mbed_robotcar / Mbed OS saikyo-0903

高速wifiついてる

Dependencies:   RemoteIR TextLCD

main.cpp@48:3003ea51c619, 2020-08-31 (annotated)

Committer:
takuminomura
Date:
Mon Aug 31 01:22:48 2020 +0000
Revision:
48:3003ea51c619
Parent:
47:8a5a4275480a
Child:
49:7224132f4b0e
linetrace saikyou!!!!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yangtzuli 0:0d0037aabe41 1 /* mbed Microcontroller Library
yangtzuli 0:0d0037aabe41 2 * Copyright (c) 2019 ARM Limited
yangtzuli 0:0d0037aabe41 3 * SPDX-License-Identifier: Apache-2.0
yangtzuli 0:0d0037aabe41 4 */
yangtzuli 0:0d0037aabe41 5
yangtzuli 0:0d0037aabe41 6 #include "mbed.h"
yangtzuli 0:0d0037aabe41 7 #include "ReceiverIR.h"
yangtzuli 0:0d0037aabe41 8 #include "rtos.h"
yangtzuli 0:0d0037aabe41 9 #include <stdint.h>
yangtzuli 0:0d0037aabe41 10 #include "platform/mbed_thread.h"
yangtzuli 2:38825726cb1b 11 #include "TextLCD.h"
yangtzuli 0:0d0037aabe41 12
nishimura_taku_pet 27:90962c01bfeb 13 RawSerial pc(USBTX, USBRX);
yangtzuli 0:0d0037aabe41 14
yangtzuli 3:2ae6218973be 15 /* マクロ定義、列挙型定義 */
takuminomura 48:3003ea51c619 16 #define MIN_V 2.0 // 電圧の最小値
takuminomura 48:3003ea51c619 17 #define MAX_V 2.67 // 電圧の最大値
takuminomura 48:3003ea51c619 18 #define LOW 0 // モーターOFF
takuminomura 48:3003ea51c619 19 #define HIGH 1 // モーターON
takuminomura 48:3003ea51c619 20 #define NORMAL 0 // 普通
takuminomura 48:3003ea51c619 21 #define FAST 1 // 速い
takuminomura 48:3003ea51c619 22 #define VERYFAST 2 // とても速い
takuminomura 48:3003ea51c619 23
takuminomura 48:3003ea51c619 24 #define SLOW 0.8
takuminomura 48:3003ea51c619 25 #define REVERSE 0.5
takuminomura 48:3003ea51c619 26
takuminomura 48:3003ea51c619 27 #define MBED04 0.781//Mbed04号機の左右のモーター速度比(R:L = 1: 0.781)
takuminomura 48:3003ea51c619 28 #define MBED05 0.953//Mbed05号機の左右のモーター速度比(R:L = 1: 0.953)
takuminomura 48:3003ea51c619 29 #define MSR0 0.4
takuminomura 48:3003ea51c619 30 #define MSR1 0.5
takuminomura 48:3003ea51c619 31 #define MSR2 0.6
takuminomura 48:3003ea51c619 32 #define MSR3 MSR0*SLOW
takuminomura 48:3003ea51c619 33 #define MSR4 MSR1*SLOW
takuminomura 48:3003ea51c619 34 #define MSR5 MSR2*SLOW
takuminomura 48:3003ea51c619 35 #define MSR6 0.7
takuminomura 48:3003ea51c619 36 #define MSR7 0.8
takuminomura 48:3003ea51c619 37 #define MSR8 0.9
takuminomura 48:3003ea51c619 38 #define MSL0 MSR0*MBED05
takuminomura 48:3003ea51c619 39 #define MSL1 MSR1*MBED05
takuminomura 48:3003ea51c619 40 #define MSL2 MSR2*MBED05
takuminomura 48:3003ea51c619 41 #define MSL3 MSR3*MBED05
takuminomura 48:3003ea51c619 42 #define MSL4 MSR4*MBED05
takuminomura 48:3003ea51c619 43 #define MSL5 MSR5*MBED05
takuminomura 48:3003ea51c619 44 #define MSL6 MSR6*MBED05
takuminomura 48:3003ea51c619 45 #define MSL7 MSR7*MBED05
takuminomura 48:3003ea51c619 46 #define MSL8 MSR8*MBED05
yangtzuli 2:38825726cb1b 47
tomotsugu 8:a47dbf4fa455 48 /* 操作モード定義 */
yangtzuli 3:2ae6218973be 49 enum MODE{
tomotsugu 8:a47dbf4fa455 50 READY = -1, // -1：待ち
tomotsugu 8:a47dbf4fa455 51 ADVANCE = 1, // 1：前進
tomotsugu 8:a47dbf4fa455 52 RIGHT, // 2：右折
tomotsugu 8:a47dbf4fa455 53 LEFT, // 3：左折
tomotsugu 8:a47dbf4fa455 54 BACK, // 4：後退
tomotsugu 8:a47dbf4fa455 55 STOP, // 5：停止
tomotsugu 8:a47dbf4fa455 56 LINE_TRACE, // 6：ライントレース
tomotsugu 8:a47dbf4fa455 57 AVOIDANCE, // 7：障害物回避
tomotsugu 8:a47dbf4fa455 58 SPEED, // 8：スピード制御
yangtzuli 2:38825726cb1b 59 };
yangtzuli 2:38825726cb1b 60
yangtzuli 3:2ae6218973be 61 /* ピン配置 */
yangtzuli 3:2ae6218973be 62 ReceiverIR ir(p5); // リモコン操作
yangtzuli 3:2ae6218973be 63 DigitalOut trig(p6); // 超音波センサtrigger
yangtzuli 5:3fffb364744b 64 DigitalIn echo(p7); // 超音波センサecho
yangtzuli 3:2ae6218973be 65 DigitalIn ss1(p8); // ライントレースセンサ(左)
yangtzuli 3:2ae6218973be 66 DigitalIn ss2(p9); // ライントレースセンサ
yangtzuli 3:2ae6218973be 67 DigitalIn ss3(p10); // ライントレースセンサ
yangtzuli 3:2ae6218973be 68 DigitalIn ss4(p11); // ライントレースセンサ
yangtzuli 3:2ae6218973be 69 DigitalIn ss5(p12); // ライントレースセンサ(右)
nishimura_taku_pet 24:9481c8f56a49 70 RawSerial esp(p13, p14); // Wi-Fiモジュール(tx, rx)
yangtzuli 3:2ae6218973be 71 AnalogIn battery(p15); // 電池残量読み取り(Max 3.3V)
takuminomura 48:3003ea51c619 72 PwmOut motorR2(p22); // 右モーター後退
takuminomura 48:3003ea51c619 73 PwmOut motorR1(p21); // 右モーター前進
yangtzuli 3:2ae6218973be 74 PwmOut motorL2(p23); // 左モーター後退
yangtzuli 3:2ae6218973be 75 PwmOut motorL1(p24); // 左モーター前進
yangtzuli 3:2ae6218973be 76 PwmOut servo(p25); // サーボ
yangtzuli 3:2ae6218973be 77 I2C i2c_lcd(p28,p27); // LCD(tx, rx)
yangtzuli 2:38825726cb1b 78
yangtzuli 3:2ae6218973be 79 /* 変数宣言 */
yangtzuli 3:2ae6218973be 80 int mode; // 操作モード
yangtzuli 3:2ae6218973be 81 int run; // 走行状態
takuminomura 48:3003ea51c619 82 int beforeRun = STOP; // 前回の走行状態
tomotsugu 8:a47dbf4fa455 83 int beforeMode; // 前回のモード
tomotsugu 8:a47dbf4fa455 84 int flag_sp = 0; // スピード変化フラグ
tomotsugu 8:a47dbf4fa455 85 Timer viewTimer; // スピ―ド変更時に3秒計測タイマー
takuminomura 48:3003ea51c619 86
takuminomura 48:3003ea51c619 87 float motorSpeedR1[9] = {MSR0, MSR1, MSR2, MSR3 , MSR4 , MSR5 , MSR6 , MSR7 , MSR8 };
takuminomura 48:3003ea51c619 88 //float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3*REVERSE, MSR4*REVERSE, MSR5*REVERSE, MSR6*REVERSE, MSR7*REVERSE, MSR8*REVERSE};
takuminomura 48:3003ea51c619 89 float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3*REVERSE, MSR4*REVERSE, MSR5*REVERSE, MSR6, MSR7, MSR8};
takuminomura 48:3003ea51c619 90 float motorSpeedL1[9] = {MSL0, MSL1, MSL2, MSL3 , MSL4 , MSL5 , MSL6 , MSL7 , MSL8 };
takuminomura 48:3003ea51c619 91 //float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3*REVERSE, MSL4*REVERSE, MSL5*REVERSE, MSL6*REVERSE, MSL7*REVERSE, MSL8*REVERSE};
takuminomura 48:3003ea51c619 92 float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3*REVERSE, MSL4*REVERSE, MSL5*REVERSE, MSL6, MSL7, MSL8};
yangtzuli 3:2ae6218973be 93 // モーター速度設定(後半はライントレース用)
takuminomura 48:3003ea51c619 94 // 0,1,2:基準速度
takuminomura 48:3003ea51c619 95 // 3,4,5:低速
takuminomura 48:3003ea51c619 96 // 6,7,8:高速
takuminomura 48:3003ea51c619 97 // R1 : 右前, R2 : 右後, L1 : 左前, L2 : 左後
tomotsugu 8:a47dbf4fa455 98
tomotsugu 8:a47dbf4fa455 99 Mutex mutex; // ミューテックス
takuminomura 48:3003ea51c619 100
tomotsugu 8:a47dbf4fa455 101 /* decodeIR用変数 */
yangtzuli 3:2ae6218973be 102 RemoteIR::Format format;
yangtzuli 3:2ae6218973be 103 uint8_t buf[32];
yangtzuli 3:2ae6218973be 104 uint32_t bitcount;
yangtzuli 3:2ae6218973be 105 uint32_t code;
yangtzuli 3:2ae6218973be 106
tomotsugu 8:a47dbf4fa455 107 /* bChange, lcdbacklight用変数 */
yangtzuli 3:2ae6218973be 108 TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780);
tomotsugu 8:a47dbf4fa455 109 int b = 0; // バッテリー残量
tomotsugu 8:a47dbf4fa455 110 int flag_b = 0; // バックライト点滅フラグ
tomotsugu 8:a47dbf4fa455 111 int flag_t = 0; // バックライトタイマーフラグ
yangtzuli 3:2ae6218973be 112
tomotsugu 8:a47dbf4fa455 113 /* trace用変数 */
takuminomura 48:3003ea51c619 114 int sensArray[32] = {0,6,2,4,1,2,1,4, // ライントレースセンサパターン
takuminomura 48:3003ea51c619 115 3,6,1,6,1,1,1,6, // 0:前回動作継続
takuminomura 48:3003ea51c619 116 7,1,7,1,3,1,1,1, // 1:高速前進
takuminomura 48:3003ea51c619 117 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura 48:3003ea51c619 118 // 3:低速左折
takuminomura 48:3003ea51c619 119 // 4:中速右折
takuminomura 48:3003ea51c619 120 // 5:中速左折
takuminomura 48:3003ea51c619 121 // 6:高速右折
takuminomura 48:3003ea51c619 122 // 7:高速左折
takuminomura 48:3003ea51c619 123
takuminomura 48:3003ea51c619 124 //int sensArray[32] = {0,6,0,4,1,0,1,4, // ライントレースセンサパターン
takuminomura 48:3003ea51c619 125 // 0,6,1,6,1,1,1,6, // 0:前回動作継続
takuminomura 48:3003ea51c619 126 // 7,1,7,1,0,1,1,1, // 1:高速前進
takuminomura 48:3003ea51c619 127 // 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura 48:3003ea51c619 128 // // 3:低速左折
takuminomura 48:3003ea51c619 129 // // 4:中速右折
takuminomura 48:3003ea51c619 130 // // 5:中速左折
takuminomura 48:3003ea51c619 131 // // 6:高速右折
takuminomura 48:3003ea51c619 132 // // 7:高速左折
yangtzuli 0:0d0037aabe41 133
tomotsugu 8:a47dbf4fa455 134 /* avoidance用変数 */
yangtzuli 3:2ae6218973be 135 Timer timer; // 距離計測用タイマ
yangtzuli 3:2ae6218973be 136 int DT; // 距離
takuminomura 48:3003ea51c619 137 int SC; // 正面
yangtzuli 2:38825726cb1b 138 int SL; // 左
yangtzuli 2:38825726cb1b 139 int SR; // 右
yangtzuli 2:38825726cb1b 140 int SLD; // 左前
yangtzuli 2:38825726cb1b 141 int SRD; // 右前
tomotsugu 8:a47dbf4fa455 142 int flag_a = 0; // 障害物有無のフラグ
yangtzuli 2:38825726cb1b 143 const int limit = 20; // 障害物の距離のリミット(単位：cm)
yangtzuli 3:2ae6218973be 144 int far; // 最も遠い距離
yangtzuli 2:38825726cb1b 145 int houkou; // 進行方向(1:前 2:左 3:右)
nishimura_taku_pet 29:600e4b9b5c5b 146 int t1 = 0;
yangtzuli 2:38825726cb1b 147
nishimura_taku_pet 24:9481c8f56a49 148 /*WiFi用変数*/
nishimura_taku_pet 24:9481c8f56a49 149 Timer time1;
nishimura_taku_pet 24:9481c8f56a49 150 Timer time2;
nishimura_taku_pet 24:9481c8f56a49 151 int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
nishimura_taku_pet 24:9481c8f56a49 152 int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
nishimura_taku_pet 24:9481c8f56a49 153 float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet 24:9481c8f56a49 154 char webcount[8];
nishimura_taku_pet 24:9481c8f56a49 155 char type[16];
nishimura_taku_pet 24:9481c8f56a49 156 char channel[2];
nishimura_taku_pet 24:9481c8f56a49 157 char cmdbuff[32];
nishimura_taku_pet 24:9481c8f56a49 158 char replybuff[1024];
nishimura_taku_pet 24:9481c8f56a49 159 char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet 27:90962c01bfeb 160 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet 24:9481c8f56a49 161 int port =80; // set server port
nishimura_taku_pet 24:9481c8f56a49 162 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
