38825726cb1b	865	}
mori2020	50:ee78382fd399	866
mori2020	50:ee78382fd399	867
nishimura_taku_pet	24:9481c8f56a49	868	// Serial Interrupt read ESP data
nishimura_taku_pet	24:9481c8f56a49	869	void callback()
nishimura_taku_pet	24:9481c8f56a49	870	{
mori2020	50:ee78382fd399	871	////--*-5("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	872	led3=1;
nishimura_taku_pet	24:9481c8f56a49	873	while (esp.readable()) {
nishimura_taku_pet	24:9481c8f56a49	874	webbuff[ount] = esp.getc();
nishimura_taku_pet	24:9481c8f56a49	875	ount++;
nishimura_taku_pet	24:9481c8f56a49	876	}
nishimura_taku_pet	24:9481c8f56a49	877	if(strlen(webbuff)>bufflen) {
mori2020	50:ee78382fd399	878	// //--*-5("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	879	DataRX=1;
nishimura_taku_pet	24:9481c8f56a49	880	led3=0;
nishimura_taku_pet	24:9481c8f56a49	881	}
nishimura_taku_pet	24:9481c8f56a49	882	}
mori2020	50:ee78382fd399	883
nishimura_taku_pet	43:243c1455f88a	884	void wifi(/void const argument*/)
nishimura_taku_pet	24:9481c8f56a49	885	{
mori2020	50:ee78382fd399	886	//--*-5("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet	33:a6f1090e0174	887	ThisThread::sleep_for(100);
nishimura_taku_pet	24:9481c8f56a49	888	led1=1,led2=0,led3=0;
nishimura_taku_pet	24:9481c8f56a49	889	timeout=6000;
nishimura_taku_pet	24:9481c8f56a49	890	getcount=500;
nishimura_taku_pet	24:9481c8f56a49	891	getreply();
nishimura_taku_pet	24:9481c8f56a49	892	esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet	24:9481c8f56a49	893	startserver();
mori2020	50:ee78382fd399	894
nishimura_taku_pet	24:9481c8f56a49	895	while(1) {
nishimura_taku_pet	24:9481c8f56a49	896	if(DataRX==1) {
mori2020	50:ee78382fd399	897	//--*-5("\f\n\r------------ main while > if --------------\n\r");
faker_71	57:65dd71a6ce72	898	// click_flag = 1;
faker_71	57:65dd71a6ce72	899	click_log=false;
nishimura_taku_pet	24:9481c8f56a49	900	ReadWebData();
mori2020	50:ee78382fd399	901	//--*-5("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
mori2020	50:ee78382fd399	902	//if ((servreq == 1 && weberror == 0) && click_flag == 1) {
faker_71	57:65dd71a6ce72	903	if (servreq == 1 && weberror == 0 && click_log == false) {
mori2020	50:ee78382fd399	904	//--*-5("\f\n\r------------ befor send page --------------\n\r");
faker_71	57:65dd71a6ce72	905	sendpage(); }
mori2020	50:ee78382fd399	906	//--*-5("\f\n\r------------ send_check begin --------------\n\r");
mori2020	50:ee78382fd399	907
mori2020	50:ee78382fd399	908	//sendcheck();
mori2020	50:ee78382fd399	909	//--*-5("\f\n\r------------ ssend_check end--------------\n\r");
faker_71	57:65dd71a6ce72	910	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	911	esp.attach(&callback);
mori2020	50:ee78382fd399	912	//--*-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	913	//--*-5("\n\n HTTP Packet: \n\n%s\n", webdata);
mori2020	50:ee78382fd399	914	//--*-5(" Web Characters sent : %d\n\n", bufl);
mori2020	50:ee78382fd399	915	//--*-5(" -------------------------------------\n\n");
nishimura_taku_pet	24:9481c8f56a49	916	servreq=0;
nishimura_taku_pet	24:9481c8f56a49	917	}
nishimura_taku_pet	24:9481c8f56a49	918	ThisThread::sleep_for(100);
nishimura_taku_pet	24:9481c8f56a49	919	}
nishimura_taku_pet	24:9481c8f56a49	920	}
nishimura_taku_pet	24:9481c8f56a49	921	// Static WEB page
nishimura_taku_pet	24:9481c8f56a49	922	void sendpage()
nishimura_taku_pet	24:9481c8f56a49	923	{
nishimura_taku_pet	24:9481c8f56a49	924	// WEB page data
mori2020	50:ee78382fd399	925
nishimura_taku_pet	24:9481c8f56a49	926	strcpy(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet	24:9481c8f56a49	927	strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
mori2020	50:ee78382fd399	928	//strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >");
molberry	38:39db3f7450c2	929	strcat(webbuff, "<style type=\"text/css\">.noselect{ width:100px;height:60px;}.light{ width:100px;height:60px;background-color:#00ff66;}.load{ width: 50px; height: 30px;font-size:10px}</style>");
nishimura_taku_pet	24:9481c8f56a49	930	strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet	24:9481c8f56a49	931	strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
molberry	55:d3c19efa1ef9	932	if(b >= 70) { //残電量表示
molberry	55:d3c19efa1ef9	933	strcat(webbuff, "<font color=\"blue\">");
mori2020	50:ee78382fd399	934	sprintf(webbuff, "%s%3d", webbuff, b);
molberry	55:d3c19efa1ef9	935	strcat(webbuff, "</font>");
molberry	55:d3c19efa1ef9	936	}
molberry	55:d3c19efa1ef9	937	else if(b >= 40) {
molberry	55:d3c19efa1ef9	938	strcat(webbuff, "<font color=\"orange\">");
molberry	55:d3c19efa1ef9	939	sprintf(webbuff, "%s%3d", webbuff, b);
molberry	55:d3c19efa1ef9	940	strcat(webbuff, "</font>");
mori2020	50:ee78382fd399	941	} else { //30%より下の場合残電量を赤文字
mori2020	50:ee78382fd399	942	strcat(webbuff, "<font color=\"red\">");
mori2020	50:ee78382fd399	943	sprintf(webbuff, "%s%3d", webbuff, b);
mori2020	50:ee78382fd399	944	strcat(webbuff, "</font>");
mori2020	50:ee78382fd399	945	}
mori2020	50:ee78382fd399	946	strcat(webbuff, "%</strong>");
mori2020	50:ee78382fd399	947	strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"location.reload()\">RELOAD</button>");
nishimura_taku_pet	24:9481c8f56a49	948	strcat(webbuff, "</td></p>");
