高速wifiついてる
Dependencies: RemoteIR TextLCD
main.cpp@40:75e1ad7c27e4, 2020-08-19 (annotated)
- Committer:
- nishimura_taku_pet
- Date:
- Wed Aug 19 06:07:00 2020 +0000
- Revision:
- 40:75e1ad7c27e4
- Parent:
- 39:054c17d10c55
- Child:
- 41:3c58a4be1199
avoidance update
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 | */ |
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 */ |
nishimura_taku_pet | 27:90962c01bfeb | 16 | #define MIN_V 2.0 // 電圧の最小値 |
nishimura_taku_pet | 27:90962c01bfeb | 17 | #define MAX_V 2.67 // 電圧の最大値 |
nishimura_taku_pet | 27:90962c01bfeb | 18 | #define LOW 0 // モーターOFF |
nishimura_taku_pet | 27:90962c01bfeb | 19 | #define HIGH 1 // モーターON |
nishimura_taku_pet | 27:90962c01bfeb | 20 | #define NORMAL 0 // 普通 |
nishimura_taku_pet | 27:90962c01bfeb | 21 | #define FAST 1 // 速い |
tomotsugu | 8:a47dbf4fa455 | 22 | #define VERYFAST 2 // とても速い |
yangtzuli | 2:38825726cb1b | 23 | |
tomotsugu | 8:a47dbf4fa455 | 24 | /* 操作モード定義 */ |
yangtzuli | 3:2ae6218973be | 25 | enum MODE{ |
tomotsugu | 8:a47dbf4fa455 | 26 | READY = -1, // -1:待ち |
tomotsugu | 8:a47dbf4fa455 | 27 | ADVANCE = 1, // 1:前進 |
tomotsugu | 8:a47dbf4fa455 | 28 | RIGHT, // 2:右折 |
tomotsugu | 8:a47dbf4fa455 | 29 | LEFT, // 3:左折 |
tomotsugu | 8:a47dbf4fa455 | 30 | BACK, // 4:後退 |
tomotsugu | 8:a47dbf4fa455 | 31 | STOP, // 5:停止 |
tomotsugu | 8:a47dbf4fa455 | 32 | LINE_TRACE, // 6:ライントレース |
tomotsugu | 8:a47dbf4fa455 | 33 | AVOIDANCE, // 7:障害物回避 |
tomotsugu | 8:a47dbf4fa455 | 34 | SPEED, // 8:スピード制御 |
yangtzuli | 2:38825726cb1b | 35 | }; |
yangtzuli | 2:38825726cb1b | 36 | |
yangtzuli | 3:2ae6218973be | 37 | /* ピン配置 */ |
yangtzuli | 3:2ae6218973be | 38 | ReceiverIR ir(p5); // リモコン操作 |
yangtzuli | 3:2ae6218973be | 39 | DigitalOut trig(p6); // 超音波センサtrigger |
yangtzuli | 5:3fffb364744b | 40 | DigitalIn echo(p7); // 超音波センサecho |
yangtzuli | 3:2ae6218973be | 41 | DigitalIn ss1(p8); // ライントレースセンサ(左) |
yangtzuli | 3:2ae6218973be | 42 | DigitalIn ss2(p9); // ライントレースセンサ |
yangtzuli | 3:2ae6218973be | 43 | DigitalIn ss3(p10); // ライントレースセンサ |
yangtzuli | 3:2ae6218973be | 44 | DigitalIn ss4(p11); // ライントレースセンサ |
yangtzuli | 3:2ae6218973be | 45 | DigitalIn ss5(p12); // ライントレースセンサ(右) |
nishimura_taku_pet | 24:9481c8f56a49 | 46 | RawSerial esp(p13, p14); // Wi-Fiモジュール(tx, rx) |
yangtzuli | 3:2ae6218973be | 47 | AnalogIn battery(p15); // 電池残量読み取り(Max 3.3V) |
yangtzuli | 3:2ae6218973be | 48 | PwmOut motorR2(p21); // 右モーター後退 |
yangtzuli | 3:2ae6218973be | 49 | PwmOut motorR1(p22); // 右モーター前進 |
yangtzuli | 3:2ae6218973be | 50 | PwmOut motorL2(p23); // 左モーター後退 |
yangtzuli | 3:2ae6218973be | 51 | PwmOut motorL1(p24); // 左モーター前進 |
yangtzuli | 3:2ae6218973be | 52 | PwmOut servo(p25); // サーボ |
yangtzuli | 3:2ae6218973be | 53 | I2C i2c_lcd(p28,p27); // LCD(tx, rx) |
yangtzuli | 2:38825726cb1b | 54 | |
yangtzuli | 3:2ae6218973be | 55 | /* 変数宣言 */ |
yangtzuli | 3:2ae6218973be | 56 | int mode; // 操作モード |
yangtzuli | 3:2ae6218973be | 57 | int run; // 走行状態 |
tomotsugu | 8:a47dbf4fa455 | 58 | int beforeMode; // 前回のモード |
tomotsugu | 8:a47dbf4fa455 | 59 | int flag_sp = 0; // スピード変化フラグ |
tomotsugu | 8:a47dbf4fa455 | 60 | Timer viewTimer; // スピ―ド変更時に3秒計測タイマー |
nishimura_taku_pet | 40:75e1ad7c27e4 | 61 | float motorSpeed[9] = {0.4, 0.7, 0.8, 0.7, 0.8, 0.9, 0.8, 0.9, 1.0}; |
yangtzuli | 3:2ae6218973be | 62 | // モーター速度設定(後半はライントレース用) |
tomotsugu | 8:a47dbf4fa455 | 63 | |
tomotsugu | 8:a47dbf4fa455 | 64 | Mutex mutex; // ミューテックス |
tomotsugu | 8:a47dbf4fa455 | 65 | |
tomotsugu | 8:a47dbf4fa455 | 66 | /* decodeIR用変数 */ |
yangtzuli | 3:2ae6218973be | 67 | RemoteIR::Format format; |
yangtzuli | 3:2ae6218973be | 68 | uint8_t buf[32]; |
yangtzuli | 3:2ae6218973be | 69 | uint32_t bitcount; |
yangtzuli | 3:2ae6218973be | 70 | uint32_t code; |
yangtzuli | 3:2ae6218973be | 71 | |
tomotsugu | 8:a47dbf4fa455 | 72 | /* bChange, lcdbacklight用変数 */ |
yangtzuli | 3:2ae6218973be | 73 | TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780); |
tomotsugu | 8:a47dbf4fa455 | 74 | int b = 0; // バッテリー残量 |
tomotsugu | 8:a47dbf4fa455 | 75 | int flag_b = 0; // バックライト点滅フラグ |
tomotsugu | 8:a47dbf4fa455 | 76 | int flag_t = 0; // バックライトタイマーフラグ |
yangtzuli | 3:2ae6218973be | 77 | |
tomotsugu | 8:a47dbf4fa455 | 78 | /* trace用変数 */ |
takuminomura | 39:054c17d10c55 | 79 | int sensArray[32] = {0,6,2,4,1,1,2,2, // ライントレースセンサパターン |
nishimura_taku_pet | 28:cb51cafca490 | 80 | 3,1,1,1,3,1,1,2, |
nishimura_taku_pet | 28:cb51cafca490 | 81 | 7,1,1,1,1,1,1,1, |
nishimura_taku_pet | 28:cb51cafca490 | 82 | 5,1,1,1,3,1,3,1}; |
yangtzuli | 0:0d0037aabe41 | 83 | |
tomotsugu | 8:a47dbf4fa455 | 84 | /* avoidance用変数 */ |
yangtzuli | 3:2ae6218973be | 85 | Timer timer; // 距離計測用タイマ |
yangtzuli | 3:2ae6218973be | 86 | int DT; // 距離 |
yangtzuli | 2:38825726cb1b | 87 | int SC; // 正面 |
yangtzuli | 2:38825726cb1b | 88 | int SL; // 左 |
yangtzuli | 2:38825726cb1b | 89 | int SR; // 右 |
yangtzuli | 2:38825726cb1b | 90 | int SLD; // 左前 |
yangtzuli | 2:38825726cb1b | 91 | int SRD; // 右前 |
tomotsugu | 8:a47dbf4fa455 | 92 | int flag_a = 0; // 障害物有無のフラグ |
yangtzuli | 2:38825726cb1b | 93 | const int limit = 20; // 障害物の距離のリミット(単位:cm) |
yangtzuli | 3:2ae6218973be | 94 | int far; // 最も遠い距離 |
yangtzuli | 2:38825726cb1b | 95 | int houkou; // 進行方向(1:前 2:左 3:右) |
yangtzuli | 2:38825726cb1b | 96 | int i; // ループ変数 |
nishimura_taku_pet | 29:600e4b9b5c5b | 97 | int t1 = 0; |
yangtzuli | 2:38825726cb1b | 98 | |
nishimura_taku_pet | 24:9481c8f56a49 | 99 | /*WiFi用変数*/ |
nishimura_taku_pet | 24:9481c8f56a49 | 100 | Timer time1; |
nishimura_taku_pet | 24:9481c8f56a49 | 101 | Timer time2; |
nishimura_taku_pet | 24:9481c8f56a49 | 102 | int bufflen, DataRX, ount, getcount, replycount, servreq, timeout; |
nishimura_taku_pet | 24:9481c8f56a49 | 103 | int bufl, ipdLen, linkID, weberror, webcounter,click_flag; |
nishimura_taku_pet | 24:9481c8f56a49 | 104 | float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage |
nishimura_taku_pet | 24:9481c8f56a49 | 105 | char webcount[8]; |
nishimura_taku_pet | 24:9481c8f56a49 | 106 | char type[16]; |
nishimura_taku_pet | 24:9481c8f56a49 | 107 | char channel[2]; |
nishimura_taku_pet | 24:9481c8f56a49 | 108 | char cmdbuff[32]; |
nishimura_taku_pet | 24:9481c8f56a49 | 109 | char replybuff[1024]; |
nishimura_taku_pet | 24:9481c8f56a49 | 110 | char webdata[1024]; // This may need to be bigger depending on WEB browser used |
nishimura_taku_pet | 27:90962c01bfeb | 111 | char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added |
nishimura_taku_pet | 24:9481c8f56a49 | 112 | int port =80; // set server port |
nishimura_taku_pet | 24:9481c8f56a49 | 113 | int SERVtimeout =5; // set server timeout in seconds in case link breaks. |
nishimura_taku_pet | 24:9481c8f56a49 | 114 | char ssid[32] = "mbed02"; // enter WiFi router ssid inside the quotes |
nishimura_taku_pet | 24:9481c8f56a49 | 115 | char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes |
yangtzuli | 3:2ae6218973be | 116 | |
yangtzuli | 3:2ae6218973be | 117 | |
yangtzuli | 3:2ae6218973be | 118 | /* プロトタイプ宣言 */ |
nishimura_taku_pet | 33:a6f1090e0174 | 119 | void decodeIR(/*void const *argument*/); |
nishimura_taku_pet | 33:a6f1090e0174 | 120 | void motor(/*void const *argument*/); |
yangtzuli | 3:2ae6218973be | 121 | void changeSpeed(); |
nishimura_taku_pet | 16:ffc732a3cf92 | 122 | void avoidance(/*void const *argument*/); |
nishimura_taku_pet | 16:ffc732a3cf92 | 123 | void trace(/*void const *argument*/); |
nishimura_taku_pet | 40:75e1ad7c27e4 | 124 | void watchsurrounding3(); |
nishimura_taku_pet | 40:75e1ad7c27e4 | 125 | void watchsurrounding5(); |
yangtzuli | 2:38825726cb1b | 126 | int watch(); |
yangtzuli | 5:3fffb364744b | 127 | void bChange(); |
yangtzuli | 3:2ae6218973be | 128 | void display(); |
yangtzuli | 3:2ae6218973be | 129 | void lcdBacklight(void const *argument); |
nishimura_taku_pet | 24:9481c8f56a49 | 130 | void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck(),touchuan(); |
nishimura_taku_pet | 24:9481c8f56a49 | 131 | void wifi(void const *argument); |
nishimura_taku_pet | 33:a6f1090e0174 | 132 | Thread *deco_thread; // decodeIRをスレッド化 :+3 |
nishimura_taku_pet | 33:a6f1090e0174 | 133 | Thread wifi_thread(wifi,NULL,osPriorityRealtime); // wifiをスレッド化 |
nishimura_taku_pet | 33:a6f1090e0174 | 134 | Thread *motor_thread; // motorをスレッド化 :+2 |
nishimura_taku_pet | 16:ffc732a3cf92 | 135 | //Thread avoi_thread(avoidance, NULL, osPriorityHigh); // avoidanceをスレッド化:+2 |
nishimura_taku_pet | 16:ffc732a3cf92 | 136 | //Thread trace_thread(trace, NULL, osPriorityHigh); // traceをスレッド化 :+2 |