takuminomura 48:3003ea51c619 163 char ssid[32] = "mbed05"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet 24:9481c8f56a49 164 char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
yangtzuli 3:2ae6218973be 165
yangtzuli 3:2ae6218973be 166 /* プロトタイプ宣言 */
nishimura_taku_pet 33:a6f1090e0174 167 void decodeIR(/*void const *argument*/);
nishimura_taku_pet 33:a6f1090e0174 168 void motor(/*void const *argument*/);
yangtzuli 3:2ae6218973be 169 void changeSpeed();
nishimura_taku_pet 16:ffc732a3cf92 170 void avoidance(/*void const *argument*/);
nishimura_taku_pet 16:ffc732a3cf92 171 void trace(/*void const *argument*/);
nishimura_taku_pet 40:75e1ad7c27e4 172 void watchsurrounding3();
nishimura_taku_pet 40:75e1ad7c27e4 173 void watchsurrounding5();
yangtzuli 2:38825726cb1b 174 int watch();
takuminomura 48:3003ea51c619 175 char battery_ch[8];
yangtzuli 5:3fffb364744b 176 void bChange();
yangtzuli 3:2ae6218973be 177 void display();
yangtzuli 3:2ae6218973be 178 void lcdBacklight(void const *argument);
nishimura_taku_pet 45:76e8c07d76ef 179 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
nishimura_taku_pet 43:243c1455f88a 180 void wifi(/*void const *argument*/);
takuminomura 48:3003ea51c619 181 Thread *deco_thread; // decodeIRをスレッド化 ：+3
nishimura_taku_pet 43:243c1455f88a 182 Thread *wifi_thread;
takuminomura 48:3003ea51c619 183 //wifi_thread(wifi,NULL,osPriorityHigh); // wifiをスレッド化
takuminomura 48:3003ea51c619 184 Thread *motor_thread; // motorをスレッド化 ：+2
takuminomura 48:3003ea51c619 185 RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
takuminomura 48:3003ea51c619 186 Thread *avoi_thread; // avoidanceをスレッド化：+2
takuminomura 48:3003ea51c619 187 Thread *trace_thread; // traceをスレッド化 ：+2
yangtzuli 2:38825726cb1b 188
nishimura_taku_pet 24:9481c8f56a49 189 DigitalOut led1(LED1);
nishimura_taku_pet 24:9481c8f56a49 190 DigitalOut led2(LED2);
nishimura_taku_pet 24:9481c8f56a49 191 DigitalOut led3(LED3);
nishimura_taku_pet 24:9481c8f56a49 192 DigitalOut led4(LED4);
yangtzuli 3:2ae6218973be 193
nishimura_taku_pet 33:a6f1090e0174 194 void setup(){
nishimura_taku_pet 33:a6f1090e0174 195 deco_thread = new Thread(decodeIR);
nishimura_taku_pet 33:a6f1090e0174 196 deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 197 motor_thread = new Thread(motor);
nishimura_taku_pet 33:a6f1090e0174 198 motor_thread -> set_priority(osPriorityHigh);
takuminomura 48:3003ea51c619 199 // wifi_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 200 display();
nishimura_taku_pet 33:a6f1090e0174 201 }
nishimura_taku_pet 33:a6f1090e0174 202
tomotsugu 8:a47dbf4fa455 203 /* リモコン受信スレッド */
takuminomura 48:3003ea51c619 204 void decodeIR(/*void const *argument*/){
takuminomura 48:3003ea51c619 205 while(1){
yangtzuli 0:0d0037aabe41 206 // 受信待ち
tomotsugu 8:a47dbf4fa455 207 if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli 3:2ae6218973be 208 bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu 8:a47dbf4fa455 209 if(bitcount > 1){ // 受信成功
yangtzuli 1:5bb497a38344 210 code=0;
tomotsugu 15:5eef1955f6c2 211 for(int j = 0; j < 4; j++){
yangtzuli 1:5bb497a38344 212 code+=(buf[j]<<(8*(3-j)));
yangtzuli 1:5bb497a38344 213 }
tomotsugu 8:a47dbf4fa455 214 if(mode != SPEED){ // スピードモード以外なら
takuminomura 48:3003ea51c619 215 beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli 3:2ae6218973be 216 }
yangtzuli 0:0d0037aabe41 217 switch(code){
tomotsugu 8:a47dbf4fa455 218 case 0x40bf27d8: // クイック
yangtzuli 17:f7259ab2fe86 219 //pc.printf("mode = SPEED\r\n");
takuminomura 48:3003ea51c619 220 mode = SPEED; // スピードモード
tomotsugu 8:a47dbf4fa455 221 changeSpeed(); // 速度変更
tomotsugu 8:a47dbf4fa455 222 display(); // ディスプレイ表示
tomotsugu 8:a47dbf4fa455 223 mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli 1:5bb497a38344 224 break;
tomotsugu 8:a47dbf4fa455 225 case 0x40be34cb: // レグザリンク
yangtzuli 17:f7259ab2fe86 226 //pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 227 if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 228 delete trace_thread;
nishimura_taku_pet 16:ffc732a3cf92 229 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 230 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 231 }
tomotsugu 8:a47dbf4fa455 232 mode=LINE_TRACE; // ライントレースモード
tomotsugu 8:a47dbf4fa455 233 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 234 break;
tomotsugu 8:a47dbf4fa455 235 case 0x40bf6e91: // 番組表
yangtzuli 17:f7259ab2fe86 236 //pc.printf("mode = AVOIDANCE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 237 if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 238 delete avoi_thread;
nishimura_taku_pet 16:ffc732a3cf92 239 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 240 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 241 }
tomotsugu 18:6cca64c7dbc3 242 flag_a = 0;
tomotsugu 8:a47dbf4fa455 243 mode=AVOIDANCE; // 障害物回避モード
tomotsugu 13:1a7667d0aa78 244 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 245 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 246 break;
takuminomura 48:3003ea51c619 247 case 0x40bf3ec1: // ↑
yangtzuli 17:f7259ab2fe86 248 //pc.printf("mode = ADVANCE\r\n");
tomotsugu 8:a47dbf4fa455 249 mode = ADVANCE; // 前進モード
tomotsugu 8:a47dbf4fa455 250 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 251 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 252 break;
takuminomura 48:3003ea51c619 253 case 0x40bf3fc0: // ↓
yangtzuli 17:f7259ab2fe86 254 //pc.printf("mode = BACK\r\n");
tomotsugu 8:a47dbf4fa455 255 mode = BACK; // 後退モード
tomotsugu 8:a47dbf4fa455 256 run = BACK; // 後退
tomotsugu 8:a47dbf4fa455 257 display(); // ディスプレイ表示
yangtzuli 0:0d0037aabe41 258 break;
takuminomura 48:3003ea51c619 259 case 0x40bf5fa0: // ←
yangtzuli 17:f7259ab2fe86 260 //pc.printf("mode = LEFT\r\n");
tomotsugu 8:a47dbf4fa455 261 mode = LEFT; // 左折モード
tomotsugu 8:a47dbf4fa455 262 run = LEFT; // 左折
tomotsugu 8:a47dbf4fa455 263 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 264 break;
takuminomura 48:3003ea51c619 265 case 0x40bf5ba4: // →
yangtzuli 17:f7259ab2fe86 266 //pc.printf("mode = RIGHT\r\n");
tomotsugu 8:a47dbf4fa455 267 mode = RIGHT; // 右折モード
tomotsugu 8:a47dbf4fa455 268 run = RIGHT; // 右折
tomotsugu 8:a47dbf4fa455 269 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 270 break;
takuminomura 48:3003ea51c619 271 case 0x40bf3dc2: // 決定
yangtzuli 17:f7259ab2fe86 272 //pc.printf("mode = STOP\r\n");
tomotsugu 8:a47dbf4fa455 273 mode = STOP; // 停止モード
tomotsugu 8:a47dbf4fa455 274 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 275 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 276 break;
yangtzuli 0:0d0037aabe41 277 default:
yangtzuli 0:0d0037aabe41 278 ;
yangtzuli 0:0d0037aabe41 279 }
nishimura_taku_pet 16:ffc732a3cf92 280 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 281 trace_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 282 }
nishimura_taku_pet 16:ffc732a3cf92 283 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 284 avoi_thread->terminate();
nishimura_taku_pet 28:cb51cafca490 285 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 16:ffc732a3cf92 286 }
yangtzuli 0:0d0037aabe41 287 }
yangtzuli 0:0d0037aabe41 288 }
takuminomura 48:3003ea51c619 289 if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
takuminomura 48:3003ea51c619 290 viewTimer.stop(); // タイマーストップ
takuminomura 48:3003ea51c619 291 viewTimer.reset(); // タイマーリセット
takuminomura 48:3003ea51c619 292 display(); // ディスプレイ表示
yangtzuli 4:3f80c0180e2f 293 }
takuminomura 48:3003ea51c619 294 ThisThread::sleep_for(90); // 90ms待つ
takuminomura 48:3003ea51c619 295 }
yangtzuli 2:38825726cb1b 296 }
tomotsugu 8:a47dbf4fa455 297
tomotsugu 8:a47dbf4fa455 298 /* モーター制御スレッド */
nishimura_taku_pet 33:a6f1090e0174 299 void motor(/*void const *argument*/){
tomotsugu 8:a47dbf4fa455 300 while(1){
tomotsugu 8:a47dbf4fa455 301 /* 走行状態の場合分け */
yangtzuli 3:2ae6218973be 302 switch(run){
tomotsugu 8:a47dbf4fa455 303 /* 前進 */
yangtzuli 3:2ae6218973be 304 case ADVANCE:
takuminomura 48:3003ea51c619 305 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
takuminomura 48:3003ea51c619 306 motorR2 = LOW; // 右後退モーターOFF
takuminomura 48:3003ea51c619 307 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
takuminomura 48:3003ea51c619 308 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 309 break;
tomotsugu 8:a47dbf4fa455 310 /* 右折 */
yangtzuli 3:2ae6218973be 311 case RIGHT:
takuminomura 48:3003ea51c619 312 motorR1 = LOW; // 右前進モーターOFF
takuminomura 48:3003ea51c619 313 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
takuminomura 48:3003ea51c619 314 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
takuminomura 48:3003ea51c619 315 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 316 break;
tomotsugu 8:a47dbf4fa455 317 /* 左折 */
yangtzuli 3:2ae6218973be 318 case LEFT:
takuminomura 48:3003ea51c619 319 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
takuminomura 48:3003ea51c619 320 motorR2 = LOW; // 右後退モーターOFF
takuminomura 48:3003ea51c619 321 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 322 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 323 break;
tomotsugu 8:a47dbf4fa455 324 /* 後退 */
yangtzuli 3:2ae6218973be 325 case BACK:
takuminomura 48:3003ea51c619 326 motorR1 = LOW; // 右前進モーターOFF
takuminomura 48:3003ea51c619 327 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
takuminomura 48:3003ea51c619 328 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 329 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 330 break;
tomotsugu 8:a47dbf4fa455 331 /* 停止 */
yangtzuli 3:2ae6218973be 332 case STOP:
tomotsugu 8:a47dbf4fa455 333 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 334 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 335 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 336 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 337 break;
yangtzuli 3:2ae6218973be 338 }