nishimura_taku_pet	24:9481c8f56a49	949	strcat(webbuff, "<br>");
nishimura_taku_pet	24:9481c8f56a49	950	strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	951
molberry	35:4cda290bdb87	952	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	953	case ADVANCE: //前進
mori2020	50:ee78382fd399	954	strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	955	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	956	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	957	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	958	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	959	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	960	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	961	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	962	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	963	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	964	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	965	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	966	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	967	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	968	break;
molberry	35:4cda290bdb87	969	case LEFT: //左折
mori2020	50:ee78382fd399	970	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	971	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	972	strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	973	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	974	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	975	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	976	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	977	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	978	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	979	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	980	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	981	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	982	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	983	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	984	break;
molberry	35:4cda290bdb87	985	case STOP: //停止
mori2020	50:ee78382fd399	986	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	987	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	988	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	989	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	990	strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	991	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	992	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	993	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	994	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	995	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	996	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	997	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	998	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	999	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	1000	break;
molberry	35:4cda290bdb87	1001	case RIGHT: //右折
mori2020	50:ee78382fd399	1002	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	1003	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	1004	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	1005	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1006	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	1007	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1008	strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	1009	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	1010	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	1011	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	1012	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	1013	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	1014	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	1015	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	1016	break;
molberry	35:4cda290bdb87	1017	case BACK: //後進
mori2020	50:ee78382fd399	1018	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	1019	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	1020	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	1021	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1022	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	1023	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1024	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	1025	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	1026	strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	1027	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet	24:9481c8f56a49	1028	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	1029	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	1030	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	1031	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	1032	break;
molberry	35:4cda290bdb87	1033	case AVOIDANCE: //障害物回避