nishimura_taku_pet | 33:a6f1090e0174 | 137 | RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定 |
nishimura_taku_pet | 16:ffc732a3cf92 | 138 | Thread *avoi_thread; |
nishimura_taku_pet | 16:ffc732a3cf92 | 139 | Thread *trace_thread; |
yangtzuli | 2:38825726cb1b | 140 | |
nishimura_taku_pet | 24:9481c8f56a49 | 141 | DigitalOut led1(LED1); |
nishimura_taku_pet | 24:9481c8f56a49 | 142 | DigitalOut led2(LED2); |
nishimura_taku_pet | 24:9481c8f56a49 | 143 | DigitalOut led3(LED3); |
nishimura_taku_pet | 24:9481c8f56a49 | 144 | DigitalOut led4(LED4); |
yangtzuli | 3:2ae6218973be | 145 | |
nishimura_taku_pet | 33:a6f1090e0174 | 146 | void setup(){ |
nishimura_taku_pet | 33:a6f1090e0174 | 147 | deco_thread = new Thread(decodeIR); |
nishimura_taku_pet | 33:a6f1090e0174 | 148 | deco_thread -> set_priority(osPriorityRealtime); |
nishimura_taku_pet | 33:a6f1090e0174 | 149 | motor_thread = new Thread(motor); |
nishimura_taku_pet | 33:a6f1090e0174 | 150 | motor_thread -> set_priority(osPriorityHigh); |
nishimura_taku_pet | 33:a6f1090e0174 | 151 | display(); |
nishimura_taku_pet | 33:a6f1090e0174 | 152 | } |
nishimura_taku_pet | 33:a6f1090e0174 | 153 | |
tomotsugu | 8:a47dbf4fa455 | 154 | /* リモコン受信スレッド */ |
nishimura_taku_pet | 33:a6f1090e0174 | 155 | void decodeIR(/*void const *argument*/){ |
yangtzuli | 5:3fffb364744b | 156 | while(1){ |
yangtzuli | 0:0d0037aabe41 | 157 | // 受信待ち |
tomotsugu | 8:a47dbf4fa455 | 158 | if (ir.getState() == ReceiverIR::Received){ // コード受信 |
yangtzuli | 3:2ae6218973be | 159 | bitcount = ir.getData(&format, buf, sizeof(buf) * 8); |
tomotsugu | 8:a47dbf4fa455 | 160 | if(bitcount > 1){ // 受信成功 |
yangtzuli | 1:5bb497a38344 | 161 | code=0; |
tomotsugu | 15:5eef1955f6c2 | 162 | for(int j = 0; j < 4; j++){ |
yangtzuli | 1:5bb497a38344 | 163 | code+=(buf[j]<<(8*(3-j))); |
yangtzuli | 1:5bb497a38344 | 164 | } |
tomotsugu | 8:a47dbf4fa455 | 165 | if(mode != SPEED){ // スピードモード以外なら |
tomotsugu | 8:a47dbf4fa455 | 166 | beforeMode=mode; // 前回のモードに現在のモードを設定 |
yangtzuli | 3:2ae6218973be | 167 | } |
yangtzuli | 0:0d0037aabe41 | 168 | switch(code){ |
tomotsugu | 8:a47dbf4fa455 | 169 | case 0x40bf27d8: // クイック |
yangtzuli | 17:f7259ab2fe86 | 170 | //pc.printf("mode = SPEED\r\n"); |
tomotsugu | 8:a47dbf4fa455 | 171 | mode = SPEED; // スピードモード |
tomotsugu | 8:a47dbf4fa455 | 172 | changeSpeed(); // 速度変更 |
tomotsugu | 8:a47dbf4fa455 | 173 | display(); // ディスプレイ表示 |
tomotsugu | 8:a47dbf4fa455 | 174 | mode = beforeMode; // 現在のモードに前回のモードを設定 |
yangtzuli | 1:5bb497a38344 | 175 | break; |
tomotsugu | 8:a47dbf4fa455 | 176 | case 0x40be34cb: // レグザリンク |
yangtzuli | 17:f7259ab2fe86 | 177 | //pc.printf("mode = LINE_TRACE\r\n"); |
nishimura_taku_pet | 16:ffc732a3cf92 | 178 | if(trace_thread->get_state() == Thread::Deleted){ |
nishimura_taku_pet | 16:ffc732a3cf92 | 179 | delete trace_thread; |
nishimura_taku_pet | 16:ffc732a3cf92 | 180 | trace_thread = new Thread(trace); |
nishimura_taku_pet | 16:ffc732a3cf92 | 181 | trace_thread -> set_priority(osPriorityHigh); |
nishimura_taku_pet | 16:ffc732a3cf92 | 182 | } |
tomotsugu | 8:a47dbf4fa455 | 183 | mode=LINE_TRACE; // ライントレースモード |
tomotsugu | 8:a47dbf4fa455 | 184 | display(); // ディスプレイ表示 |
yangtzuli | 1:5bb497a38344 | 185 | break; |
tomotsugu | 8:a47dbf4fa455 | 186 | case 0x40bf6e91: // 番組表 |
yangtzuli | 17:f7259ab2fe86 | 187 | //pc.printf("mode = AVOIDANCE\r\n"); |
nishimura_taku_pet | 16:ffc732a3cf92 | 188 | if(avoi_thread->get_state() == Thread::Deleted){ |
nishimura_taku_pet | 16:ffc732a3cf92 | 189 | delete avoi_thread; |
nishimura_taku_pet | 16:ffc732a3cf92 | 190 | avoi_thread = new Thread(avoidance); |
nishimura_taku_pet | 16:ffc732a3cf92 | 191 | avoi_thread -> set_priority(osPriorityHigh); |
nishimura_taku_pet | 16:ffc732a3cf92 | 192 | } |
tomotsugu | 18:6cca64c7dbc3 | 193 | flag_a = 0; |
tomotsugu | 8:a47dbf4fa455 | 194 | mode=AVOIDANCE; // 障害物回避モード |
tomotsugu | 13:1a7667d0aa78 | 195 | run = ADVANCE; // 前進 |
tomotsugu | 8:a47dbf4fa455 | 196 | display(); // ディスプレイ表示 |
yangtzuli | 1:5bb497a38344 | 197 | break; |
tomotsugu | 8:a47dbf4fa455 | 198 | case 0x40bf3ec1: // ↑ |
yangtzuli | 17:f7259ab2fe86 | 199 | //pc.printf("mode = ADVANCE\r\n"); |
tomotsugu | 8:a47dbf4fa455 | 200 | mode = ADVANCE; // 前進モード |
tomotsugu | 8:a47dbf4fa455 | 201 | run = ADVANCE; // 前進 |
tomotsugu | 8:a47dbf4fa455 | 202 | display(); // ディスプレイ表示 |
yangtzuli | 1:5bb497a38344 | 203 | break; |
tomotsugu | 8:a47dbf4fa455 | 204 | case 0x40bf3fc0: // ↓ |
yangtzuli | 17:f7259ab2fe86 | 205 | //pc.printf("mode = BACK\r\n"); |
tomotsugu | 8:a47dbf4fa455 | 206 | mode = BACK; // 後退モード |
tomotsugu | 8:a47dbf4fa455 | 207 | run = BACK; // 後退 |
tomotsugu | 8:a47dbf4fa455 | 208 | display(); // ディスプレイ表示 |
yangtzuli | 0:0d0037aabe41 | 209 | break; |
tomotsugu | 8:a47dbf4fa455 | 210 | case 0x40bf5fa0: // ← |
yangtzuli | 17:f7259ab2fe86 | 211 | //pc.printf("mode = LEFT\r\n"); |
tomotsugu | 8:a47dbf4fa455 | 212 | mode = LEFT; // 左折モード |
tomotsugu | 8:a47dbf4fa455 | 213 | run = LEFT; // 左折 |
tomotsugu | 8:a47dbf4fa455 | 214 | display(); // ディスプレイ表示 |
yangtzuli | 1:5bb497a38344 | 215 | break; |
tomotsugu | 8:a47dbf4fa455 | 216 | case 0x40bf5ba4: // → |
yangtzuli | 17:f7259ab2fe86 | 217 | //pc.printf("mode = RIGHT\r\n"); |
tomotsugu | 8:a47dbf4fa455 | 218 | mode = RIGHT; // 右折モード |
tomotsugu | 8:a47dbf4fa455 | 219 | run = RIGHT; // 右折 |
tomotsugu | 8:a47dbf4fa455 | 220 | display(); // ディスプレイ表示 |
yangtzuli | 1:5bb497a38344 | 221 | break; |
tomotsugu | 8:a47dbf4fa455 | 222 | case 0x40bf3dc2: // 決定 |
yangtzuli | 17:f7259ab2fe86 | 223 | //pc.printf("mode = STOP\r\n"); |
tomotsugu | 8:a47dbf4fa455 | 224 | mode = STOP; // 停止モード |
tomotsugu | 8:a47dbf4fa455 | 225 | run = STOP; // 停止 |
tomotsugu | 8:a47dbf4fa455 | 226 | display(); // ディスプレイ表示 |
yangtzuli | 1:5bb497a38344 | 227 | break; |
yangtzuli | 0:0d0037aabe41 | 228 | default: |
yangtzuli | 0:0d0037aabe41 | 229 | ; |
yangtzuli | 0:0d0037aabe41 | 230 | } |
nishimura_taku_pet | 16:ffc732a3cf92 | 231 | if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){ |
nishimura_taku_pet | 16:ffc732a3cf92 | 232 | trace_thread->terminate(); |
nishimura_taku_pet | 16:ffc732a3cf92 | 233 | } |
nishimura_taku_pet | 16:ffc732a3cf92 | 234 | if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){ |
nishimura_taku_pet | 16:ffc732a3cf92 | 235 | avoi_thread->terminate(); |
nishimura_taku_pet | 28:cb51cafca490 | 236 | servo.pulsewidth_us(1450); // サーボを中央位置に戻す |
nishimura_taku_pet | 16:ffc732a3cf92 | 237 | } |
yangtzuli | 0:0d0037aabe41 | 238 | } |
yangtzuli | 0:0d0037aabe41 | 239 | } |
tomotsugu | 8:a47dbf4fa455 | 240 | if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過 |
tomotsugu | 8:a47dbf4fa455 | 241 | viewTimer.stop(); // タイマーストップ |
tomotsugu | 8:a47dbf4fa455 | 242 | viewTimer.reset(); // タイマーリセット |
tomotsugu | 8:a47dbf4fa455 | 243 | display(); // ディスプレイ表示 |
yangtzuli | 4:3f80c0180e2f | 244 | } |
tomotsugu | 18:6cca64c7dbc3 | 245 | ThisThread::sleep_for(90); // 90ms待つ |
yangtzuli | 4:3f80c0180e2f | 246 | } |
yangtzuli | 2:38825726cb1b | 247 | } |
tomotsugu | 8:a47dbf4fa455 | 248 | |
tomotsugu | 8:a47dbf4fa455 | 249 | /* モーター制御スレッド */ |
nishimura_taku_pet | 33:a6f1090e0174 | 250 | void motor(/*void const *argument*/){ |
tomotsugu | 8:a47dbf4fa455 | 251 | while(1){ |
tomotsugu | 8:a47dbf4fa455 | 252 | /* 走行状態の場合分け */ |
yangtzuli | 3:2ae6218973be | 253 | switch(run){ |
tomotsugu | 8:a47dbf4fa455 | 254 | /* 前進 */ |
yangtzuli | 3:2ae6218973be | 255 | case ADVANCE: |
tomotsugu | 8:a47dbf4fa455 | 256 | motorR1 = motorSpeed[flag_sp]; // 右前進モーターON |
tomotsugu | 8:a47dbf4fa455 | 257 | motorR2 = LOW; // 右後退モーターOFF |
tomotsugu | 8:a47dbf4fa455 | 258 | motorL1 = motorSpeed[flag_sp]; // 左前進モーターON |
tomotsugu | 8:a47dbf4fa455 | 259 | motorL2 = LOW; // 左後退モーターOFF |
yangtzuli | 3:2ae6218973be | 260 | break; |
tomotsugu | 8:a47dbf4fa455 | 261 | /* 右折 */ |
yangtzuli | 3:2ae6218973be | 262 | case RIGHT: |
tomotsugu | 8:a47dbf4fa455 | 263 | motorR1 = LOW; // 右前進モーターOFF |
tomotsugu | 8:a47dbf4fa455 | 264 | motorR2 = motorSpeed[flag_sp]; // 右後退モーターON |
tomotsugu | 8:a47dbf4fa455 | 265 | motorL1 = motorSpeed[flag_sp]; // 左前進モーターON |
tomotsugu | 8:a47dbf4fa455 | 266 | motorL2 = LOW; // 左後退モーターOFF |
yangtzuli | 3:2ae6218973be | 267 | break; |
tomotsugu | 8:a47dbf4fa455 | 268 | /* 左折 */ |
yangtzuli | 3:2ae6218973be | 269 | case LEFT: |
tomotsugu | 8:a47dbf4fa455 | 270 | motorR1 = motorSpeed[flag_sp]; // 右前進モーターON |
tomotsugu | 8:a47dbf4fa455 | 271 | motorR2 = LOW; // 右後退モーターOFF |