tomotsugu 8:a47dbf4fa455 339 if(flag_sp > VERYFAST){ // スピード変更フラグが2より大きいなら
nishimura_taku_pet 47:8a5a4275480a 340 flag_sp %= 3; // スピード変更フラグ調整
yangtzuli 6:800a745c7f2e 341 }
takuminomura 48:3003ea51c619 342 ThisThread::sleep_for(3); // 30ms待つ
yangtzuli 2:38825726cb1b 343 }
yangtzuli 2:38825726cb1b 344 }
tomotsugu 8:a47dbf4fa455 345
tomotsugu 8:a47dbf4fa455 346 /* スピード変更関数 */
yangtzuli 3:2ae6218973be 347 void changeSpeed(){
tomotsugu 8:a47dbf4fa455 348 if(flag_sp%3 == 2){ // スピード変更フラグを3で割った余りが2なら
takuminomura 48:3003ea51c619 349 flag_sp = 0; // スピード変更フラグを0にする
tomotsugu 8:a47dbf4fa455 350 }else{ // それ以外
takuminomura 48:3003ea51c619 351 flag_sp = flag_sp + 1; // スピード変更フラグを+1
takuminomura 48:3003ea51c619 352 }
yangtzuli 3:2ae6218973be 353 }
tomotsugu 8:a47dbf4fa455 354
tomotsugu 8:a47dbf4fa455 355 /* ライントレーススレッド */
tomotsugu 20:02bb875a9b13 356 void trace(){
takuminomura 48:3003ea51c619 357 while(1){
takuminomura 48:3003ea51c619 358 /* 各センサー値読み取り */
takuminomura 48:3003ea51c619 359 int sensor1 = ss1;
takuminomura 48:3003ea51c619 360 int sensor2 = ss2;
takuminomura 48:3003ea51c619 361 int sensor3 = ss3;
takuminomura 48:3003ea51c619 362 int sensor4 = ss4;
takuminomura 48:3003ea51c619 363 int sensor5 = ss5;
takuminomura 48:3003ea51c619 364 //pc.printf("%d %d %d %d %d \r\n",sensor1,sensor2,sensor3,sensor4,sensor5);
takuminomura 48:3003ea51c619 365 int sensD = 0;
takuminomura 48:3003ea51c619 366
takuminomura 48:3003ea51c619 367 /* センサー値の決定 */
takuminomura 48:3003ea51c619 368 if(sensor1 > 0) sensD |= 0x10;
takuminomura 48:3003ea51c619 369 if(sensor2 > 0) sensD |= 0x08;
takuminomura 48:3003ea51c619 370 if(sensor3 > 0) sensD |= 0x04;
takuminomura 48:3003ea51c619 371 if(sensor4 > 0) sensD |= 0x02;
takuminomura 48:3003ea51c619 372 if(sensor5 > 0) sensD |= 0x01;
takuminomura 48:3003ea51c619 373
takuminomura 48:3003ea51c619 374 /* センサー値によって場合分け */
takuminomura 48:3003ea51c619 375 switch(sensArray[sensD]){
takuminomura 48:3003ea51c619 376 case 1:
takuminomura 48:3003ea51c619 377 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 378 beforeRun = run;
takuminomura 48:3003ea51c619 379 run = ADVANCE; // 高速で前進
takuminomura 48:3003ea51c619 380 break;
takuminomura 48:3003ea51c619 381 case 2:
takuminomura 48:3003ea51c619 382 flag_sp = flag_sp % 3 + 3;
takuminomura 48:3003ea51c619 383 beforeRun = run;
takuminomura 48:3003ea51c619 384 run = RIGHT; // 低速で右折
takuminomura 48:3003ea51c619 385 break;
takuminomura 48:3003ea51c619 386 case 3:
takuminomura 48:3003ea51c619 387 flag_sp = flag_sp % 3 + 3;
takuminomura 48:3003ea51c619 388 beforeRun = run;
takuminomura 48:3003ea51c619 389 run = LEFT; // 低速で左折
takuminomura 48:3003ea51c619 390 break;
takuminomura 48:3003ea51c619 391 case 4:
takuminomura 48:3003ea51c619 392 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 393 beforeRun = run;
takuminomura 48:3003ea51c619 394 run = RIGHT; // 中速で右折
takuminomura 48:3003ea51c619 395 break;
takuminomura 48:3003ea51c619 396 case 5:
takuminomura 48:3003ea51c619 397 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 398 beforeRun = run;
takuminomura 48:3003ea51c619 399 run = LEFT; // 中速で左折
takuminomura 48:3003ea51c619 400 break;
takuminomura 48:3003ea51c619 401 case 6:
takuminomura 48:3003ea51c619 402 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 403 beforeRun = run;
takuminomura 48:3003ea51c619 404 run = RIGHT; // 高速で右折
takuminomura 48:3003ea51c619 405 break;
takuminomura 48:3003ea51c619 406 case 7:
takuminomura 48:3003ea51c619 407 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 408 beforeRun = run;
takuminomura 48:3003ea51c619 409 run = LEFT; // 高速で左折
takuminomura 48:3003ea51c619 410 break;
takuminomura 48:3003ea51c619 411 default:
takuminomura 48:3003ea51c619 412 break; // 前回動作を継続
tomotsugu 18:6cca64c7dbc3 413 }
takuminomura 48:3003ea51c619 414 // ThisThread::sleep_for(30); // 30ms待つ
takuminomura 48:3003ea51c619 415 ThisThread::sleep_for(3);
takuminomura 48:3003ea51c619 416 }
yangtzuli 3:2ae6218973be 417 }
yangtzuli 3:2ae6218973be 418
tomotsugu 8:a47dbf4fa455 419 /* 障害物回避走行スレッド */
tomotsugu 20:02bb875a9b13 420 void avoidance(){
nishimura_taku_pet 46:c6deb699160b 421 int i;
yangtzuli 3:2ae6218973be 422 while(1){
nishimura_taku_pet 40:75e1ad7c27e4 423 watchsurrounding3();
takuminomura 48:3003ea51c619 424 // pc.printf("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR);
takuminomura 48:3003ea51c619 425 if(flag_a == 0){ // 障害物がない場合
takuminomura 48:3003ea51c619 426 run = ADVANCE; // 前進
takuminomura 48:3003ea51c619 427 }else{ // 障害物がある場合
tomotsugu 18:6cca64c7dbc3 428 i = 0;
takuminomura 48:3003ea51c619 429 if(SC < 15){ // 正面15cm以内に障害物が現れた場合
nishimura_taku_pet 41:3c58a4be1199 430 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 41:3c58a4be1199 431 ThisThread::sleep_for(100); // 100ms待つ
takuminomura 48:3003ea51c619 432 run = BACK; // 後退
nishimura_taku_pet 40:75e1ad7c27e4 433 int cnt_kyori=0;
nishimura_taku_pet 40:75e1ad7c27e4 434 int kyori = watch();
takuminomura 48:3003ea51c619 435 while(kyori < limit){ // 正面20cm以内に障害物がある間
nishimura_taku_pet 40:75e1ad7c27e4 436 if(kyori==-1){
nishimura_taku_pet 40:75e1ad7c27e4 437 cnt_kyori++;
nishimura_taku_pet 40:75e1ad7c27e4 438 if(cnt_kyori>15){
nishimura_taku_pet 40:75e1ad7c27e4 439 cnt_kyori=0;
nishimura_taku_pet 40:75e1ad7c27e4 440 break;
nishimura_taku_pet 40:75e1ad7c27e4 441 }
nishimura_taku_pet 40:75e1ad7c27e4 442 }
nishimura_taku_pet 40:75e1ad7c27e4 443 kyori = watch();
tomotsugu 18:6cca64c7dbc3 444 }
nishimura_taku_pet 40:75e1ad7c27e4 445 /*while(i < 30){ // 正面20cm以内に障害物がある間
nishimura_taku_pet 40:75e1ad7c27e4 446 if(watch() < limit){
nishimura_taku_pet 40:75e1ad7c27e4 447 break;
nishimura_taku_pet 40:75e1ad7c27e4 448 }
nishimura_taku_pet 40:75e1ad7c27e4 449 i++;
nishimura_taku_pet 40:75e1ad7c27e4 450 }
nishimura_taku_pet 40:75e1ad7c27e4 451 i = 0;*/
takuminomura 48:3003ea51c619 452 run = STOP; // 停止
yangtzuli 3:2ae6218973be 453 }
nishimura_taku_pet 40:75e1ad7c27e4 454 watchsurrounding5();
takuminomura 48:3003ea51c619 455 if(SC < limit && SLD < limit && SL < limit && SRD < limit && SR < limit){ // 全方向に障害物がある場合
takuminomura 48:3003ea51c619 456 run = LEFT; // 左折
nishimura_taku_pet 28:cb51cafca490 457 while(i < 1){ // 進行方向確認
tomotsugu 18:6cca64c7dbc3 458 if(watch() > limit){
tomotsugu 18:6cca64c7dbc3 459 i++;
nishimura_taku_pet 28:cb51cafca490 460 }else{
nishimura_taku_pet 28:cb51cafca490 461 i = 0;
yangtzuli 2:38825726cb1b 462 }
yangtzuli 2:38825726cb1b 463 }
nishimura_taku_pet 28:cb51cafca490 464 run = STOP; // 停止
takuminomura 48:3003ea51c619 465 }else { // 全方向以外
nishimura_taku_pet 28:cb51cafca490 466 far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 467 houkou = 1; // 進行方向を前に設定
nishimura_taku_pet 28:cb51cafca490 468 if(far < SLD || far < SL){ // 左または左前がより遠い場合
nishimura_taku_pet 28:cb51cafca490 469 if(SL < SLD){ // 左前が左より遠い場合
nishimura_taku_pet 28:cb51cafca490 470 far = SLD; // 左前を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 471 }else{ // 左が左前より遠い場合
nishimura_taku_pet 28:cb51cafca490 472 far = SL; // 左を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 473 }
nishimura_taku_pet 28:cb51cafca490 474 houkou = 2; // 進行方向を左に設定
nishimura_taku_pet 28:cb51cafca490 475 }
nishimura_taku_pet 28:cb51cafca490 476 if(far < SRD || far < SR){ // 右または右前がより遠い場合
nishimura_taku_pet 28:cb51cafca490 477 if(SR < SRD){ // 右前が右より遠い場合
nishimura_taku_pet 28:cb51cafca490 478 far = SRD; // 右前を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 479 }else{ // 右が右前よりも遠い場合
nishimura_taku_pet 28:cb51cafca490 480 far = SR; // 右を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 481 }
nishimura_taku_pet 28:cb51cafca490 482 houkou = 3; // 進行方向を右に設定
nishimura_taku_pet 28:cb51cafca490 483 }
nishimura_taku_pet 28:cb51cafca490 484 switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet 28:cb51cafca490 485 case 1: // 前の場合
nishimura_taku_pet 28:cb51cafca490 486 run = ADVANCE; // 前進
nishimura_taku_pet 40:75e1ad7c27e4 487 ThisThread::sleep_for(500); // 0.5秒待つ
nishimura_taku_pet 28:cb51cafca490 488 break;
takuminomura 48:3003ea51c619 489 case 2: // 左の場合
nishimura_taku_pet 28:cb51cafca490 490 run = LEFT; // 左折
nishimura_taku_pet 40:75e1ad7c27e4 491 //int kyori = watch();
nishimura_taku_pet 40:75e1ad7c27e4 492 //int kyori_f=0;
nishimura_taku_pet 40:75e1ad7c27e4 493 while(i < 20){ // 進行方向確認
nishimura_taku_pet 40:75e1ad7c27e4 494 /*if(kyori > (far - 2) || kyori_f == 2){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
takuminomura 48:3003ea51c619 495 break; // ループ+
nishimura_taku_pet 40:75e1ad7c27e4 496 }else if(kyori==-1){
nishimura_taku_pet 40:75e1ad7c27e4 497 kyori_f++;
nishimura_taku_pet 40:75e1ad7c27e4 498 }else{
nishimura_taku_pet 40:75e1ad7c27e4 499 kyori_f = 0;
nishimura_taku_pet 40:75e1ad7c27e4 500 i++;
nishimura_taku_pet 40:75e1ad7c27e4 501 }*/
nishimura_taku_pet 28:cb51cafca490 502 if(watch() > (far - 2)){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
takuminomura 48:3003ea51c619 503 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 504 }else{
nishimura_taku_pet 40:75e1ad7c27e4 505 i++;
nishimura_taku_pet 28:cb51cafca490 506 }
nishimura_taku_pet 28:cb51cafca490 507 }
nishimura_taku_pet 28:cb51cafca490 508 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 509 break;
takuminomura 48:3003ea51c619 510 case 3: // 右の場合
nishimura_taku_pet 28:cb51cafca490 511 run = RIGHT; // 右折
nishimura_taku_pet 45:76e8c07d76ef 512 //int kyori = watch();
nishimura_taku_pet 45:76e8c07d76ef 513 //int kyori_f=0;
nishimura_taku_pet 40:75e1ad7c27e4 514 while(i < 20){ // 進行方向確認
nishimura_taku_pet 40:75e1ad7c27e4 515 /*if(kyori > (far - 2) || kyori_f == 2){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
nishimura_taku_pet 40:75e1ad7c27e4 516 break; // ループ+