mori2020	50:ee78382fd399	1034	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	1035	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	1036	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	1037	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1038	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	1039	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1040	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	1041	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	1042	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	1043	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	1044	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	1045	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	1046	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	1047	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	1048	break;
molberry	35:4cda290bdb87	1049	case LINE_TRACE: //ライントレース
mori2020	50:ee78382fd399	1050	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	1051	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	1052	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	1053	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1054	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	1055	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1056	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	1057	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	1058	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	1059	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	1060	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	1061	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	1062	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	1063	strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	1064	break;
molberry	35:4cda290bdb87	1065	default: //その他
mori2020	50:ee78382fd399	1066	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	1067	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	1068	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	1069	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1070	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	1071	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1072	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	1073	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	1074	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	1075	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	1076	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	1077	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	1078	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	1079	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	1080	break;
nishimura_taku_pet	24:9481c8f56a49	1081	}
nishimura_taku_pet	24:9481c8f56a49	1082	strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	1083	strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet	24:9481c8f56a49	1084	strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	1085	//ready示速度だけ点灯
molberry	35:4cda290bdb87	1086	switch (flag_sp) { //現在の速度のボタン表示
molberry	35:4cda290bdb87	1087	case 0: //ノーマル
mori2020	50:ee78382fd399	1088	strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet	24:9481c8f56a49	1089	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1090	strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet	24:9481c8f56a49	1091	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1092	strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet	24:9481c8f56a49	1093	break;
molberry	35:4cda290bdb87	1094	case 1: //ファスト
mori2020	50:ee78382fd399	1095	strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet	24:9481c8f56a49	1096	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1097	strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet	24:9481c8f56a49	1098	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1099	strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet	24:9481c8f56a49	1100	break;
molberry	35:4cda290bdb87	1101	case 2: //ベリーファスト
mori2020	50:ee78382fd399	1102	strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet	24:9481c8f56a49	1103	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1104	strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet	24:9481c8f56a49	1105	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1106	strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet	24:9481c8f56a49	1107	break;
molberry	35:4cda290bdb87	1108	default: //その他
mori2020	50:ee78382fd399	1109	strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet	24:9481c8f56a49	1110	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1111	strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet	24:9481c8f56a49	1112	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1113	strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet	24:9481c8f56a49	1114	break;
nishimura_taku_pet	24:9481c8f56a49	1115	}
nishimura_taku_pet	24:9481c8f56a49	1116	strcat(webbuff, "</button></td></tr></table>");
mori2020	50:ee78382fd399	1117
nishimura_taku_pet	24:9481c8f56a49	1118	strcat(webbuff, "</center>");
nishimura_taku_pet	24:9481c8f56a49	1119	strcat(webbuff, "</body>");
nishimura_taku_pet	24:9481c8f56a49	1120	strcat(webbuff, "</html>");
mori2020	50:ee78382fd399	1121
molberry	35:4cda290bdb87	1122	strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
faker_71	57:65dd71a6ce72	1123
mori2020	50:ee78382fd399	1124	//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	1125	strcat(webbuff, "function htmlacs(url) {");
faker_71	57:65dd71a6ce72	1126	strcat(webbuff, "var xhr = new XMLHttpRequest();");