tomotsugu | 8:a47dbf4fa455 | 272 | motorL1 = LOW; // 左前進モーターOFF |
tomotsugu | 8:a47dbf4fa455 | 273 | motorL2 = motorSpeed[flag_sp]; // 左後退モーターON |
yangtzuli | 3:2ae6218973be | 274 | break; |
tomotsugu | 8:a47dbf4fa455 | 275 | /* 後退 */ |
yangtzuli | 3:2ae6218973be | 276 | case BACK: |
tomotsugu | 8:a47dbf4fa455 | 277 | motorR1 = LOW; // 右前進モーターOFF |
tomotsugu | 8:a47dbf4fa455 | 278 | motorR2 = motorSpeed[flag_sp]; // 右後退モーターON |
tomotsugu | 8:a47dbf4fa455 | 279 | motorL1 = LOW; // 左前進モーターOFF |
tomotsugu | 8:a47dbf4fa455 | 280 | motorL2 = motorSpeed[flag_sp]; // 左後退モーターON |
yangtzuli | 3:2ae6218973be | 281 | break; |
tomotsugu | 8:a47dbf4fa455 | 282 | /* 停止 */ |
yangtzuli | 3:2ae6218973be | 283 | case STOP: |
tomotsugu | 8:a47dbf4fa455 | 284 | motorR1 = LOW; // 右前進モーターOFF |
tomotsugu | 8:a47dbf4fa455 | 285 | motorR2 = LOW; // 右後退モーターOFF |
tomotsugu | 8:a47dbf4fa455 | 286 | motorL1 = LOW; // 左前進モーターOFF |
tomotsugu | 8:a47dbf4fa455 | 287 | motorL2 = LOW; // 左後退モーターOFF |
yangtzuli | 3:2ae6218973be | 288 | break; |
yangtzuli | 3:2ae6218973be | 289 | } |
tomotsugu | 8:a47dbf4fa455 | 290 | if(flag_sp > VERYFAST){ // スピード変更フラグが2より大きいなら |
tomotsugu | 8:a47dbf4fa455 | 291 | flag_sp -= 3 * (flag_sp / 3); // スピード変更フラグ調整 |
yangtzuli | 6:800a745c7f2e | 292 | } |
tomotsugu | 8:a47dbf4fa455 | 293 | ThisThread::sleep_for(30); // 30ms待つ |
yangtzuli | 2:38825726cb1b | 294 | } |
yangtzuli | 2:38825726cb1b | 295 | } |
tomotsugu | 8:a47dbf4fa455 | 296 | |
tomotsugu | 8:a47dbf4fa455 | 297 | /* スピード変更関数 */ |
yangtzuli | 3:2ae6218973be | 298 | void changeSpeed(){ |
tomotsugu | 8:a47dbf4fa455 | 299 | 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 |
tomotsugu | 8:a47dbf4fa455 | 300 | flag_sp -= 2; // スピード変更フラグを-2 |
yangtzuli | 3:2ae6218973be | 301 | |
tomotsugu | 8:a47dbf4fa455 | 302 | }else{ // それ以外 |
tomotsugu | 8:a47dbf4fa455 | 303 | flag_sp = flag_sp + 1; // スピード変更フラグを+1 |
yangtzuli | 3:2ae6218973be | 304 | } |
yangtzuli | 3:2ae6218973be | 305 | } |
tomotsugu | 8:a47dbf4fa455 | 306 | |
tomotsugu | 8:a47dbf4fa455 | 307 | /* ライントレーススレッド */ |
tomotsugu | 20:02bb875a9b13 | 308 | void trace(){ |
tomotsugu | 8:a47dbf4fa455 | 309 | while(1){ |
tomotsugu | 8:a47dbf4fa455 | 310 | /* 各センサー値読み取り */ |
yangtzuli | 3:2ae6218973be | 311 | int sensor1 = ss1; |
yangtzuli | 3:2ae6218973be | 312 | int sensor2 = ss2; |
yangtzuli | 3:2ae6218973be | 313 | int sensor3 = ss3; |
yangtzuli | 3:2ae6218973be | 314 | int sensor4 = ss4; |
yangtzuli | 3:2ae6218973be | 315 | int sensor5 = ss5; |
yangtzuli | 6:800a745c7f2e | 316 | pc.printf("%d %d %d %d %d \r\n",sensor1,sensor2,sensor3,sensor4,sensor5); |
yangtzuli | 3:2ae6218973be | 317 | int sensD = 0; |
tomotsugu | 8:a47dbf4fa455 | 318 | |
tomotsugu | 8:a47dbf4fa455 | 319 | /* センサー値の決定 */ |
yangtzuli | 3:2ae6218973be | 320 | if(sensor1 > 0) sensD |= 0x10; |
yangtzuli | 3:2ae6218973be | 321 | if(sensor2 > 0) sensD |= 0x08; |
yangtzuli | 3:2ae6218973be | 322 | if(sensor3 > 0) sensD |= 0x04; |
yangtzuli | 3:2ae6218973be | 323 | if(sensor4 > 0) sensD |= 0x02; |
yangtzuli | 3:2ae6218973be | 324 | if(sensor5 > 0) sensD |= 0x01; |
tomotsugu | 8:a47dbf4fa455 | 325 | |
tomotsugu | 8:a47dbf4fa455 | 326 | /* センサー値によって場合分け */ |
nishimura_taku_pet | 34:040474bf6fe0 | 327 | switch(sensArray[sensD]){ |
yangtzuli | 3:2ae6218973be | 328 | case 1: |
tomotsugu | 18:6cca64c7dbc3 | 329 | run = ADVANCE; // 低速で前進 |
yangtzuli | 3:2ae6218973be | 330 | break; |
yangtzuli | 3:2ae6218973be | 331 | case 2: |
takuminomura | 39:054c17d10c55 | 332 | // flag_sp = flag_sp % 3 + 6; |
tomotsugu | 18:6cca64c7dbc3 | 333 | run = RIGHT; // 低速で右折 |
yangtzuli | 3:2ae6218973be | 334 | break; |
yangtzuli | 3:2ae6218973be | 335 | case 3: |
takuminomura | 39:054c17d10c55 | 336 | // flag_sp = flag_sp % 3 + 6; |
tomotsugu | 18:6cca64c7dbc3 | 337 | run = LEFT; // 低速で左折 |
yangtzuli | 3:2ae6218973be | 338 | break; |
yangtzuli | 3:2ae6218973be | 339 | case 4: |
takuminomura | 39:054c17d10c55 | 340 | flag_sp = flag_sp % 3 + 3; |
tomotsugu | 18:6cca64c7dbc3 | 341 | run = RIGHT; // 中速で右折 |
yangtzuli | 3:2ae6218973be | 342 | break; |
yangtzuli | 3:2ae6218973be | 343 | case 5: |
takuminomura | 39:054c17d10c55 | 344 | flag_sp = flag_sp % 3 + 3; |
tomotsugu | 18:6cca64c7dbc3 | 345 | run = LEFT; // 中速で左折 |
yangtzuli | 6:800a745c7f2e | 346 | break; |
yangtzuli | 6:800a745c7f2e | 347 | case 6: |
tomotsugu | 18:6cca64c7dbc3 | 348 | flag_sp = flag_sp % 3 + 6; |
tomotsugu | 18:6cca64c7dbc3 | 349 | run = RIGHT; // 高速で右折 |
yangtzuli | 6:800a745c7f2e | 350 | break; |
yangtzuli | 6:800a745c7f2e | 351 | case 7: |
tomotsugu | 18:6cca64c7dbc3 | 352 | flag_sp = flag_sp % 3 + 6; |
tomotsugu | 18:6cca64c7dbc3 | 353 | run = LEFT; // 高速で左折 |
yangtzuli | 3:2ae6218973be | 354 | break; |
takuminomura | 39:054c17d10c55 | 355 | default: |
takuminomura | 39:054c17d10c55 | 356 | break; // 前回動作を継続 |
yangtzuli | 3:2ae6218973be | 357 | } |
tomotsugu | 8:a47dbf4fa455 | 358 | ThisThread::sleep_for(30); // 30ms待つ |
tomotsugu | 18:6cca64c7dbc3 | 359 | } |
yangtzuli | 3:2ae6218973be | 360 | } |
yangtzuli | 3:2ae6218973be | 361 | |
tomotsugu | 8:a47dbf4fa455 | 362 | /* 障害物回避走行スレッド */ |
tomotsugu | 20:02bb875a9b13 | 363 | void avoidance(){ |
yangtzuli | 3:2ae6218973be | 364 | while(1){ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 365 | watchsurrounding3(); |
tomotsugu | 18:6cca64c7dbc3 | 366 | pc.printf("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR); |
tomotsugu | 18:6cca64c7dbc3 | 367 | if(flag_a == 0){ // 障害物がない場合 |
tomotsugu | 18:6cca64c7dbc3 | 368 | run = ADVANCE; // 前進 |
nishimura_taku_pet | 28:cb51cafca490 | 369 | }else{ // 障害物がある場合 |
tomotsugu | 18:6cca64c7dbc3 | 370 | i = 0; |
tomotsugu | 18:6cca64c7dbc3 | 371 | if(SC < 15){ // 正面15cm以内に障害物が現れた場合 |
tomotsugu | 18:6cca64c7dbc3 | 372 | run = BACK; // 後退 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 373 | int cnt_kyori=0; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 374 | int kyori = watch(); |
nishimura_taku_pet | 40:75e1ad7c27e4 | 375 | while(kyori < limit){ // 正面20cm以内に障害物がある間 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 376 | if(kyori==-1){ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 377 | cnt_kyori++; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 378 | if(cnt_kyori>15){ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 379 | cnt_kyori=0; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 380 | break; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 381 | } |
nishimura_taku_pet | 40:75e1ad7c27e4 | 382 | } |
nishimura_taku_pet | 40:75e1ad7c27e4 | 383 | kyori = watch(); |
tomotsugu | 18:6cca64c7dbc3 | 384 | } |
nishimura_taku_pet | 40:75e1ad7c27e4 | 385 | /*while(i < 30){ // 正面20cm以内に障害物がある間 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 386 | if(watch() < limit){ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 387 | break; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 388 | } |
nishimura_taku_pet | 40:75e1ad7c27e4 | 389 | i++; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 390 | } |
nishimura_taku_pet | 40:75e1ad7c27e4 | 391 | i = 0;*/ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 392 | run = STOP; // 停止 |
yangtzuli | 3:2ae6218973be | 393 | } |
nishimura_taku_pet | 40:75e1ad7c27e4 | 394 | watchsurrounding5(); |
nishimura_taku_pet | 28:cb51cafca490 | 395 | if(SC < limit && SLD < limit && SL < limit && SRD < limit && SR < limit){ // 全方向に障害物がある場合 |
tomotsugu | 18:6cca64c7dbc3 | 396 | run = LEFT; // 左折 |
nishimura_taku_pet | 28:cb51cafca490 | 397 | while(i < 1){ // 進行方向確認 |
tomotsugu | 18:6cca64c7dbc3 | 398 | if(watch() > limit){ |
tomotsugu | 18:6cca64c7dbc3 | 399 | i++; |
nishimura_taku_pet | 28:cb51cafca490 | 400 | }else{ |
nishimura_taku_pet | 28:cb51cafca490 | 401 | i = 0; |
yangtzuli | 2:38825726cb1b | 402 | } |
yangtzuli | 2:38825726cb1b | 403 | } |
nishimura_taku_pet | 28:cb51cafca490 | 404 | run = STOP; // 停止 |
nishimura_taku_pet | 28:cb51cafca490 | 405 | }else { // 全方向以外 |
nishimura_taku_pet | 28:cb51cafca490 | 406 | far = SC; // 正面を最も遠い距離に設定 |
nishimura_taku_pet | 28:cb51cafca490 | 407 | houkou = 1; // 進行方向を前に設定 |
nishimura_taku_pet | 28:cb51cafca490 | 408 | if(far < SLD || far < SL){ // 左または左前がより遠い場合 |
nishimura_taku_pet | 28:cb51cafca490 | 409 | if(SL < SLD){ // 左前が左より遠い場合 |
nishimura_taku_pet | 28:cb51cafca490 | 410 | far = SLD; // 左前を最も遠い距離に設定 |
nishimura_taku_pet | 28:cb51cafca490 | 411 | }else{ // 左が左前より遠い場合 |
nishimura_taku_pet | 28:cb51cafca490 | 412 | far = SL; // 左を最も遠い距離に設定 |
nishimura_taku_pet | 28:cb51cafca490 | 413 | } |