nishimura_taku_pet 40:75e1ad7c27e4 517 }else if(kyori==-1){
nishimura_taku_pet 40:75e1ad7c27e4 518 kyori_f++;
nishimura_taku_pet 40:75e1ad7c27e4 519 }else{
nishimura_taku_pet 40:75e1ad7c27e4 520 kyori_f = 0;
nishimura_taku_pet 40:75e1ad7c27e4 521 i++;
nishimura_taku_pet 40:75e1ad7c27e4 522 }*/
nishimura_taku_pet 28:cb51cafca490 523 if(watch() > (far - 2)){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
takuminomura 48:3003ea51c619 524 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 525 }else{
nishimura_taku_pet 40:75e1ad7c27e4 526 i++;
nishimura_taku_pet 28:cb51cafca490 527 }
nishimura_taku_pet 28:cb51cafca490 528 }
nishimura_taku_pet 28:cb51cafca490 529 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 530 break;
nishimura_taku_pet 28:cb51cafca490 531 }
yangtzuli 5:3fffb364744b 532 }
nishimura_taku_pet 28:cb51cafca490 533 }
nishimura_taku_pet 28:cb51cafca490 534 flag_a = 0; // 障害物有無フラグを0にセット
nishimura_taku_pet 40:75e1ad7c27e4 535 if(SLD < 29){ // 正面15cm以内に障害物が現れた場合
nishimura_taku_pet 40:75e1ad7c27e4 536 run = RIGHT; // 右折
nishimura_taku_pet 41:3c58a4be1199 537 ThisThread::sleep_for(200); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 538 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 539 }else if(SRD < 29){
nishimura_taku_pet 40:75e1ad7c27e4 540 run = LEFT; // 左折
nishimura_taku_pet 41:3c58a4be1199 541 ThisThread::sleep_for(200); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 542 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 543 }
yangtzuli 2:38825726cb1b 544 }
yangtzuli 2:38825726cb1b 545 }
tomotsugu 8:a47dbf4fa455 546
tomotsugu 8:a47dbf4fa455 547 /* 距離計測関数 */
yangtzuli 2:38825726cb1b 548 int watch(){
tomotsugu 21:68d38e8f64b5 549 do{
tomotsugu 21:68d38e8f64b5 550 trig = 0;
tomotsugu 21:68d38e8f64b5 551 ThisThread::sleep_for(5); // 5ms待つ
tomotsugu 21:68d38e8f64b5 552 trig = 1;
tomotsugu 21:68d38e8f64b5 553 ThisThread::sleep_for(15); // 15ms待つ
tomotsugu 21:68d38e8f64b5 554 trig = 0;
tomotsugu 21:68d38e8f64b5 555 timer.start();
yangtzuli 17:f7259ab2fe86 556 t1=timer.read_ms();
nishimura_taku_pet 29:600e4b9b5c5b 557 while(echo.read() == 0 && t1<10){
tomotsugu 21:68d38e8f64b5 558 t1=timer.read_ms();
tomotsugu 21:68d38e8f64b5 559 led1 = 1;
tomotsugu 21:68d38e8f64b5 560 }
tomotsugu 21:68d38e8f64b5 561 timer.stop();
tomotsugu 21:68d38e8f64b5 562 timer.reset();
nishimura_taku_pet 28:cb51cafca490 563 /*if((t1-t2) >= 10){
nishimura_taku_pet 28:cb51cafca490 564 run = STOP;*/
nishimura_taku_pet 29:600e4b9b5c5b 565 }while(t1 >= 10);
tomotsugu 21:68d38e8f64b5 566 timer.start(); // 距離計測タイマースタート
tomotsugu 21:68d38e8f64b5 567 while(echo.read() == 1){
yangtzuli 5:3fffb364744b 568 }
tomotsugu 21:68d38e8f64b5 569 timer.stop(); // 距離計測タイマーストップ
tomotsugu 21:68d38e8f64b5 570 DT = (int)(timer.read_us()*0.01657); // 距離計算
nishimura_taku_pet 28:cb51cafca490 571 if(DT > 1000){
nishimura_taku_pet 28:cb51cafca490 572 DT = -1;
nishimura_taku_pet 28:cb51cafca490 573 }else if(DT > 150){ // 検知範囲外なら100cmに設定
tomotsugu 22:c6e2a3b9aa14 574 DT = 150;
yangtzuli 2:38825726cb1b 575 }
tomotsugu 21:68d38e8f64b5 576 timer.reset(); // 距離計測タイマーリセット
tomotsugu 8:a47dbf4fa455 577 led1 = 0;
yangtzuli 2:38825726cb1b 578 return DT;
yangtzuli 0:0d0037aabe41 579 }
yangtzuli 0:0d0037aabe41 580
tomotsugu 8:a47dbf4fa455 581 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 582 void watchsurrounding3(){
nishimura_taku_pet 28:cb51cafca490 583 //servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 584 //ThisThread::sleep_for(200); // 100ms待つ
yangtzuli 2:38825726cb1b 585 SC = watch();
nishimura_taku_pet 28:cb51cafca490 586 if(SC < limit){ // 正面20cm以内に障害物がある場合
takuminomura 48:3003ea51c619 587 if(SC!=-1){
nishimura_taku_pet 28:cb51cafca490 588 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 589 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 590 return;
nishimura_taku_pet 28:cb51cafca490 591 }
yangtzuli 2:38825726cb1b 592 }
yangtzuli 2:38825726cb1b 593 servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet 28:cb51cafca490 594 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 595 SLD = watch();
yangtzuli 2:38825726cb1b 596 if(SLD < limit){ // 左前20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 597 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 598 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 599 return;
yangtzuli 2:38825726cb1b 600 }
tomotsugu 19:c6f9f010bd9e 601 servo.pulsewidth_us(1450);
nishimura_taku_pet 42:56022456ef23 602 ThisThread::sleep_for(150);
tomotsugu 19:c6f9f010bd9e 603 SC = watch();
tomotsugu 19:c6f9f010bd9e 604 if(SC < limit){
takuminomura 48:3003ea51c619 605 if(SC!=-1){
takuminomura 48:3003ea51c619 606 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 607 flag_a = 1;
takuminomura 48:3003ea51c619 608 return;
nishimura_taku_pet 28:cb51cafca490 609 }
tomotsugu 19:c6f9f010bd9e 610 }
yangtzuli 2:38825726cb1b 611 servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet 28:cb51cafca490 612 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 613 SRD = watch();
yangtzuli 2:38825726cb1b 614 if(SRD < limit){ // 右前20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 615 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 616 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 617 return;
yangtzuli 2:38825726cb1b 618 }
nishimura_taku_pet 40:75e1ad7c27e4 619 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 40:75e1ad7c27e4 620 ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 621 /*if(SC < limit || SLD < limit || SL < limit || SRD < limit || SR < limit){ // 20cm以内に障害物を検知した場合
nishimura_taku_pet 40:75e1ad7c27e4 622 flag_a = 1; // 障害物有無フラグに1をセット
nishimura_taku_pet 40:75e1ad7c27e4 623 }*/
nishimura_taku_pet 40:75e1ad7c27e4 624 }
nishimura_taku_pet 40:75e1ad7c27e4 625
nishimura_taku_pet 40:75e1ad7c27e4 626 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 627 void watchsurrounding5(){
nishimura_taku_pet 40:75e1ad7c27e4 628 //servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 40:75e1ad7c27e4 629 //ThisThread::sleep_for(200); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 630 SC = watch();
nishimura_taku_pet 40:75e1ad7c27e4 631 servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 632 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 633 SLD = watch();
nishimura_taku_pet 40:75e1ad7c27e4 634 servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet 40:75e1ad7c27e4 635 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 636 SL = watch();
nishimura_taku_pet 40:75e1ad7c27e4 637 servo.pulsewidth_us(1450);
nishimura_taku_pet 40:75e1ad7c27e4 638 ThisThread::sleep_for(250);
nishimura_taku_pet 40:75e1ad7c27e4 639 SC = watch();
nishimura_taku_pet 40:75e1ad7c27e4 640 servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 641 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 642 SRD = watch();
yangtzuli 2:38825726cb1b 643 servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet 28:cb51cafca490 644 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 645 SR = watch();
yangtzuli 2:38825726cb1b 646 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 647 ThisThread::sleep_for(250); // 100ms待つ
yangtzuli 3:2ae6218973be 648 }
yangtzuli 3:2ae6218973be 649
tomotsugu 8:a47dbf4fa455 650 /* ディスプレイ表示関数 */
yangtzuli 3:2ae6218973be 651 void display(){
tomotsugu 8:a47dbf4fa455 652 mutex.lock(); // ミューテックスロック
yangtzuli 3:2ae6218973be 653 lcd.setAddress(0,1);
tomotsugu 8:a47dbf4fa455 654
tomotsugu 8:a47dbf4fa455 655 /* 操作モードによる場合分け */
yangtzuli 3:2ae6218973be 656 switch(mode){
tomotsugu 8:a47dbf4fa455 657 /* 前進 */
yangtzuli 3:2ae6218973be 658 case ADVANCE:
yangtzuli 3:2ae6218973be 659 lcd.printf("Mode:Advance ");
yangtzuli 3:2ae6218973be 660 break;
tomotsugu 8:a47dbf4fa455 661 /* 右折 */
yangtzuli 3:2ae6218973be 662 case RIGHT:
yangtzuli 5:3fffb364744b 663 lcd.printf("Mode:TurnRight ");
yangtzuli 3:2ae6218973be 664 break;
tomotsugu 8:a47dbf4fa455 665 /* 左折 */
yangtzuli 3:2ae6218973be 666 case LEFT:
yangtzuli 5:3fffb364744b 667 lcd.printf("Mode:TurnLeft ");
yangtzuli 3:2ae6218973be 668 break;
tomotsugu 8:a47dbf4fa455 669 /* 後退 */
yangtzuli 3:2ae6218973be 670 case BACK:
yangtzuli 3:2ae6218973be 671 lcd.printf("Mode:Back ");
yangtzuli 3:2ae6218973be 672 break;
tomotsugu 8:a47dbf4fa455 673 /* 停止 */
yangtzuli 3:2ae6218973be 674 case STOP:
yangtzuli 3:2ae6218973be 675 lcd.printf("Mode:Stop ");
yangtzuli 3:2ae6218973be 676 break;
tomotsugu 8:a47dbf4fa455 677 /* 待ち */
yangtzuli 3:2ae6218973be 678 case READY:
yangtzuli 3:2ae6218973be 679 lcd.printf("Mode:Ready ");
yangtzuli 3:2ae6218973be 680 break;
tomotsugu 8:a47dbf4fa455 681 /* ライントレース */
yangtzuli 3:2ae6218973be 682 case LINE_TRACE:
yangtzuli 3:2ae6218973be 683 lcd.printf("Mode:LineTrace ");
yangtzuli 3:2ae6218973be 684 break;
tomotsugu 8:a47dbf4fa455 685 /* 障害物回避 */
yangtzuli 3:2ae6218973be 686 case AVOIDANCE:
yangtzuli 3:2ae6218973be 687 lcd.printf("Mode:Avoidance ");
yangtzuli 3:2ae6218973be 688 break;
tomotsugu 8:a47dbf4fa455 689 /* スピード制御 */
yangtzuli 3:2ae6218973be 690 case SPEED:
tomotsugu 8:a47dbf4fa455 691 /* スピードの状態で場合分け */
takuminomura 48:3003ea51c619 692 switch(flag_sp % 3){
tomotsugu 8:a47dbf4fa455 693 /* 普通 */
yangtzuli 3:2ae6218973be 694 case(NORMAL):
yangtzuli 3:2ae6218973be 695 lcd.printf("Speed:Normal ");
yangtzuli 3:2ae6218973be 696 break;
tomotsugu 8:a47dbf4fa455 697 /* 速い */
yangtzuli 3:2ae6218973be 698 case(FAST):
yangtzuli 3:2ae6218973be 699 lcd.printf("Speed:Fast ");
yangtzuli 3:2ae6218973be 700 break;
tomotsugu 8:a47dbf4fa455 701 /* とても速い */
yangtzuli 3:2ae6218973be 702 case(VERYFAST):
yangtzuli 3:2ae6218973be 703 lcd.printf("Speed:VeryFast ");
yangtzuli 3:2ae6218973be 704 break;
yangtzuli 3:2ae6218973be 705 }
tomotsugu 8:a47dbf4fa455 706 viewTimer.reset(); // タイマーリセット