faker_71	57:65dd71a6ce72	1127	strcat(webbuff, "xhr.open(\"GET\", url, true);");
faker_71	57:65dd71a6ce72	1128	strcat(webbuff, "xhr.send();");
faker_71	57:65dd71a6ce72	1129	strcat(webbuff, "setTimeout(function(){xhr.abort();},100);");
nishimura_taku_pet	24:9481c8f56a49	1130	strcat(webbuff, "}");
mori2020	50:ee78382fd399	1131
mori2020	50:ee78382fd399	1132	//mode変更ボタン入力時動作 //sendmes
mori2020	50:ee78382fd399	1133	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	1134	strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet	24:9481c8f56a49	1135	strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet	24:9481c8f56a49	1136	strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet	24:9481c8f56a49	1137	strcat(webbuff, "console.log(url);");
nishimura_taku_pet	24:9481c8f56a49	1138	strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet	43:243c1455f88a	1139	strcat(webbuff, "for(var i=1;i<8;i++){");
nishimura_taku_pet	24:9481c8f56a49	1140	strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet	24:9481c8f56a49	1141	strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet	24:9481c8f56a49	1142	strcat(webbuff, "}else{");
nishimura_taku_pet	24:9481c8f56a49	1143	strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet	24:9481c8f56a49	1144	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1145	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1146	strcat(webbuff, "}");
mori2020	50:ee78382fd399	1147
mori2020	50:ee78382fd399	1148	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	1149	strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet	24:9481c8f56a49	1150	strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet	24:9481c8f56a49	1151	strcat(webbuff, "console.log(url);");
nishimura_taku_pet	24:9481c8f56a49	1152	strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet	43:243c1455f88a	1153	strcat(webbuff, "for(var i=8;i<11;i++){");
nishimura_taku_pet	24:9481c8f56a49	1154	strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet	24:9481c8f56a49	1155	strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet	24:9481c8f56a49	1156	strcat(webbuff, "}else{");
nishimura_taku_pet	24:9481c8f56a49	1157	strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet	24:9481c8f56a49	1158	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1159	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1160	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1161	strcat(webbuff, "</script>");
mori2020	50:ee78382fd399	1162
mori2020	50:ee78382fd399	1163
nishimura_taku_pet	24:9481c8f56a49	1164	// end of WEB page data
nishimura_taku_pet	24:9481c8f56a49	1165	bufl = strlen(webbuff); // get total page buffer length
mori2020	50:ee78382fd399	1166	//sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet	24:9481c8f56a49	1167
nishimura_taku_pet	24:9481c8f56a49	1168	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	1169	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1170	getcount=40;
nishimura_taku_pet	24:9481c8f56a49	1171	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1172	getreply();
mori2020	50:ee78382fd399	1173	//--*-5(replybuff);
mori2020	50:ee78382fd399	1174	////--*-5("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
mori2020	50:ee78382fd399	1175
mori2020	50:ee78382fd399	1176	//--*-5("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
mori2020	50:ee78382fd399	1177
nishimura_taku_pet	24:9481c8f56a49	1178	//pastthrough mode
nishimura_taku_pet	24:9481c8f56a49	1179	SendWEB(); // send web page
mori2020	50:ee78382fd399	1180	//--*-5("\n++++++++++ webbuff clear ++++++++++\r\n");
mori2020	50:ee78382fd399	1181
nishimura_taku_pet	24:9481c8f56a49	1182	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	1183	sendcheck();
nishimura_taku_pet	24:9481c8f56a49	1184	}
nishimura_taku_pet	24:9481c8f56a49	1185
nishimura_taku_pet	24:9481c8f56a49	1186	// Large WEB buffer data send
nishimura_taku_pet	24:9481c8f56a49	1187	void SendWEB()
nishimura_taku_pet	24:9481c8f56a49	1188	{
nishimura_taku_pet	24:9481c8f56a49	1189	int i=0;
nishimura_taku_pet	24:9481c8f56a49	1190	if(esp.writeable()) {
nishimura_taku_pet	24:9481c8f56a49	1191	while(webbuff[i]!='\0') {
nishimura_taku_pet	24:9481c8f56a49	1192	esp.putc(webbuff[i]);
mori2020	50:ee78382fd399	1193
nishimura_taku_pet	24:9481c8f56a49	1194	//****
nishimura_taku_pet	24:9481c8f56a49	1195	//output at command when 2000
nishimura_taku_pet	24:9481c8f56a49	1196	if(((i%2047)==0) && (i>0)) {
mori2020	50:ee78382fd399	1197	//wait_ms(10);
takuminomura	48:3003ea51c619	1198	ThisThread::sleep_for(100);
mori2020	50:ee78382fd399	1199	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	1200	////--*-5("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet	24:9481c8f56a49	1201	timeout=600;
nishimura_taku_pet	24:9481c8f56a49	1202	getcount=50;
nishimura_taku_pet	24:9481c8f56a49	1203	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1204	getreply();
mori2020	50:ee78382fd399	1205	////--*-5(replybuff);
mori2020	50:ee78382fd399	1206	////--*-5("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1207	}
nishimura_taku_pet	24:9481c8f56a49	1208	//****
nishimura_taku_pet	24:9481c8f56a49	1209	i++;
mori2020	50:ee78382fd399	1210	////--*-5("%c",webbuff[i]);