nishimura_taku_pet | 28:cb51cafca490 | 414 | houkou = 2; // 進行方向を左に設定 |
nishimura_taku_pet | 28:cb51cafca490 | 415 | } |
nishimura_taku_pet | 28:cb51cafca490 | 416 | if(far < SRD || far < SR){ // 右または右前がより遠い場合 |
nishimura_taku_pet | 28:cb51cafca490 | 417 | if(SR < SRD){ // 右前が右より遠い場合 |
nishimura_taku_pet | 28:cb51cafca490 | 418 | far = SRD; // 右前を最も遠い距離に設定 |
nishimura_taku_pet | 28:cb51cafca490 | 419 | }else{ // 右が右前よりも遠い場合 |
nishimura_taku_pet | 28:cb51cafca490 | 420 | far = SR; // 右を最も遠い距離に設定 |
nishimura_taku_pet | 28:cb51cafca490 | 421 | } |
nishimura_taku_pet | 28:cb51cafca490 | 422 | houkou = 3; // 進行方向を右に設定 |
nishimura_taku_pet | 28:cb51cafca490 | 423 | } |
nishimura_taku_pet | 28:cb51cafca490 | 424 | switch(houkou){ // 進行方向の場合分け |
nishimura_taku_pet | 28:cb51cafca490 | 425 | case 1: // 前の場合 |
nishimura_taku_pet | 28:cb51cafca490 | 426 | run = ADVANCE; // 前進 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 427 | ThisThread::sleep_for(500); // 0.5秒待つ |
nishimura_taku_pet | 28:cb51cafca490 | 428 | break; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 429 | case 2: // 左の場合 |
nishimura_taku_pet | 28:cb51cafca490 | 430 | run = LEFT; // 左折 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 431 | //int kyori = watch(); |
nishimura_taku_pet | 40:75e1ad7c27e4 | 432 | //int kyori_f=0; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 433 | while(i < 20){ // 進行方向確認 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 434 | /*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 | 435 | break; // ループ+ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 436 | }else if(kyori==-1){ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 437 | kyori_f++; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 438 | }else{ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 439 | kyori_f = 0; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 440 | i++; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 441 | }*/ |
nishimura_taku_pet | 28:cb51cafca490 | 442 | 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 | 443 | break; // ループ+ |
nishimura_taku_pet | 28:cb51cafca490 | 444 | }else{ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 445 | i++; |
nishimura_taku_pet | 28:cb51cafca490 | 446 | } |
nishimura_taku_pet | 28:cb51cafca490 | 447 | } |
nishimura_taku_pet | 28:cb51cafca490 | 448 | run = STOP; // 停止 |
nishimura_taku_pet | 28:cb51cafca490 | 449 | break; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 450 | case 3: // 右の場合 |
nishimura_taku_pet | 28:cb51cafca490 | 451 | run = RIGHT; // 右折 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 452 | int kyori = watch(); |
nishimura_taku_pet | 40:75e1ad7c27e4 | 453 | int kyori_f=0; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 454 | while(i < 20){ // 進行方向確認 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 455 | /*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 | 456 | break; // ループ+ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 457 | }else if(kyori==-1){ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 458 | kyori_f++; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 459 | }else{ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 460 | kyori_f = 0; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 461 | i++; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 462 | }*/ |
nishimura_taku_pet | 28:cb51cafca490 | 463 | 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 | 464 | break; // ループ+ |
nishimura_taku_pet | 28:cb51cafca490 | 465 | }else{ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 466 | i++; |
nishimura_taku_pet | 28:cb51cafca490 | 467 | } |
nishimura_taku_pet | 28:cb51cafca490 | 468 | } |
nishimura_taku_pet | 28:cb51cafca490 | 469 | run = STOP; // 停止 |
nishimura_taku_pet | 28:cb51cafca490 | 470 | break; |
nishimura_taku_pet | 28:cb51cafca490 | 471 | } |
yangtzuli | 5:3fffb364744b | 472 | } |
nishimura_taku_pet | 28:cb51cafca490 | 473 | } |
nishimura_taku_pet | 28:cb51cafca490 | 474 | flag_a = 0; // 障害物有無フラグを0にセット |
nishimura_taku_pet | 40:75e1ad7c27e4 | 475 | if(SLD < 29){ // 正面15cm以内に障害物が現れた場合 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 476 | run = RIGHT; // 右折 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 477 | ThisThread::sleep_for(100); // 100ms待つ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 478 | run = STOP; // 停止 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 479 | }else if(SRD < 29){ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 480 | run = LEFT; // 左折 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 481 | ThisThread::sleep_for(100); // 100ms待つ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 482 | run = STOP; // 停止 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 483 | } |
yangtzuli | 2:38825726cb1b | 484 | } |
yangtzuli | 2:38825726cb1b | 485 | } |
tomotsugu | 8:a47dbf4fa455 | 486 | |
tomotsugu | 8:a47dbf4fa455 | 487 | /* 距離計測関数 */ |
yangtzuli | 2:38825726cb1b | 488 | int watch(){ |
tomotsugu | 21:68d38e8f64b5 | 489 | do{ |
tomotsugu | 21:68d38e8f64b5 | 490 | trig = 0; |
tomotsugu | 21:68d38e8f64b5 | 491 | ThisThread::sleep_for(5); // 5ms待つ |
tomotsugu | 21:68d38e8f64b5 | 492 | trig = 1; |
tomotsugu | 21:68d38e8f64b5 | 493 | ThisThread::sleep_for(15); // 15ms待つ |
tomotsugu | 21:68d38e8f64b5 | 494 | trig = 0; |
tomotsugu | 21:68d38e8f64b5 | 495 | timer.start(); |
yangtzuli | 17:f7259ab2fe86 | 496 | t1=timer.read_ms(); |
nishimura_taku_pet | 29:600e4b9b5c5b | 497 | while(echo.read() == 0 && t1<10){ |
tomotsugu | 21:68d38e8f64b5 | 498 | t1=timer.read_ms(); |
tomotsugu | 21:68d38e8f64b5 | 499 | led1 = 1; |
tomotsugu | 21:68d38e8f64b5 | 500 | } |
tomotsugu | 21:68d38e8f64b5 | 501 | timer.stop(); |
tomotsugu | 21:68d38e8f64b5 | 502 | timer.reset(); |
nishimura_taku_pet | 28:cb51cafca490 | 503 | /*if((t1-t2) >= 10){ |
nishimura_taku_pet | 28:cb51cafca490 | 504 | run = STOP;*/ |
nishimura_taku_pet | 29:600e4b9b5c5b | 505 | }while(t1 >= 10); |
tomotsugu | 21:68d38e8f64b5 | 506 | timer.start(); // 距離計測タイマースタート |
tomotsugu | 21:68d38e8f64b5 | 507 | while(echo.read() == 1){ |
yangtzuli | 5:3fffb364744b | 508 | } |
tomotsugu | 21:68d38e8f64b5 | 509 | timer.stop(); // 距離計測タイマーストップ |
tomotsugu | 21:68d38e8f64b5 | 510 | DT = (int)(timer.read_us()*0.01657); // 距離計算 |
nishimura_taku_pet | 28:cb51cafca490 | 511 | if(DT > 1000){ |
nishimura_taku_pet | 28:cb51cafca490 | 512 | DT = -1; |
nishimura_taku_pet | 28:cb51cafca490 | 513 | }else if(DT > 150){ // 検知範囲外なら100cmに設定 |
tomotsugu | 22:c6e2a3b9aa14 | 514 | DT = 150; |
yangtzuli | 2:38825726cb1b | 515 | } |
tomotsugu | 21:68d38e8f64b5 | 516 | timer.reset(); // 距離計測タイマーリセット |
tomotsugu | 8:a47dbf4fa455 | 517 | led1 = 0; |
yangtzuli | 2:38825726cb1b | 518 | return DT; |
yangtzuli | 0:0d0037aabe41 | 519 | } |
yangtzuli | 0:0d0037aabe41 | 520 | |
tomotsugu | 8:a47dbf4fa455 | 521 | /* 障害物検知関数 */ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 522 | void watchsurrounding3(){ |
nishimura_taku_pet | 28:cb51cafca490 | 523 | //servo.pulsewidth_us(1450); // サーボを中央位置に戻す |
nishimura_taku_pet | 28:cb51cafca490 | 524 | //ThisThread::sleep_for(200); // 100ms待つ |
yangtzuli | 2:38825726cb1b | 525 | SC = watch(); |
nishimura_taku_pet | 28:cb51cafca490 | 526 | if(SC < limit){ // 正面20cm以内に障害物がある場合 |
nishimura_taku_pet | 28:cb51cafca490 | 527 | if(SC!=-1){ |
nishimura_taku_pet | 28:cb51cafca490 | 528 | run = STOP; // 停止 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 529 | flag_a = 1; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 530 | return; |
nishimura_taku_pet | 28:cb51cafca490 | 531 | } |
yangtzuli | 2:38825726cb1b | 532 | } |
yangtzuli | 2:38825726cb1b | 533 | servo.pulsewidth_us(1925); // サーボを左に40度回転 |
nishimura_taku_pet | 28:cb51cafca490 | 534 | ThisThread::sleep_for(100); // 250ms待つ |
yangtzuli | 2:38825726cb1b | 535 | SLD = watch(); |
yangtzuli | 2:38825726cb1b | 536 | if(SLD < limit){ // 左前20cm以内に障害物がある場合 |
tomotsugu | 20:02bb875a9b13 | 537 | run = STOP; // 停止 |
nishimura_taku_pet | 28:cb51cafca490 | 538 | flag_a = 1; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 539 | return; |
yangtzuli | 2:38825726cb1b | 540 | } |
tomotsugu | 19:c6f9f010bd9e | 541 | servo.pulsewidth_us(1450); |
nishimura_taku_pet | 40:75e1ad7c27e4 | 542 | ThisThread::sleep_for(100); |
tomotsugu | 19:c6f9f010bd9e | 543 | SC = watch(); |
tomotsugu | 19:c6f9f010bd9e | 544 | if(SC < limit){ |
nishimura_taku_pet | 28:cb51cafca490 | 545 | if(SC!=-1){ |