tomotsugu 8:a47dbf4fa455 707 viewTimer.start(); // タイマースタート
takuminomura 48:3003ea51c619 708 break;
yangtzuli 3:2ae6218973be 709 }
tomotsugu 8:a47dbf4fa455 710 mutex.unlock(); // ミューテックスアンロック
yangtzuli 3:2ae6218973be 711 }
yangtzuli 3:2ae6218973be 712
tomotsugu 8:a47dbf4fa455 713 /* バックライト点滅 */
yangtzuli 3:2ae6218973be 714 void lcdBacklight(void const *argument){
tomotsugu 8:a47dbf4fa455 715 if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu 8:a47dbf4fa455 716 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 8:a47dbf4fa455 717 }else{ // バックライト点滅フラグが0なら
tomotsugu 8:a47dbf4fa455 718 lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli 3:2ae6218973be 719 }
tomotsugu 8:a47dbf4fa455 720 flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli 3:2ae6218973be 721 }
yangtzuli 2:38825726cb1b 722
tomotsugu 8:a47dbf4fa455 723 /* バッテリー残量更新関数 */
yangtzuli 5:3fffb364744b 724 void bChange(){
yangtzuli 17:f7259ab2fe86 725 //pc.printf(" bChange1\r\n");
tomotsugu 10:d193030ce672 726 b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10;
tomotsugu 10:d193030ce672 727 if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu 10:d193030ce672 728 b = 0;
tomotsugu 10:d193030ce672 729 //lcd.setBacklight(TextLCD::LightOff);
tomotsugu 10:d193030ce672 730 //run = STOP;
tomotsugu 10:d193030ce672 731 //exit(1); // 電池残量が5%未満の時、LCDを消灯し、モーターを停止し、プログラムを終了する。
tomotsugu 10:d193030ce672 732 }
tomotsugu 10:d193030ce672 733 mutex.lock(); // ミューテックスロック
tomotsugu 10:d193030ce672 734 lcd.setAddress(0,0);
tomotsugu 10:d193030ce672 735 lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
takuminomura 48:3003ea51c619 736 mutex.unlock(); // ミューテックスアンロック
tomotsugu 10:d193030ce672 737 if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu 10:d193030ce672 738 if(flag_t == 0){ // バックライトタイマーフラグが0なら
nishimura_taku_pet 43:243c1455f88a 739 //bTimer.attach(lcdBacklight,0.5);
tomotsugu 10:d193030ce672 740 bTimer.start(500); // 0.5秒周期でバックライトタイマー割り込み
tomotsugu 10:d193030ce672 741 flag_t = 1; // バックライトタイマーフラグを1に切り替え
yangtzuli 3:2ae6218973be 742 }
tomotsugu 10:d193030ce672 743 }else{
tomotsugu 10:d193030ce672 744 if(flag_t == 1){ // バックライトタイマーフラグが1なら
nishimura_taku_pet 43:243c1455f88a 745 //bTimer.detach();
tomotsugu 10:d193030ce672 746 bTimer.stop(); // バックライトタイマーストップ
tomotsugu 10:d193030ce672 747 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 10:d193030ce672 748 flag_t = 0; // バックライトタイマーフラグを0に切り替え
yangtzuli 3:2ae6218973be 749 }
tomotsugu 10:d193030ce672 750 }
yangtzuli 2:38825726cb1b 751 }
nishimura_taku_pet 24:9481c8f56a49 752 // Serial Interrupt read ESP data
nishimura_taku_pet 24:9481c8f56a49 753 void callback()
nishimura_taku_pet 24:9481c8f56a49 754 {
nishimura_taku_pet 24:9481c8f56a49 755 //pc.printf("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 756 led3=1;
nishimura_taku_pet 24:9481c8f56a49 757 while (esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 758 webbuff[ount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 759 ount++;
nishimura_taku_pet 24:9481c8f56a49 760 }
nishimura_taku_pet 24:9481c8f56a49 761 if(strlen(webbuff)>bufflen) {
takuminomura 48:3003ea51c619 762 // pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 763 DataRX=1;
nishimura_taku_pet 24:9481c8f56a49 764 led3=0;
nishimura_taku_pet 24:9481c8f56a49 765 }
nishimura_taku_pet 24:9481c8f56a49 766 }
takuminomura 48:3003ea51c619 767
nishimura_taku_pet 43:243c1455f88a 768 void wifi(/*void const *argument*/)
nishimura_taku_pet 24:9481c8f56a49 769 {
nishimura_taku_pet 24:9481c8f56a49 770 pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet 33:a6f1090e0174 771 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 772 led1=1,led2=0,led3=0;
nishimura_taku_pet 24:9481c8f56a49 773 timeout=6000;
nishimura_taku_pet 24:9481c8f56a49 774 getcount=500;
nishimura_taku_pet 24:9481c8f56a49 775 getreply();
nishimura_taku_pet 24:9481c8f56a49 776 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet 24:9481c8f56a49 777 startserver();
takuminomura 48:3003ea51c619 778
nishimura_taku_pet 24:9481c8f56a49 779 while(1) {
nishimura_taku_pet 24:9481c8f56a49 780 if(DataRX==1) {
nishimura_taku_pet 24:9481c8f56a49 781 click_flag = 1;
nishimura_taku_pet 24:9481c8f56a49 782 ReadWebData();
takuminomura 48:3003ea51c619 783 if (servreq == 1 && weberror == 0) { // ページ表示のリクエストがあったとき
nishimura_taku_pet 24:9481c8f56a49 784 sendpage();
nishimura_taku_pet 24:9481c8f56a49 785 }
nishimura_taku_pet 24:9481c8f56a49 786 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 787 servreq=0;
nishimura_taku_pet 24:9481c8f56a49 788 }
takuminomura 48:3003ea51c619 789 run = beforeRun;
nishimura_taku_pet 24:9481c8f56a49 790 ThisThread::sleep_for(100);
takuminomura 48:3003ea51c619 791 beforeRun = run;
takuminomura 48:3003ea51c619 792 run = STOP;
nishimura_taku_pet 24:9481c8f56a49 793 }
nishimura_taku_pet 24:9481c8f56a49 794 }
nishimura_taku_pet 24:9481c8f56a49 795 // Static WEB page
nishimura_taku_pet 24:9481c8f56a49 796 void sendpage()
nishimura_taku_pet 24:9481c8f56a49 797 {
nishimura_taku_pet 24:9481c8f56a49 798 // WEB page data
nishimura_taku_pet 24:9481c8f56a49 799 strcpy(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet 24:9481c8f56a49 800 strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
molberry 38:39db3f7450c2 801 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 802 strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet 24:9481c8f56a49 803 strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
takuminomura 48:3003ea51c619 804 strcat(webbuff, "<input type=\"text\" id=\"leftms\" size=4 value=250>%</strong>");
molberry 38:39db3f7450c2 805 strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"rel()\">RELOAD</button>");
nishimura_taku_pet 24:9481c8f56a49 806 strcat(webbuff, "</td></p>");
nishimura_taku_pet 24:9481c8f56a49 807 strcat(webbuff, "<br>");
nishimura_taku_pet 24:9481c8f56a49 808 strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 809
molberry 35:4cda290bdb87 810 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 811 case ADVANCE: //前進
nishimura_taku_pet 24:9481c8f56a49 812 strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 813 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 814 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 815 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 816 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 817 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 818 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 819 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 820 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 821 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 822 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 823 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 824 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 825 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 826 break;
molberry 35:4cda290bdb87 827 case LEFT: //左折
nishimura_taku_pet 24:9481c8f56a49 828 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 829 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 830 strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 831 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 832 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 833 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 834 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 835 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 836 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 837 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 838 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 839 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 840 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 841 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 842 break;
molberry 35:4cda290bdb87 843 case STOP: //停止
nishimura_taku_pet 24:9481c8f56a49 844 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 845 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 846 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 847 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 848 strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 849 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 850 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 851 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 852 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 853 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 854 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 855 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 856 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 857 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 858 break;
molberry 35:4cda290bdb87 859 case RIGHT: //右折
nishimura_taku_pet 24:9481c8f56a49 860 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 861 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 862 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 863 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 864 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 865 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 866 strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 867 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 868 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 869 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 870 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 871 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 872 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 873 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 874 break;
molberry 35:4cda290bdb87 875 case BACK: //後進