nishimura_taku_pet	24:9481c8f56a49	1211	}
nishimura_taku_pet	24:9481c8f56a49	1212	}
mori2020	50:ee78382fd399	1213	//--*-5("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet	24:9481c8f56a49	1214	}
nishimura_taku_pet	24:9481c8f56a49	1215
nishimura_taku_pet	24:9481c8f56a49	1216
nishimura_taku_pet	24:9481c8f56a49	1217	void sendcheck()
nishimura_taku_pet	24:9481c8f56a49	1218	{
nishimura_taku_pet	24:9481c8f56a49	1219	weberror=1;
nishimura_taku_pet	24:9481c8f56a49	1220	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1221	getcount=24;
nishimura_taku_pet	24:9481c8f56a49	1222	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1223	time2.start();
nishimura_taku_pet	24:9481c8f56a49	1224
mori2020	50:ee78382fd399	1225	/*
mori2020	50:ee78382fd399	1226	while(weberror==1 && time2.read() <5) {
mori2020	50:ee78382fd399	1227	getreply();
mori2020	50:ee78382fd399	1228	if (strstr(replybuff, "SEND OK") != NULL) {
mori2020	50:ee78382fd399	1229	weberror=0; // wait for valid SEND OK
mori2020	50:ee78382fd399	1230	}
mori2020	50:ee78382fd399	1231	}
mori2020	50:ee78382fd399	1232	*/
nishimura_taku_pet	24:9481c8f56a49	1233	if(weberror==1) { // restart connection
nishimura_taku_pet	24:9481c8f56a49	1234	strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet	24:9481c8f56a49	1235	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1236	getcount=10;
nishimura_taku_pet	24:9481c8f56a49	1237	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1238	getreply();
mori2020	50:ee78382fd399	1239	//--*-5(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1240	sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet	24:9481c8f56a49	1241	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1242	getcount=10;
nishimura_taku_pet	24:9481c8f56a49	1243	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1244	getreply();
mori2020	50:ee78382fd399	1245	//--*-5(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1246	} else {
nishimura_taku_pet	24:9481c8f56a49	1247	sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet	24:9481c8f56a49	1248	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1249	getreply();
mori2020	50:ee78382fd399	1250	//--*-5(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1251	}
nishimura_taku_pet	24:9481c8f56a49	1252	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1253	}
nishimura_taku_pet	24:9481c8f56a49	1254
nishimura_taku_pet	24:9481c8f56a49	1255	// Reads and processes GET and POST web data
nishimura_taku_pet	24:9481c8f56a49	1256	void ReadWebData()
nishimura_taku_pet	24:9481c8f56a49	1257	{
mori2020	50:ee78382fd399	1258	//--*-5("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet	30:c80da0ecc260	1259	ThisThread::sleep_for(200);
nishimura_taku_pet	24:9481c8f56a49	1260	esp.attach(NULL);
nishimura_taku_pet	24:9481c8f56a49	1261	ount=0;
nishimura_taku_pet	24:9481c8f56a49	1262	DataRX=0;
nishimura_taku_pet	24:9481c8f56a49	1263	weberror=0;
nishimura_taku_pet	24:9481c8f56a49	1264	memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet	24:9481c8f56a49	1265	int x = strcspn (webbuff,"+");
nishimura_taku_pet	24:9481c8f56a49	1266	if(x) {
nishimura_taku_pet	24:9481c8f56a49	1267	strcpy(webdata, webbuff + x);
nishimura_taku_pet	24:9481c8f56a49	1268	weberror=0;
nishimura_taku_pet	24:9481c8f56a49	1269	int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
mori2020	50:ee78382fd399	1270	//int i=0;
mori2020	50:ee78382fd399	1271	//--*-5("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
mori2020	50:ee78382fd399	1272	//--*-5("%s",webdata);
mori2020	50:ee78382fd399	1273	//--*-5("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet	51:1baf4407f384	1274	beforeMode = mode;
nishimura_taku_pet	43:243c1455f88a	1275	if( strstr(webdata, "Normal") != NULL ) {
faker_71	57:65dd71a6ce72	1276	click_log=true;
mori2020	50:ee78382fd399	1277	//--*-5("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet	43:243c1455f88a	1278	mode = SPEED; // スピードモード
nishimura_taku_pet	43:243c1455f88a	1279	flag_sp = 0;
nishimura_taku_pet	43:243c1455f88a	1280	display(); // ディスプレイ表示
nishimura_taku_pet	43:243c1455f88a	1281	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	43:243c1455f88a	1282	}else if( strstr(webdata, "VeryFast") != NULL ) {
faker_71	57:65dd71a6ce72	1283	click_log=true;
mori2020	50:ee78382fd399	1284	//--*-5("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet	43:243c1455f88a	1285	mode = SPEED; // スピードモード
nishimura_taku_pet	43:243c1455f88a	1286	flag_sp = 2;
nishimura_taku_pet	43:243c1455f88a	1287	display(); // ディスプレイ表示
nishimura_taku_pet	43:243c1455f88a	1288	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	43:243c1455f88a	1289	}else if( strstr(webdata, "Fast") != NULL ) {
faker_71	57:65dd71a6ce72	1290	click_log=true;
mori2020	50:ee78382fd399	1291	//--*-5("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet	43:243c1455f88a	1292	mode = SPEED; // スピードモード
nishimura_taku_pet	43:243c1455f88a	1293	flag_sp = 1;
nishimura_taku_pet	43:243c1455f88a	1294	display(); // ディスプレイ表示
nishimura_taku_pet	43:243c1455f88a	1295	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	43:243c1455f88a	1296	}
nishimura_taku_pet	24:9481c8f56a49	1297	if( strstr(webdata, "GO") != NULL ) {