nishimura_taku_pet | 28:cb51cafca490 | 546 | run = STOP; // 停止 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 547 | flag_a = 1; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 548 | return; |
nishimura_taku_pet | 28:cb51cafca490 | 549 | } |
tomotsugu | 19:c6f9f010bd9e | 550 | } |
yangtzuli | 2:38825726cb1b | 551 | servo.pulsewidth_us(925); // サーボを右に40度回転 |
nishimura_taku_pet | 28:cb51cafca490 | 552 | ThisThread::sleep_for(100); // 250ms待つ |
yangtzuli | 2:38825726cb1b | 553 | SRD = watch(); |
yangtzuli | 2:38825726cb1b | 554 | if(SRD < limit){ // 右前20cm以内に障害物がある場合 |
tomotsugu | 20:02bb875a9b13 | 555 | run = STOP; // 停止 |
nishimura_taku_pet | 28:cb51cafca490 | 556 | flag_a = 1; |
nishimura_taku_pet | 40:75e1ad7c27e4 | 557 | return; |
yangtzuli | 2:38825726cb1b | 558 | } |
nishimura_taku_pet | 40:75e1ad7c27e4 | 559 | servo.pulsewidth_us(1450); // サーボを中央位置に戻す |
nishimura_taku_pet | 40:75e1ad7c27e4 | 560 | ThisThread::sleep_for(100); // 100ms待つ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 561 | /*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 | 562 | flag_a = 1; // 障害物有無フラグに1をセット |
nishimura_taku_pet | 40:75e1ad7c27e4 | 563 | }*/ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 564 | } |
nishimura_taku_pet | 40:75e1ad7c27e4 | 565 | |
nishimura_taku_pet | 40:75e1ad7c27e4 | 566 | /* 障害物検知関数 */ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 567 | void watchsurrounding5(){ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 568 | //servo.pulsewidth_us(1450); // サーボを中央位置に戻す |
nishimura_taku_pet | 40:75e1ad7c27e4 | 569 | //ThisThread::sleep_for(200); // 100ms待つ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 570 | SC = watch(); |
nishimura_taku_pet | 40:75e1ad7c27e4 | 571 | servo.pulsewidth_us(1925); // サーボを左に40度回転 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 572 | ThisThread::sleep_for(100); // 250ms待つ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 573 | SLD = watch(); |
nishimura_taku_pet | 40:75e1ad7c27e4 | 574 | servo.pulsewidth_us(2400); // サーボを左に90度回転 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 575 | ThisThread::sleep_for(100); // 250ms待つ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 576 | SL = watch(); |
nishimura_taku_pet | 40:75e1ad7c27e4 | 577 | servo.pulsewidth_us(1450); |
nishimura_taku_pet | 40:75e1ad7c27e4 | 578 | ThisThread::sleep_for(250); |
nishimura_taku_pet | 40:75e1ad7c27e4 | 579 | SC = watch(); |
nishimura_taku_pet | 40:75e1ad7c27e4 | 580 | servo.pulsewidth_us(925); // サーボを右に40度回転 |
nishimura_taku_pet | 40:75e1ad7c27e4 | 581 | ThisThread::sleep_for(100); // 250ms待つ |
nishimura_taku_pet | 40:75e1ad7c27e4 | 582 | SRD = watch(); |
yangtzuli | 2:38825726cb1b | 583 | servo.pulsewidth_us(500); // サーボを右に90度回転 |
nishimura_taku_pet | 28:cb51cafca490 | 584 | ThisThread::sleep_for(100); // 250ms待つ |
yangtzuli | 2:38825726cb1b | 585 | SR = watch(); |
yangtzuli | 2:38825726cb1b | 586 | servo.pulsewidth_us(1450); // サーボを中央位置に戻す |
nishimura_taku_pet | 28:cb51cafca490 | 587 | ThisThread::sleep_for(250); // 100ms待つ |
yangtzuli | 3:2ae6218973be | 588 | } |
yangtzuli | 3:2ae6218973be | 589 | |
tomotsugu | 8:a47dbf4fa455 | 590 | /* ディスプレイ表示関数 */ |
yangtzuli | 3:2ae6218973be | 591 | void display(){ |
tomotsugu | 8:a47dbf4fa455 | 592 | mutex.lock(); // ミューテックスロック |
yangtzuli | 3:2ae6218973be | 593 | lcd.setAddress(0,1); |
tomotsugu | 8:a47dbf4fa455 | 594 | |
tomotsugu | 8:a47dbf4fa455 | 595 | /* 操作モードによる場合分け */ |
yangtzuli | 3:2ae6218973be | 596 | switch(mode){ |
tomotsugu | 8:a47dbf4fa455 | 597 | /* 前進 */ |
yangtzuli | 3:2ae6218973be | 598 | case ADVANCE: |
yangtzuli | 3:2ae6218973be | 599 | lcd.printf("Mode:Advance "); |
yangtzuli | 3:2ae6218973be | 600 | break; |
tomotsugu | 8:a47dbf4fa455 | 601 | /* 右折 */ |
yangtzuli | 3:2ae6218973be | 602 | case RIGHT: |
yangtzuli | 5:3fffb364744b | 603 | lcd.printf("Mode:TurnRight "); |
yangtzuli | 3:2ae6218973be | 604 | break; |
tomotsugu | 8:a47dbf4fa455 | 605 | /* 左折 */ |
yangtzuli | 3:2ae6218973be | 606 | case LEFT: |
yangtzuli | 5:3fffb364744b | 607 | lcd.printf("Mode:TurnLeft "); |
yangtzuli | 3:2ae6218973be | 608 | break; |
tomotsugu | 8:a47dbf4fa455 | 609 | /* 後退 */ |
yangtzuli | 3:2ae6218973be | 610 | case BACK: |
yangtzuli | 3:2ae6218973be | 611 | lcd.printf("Mode:Back "); |
yangtzuli | 3:2ae6218973be | 612 | break; |
tomotsugu | 8:a47dbf4fa455 | 613 | /* 停止 */ |
yangtzuli | 3:2ae6218973be | 614 | case STOP: |
yangtzuli | 3:2ae6218973be | 615 | lcd.printf("Mode:Stop "); |
yangtzuli | 3:2ae6218973be | 616 | break; |
tomotsugu | 8:a47dbf4fa455 | 617 | /* 待ち */ |
yangtzuli | 3:2ae6218973be | 618 | case READY: |
yangtzuli | 3:2ae6218973be | 619 | lcd.printf("Mode:Ready "); |
yangtzuli | 3:2ae6218973be | 620 | break; |
tomotsugu | 8:a47dbf4fa455 | 621 | /* ライントレース */ |
yangtzuli | 3:2ae6218973be | 622 | case LINE_TRACE: |
yangtzuli | 3:2ae6218973be | 623 | lcd.printf("Mode:LineTrace "); |
yangtzuli | 3:2ae6218973be | 624 | break; |
tomotsugu | 8:a47dbf4fa455 | 625 | /* 障害物回避 */ |
yangtzuli | 3:2ae6218973be | 626 | case AVOIDANCE: |
yangtzuli | 3:2ae6218973be | 627 | lcd.printf("Mode:Avoidance "); |
yangtzuli | 3:2ae6218973be | 628 | break; |
tomotsugu | 8:a47dbf4fa455 | 629 | /* スピード制御 */ |
yangtzuli | 3:2ae6218973be | 630 | case SPEED: |
tomotsugu | 8:a47dbf4fa455 | 631 | /* スピードの状態で場合分け */ |
yangtzuli | 3:2ae6218973be | 632 | switch(flag_sp){ |
tomotsugu | 8:a47dbf4fa455 | 633 | /* 普通 */ |
yangtzuli | 3:2ae6218973be | 634 | case(NORMAL): |
yangtzuli | 3:2ae6218973be | 635 | lcd.printf("Speed:Normal "); |
yangtzuli | 3:2ae6218973be | 636 | break; |
tomotsugu | 8:a47dbf4fa455 | 637 | /* 速い */ |
yangtzuli | 3:2ae6218973be | 638 | case(FAST): |
yangtzuli | 3:2ae6218973be | 639 | lcd.printf("Speed:Fast "); |
yangtzuli | 3:2ae6218973be | 640 | break; |
tomotsugu | 8:a47dbf4fa455 | 641 | /* とても速い */ |
yangtzuli | 3:2ae6218973be | 642 | case(VERYFAST): |
yangtzuli | 3:2ae6218973be | 643 | lcd.printf("Speed:VeryFast "); |
yangtzuli | 3:2ae6218973be | 644 | break; |
yangtzuli | 3:2ae6218973be | 645 | } |
tomotsugu | 8:a47dbf4fa455 | 646 | viewTimer.reset(); // タイマーリセット |
tomotsugu | 8:a47dbf4fa455 | 647 | viewTimer.start(); // タイマースタート |
yangtzuli | 3:2ae6218973be | 648 | break; |
yangtzuli | 3:2ae6218973be | 649 | } |
tomotsugu | 8:a47dbf4fa455 | 650 | mutex.unlock(); // ミューテックスアンロック |
yangtzuli | 3:2ae6218973be | 651 | } |
yangtzuli | 3:2ae6218973be | 652 | |
tomotsugu | 8:a47dbf4fa455 | 653 | /* バックライト点滅 */ |
yangtzuli | 3:2ae6218973be | 654 | void lcdBacklight(void const *argument){ |
tomotsugu | 8:a47dbf4fa455 | 655 | if(flag_b == 1){ // バックライト点滅フラグが1なら |
tomotsugu | 8:a47dbf4fa455 | 656 | lcd.setBacklight(TextLCD::LightOn); // バックライトON |
tomotsugu | 8:a47dbf4fa455 | 657 | }else{ // バックライト点滅フラグが0なら |
tomotsugu | 8:a47dbf4fa455 | 658 | lcd.setBacklight(TextLCD::LightOff); // バックライトOFF |
yangtzuli | 3:2ae6218973be | 659 | } |
tomotsugu | 8:a47dbf4fa455 | 660 | flag_b = !flag_b; // バックライト点滅フラグ切り替え |
yangtzuli | 3:2ae6218973be | 661 | } |
yangtzuli | 2:38825726cb1b | 662 | |
tomotsugu | 8:a47dbf4fa455 | 663 | /* バッテリー残量更新関数 */ |
yangtzuli | 5:3fffb364744b | 664 | void bChange(){ |
yangtzuli | 17:f7259ab2fe86 | 665 | //pc.printf(" bChange1\r\n"); |
tomotsugu | 10:d193030ce672 | 666 | b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10; |
tomotsugu | 10:d193030ce672 | 667 | if(b <= 0){ // バッテリー残量0%なら全ての機能停止 |
tomotsugu | 10:d193030ce672 | 668 | b = 0; |
tomotsugu | 10:d193030ce672 | 669 | //lcd.setBacklight(TextLCD::LightOff); |
tomotsugu | 10:d193030ce672 | 670 | //run = STOP; |
tomotsugu | 10:d193030ce672 | 671 | //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 | 672 | } |
tomotsugu | 10:d193030ce672 | 673 | mutex.lock(); // ミューテックスロック |
tomotsugu | 10:d193030ce672 | 674 | lcd.setAddress(0,0); |
tomotsugu | 10:d193030ce672 | 675 | lcd.printf("Battery:%3d%%",b); // バッテリー残量表示 |
tomotsugu | 10:d193030ce672 | 676 | mutex.unlock(); // ミューテックスアンロック |
tomotsugu | 10:d193030ce672 | 677 | if(b <= 30){ // バッテリー残量30%以下なら |
tomotsugu | 10:d193030ce672 | 678 | if(flag_t == 0){ // バックライトタイマーフラグが0なら |
tomotsugu | 10:d193030ce672 | 679 | 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 | 680 | 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 | 681 | } |
tomotsugu | 10:d193030ce672 | 682 | }else{ |
tomotsugu | 10:d193030ce672 | 683 | if(flag_t == 1){ // バックライトタイマーフラグが1なら |
tomotsugu | 10:d193030ce672 | 684 | bTimer.stop(); // バックライトタイマーストップ |
tomotsugu | 10:d193030ce672 | 685 | lcd.setBacklight(TextLCD::LightOn); // バックライトON |
tomotsugu | 10:d193030ce672 | 686 | 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 | 687 | } |