nishimura_taku_pet 24:9481c8f56a49 876 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 877 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 878 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 879 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 880 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 881 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 882 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 883 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 884 strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 885 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet 24:9481c8f56a49 886 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 887 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 888 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 889 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 890 break;
molberry 35:4cda290bdb87 891 case AVOIDANCE: //障害物回避
nishimura_taku_pet 24:9481c8f56a49 892 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 893 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 894 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 895 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 896 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 897 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 898 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 899 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 900 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 901 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 902 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 903 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 904 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 905 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 906 break;
molberry 35:4cda290bdb87 907 case LINE_TRACE: //ライントレース
nishimura_taku_pet 24:9481c8f56a49 908 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 909 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 910 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 911 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 912 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 913 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 914 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 915 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 916 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 917 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 918 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 919 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 920 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 921 strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 922 break;
molberry 35:4cda290bdb87 923 default: //その他
nishimura_taku_pet 24:9481c8f56a49 924 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 925 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 926 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 927 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 928 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 929 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 930 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 931 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 932 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 933 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 934 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 935 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 936 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 937 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 938 break;
nishimura_taku_pet 24:9481c8f56a49 939 }
nishimura_taku_pet 24:9481c8f56a49 940 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 941 strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet 24:9481c8f56a49 942 strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 943 //ready示速度だけ点灯
molberry 35:4cda290bdb87 944 switch (flag_sp) { //現在の速度のボタン表示
molberry 35:4cda290bdb87 945 case 0: //ノーマル
nishimura_taku_pet 24:9481c8f56a49 946 strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 947 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 948 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 949 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 950 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 951 break;
molberry 35:4cda290bdb87 952 case 1: //ファスト
nishimura_taku_pet 24:9481c8f56a49 953 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 954 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 955 strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 956 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 957 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 958 break;
molberry 35:4cda290bdb87 959 case 2: //ベリーファスト
nishimura_taku_pet 24:9481c8f56a49 960 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 961 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 962 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 963 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 964 strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 965 break;
molberry 35:4cda290bdb87 966 default: //その他
nishimura_taku_pet 24:9481c8f56a49 967 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 968 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 969 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 970 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 971 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 972 break;
nishimura_taku_pet 24:9481c8f56a49 973 }
nishimura_taku_pet 24:9481c8f56a49 974 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 975 strcat(webbuff, "</center>");
nishimura_taku_pet 24:9481c8f56a49 976 strcat(webbuff, "</body>");
nishimura_taku_pet 24:9481c8f56a49 977 strcat(webbuff, "</html>");
molberry 35:4cda290bdb87 978 strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
molberry 38:39db3f7450c2 979 strcat(webbuff, "function rel(){");
molberry 38:39db3f7450c2 980 strcat(webbuff, "location.reload();");
molberry 38:39db3f7450c2 981 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 982 strcat(webbuff, "function htmlacs(url) {");
nishimura_taku_pet 24:9481c8f56a49 983 strcat(webbuff, "var xhr = new XMLHttpRequest();");
nishimura_taku_pet 24:9481c8f56a49 984 strcat(webbuff, "xhr.open(\"GET\", url);");
nishimura_taku_pet 24:9481c8f56a49 985 strcat(webbuff, "xhr.send(\"\");");
nishimura_taku_pet 24:9481c8f56a49 986 strcat(webbuff, "}");
takuminomura 48:3003ea51c619 987 //0825
takuminomura 48:3003ea51c619 988 //0824 battery update auto
takuminomura 48:3003ea51c619 989 strcat(webbuff, "function battery_update() {");
takuminomura 48:3003ea51c619 990 strcat(webbuff, "var url1 = \"http://\" + window.location.hostname+ \"/cargo?a=responseBattery\";");
takuminomura 48:3003ea51c619 991 strcat(webbuff, "var xhr1 = new XMLHttpRequest();");
takuminomura 48:3003ea51c619 992 strcat(webbuff, "xhr1.open(\"GET\", url1);");
takuminomura 48:3003ea51c619 993 //0820
takuminomura 48:3003ea51c619 994 strcat(webbuff, "xhr1.onreadystatechange = function(){");
takuminomura 48:3003ea51c619 995 strcat(webbuff, "if(this.readyState == 4 && this.status == 200){");
takuminomura 48:3003ea51c619 996 strcat(webbuff, "var res1 = xhr1.responseText;");
takuminomura 48:3003ea51c619 997 //color
takuminomura 48:3003ea51c619 998 strcat(webbuff, "var battery_num=res1;");
takuminomura 48:3003ea51c619 999 strcat(webbuff, "if(battery_num>0 && battery_num<31){");
takuminomura 48:3003ea51c619 1000 strcat(webbuff, "document.getElementById('leftms').style.color=\"red\";");
takuminomura 48:3003ea51c619 1001 strcat(webbuff, "}");
takuminomura 48:3003ea51c619 1002 strcat(webbuff, "if(battery_num>39 && battery_num<61){");
takuminomura 48:3003ea51c619 1003 strcat(webbuff, "document.getElementById('leftms').style.color=\"orange\";");
takuminomura 48:3003ea51c619 1004 strcat(webbuff, "}");
takuminomura 48:3003ea51c619 1005 strcat(webbuff, "if(battery_num>69 && battery_num<101){");
takuminomura 48:3003ea51c619 1006 strcat(webbuff, "document.getElementById('leftms').style.color=\"blue\";");
takuminomura 48:3003ea51c619 1007 strcat(webbuff, "}");
takuminomura 48:3003ea51c619 1008 //color
takuminomura 48:3003ea51c619 1009 strcat(webbuff, "document.getElementById('leftms').value=res1;}};");
takuminomura 48:3003ea51c619 1010 //0820
takuminomura 48:3003ea51c619 1011 strcat(webbuff, "xhr1.send();");
takuminomura 48:3003ea51c619 1012 strcat(webbuff, "}");
takuminomura 48:3003ea51c619 1013 strcat(webbuff, "setInterval(battery_update,15000);");
takuminomura 48:3003ea51c619 1014 //0824 battery update auto
takuminomura 48:3003ea51c619 1015 //0825
molberry 35:4cda290bdb87 1016 strcat(webbuff, "function send_mes(btnmes,btnval){"); //mode変更ボタン入力時の点灯消灯判定
nishimura_taku_pet 24:9481c8f56a49 1017 strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet 24:9481c8f56a49 1018 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1019 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1020 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1021 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1022 strcat(webbuff, "for(var i=1;i<8;i++){");
nishimura_taku_pet 24:9481c8f56a49 1023 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1024 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1025 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1026 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1027 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1028 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1029 strcat(webbuff, "}");
molberry 35:4cda290bdb87 1030 strcat(webbuff, "function send_mes_spe(btnmes,btnval){"); //speed変更ボタン入力時の点灯消灯判定