faker_71	57:65dd71a6ce72	1298	pred=!pred;
faker_71	57:65dd71a6ce72	1299	click_log=true;
mori2020	50:ee78382fd399	1300	//--*-5("+++++++++++++++++前進+++++++++++++++++++++\r\n");
molberry	35:4cda290bdb87	1301	run = ADVANCE; // 前進
molberry	35:4cda290bdb87	1302	mode = ADVANCE; // モード変更
molberry	35:4cda290bdb87	1303	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1304	}
takuminomura	48:3003ea51c619	1305
nishimura_taku_pet	24:9481c8f56a49	1306	if( strstr(webdata, "LEFT") != NULL ) {
faker_71	57:65dd71a6ce72	1307	click_log=true;
mori2020	50:ee78382fd399	1308	//--*-5("+++++++++++++++++左折+++++++++++++++++++++\r\n");
molberry	35:4cda290bdb87	1309	run = LEFT; // 左折
molberry	35:4cda290bdb87	1310	mode = LEFT; // モード変更
molberry	35:4cda290bdb87	1311	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1312	}
nishimura_taku_pet	24:9481c8f56a49	1313
nishimura_taku_pet	24:9481c8f56a49	1314	if( strstr(webdata, "STOP") != NULL ) {
faker_71	57:65dd71a6ce72	1315	click_log=true;
mori2020	50:ee78382fd399	1316	//--*-5("+++++++++++++++++停止+++++++++++++++++++++\r\n");
molberry	35:4cda290bdb87	1317	run = STOP; // 停止
molberry	35:4cda290bdb87	1318	mode = STOP; // モード変更
molberry	35:4cda290bdb87	1319	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1320	}
nishimura_taku_pet	24:9481c8f56a49	1321
nishimura_taku_pet	24:9481c8f56a49	1322	if( strstr(webdata, "RIGHT") != NULL ) {
faker_71	57:65dd71a6ce72	1323	click_log=true;
mori2020	50:ee78382fd399	1324	//--*-5("+++++++++++++++++右折+++++++++++++++++++++\r\n");
molberry	35:4cda290bdb87	1325	run = RIGHT; // 右折
molberry	35:4cda290bdb87	1326	mode = RIGHT; // モード変更
molberry	35:4cda290bdb87	1327	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1328	}
nishimura_taku_pet	24:9481c8f56a49	1329
nishimura_taku_pet	24:9481c8f56a49	1330	if( strstr(webdata, "BACK") != NULL ) {
faker_71	57:65dd71a6ce72	1331	click_log=true;
mori2020	50:ee78382fd399	1332	//--*-5("+++++++++++++++++後進+++++++++++++++++++++\r\n");
molberry	35:4cda290bdb87	1333	run = BACK; // 後進
molberry	35:4cda290bdb87	1334	mode = BACK; // モード変更
molberry	35:4cda290bdb87	1335	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1336	}
mori2020	50:ee78382fd399	1337	//--*-5("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1338
nishimura_taku_pet	24:9481c8f56a49	1339	if( strstr(webdata, "AVOIDANCE") != NULL ) {
faker_71	57:65dd71a6ce72	1340	click_log=true;
mori2020	50:ee78382fd399	1341	//--*-5("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet	26:0badbc9f9cb3	1342	if(avoi_thread->get_state() == Thread::Deleted) {
molberry	35:4cda290bdb87	1343	delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet	26:0badbc9f9cb3	1344	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	26:0badbc9f9cb3	1345	avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	26:0badbc9f9cb3	1346	}
nishimura_taku_pet	24:9481c8f56a49	1347	mode=AVOIDANCE;
nishimura_taku_pet	26:0badbc9f9cb3	1348	run = ADVANCE;
nishimura_taku_pet	26:0badbc9f9cb3	1349	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1350	}
nishimura_taku_pet	24:9481c8f56a49	1351	if( strstr(webdata, "LINE_TRACE") != NULL ) {
faker_71	57:65dd71a6ce72	1352	click_log=true;
mori2020	50:ee78382fd399	1353	//--*-5("+++++++++++++++++LINET RACE+++++++++++++++++++++");
mori2020	50:ee78382fd399	1354	//--*-5("mode = LINE_TRACE\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1355	if(trace_thread->get_state() == Thread::Deleted) {
molberry	35:4cda290bdb87	1356	delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet	26:0badbc9f9cb3	1357	trace_thread = new Thread(trace);
nishimura_taku_pet	26:0badbc9f9cb3	1358	trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	26:0badbc9f9cb3	1359	}
nishimura_taku_pet	24:9481c8f56a49	1360	mode=LINE_TRACE;
nishimura_taku_pet	26:0badbc9f9cb3	1361	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1362	}
nishimura_taku_pet	26:0badbc9f9cb3	1363	if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	26:0badbc9f9cb3	1364	trace_thread->terminate();
nishimura_taku_pet	26:0badbc9f9cb3	1365	}
nishimura_taku_pet	26:0badbc9f9cb3	1366	if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	26:0badbc9f9cb3	1367	avoi_thread->terminate();
nishimura_taku_pet	31:3665282561d6	1368	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	26:0badbc9f9cb3	1369	}
nishimura_taku_pet	24:9481c8f56a49	1370	sprintf(channel, "%d",linkID);
nishimura_taku_pet	24:9481c8f56a49	1371	if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1372	servreq=1;
nishimura_taku_pet	24:9481c8f56a49	1373	}
nishimura_taku_pet	24:9481c8f56a49	1374	if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1375	servreq=1;
nishimura_taku_pet	24:9481c8f56a49	1376	}
nishimura_taku_pet	24:9481c8f56a49	1377	webcounter++;
nishimura_taku_pet	24:9481c8f56a49	1378	sprintf(webcount, "%d",webcounter);
nishimura_taku_pet	24:9481c8f56a49	1379	} else {
nishimura_taku_pet	24:9481c8f56a49	1380	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	1381	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	1382	weberror=1;
nishimura_taku_pet	24:9481c8f56a49	1383	}
nishimura_taku_pet	24:9481c8f56a49	1384	}
nishimura_taku_pet	24:9481c8f56a49	1385	// Starts and restarts webserver if errors detected.