tomotsugu | 10:d193030ce672 | 688 | } |
yangtzuli | 2:38825726cb1b | 689 | } |
tomotsugu | 8:a47dbf4fa455 | 690 | |
nishimura_taku_pet | 24:9481c8f56a49 | 691 | // Serial Interrupt read ESP data |
nishimura_taku_pet | 24:9481c8f56a49 | 692 | void callback() |
nishimura_taku_pet | 24:9481c8f56a49 | 693 | { |
nishimura_taku_pet | 24:9481c8f56a49 | 694 | //pc.printf("\n\r------------ callback is being called --------------\n\r"); |
nishimura_taku_pet | 24:9481c8f56a49 | 695 | led3=1; |
nishimura_taku_pet | 24:9481c8f56a49 | 696 | while (esp.readable()) { |
nishimura_taku_pet | 24:9481c8f56a49 | 697 | webbuff[ount] = esp.getc(); |
nishimura_taku_pet | 24:9481c8f56a49 | 698 | ount++; |
nishimura_taku_pet | 24:9481c8f56a49 | 699 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 700 | if(strlen(webbuff)>bufflen) { |
nishimura_taku_pet | 24:9481c8f56a49 | 701 | pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r"); |
nishimura_taku_pet | 24:9481c8f56a49 | 702 | DataRX=1; |
nishimura_taku_pet | 24:9481c8f56a49 | 703 | led3=0; |
nishimura_taku_pet | 24:9481c8f56a49 | 704 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 705 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 706 | |
nishimura_taku_pet | 24:9481c8f56a49 | 707 | void wifi(void const *argument) |
nishimura_taku_pet | 24:9481c8f56a49 | 708 | { |
nishimura_taku_pet | 24:9481c8f56a49 | 709 | pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r"); |
nishimura_taku_pet | 33:a6f1090e0174 | 710 | ThisThread::sleep_for(100); |
nishimura_taku_pet | 24:9481c8f56a49 | 711 | led1=1,led2=0,led3=0; |
nishimura_taku_pet | 24:9481c8f56a49 | 712 | timeout=6000; |
nishimura_taku_pet | 24:9481c8f56a49 | 713 | getcount=500; |
nishimura_taku_pet | 24:9481c8f56a49 | 714 | getreply(); |
nishimura_taku_pet | 24:9481c8f56a49 | 715 | esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F |
nishimura_taku_pet | 24:9481c8f56a49 | 716 | startserver(); |
nishimura_taku_pet | 24:9481c8f56a49 | 717 | |
nishimura_taku_pet | 24:9481c8f56a49 | 718 | while(1) { |
nishimura_taku_pet | 24:9481c8f56a49 | 719 | if(DataRX==1) { |
nishimura_taku_pet | 24:9481c8f56a49 | 720 | pc.printf("\f\n\r------------ main while > if --------------\n\r"); |
nishimura_taku_pet | 24:9481c8f56a49 | 721 | click_flag = 1; |
nishimura_taku_pet | 24:9481c8f56a49 | 722 | ReadWebData(); |
nishimura_taku_pet | 24:9481c8f56a49 | 723 | pc.printf("\f\n\r------------ click_flag=%d --------------\n\r",click_flag); |
nishimura_taku_pet | 24:9481c8f56a49 | 724 | //if ((servreq == 1 && weberror == 0) && click_flag == 1) { |
nishimura_taku_pet | 24:9481c8f56a49 | 725 | if (servreq == 1 && weberror == 0) { |
nishimura_taku_pet | 24:9481c8f56a49 | 726 | pc.printf("\f\n\r------------ befor send page --------------\n\r"); |
nishimura_taku_pet | 24:9481c8f56a49 | 727 | sendpage(); |
nishimura_taku_pet | 24:9481c8f56a49 | 728 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 729 | pc.printf("\f\n\r------------ send_check begin --------------\n\r"); |
nishimura_taku_pet | 24:9481c8f56a49 | 730 | |
nishimura_taku_pet | 24:9481c8f56a49 | 731 | //sendcheck(); |
nishimura_taku_pet | 24:9481c8f56a49 | 732 | pc.printf("\f\n\r------------ ssend_check end--------------\n\r"); |
nishimura_taku_pet | 24:9481c8f56a49 | 733 | |
nishimura_taku_pet | 24:9481c8f56a49 | 734 | esp.attach(&callback); |
nishimura_taku_pet | 24:9481c8f56a49 | 735 | pc.printf(" IPD Data:\r\n\n Link ID = %d,\r\n IPD Header Length = %d \r\n IPD Type = %s\r\n", linkID, ipdLen, type); |
nishimura_taku_pet | 24:9481c8f56a49 | 736 | pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata); |
nishimura_taku_pet | 24:9481c8f56a49 | 737 | pc.printf(" Web Characters sent : %d\n\n", bufl); |
nishimura_taku_pet | 24:9481c8f56a49 | 738 | pc.printf(" -------------------------------------\n\n"); |
nishimura_taku_pet | 24:9481c8f56a49 | 739 | servreq=0; |
nishimura_taku_pet | 24:9481c8f56a49 | 740 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 741 | ThisThread::sleep_for(100); |
nishimura_taku_pet | 24:9481c8f56a49 | 742 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 743 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 744 | // Static WEB page |
nishimura_taku_pet | 24:9481c8f56a49 | 745 | void sendpage() |
nishimura_taku_pet | 24:9481c8f56a49 | 746 | { |
nishimura_taku_pet | 24:9481c8f56a49 | 747 | // WEB page data |
nishimura_taku_pet | 24:9481c8f56a49 | 748 | |
nishimura_taku_pet | 24:9481c8f56a49 | 749 | strcpy(webbuff, "<!DOCTYPE html>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 750 | strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>"); |
yangtzuli | 37:0cde453dce7d | 751 | strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >"); |
molberry | 38:39db3f7450c2 | 752 | 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 | 753 | strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller"); |
nishimura_taku_pet | 24:9481c8f56a49 | 754 | strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level "); |
molberry | 35:4cda290bdb87 | 755 | if(b > 30) { //残電量表示 |
nishimura_taku_pet | 33:a6f1090e0174 | 756 | sprintf(webbuff, "%s%3d", webbuff, b); |
molberry | 35:4cda290bdb87 | 757 | } else { //30%より下の場合残電量を赤文字 |
nishimura_taku_pet | 33:a6f1090e0174 | 758 | strcat(webbuff, "<font color=\"red\">"); |
nishimura_taku_pet | 33:a6f1090e0174 | 759 | sprintf(webbuff, "%s%3d", webbuff, b); |
nishimura_taku_pet | 33:a6f1090e0174 | 760 | strcat(webbuff, "<\font>"); |
nishimura_taku_pet | 33:a6f1090e0174 | 761 | } |
nishimura_taku_pet | 33:a6f1090e0174 | 762 | strcat(webbuff, "%</strong>"); |
molberry | 38:39db3f7450c2 | 763 | strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"rel()\">RELOAD</button>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 764 | strcat(webbuff, "</td></p>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 765 | strcat(webbuff, "<br>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 766 | strcat(webbuff, "<table><tr><td></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 767 | |
molberry | 35:4cda290bdb87 | 768 | 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 | 769 | case ADVANCE: //前進 |
nishimura_taku_pet | 24:9481c8f56a49 | 770 | strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
nishimura_taku_pet | 24:9481c8f56a49 | 771 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 772 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 773 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 774 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
nishimura_taku_pet | 24:9481c8f56a49 | 775 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 776 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 777 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 778 | strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
nishimura_taku_pet | 24:9481c8f56a49 | 779 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 780 | strcat(webbuff, "<strong>Mode</strong>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 781 | 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 | 782 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 783 | 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 | 784 | break; |
molberry | 35:4cda290bdb87 | 785 | case LEFT: //左折 |
nishimura_taku_pet | 24:9481c8f56a49 | 786 | strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
nishimura_taku_pet | 24:9481c8f56a49 | 787 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 788 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 789 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 790 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
nishimura_taku_pet | 24:9481c8f56a49 | 791 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 792 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 793 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 794 | strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
nishimura_taku_pet | 24:9481c8f56a49 | 795 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 796 | strcat(webbuff, "<strong>Mode</strong>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 797 | 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 | 798 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 799 | 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 | 800 | break; |
molberry | 35:4cda290bdb87 | 801 | case STOP: //停止 |
nishimura_taku_pet | 24:9481c8f56a49 | 802 | strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