nishimura_taku_pet 24:9481c8f56a49 1031 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1032 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1033 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1034 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1035 strcat(webbuff, "for(var i=8;i<11;i++){");
nishimura_taku_pet 24:9481c8f56a49 1036 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1037 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1038 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1039 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1040 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1041 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1042 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1043 strcat(webbuff, "</script>");
nishimura_taku_pet 24:9481c8f56a49 1044 // end of WEB page data
nishimura_taku_pet 24:9481c8f56a49 1045 bufl = strlen(webbuff); // get total page buffer length
nishimura_taku_pet 24:9481c8f56a49 1046
nishimura_taku_pet 24:9481c8f56a49 1047 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 1048 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1049 getcount=40;
nishimura_taku_pet 24:9481c8f56a49 1050 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1051 getreply();
nishimura_taku_pet 24:9481c8f56a49 1052 //pastthrough mode
nishimura_taku_pet 24:9481c8f56a49 1053 SendWEB(); // send web page
nishimura_taku_pet 24:9481c8f56a49 1054 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1055 sendcheck();
nishimura_taku_pet 24:9481c8f56a49 1056 }
nishimura_taku_pet 24:9481c8f56a49 1057
nishimura_taku_pet 24:9481c8f56a49 1058 // Large WEB buffer data send
nishimura_taku_pet 24:9481c8f56a49 1059 void SendWEB()
nishimura_taku_pet 24:9481c8f56a49 1060 {
nishimura_taku_pet 24:9481c8f56a49 1061 int i=0;
nishimura_taku_pet 24:9481c8f56a49 1062 if(esp.writeable()) {
nishimura_taku_pet 24:9481c8f56a49 1063 while(webbuff[i]!='\0') {
nishimura_taku_pet 24:9481c8f56a49 1064 esp.putc(webbuff[i]);
nishimura_taku_pet 24:9481c8f56a49 1065 //****
nishimura_taku_pet 24:9481c8f56a49 1066 //output at command when 2000
nishimura_taku_pet 24:9481c8f56a49 1067 if(((i%2047)==0) && (i>0)) {
takuminomura 48:3003ea51c619 1068 run = beforeRun;
takuminomura 48:3003ea51c619 1069 ThisThread::sleep_for(100);
takuminomura 48:3003ea51c619 1070 beforeRun = run;
takuminomura 48:3003ea51c619 1071 run = STOP;
takuminomura 48:3003ea51c619 1072 sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048*(i/2047))>2048?2048:(bufl-2048*(i/2047))); // send IPD link channel and buffer character length.
nishimura_taku_pet 24:9481c8f56a49 1073 timeout=600;
nishimura_taku_pet 24:9481c8f56a49 1074 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1075 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1076 getreply();
nishimura_taku_pet 24:9481c8f56a49 1077 }
nishimura_taku_pet 24:9481c8f56a49 1078 //****
nishimura_taku_pet 24:9481c8f56a49 1079 i++;
nishimura_taku_pet 24:9481c8f56a49 1080 }
nishimura_taku_pet 24:9481c8f56a49 1081 }
nishimura_taku_pet 24:9481c8f56a49 1082 }
nishimura_taku_pet 24:9481c8f56a49 1083
nishimura_taku_pet 24:9481c8f56a49 1084
takuminomura 48:3003ea51c619 1085 void sendpage2()
takuminomura 48:3003ea51c619 1086 {
takuminomura 48:3003ea51c619 1087 // WEB page data
takuminomura 48:3003ea51c619 1088 sprintf(battery_ch,"%d",b);
takuminomura 48:3003ea51c619 1089 strcpy(webbuff, battery_ch);
takuminomura 48:3003ea51c619 1090 // end of WEB page data
takuminomura 48:3003ea51c619 1091 bufl = strlen(webbuff); // get total page buffer length
takuminomura 48:3003ea51c619 1092
takuminomura 48:3003ea51c619 1093 sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl>2048?2048:bufl)); // send IPD link channel and buffer character length.
takuminomura 48:3003ea51c619 1094 timeout=500;
takuminomura 48:3003ea51c619 1095 getcount=40;
takuminomura 48:3003ea51c619 1096 SendCMD();
takuminomura 48:3003ea51c619 1097 getreply();
takuminomura 48:3003ea51c619 1098 //pastthrough mode
takuminomura 48:3003ea51c619 1099 SendWEB(); // send web page
takuminomura 48:3003ea51c619 1100 memset(webbuff, '\0', sizeof(webbuff));
takuminomura 48:3003ea51c619 1101 sendcheck();
takuminomura 48:3003ea51c619 1102 }
takuminomura 48:3003ea51c619 1103
nishimura_taku_pet 24:9481c8f56a49 1104 void sendcheck()
nishimura_taku_pet 24:9481c8f56a49 1105 {
nishimura_taku_pet 24:9481c8f56a49 1106 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1107 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1108 getcount=24;
nishimura_taku_pet 24:9481c8f56a49 1109 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1110 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1111
nishimura_taku_pet 24:9481c8f56a49 1112 if(weberror==1) { // restart connection
nishimura_taku_pet 24:9481c8f56a49 1113 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet 24:9481c8f56a49 1114 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1115 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1116 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1117 getreply();
nishimura_taku_pet 24:9481c8f56a49 1118 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1119 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1120 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1121 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1122 getreply();
nishimura_taku_pet 24:9481c8f56a49 1123 } else {
nishimura_taku_pet 24:9481c8f56a49 1124 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet 24:9481c8f56a49 1125 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1126 getreply();
nishimura_taku_pet 24:9481c8f56a49 1127 }
nishimura_taku_pet 24:9481c8f56a49 1128 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1129 }
nishimura_taku_pet 24:9481c8f56a49 1130
nishimura_taku_pet 24:9481c8f56a49 1131 // Reads and processes GET and POST web data
nishimura_taku_pet 24:9481c8f56a49 1132 void ReadWebData()
nishimura_taku_pet 24:9481c8f56a49 1133 {
takuminomura 48:3003ea51c619 1134 run = beforeRun;
nishimura_taku_pet 30:c80da0ecc260 1135 ThisThread::sleep_for(200);
takuminomura 48:3003ea51c619 1136 beforeRun = run;
takuminomura 48:3003ea51c619 1137 run = STOP;
nishimura_taku_pet 24:9481c8f56a49 1138 esp.attach(NULL);
nishimura_taku_pet 24:9481c8f56a49 1139 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1140 DataRX=0;
nishimura_taku_pet 24:9481c8f56a49 1141 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1142 memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet 24:9481c8f56a49 1143 int x = strcspn (webbuff,"+");
nishimura_taku_pet 24:9481c8f56a49 1144 if(x) {
nishimura_taku_pet 24:9481c8f56a49 1145 strcpy(webdata, webbuff + x);
nishimura_taku_pet 24:9481c8f56a49 1146 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1147 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
takuminomura 48:3003ea51c619 1148 if( strstr(webdata, "responseBattery") != NULL ) {
takuminomura 48:3003ea51c619 1149 click_flag = 0;
takuminomura 48:3003ea51c619 1150 led4=!led4;
takuminomura 48:3003ea51c619 1151 sendpage2();
takuminomura 48:3003ea51c619 1152 }
nishimura_taku_pet 43:243c1455f88a 1153 if( strstr(webdata, "Normal") != NULL ) {
nishimura_taku_pet 43:243c1455f88a 1154 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1155 flag_sp = 0;
nishimura_taku_pet 43:243c1455f88a 1156 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1157 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1158 }else if( strstr(webdata, "VeryFast") != NULL ) {
nishimura_taku_pet 43:243c1455f88a 1159 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1160 flag_sp = 2;
nishimura_taku_pet 43:243c1455f88a 1161 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1162 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1163 }else if( strstr(webdata, "Fast") != NULL ) {
nishimura_taku_pet 43:243c1455f88a 1164 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1165 flag_sp = 1;
nishimura_taku_pet 43:243c1455f88a 1166 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1167 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1168 }else{
nishimura_taku_pet 43:243c1455f88a 1169 beforeMode = mode;
nishimura_taku_pet 43:243c1455f88a 1170 }
nishimura_taku_pet 24:9481c8f56a49 1171 if( strstr(webdata, "GO") != NULL ) {
yangtzuli 37:0cde453dce7d 1172 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1173 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1174 run = ADVANCE; // 前進
molberry 35:4cda290bdb87 1175 mode = ADVANCE; // モード変更
molberry 35:4cda290bdb87 1176 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1177 }
takuminomura 48:3003ea51c619 1178
nishimura_taku_pet 24:9481c8f56a49 1179 if( strstr(webdata, "LEFT") != NULL ) {
yangtzuli 37:0cde453dce7d 1180 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1181 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1182 run = LEFT; // 左折
molberry 35:4cda290bdb87 1183 mode = LEFT; // モード変更
molberry 35:4cda290bdb87 1184 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1185 }
nishimura_taku_pet 24:9481c8f56a49 1186
nishimura_taku_pet 24:9481c8f56a49 1187 if( strstr(webdata, "STOP") != NULL ) {
yangtzuli 37:0cde453dce7d 1188 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1189 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1190 run = STOP; // 停止
molberry 35:4cda290bdb87 1191 mode = STOP; // モード変更
molberry 35:4cda290bdb87 1192 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1193 }
nishimura_taku_pet 24:9481c8f56a49 1194
nishimura_taku_pet 24:9481c8f56a49 1195 if( strstr(webdata, "RIGHT") != NULL ) {
yangtzuli 37:0cde453dce7d 1196 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1197 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1198 run = RIGHT; // 右折
molberry 35:4cda290bdb87 1199 mode = RIGHT; // モード変更