nishimura_taku_pet	24:9481c8f56a49	1386	void startserver()
nishimura_taku_pet	24:9481c8f56a49	1387	{
mori2020	50:ee78382fd399	1388	//--*-5("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1389	strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet	24:9481c8f56a49	1390	timeout=8000;
nishimura_taku_pet	24:9481c8f56a49	1391	getcount=1000;
nishimura_taku_pet	24:9481c8f56a49	1392	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1393	getreply();
mori2020	50:ee78382fd399	1394	//--*-5(replybuff);
mori2020	50:ee78382fd399	1395	//--*-5("%d",ount);
nishimura_taku_pet	24:9481c8f56a49	1396	if (strstr(replybuff, "OK") != NULL) {
mori2020	50:ee78382fd399	1397	//--*-5("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1398	strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet	24:9481c8f56a49	1399	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1400	getcount=20;
nishimura_taku_pet	24:9481c8f56a49	1401	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1402	getreply();
mori2020	50:ee78382fd399	1403	//--*-5(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1404	sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet	24:9481c8f56a49	1405	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1406	getcount=20;
nishimura_taku_pet	24:9481c8f56a49	1407	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1408	getreply();
mori2020	50:ee78382fd399	1409	//--*-5(replybuff);
nishimura_taku_pet	33:a6f1090e0174	1410	ThisThread::sleep_for(500);
nishimura_taku_pet	24:9481c8f56a49	1411	sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet	24:9481c8f56a49	1412	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1413	getcount=50;
nishimura_taku_pet	24:9481c8f56a49	1414	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1415	getreply();
mori2020	50:ee78382fd399	1416	//--*-5(replybuff);
nishimura_taku_pet	25:8ed98982faa7	1417	ThisThread::sleep_for(5000);
mori2020	50:ee78382fd399	1418	//--*-5("\n Getting Server IP \r\n");
nishimura_taku_pet	24:9481c8f56a49	1419	strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet	24:9481c8f56a49	1420	timeout=2500;
nishimura_taku_pet	24:9481c8f56a49	1421	getcount=200;
nishimura_taku_pet	24:9481c8f56a49	1422	while(weberror==0) {
nishimura_taku_pet	24:9481c8f56a49	1423	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1424	getreply();
nishimura_taku_pet	24:9481c8f56a49	1425	if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet	24:9481c8f56a49	1426	weberror=1; // wait for valid IP
nishimura_taku_pet	24:9481c8f56a49	1427	}
nishimura_taku_pet	24:9481c8f56a49	1428	}
mori2020	50:ee78382fd399	1429	//--*-5("\n Enter WEB address (IP) found below in your browser \r\n\n");
mori2020	50:ee78382fd399	1430	//--*-5("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet	24:9481c8f56a49	1431	replybuff[strlen(replybuff)-1] = '\0';
mori2020	50:ee78382fd399	1432	//char* IP = replybuff + 5;
nishimura_taku_pet	24:9481c8f56a49	1433	sprintf(webdata,"%s", replybuff);
mori2020	50:ee78382fd399	1434	//--*-5(webdata);
nishimura_taku_pet	24:9481c8f56a49	1435	led2=1;
nishimura_taku_pet	24:9481c8f56a49	1436	bufflen=200;
mori2020	50:ee78382fd399	1437	//bufflen=100;
nishimura_taku_pet	24:9481c8f56a49	1438	ount=0;
mori2020	50:ee78382fd399	1439	//--*-5("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet	33:a6f1090e0174	1440	setup();
nishimura_taku_pet	24:9481c8f56a49	1441	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	1442	} else {
mori2020	50:ee78382fd399	1443	//--*-5("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1444	led1=1;
nishimura_taku_pet	24:9481c8f56a49	1445	led2=1;
nishimura_taku_pet	24:9481c8f56a49	1446	led3=1;