nishimura_taku_pet | 24:9481c8f56a49 | 803 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 804 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 805 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 806 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
nishimura_taku_pet | 24:9481c8f56a49 | 807 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 808 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 809 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 810 | strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
nishimura_taku_pet | 24:9481c8f56a49 | 811 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 812 | strcat(webbuff, "<strong>Mode</strong>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 813 | 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 | 814 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 815 | 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 | 816 | break; |
molberry | 35:4cda290bdb87 | 817 | case RIGHT: //右折 |
nishimura_taku_pet | 24:9481c8f56a49 | 818 | strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
nishimura_taku_pet | 24:9481c8f56a49 | 819 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 820 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 821 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 822 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
nishimura_taku_pet | 24:9481c8f56a49 | 823 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 824 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 825 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 826 | strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
nishimura_taku_pet | 24:9481c8f56a49 | 827 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 828 | strcat(webbuff, "<strong>Mode</strong>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 829 | 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 | 830 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 831 | 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 | 832 | break; |
molberry | 35:4cda290bdb87 | 833 | case BACK: //後進 |
nishimura_taku_pet | 24:9481c8f56a49 | 834 | strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
nishimura_taku_pet | 24:9481c8f56a49 | 835 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 836 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 837 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 838 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
nishimura_taku_pet | 24:9481c8f56a49 | 839 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 840 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 841 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 842 | strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
nishimura_taku_pet | 24:9481c8f56a49 | 843 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 844 | strcat(webbuff, "<strong>Mode</strong>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 845 | 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 | 846 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 847 | 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 | 848 | break; |
molberry | 35:4cda290bdb87 | 849 | case AVOIDANCE: //障害物回避 |
nishimura_taku_pet | 24:9481c8f56a49 | 850 | strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
nishimura_taku_pet | 24:9481c8f56a49 | 851 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 852 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 853 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 854 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
nishimura_taku_pet | 24:9481c8f56a49 | 855 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 856 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 857 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 858 | strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
nishimura_taku_pet | 24:9481c8f56a49 | 859 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 860 | strcat(webbuff, "<strong>Mode</strong>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 861 | 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 | 862 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 863 | 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 | 864 | break; |
molberry | 35:4cda290bdb87 | 865 | case LINE_TRACE: //ライントレース |
nishimura_taku_pet | 24:9481c8f56a49 | 866 | strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
nishimura_taku_pet | 24:9481c8f56a49 | 867 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 868 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 869 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 870 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
nishimura_taku_pet | 24:9481c8f56a49 | 871 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 872 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 873 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 874 | strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
nishimura_taku_pet | 24:9481c8f56a49 | 875 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 876 | strcat(webbuff, "<strong>Mode</strong>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 877 | 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 | 878 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 879 | 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 | 880 | break; |
molberry | 35:4cda290bdb87 | 881 | default: //その他 |
nishimura_taku_pet | 24:9481c8f56a49 | 882 | strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
nishimura_taku_pet | 24:9481c8f56a49 | 883 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 884 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 885 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 886 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
nishimura_taku_pet | 24:9481c8f56a49 | 887 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 888 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
nishimura_taku_pet | 24:9481c8f56a49 | 889 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 890 | strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
nishimura_taku_pet | 24:9481c8f56a49 | 891 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 892 | strcat(webbuff, "<strong>Mode</strong>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 893 | 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 | 894 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 895 | 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 | 896 | break; |
nishimura_taku_pet | 24:9481c8f56a49 | 897 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 898 | strcat(webbuff, "</button></td></tr></table>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 899 | strcat(webbuff, "<strong>Speed</strong>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 900 | strcat(webbuff, "<table><tr><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 901 | //ready示速度だけ点灯 |
molberry | 35:4cda290bdb87 | 902 | switch (flag_sp) { //現在の速度のボタン表示 |
molberry | 35:4cda290bdb87 | 903 | case 0: //ノーマル |
nishimura_taku_pet | 24:9481c8f56a49 | 904 | 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 | 905 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 906 | 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 | 907 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 908 | 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 | 909 | break; |
molberry | 35:4cda290bdb87 | 910 | case 1: //ファスト |
nishimura_taku_pet | 24:9481c8f56a49 | 911 | 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 | 912 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 913 | 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 | 914 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 915 | 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 | 916 | break; |
molberry | 35:4cda290bdb87 | 917 | case 2: //ベリーファスト |
nishimura_taku_pet | 24:9481c8f56a49 | 918 | 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 | 919 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 920 | 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 | 921 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 922 | 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 | 923 | break; |
molberry | 35:4cda290bdb87 | 924 | default: //その他 |
nishimura_taku_pet | 24:9481c8f56a49 | 925 | 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 | 926 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 927 | 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 | 928 | strcat(webbuff, "</button></td><td>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 929 | 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 | 930 | break; |