molberry 35:4cda290bdb87 1200 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1201 }
nishimura_taku_pet 24:9481c8f56a49 1202
nishimura_taku_pet 24:9481c8f56a49 1203 if( strstr(webdata, "BACK") != NULL ) {
yangtzuli 37:0cde453dce7d 1204 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1205 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1206 run = BACK; // 後進
molberry 35:4cda290bdb87 1207 mode = BACK; // モード変更
molberry 35:4cda290bdb87 1208 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1209 }
nishimura_taku_pet 24:9481c8f56a49 1210
nishimura_taku_pet 24:9481c8f56a49 1211 if( strstr(webdata, "AVOIDANCE") != NULL ) {
nishimura_taku_pet 26:0badbc9f9cb3 1212 if(avoi_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1213 delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1214 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 26:0badbc9f9cb3 1215 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1216 }
nishimura_taku_pet 24:9481c8f56a49 1217 mode=AVOIDANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1218 run = ADVANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1219 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1220 }
nishimura_taku_pet 24:9481c8f56a49 1221 if( strstr(webdata, "LINE_TRACE") != NULL ) {
nishimura_taku_pet 26:0badbc9f9cb3 1222 if(trace_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1223 delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1224 trace_thread = new Thread(trace);
nishimura_taku_pet 26:0badbc9f9cb3 1225 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1226 }
nishimura_taku_pet 24:9481c8f56a49 1227 mode=LINE_TRACE;
nishimura_taku_pet 26:0badbc9f9cb3 1228 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1229 }
nishimura_taku_pet 26:0badbc9f9cb3 1230 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1231 trace_thread->terminate();
nishimura_taku_pet 26:0badbc9f9cb3 1232 }
nishimura_taku_pet 26:0badbc9f9cb3 1233 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1234 avoi_thread->terminate();
nishimura_taku_pet 31:3665282561d6 1235 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 26:0badbc9f9cb3 1236 }
nishimura_taku_pet 24:9481c8f56a49 1237 sprintf(channel, "%d",linkID);
nishimura_taku_pet 24:9481c8f56a49 1238 if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1239 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1240 }
nishimura_taku_pet 24:9481c8f56a49 1241 if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1242 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1243 }
nishimura_taku_pet 24:9481c8f56a49 1244 webcounter++;
nishimura_taku_pet 24:9481c8f56a49 1245 sprintf(webcount, "%d",webcounter);
nishimura_taku_pet 24:9481c8f56a49 1246 } else {
nishimura_taku_pet 24:9481c8f56a49 1247 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1248 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1249 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1250 }
nishimura_taku_pet 24:9481c8f56a49 1251 }
nishimura_taku_pet 24:9481c8f56a49 1252 // Starts and restarts webserver if errors detected.
nishimura_taku_pet 24:9481c8f56a49 1253 void startserver()
nishimura_taku_pet 24:9481c8f56a49 1254 {
nishimura_taku_pet 24:9481c8f56a49 1255 pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1256 strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet 24:9481c8f56a49 1257 timeout=8000;
nishimura_taku_pet 24:9481c8f56a49 1258 getcount=1000;
nishimura_taku_pet 24:9481c8f56a49 1259 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1260 getreply();
nishimura_taku_pet 24:9481c8f56a49 1261 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1262 pc.printf("%d",ount);
nishimura_taku_pet 24:9481c8f56a49 1263 if (strstr(replybuff, "OK") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1264 pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1265 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet 24:9481c8f56a49 1266 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1267 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1268 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1269 getreply();
nishimura_taku_pet 24:9481c8f56a49 1270 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1271 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1272 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1273 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1274 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1275 getreply();
nishimura_taku_pet 24:9481c8f56a49 1276 pc.printf(replybuff);
nishimura_taku_pet 33:a6f1090e0174 1277 ThisThread::sleep_for(500);
nishimura_taku_pet 24:9481c8f56a49 1278 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet 24:9481c8f56a49 1279 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1280 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1281 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1282 getreply();
nishimura_taku_pet 24:9481c8f56a49 1283 pc.printf(replybuff);
nishimura_taku_pet 25:8ed98982faa7 1284 ThisThread::sleep_for(5000);
nishimura_taku_pet 24:9481c8f56a49 1285 pc.printf("\n Getting Server IP \r\n");
nishimura_taku_pet 24:9481c8f56a49 1286 strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet 24:9481c8f56a49 1287 timeout=2500;
nishimura_taku_pet 24:9481c8f56a49 1288 getcount=200;
nishimura_taku_pet 24:9481c8f56a49 1289 while(weberror==0) {
nishimura_taku_pet 24:9481c8f56a49 1290 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1291 getreply();
nishimura_taku_pet 24:9481c8f56a49 1292 if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet 24:9481c8f56a49 1293 weberror=1; // wait for valid IP
nishimura_taku_pet 24:9481c8f56a49 1294 }
nishimura_taku_pet 24:9481c8f56a49 1295 }
nishimura_taku_pet 24:9481c8f56a49 1296 pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1297 pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1298 replybuff[strlen(replybuff)-1] = '\0';
nishimura_taku_pet 24:9481c8f56a49 1299 sprintf(webdata,"%s", replybuff);
nishimura_taku_pet 24:9481c8f56a49 1300 pc.printf(webdata);
nishimura_taku_pet 24:9481c8f56a49 1301 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1302 bufflen=200;
nishimura_taku_pet 24:9481c8f56a49 1303 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1304 pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet 33:a6f1090e0174 1305 setup();
nishimura_taku_pet 24:9481c8f56a49 1306 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1307 } else {
nishimura_taku_pet 24:9481c8f56a49 1308 pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1309 led1=1;
nishimura_taku_pet 24:9481c8f56a49 1310 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1311 led3=1;
nishimura_taku_pet 24:9481c8f56a49 1312 led4=1;
nishimura_taku_pet 24:9481c8f56a49 1313 while(1) {
nishimura_taku_pet 24:9481c8f56a49 1314 led1=!led1;
nishimura_taku_pet 24:9481c8f56a49 1315 led2=!led2;
nishimura_taku_pet 24:9481c8f56a49 1316 led3=!led3;
nishimura_taku_pet 24:9481c8f56a49 1317 led4=!led4;
nishimura_taku_pet 25:8ed98982faa7 1318 ThisThread::sleep_for(1000);
nishimura_taku_pet 24:9481c8f56a49 1319 }
nishimura_taku_pet 24:9481c8f56a49 1320 }
nishimura_taku_pet 24:9481c8f56a49 1321 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1322 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1323 }
nishimura_taku_pet 24:9481c8f56a49 1324 // ESP Command data send
nishimura_taku_pet 24:9481c8f56a49 1325 void SendCMD()
nishimura_taku_pet 24:9481c8f56a49 1326 {
nishimura_taku_pet 24:9481c8f56a49 1327 esp.printf("%s", cmdbuff);
nishimura_taku_pet 24:9481c8f56a49 1328 }
nishimura_taku_pet 24:9481c8f56a49 1329 // Get Command and ESP status replies
nishimura_taku_pet 24:9481c8f56a49 1330 void getreply()
nishimura_taku_pet 24:9481c8f56a49 1331 {
nishimura_taku_pet 24:9481c8f56a49 1332 memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet 24:9481c8f56a49 1333 time1.reset();
nishimura_taku_pet 24:9481c8f56a49 1334 time1.start();
nishimura_taku_pet 24:9481c8f56a49 1335 replycount=0;
nishimura_taku_pet 24:9481c8f56a49 1336 while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet 24:9481c8f56a49 1337 if(esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 1338 replybuff[replycount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 1339 replycount++;
nishimura_taku_pet 24:9481c8f56a49 1340 }
nishimura_taku_pet 24:9481c8f56a49 1341 }
nishimura_taku_pet 24:9481c8f56a49 1342 time1.stop();
nishimura_taku_pet 24:9481c8f56a49 1343 }
takuminomura 48:3003ea51c619 1344
tomotsugu 8:a47dbf4fa455 1345 /* mainスレッド */
yangtzuli 0:0d0037aabe41 1346 int main() {
tomotsugu 8:a47dbf4fa455 1347 /* 初期設定 */
takuminomura 48:3003ea51c619 1348 // wifi_thread = new Thread(wifi);
takuminomura 48:3003ea51c619 1349 // wifi_thread -> set_priority(osPriorityHigh);
takuminomura 48:3003ea51c619 1350 setup();
nishimura_taku_pet 16:ffc732a3cf92 1351 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 1352 avoi_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 1353 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 1354 trace_thread->terminate();
tomotsugu 8:a47dbf4fa455 1355 mode = READY; // 現在待ちモード
tomotsugu 8:a47dbf4fa455 1356 beforeMode = READY; // 前回待ちモード
tomotsugu 8:a47dbf4fa455 1357 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 1358 flag_sp = NORMAL; // スピード(普通)
tomotsugu 10:d193030ce672 1359 lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet 33:a6f1090e0174 1360 lcd.setAddress(0,1);
nishimura_taku_pet 33:a6f1090e0174 1361 lcd.printf("Mode:SetUp");
takuminomura 48:3003ea51c619 1362 display(); // ディスプレイ表示
yangtzuli 2:38825726cb1b 1363
yangtzuli 0:0d0037aabe41 1364 while(1){
tomotsugu 8:a47dbf4fa455 1365 bChange(); // バッテリー残量更新
yangtzuli 0:0d0037aabe41 1366 }
yangtzuli 0:0d0037aabe41 1367 }