nishimura_taku_pet	24:9481c8f56a49	1447	led4=1;
nishimura_taku_pet	24:9481c8f56a49	1448	while(1) {
nishimura_taku_pet	24:9481c8f56a49	1449	led1=!led1;
nishimura_taku_pet	24:9481c8f56a49	1450	led2=!led2;
nishimura_taku_pet	24:9481c8f56a49	1451	led3=!led3;
nishimura_taku_pet	24:9481c8f56a49	1452	led4=!led4;
nishimura_taku_pet	56:d02c62149a19	1453	mutex.lock(); // ミューテックスロック
nishimura_taku_pet	56:d02c62149a19	1454	lcd.setAddress(0,1);
nishimura_taku_pet	56:d02c62149a19	1455	lcd.printf("Mode:WiFiError ");
nishimura_taku_pet	56:d02c62149a19	1456	mutex.unlock();
nishimura_taku_pet	25:8ed98982faa7	1457	ThisThread::sleep_for(1000);
nishimura_taku_pet	24:9481c8f56a49	1458	}
nishimura_taku_pet	24:9481c8f56a49	1459	}
nishimura_taku_pet	24:9481c8f56a49	1460	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1461	time2.start();
nishimura_taku_pet	24:9481c8f56a49	1462	}
mori2020	50:ee78382fd399	1463
nishimura_taku_pet	24:9481c8f56a49	1464	// ESP Command data send
nishimura_taku_pet	24:9481c8f56a49	1465	void SendCMD()
nishimura_taku_pet	24:9481c8f56a49	1466	{
nishimura_taku_pet	24:9481c8f56a49	1467	esp.printf("%s", cmdbuff);
nishimura_taku_pet	24:9481c8f56a49	1468	}
nishimura_taku_pet	24:9481c8f56a49	1469	// Get Command and ESP status replies
nishimura_taku_pet	24:9481c8f56a49	1470	void getreply()
nishimura_taku_pet	24:9481c8f56a49	1471	{
nishimura_taku_pet	24:9481c8f56a49	1472	memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet	24:9481c8f56a49	1473	time1.reset();
nishimura_taku_pet	24:9481c8f56a49	1474	time1.start();
nishimura_taku_pet	24:9481c8f56a49	1475	replycount=0;
nishimura_taku_pet	24:9481c8f56a49	1476	while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet	24:9481c8f56a49	1477	if(esp.readable()) {
nishimura_taku_pet	24:9481c8f56a49	1478	replybuff[replycount] = esp.getc();
nishimura_taku_pet	24:9481c8f56a49	1479	replycount++;
nishimura_taku_pet	24:9481c8f56a49	1480	}
nishimura_taku_pet	24:9481c8f56a49	1481	}
nishimura_taku_pet	24:9481c8f56a49	1482	time1.stop();
nishimura_taku_pet	24:9481c8f56a49	1483	}
takuminomura	48:3003ea51c619	1484
tomotsugu	8:a47dbf4fa455	1485	/* mainスレッド */
yangtzuli	0:0d0037aabe41	1486	int main() {
tomotsugu	8:a47dbf4fa455	1487	/* 初期設定 */
mori2020	50:ee78382fd399	1488	wifi_thread = new Thread(wifi);
mori2020	50:ee78382fd399	1489	wifi_thread -> set_priority(osPriorityHigh);
mori2020	50:ee78382fd399	1490	// setup();
nishimura_taku_pet	16:ffc732a3cf92	1491	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	16:ffc732a3cf92	1492	avoi_thread->terminate();
nishimura_taku_pet	16:ffc732a3cf92	1493	trace_thread = new Thread(trace);
nishimura_taku_pet	16:ffc732a3cf92	1494	trace_thread->terminate();
tomotsugu	8:a47dbf4fa455	1495	mode = READY; // 現在待ちモード
tomotsugu	8:a47dbf4fa455	1496	beforeMode = READY; // 前回待ちモード
tomotsugu	8:a47dbf4fa455	1497	run = STOP; // 停止
tomotsugu	8:a47dbf4fa455	1498	flag_sp = NORMAL; // スピード(普通)
tomotsugu	10:d193030ce672	1499	lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet	33:a6f1090e0174	1500	lcd.setAddress(0,1);
nishimura_taku_pet	33:a6f1090e0174	1501	lcd.printf("Mode:SetUp");
nishimura_taku_pet	51:1baf4407f384	1502	//display(); // ディスプレイ表示
yangtzuli	2:38825726cb1b	1503
yangtzuli	0:0d0037aabe41	1504	while(1){
tomotsugu	8:a47dbf4fa455	1505	bChange(); // バッテリー残量更新
yangtzuli	0:0d0037aabe41	1506	}
yangtzuli	0:0d0037aabe41	1507	}

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Type:	Program
Mbed OS support:	Mbed OS
Created:	09 Sep 2020
Imports:	2
Forks:	0
Commits:	69
Dependents:	0
Dependencies:	2
Followers:	9

main.cpp@58:cdfbedad5df6, 2020-09-03 (annotated)

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