nishimura_taku_pet | 24:9481c8f56a49 | 931 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 932 | strcat(webbuff, "</button></td></tr></table>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 933 | |
nishimura_taku_pet | 24:9481c8f56a49 | 934 | strcat(webbuff, "</center>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 935 | strcat(webbuff, "</body>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 936 | strcat(webbuff, "</html>"); |
molberry | 35:4cda290bdb87 | 937 | strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能 |
nishimura_taku_pet | 24:9481c8f56a49 | 938 | |
molberry | 38:39db3f7450c2 | 939 | strcat(webbuff, "function rel(){"); |
molberry | 38:39db3f7450c2 | 940 | strcat(webbuff, "location.reload();"); |
molberry | 38:39db3f7450c2 | 941 | strcat(webbuff, "}"); |
molberry | 38:39db3f7450c2 | 942 | |
nishimura_taku_pet | 24:9481c8f56a49 | 943 | strcat(webbuff, "function htmlacs(url) {"); |
nishimura_taku_pet | 24:9481c8f56a49 | 944 | strcat(webbuff, "var xhr = new XMLHttpRequest();"); |
nishimura_taku_pet | 24:9481c8f56a49 | 945 | strcat(webbuff, "xhr.open(\"GET\", url);"); |
nishimura_taku_pet | 24:9481c8f56a49 | 946 | strcat(webbuff, "xhr.send(\"\");"); |
nishimura_taku_pet | 24:9481c8f56a49 | 947 | strcat(webbuff, "}"); |
nishimura_taku_pet | 24:9481c8f56a49 | 948 | |
molberry | 35:4cda290bdb87 | 949 | 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 | 950 | strcat(webbuff, "console.log(btnval);"); |
nishimura_taku_pet | 24:9481c8f56a49 | 951 | |
nishimura_taku_pet | 24:9481c8f56a49 | 952 | strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;"); |
nishimura_taku_pet | 24:9481c8f56a49 | 953 | strcat(webbuff, "htmlacs(url);"); |
nishimura_taku_pet | 24:9481c8f56a49 | 954 | strcat(webbuff, "console.log(url);"); |
nishimura_taku_pet | 24:9481c8f56a49 | 955 | strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");"); |
nishimura_taku_pet | 24:9481c8f56a49 | 956 | strcat(webbuff, "for(var i=0;i<7;i++){"); |
nishimura_taku_pet | 24:9481c8f56a49 | 957 | strcat(webbuff, "if(buttons[i].value == btnval){"); |
nishimura_taku_pet | 24:9481c8f56a49 | 958 | strcat(webbuff, "buttons[i].className=\"light\";"); |
nishimura_taku_pet | 24:9481c8f56a49 | 959 | strcat(webbuff, "}else{"); |
nishimura_taku_pet | 24:9481c8f56a49 | 960 | strcat(webbuff, "buttons[i].className=\"noselect\";"); |
nishimura_taku_pet | 24:9481c8f56a49 | 961 | strcat(webbuff, "}"); |
nishimura_taku_pet | 24:9481c8f56a49 | 962 | strcat(webbuff, "}"); |
nishimura_taku_pet | 24:9481c8f56a49 | 963 | strcat(webbuff, "}"); |
nishimura_taku_pet | 24:9481c8f56a49 | 964 | |
molberry | 35:4cda290bdb87 | 965 | 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 | 966 | strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;"); |
nishimura_taku_pet | 24:9481c8f56a49 | 967 | strcat(webbuff, "htmlacs(url);"); |
nishimura_taku_pet | 24:9481c8f56a49 | 968 | strcat(webbuff, "console.log(url);"); |
nishimura_taku_pet | 24:9481c8f56a49 | 969 | strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");"); |
nishimura_taku_pet | 24:9481c8f56a49 | 970 | strcat(webbuff, "for(var i=7;i<10;i++){"); |
nishimura_taku_pet | 24:9481c8f56a49 | 971 | strcat(webbuff, "if(buttons[i].value == btnval){"); |
nishimura_taku_pet | 24:9481c8f56a49 | 972 | strcat(webbuff, "buttons[i].className=\"light\";"); |
nishimura_taku_pet | 24:9481c8f56a49 | 973 | strcat(webbuff, "}else{"); |
nishimura_taku_pet | 24:9481c8f56a49 | 974 | strcat(webbuff, "buttons[i].className=\"noselect\";"); |
nishimura_taku_pet | 24:9481c8f56a49 | 975 | strcat(webbuff, "}"); |
nishimura_taku_pet | 24:9481c8f56a49 | 976 | strcat(webbuff, "}"); |
nishimura_taku_pet | 24:9481c8f56a49 | 977 | strcat(webbuff, "}"); |
nishimura_taku_pet | 24:9481c8f56a49 | 978 | strcat(webbuff, "</script>"); |
nishimura_taku_pet | 24:9481c8f56a49 | 979 | // end of WEB page data |
nishimura_taku_pet | 24:9481c8f56a49 | 980 | bufl = strlen(webbuff); // get total page buffer length |
nishimura_taku_pet | 24:9481c8f56a49 | 981 | //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length. |
nishimura_taku_pet | 24:9481c8f56a49 | 982 | |
nishimura_taku_pet | 24:9481c8f56a49 | 983 | 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 | 984 | timeout=500; |
nishimura_taku_pet | 24:9481c8f56a49 | 985 | getcount=40; |
nishimura_taku_pet | 24:9481c8f56a49 | 986 | SendCMD(); |
nishimura_taku_pet | 24:9481c8f56a49 | 987 | getreply(); |
nishimura_taku_pet | 24:9481c8f56a49 | 988 | pc.printf(replybuff); |
nishimura_taku_pet | 32:049d9ba081d4 | 989 | //pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl)); |
nishimura_taku_pet | 24:9481c8f56a49 | 990 | |
nishimura_taku_pet | 24:9481c8f56a49 | 991 | pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl); |
nishimura_taku_pet | 24:9481c8f56a49 | 992 | |
nishimura_taku_pet | 24:9481c8f56a49 | 993 | //pastthrough mode |
nishimura_taku_pet | 24:9481c8f56a49 | 994 | SendWEB(); // send web page |
nishimura_taku_pet | 24:9481c8f56a49 | 995 | pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n"); |
nishimura_taku_pet | 24:9481c8f56a49 | 996 | |
nishimura_taku_pet | 24:9481c8f56a49 | 997 | memset(webbuff, '\0', sizeof(webbuff)); |
nishimura_taku_pet | 24:9481c8f56a49 | 998 | sendcheck(); |
nishimura_taku_pet | 24:9481c8f56a49 | 999 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1000 | |
nishimura_taku_pet | 24:9481c8f56a49 | 1001 | // Large WEB buffer data send |
nishimura_taku_pet | 24:9481c8f56a49 | 1002 | void SendWEB() |
nishimura_taku_pet | 24:9481c8f56a49 | 1003 | { |
nishimura_taku_pet | 24:9481c8f56a49 | 1004 | int i=0; |
nishimura_taku_pet | 24:9481c8f56a49 | 1005 | if(esp.writeable()) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1006 | while(webbuff[i]!='\0') { |
nishimura_taku_pet | 24:9481c8f56a49 | 1007 | esp.putc(webbuff[i]); |
nishimura_taku_pet | 24:9481c8f56a49 | 1008 | |
nishimura_taku_pet | 24:9481c8f56a49 | 1009 | //**** |
nishimura_taku_pet | 24:9481c8f56a49 | 1010 | //output at command when 2000 |
nishimura_taku_pet | 24:9481c8f56a49 | 1011 | if(((i%2047)==0) && (i>0)) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1012 | //wait_ms(10); |
nishimura_taku_pet | 32:049d9ba081d4 | 1013 | ThisThread::sleep_for(10); |
nishimura_taku_pet | 24:9481c8f56a49 | 1014 | sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); // send IPD link channel and buffer character length. |
nishimura_taku_pet | 32:049d9ba081d4 | 1015 | //pc.printf("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); |
nishimura_taku_pet | 24:9481c8f56a49 | 1016 | timeout=600; |
nishimura_taku_pet | 24:9481c8f56a49 | 1017 | getcount=50; |
nishimura_taku_pet | 24:9481c8f56a49 | 1018 | SendCMD(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1019 | getreply(); |
nishimura_taku_pet | 32:049d9ba081d4 | 1020 | //pc.printf(replybuff); |
nishimura_taku_pet | 32:049d9ba081d4 | 1021 | //pc.printf("\r\n+++++++++++++++++++\r\n"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1022 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1023 | //**** |
nishimura_taku_pet | 24:9481c8f56a49 | 1024 | i++; |
nishimura_taku_pet | 32:049d9ba081d4 | 1025 | //pc.printf("%c",webbuff[i]); |
nishimura_taku_pet | 24:9481c8f56a49 | 1026 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1027 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1028 | pc.printf("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i); |
nishimura_taku_pet | 24:9481c8f56a49 | 1029 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1030 | |
nishimura_taku_pet | 24:9481c8f56a49 | 1031 | |
nishimura_taku_pet | 24:9481c8f56a49 | 1032 | void sendcheck() |
nishimura_taku_pet | 24:9481c8f56a49 | 1033 | { |
nishimura_taku_pet | 24:9481c8f56a49 | 1034 | weberror=1; |
nishimura_taku_pet | 24:9481c8f56a49 | 1035 | timeout=500; |
nishimura_taku_pet | 24:9481c8f56a49 | 1036 | getcount=24; |
nishimura_taku_pet | 24:9481c8f56a49 | 1037 | time2.reset(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1038 | time2.start(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1039 | |
nishimura_taku_pet | 24:9481c8f56a49 | 1040 | /* |
nishimura_taku_pet | 24:9481c8f56a49 | 1041 | while(weberror==1 && time2.read() <5) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1042 | getreply(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1043 | if (strstr(replybuff, "SEND OK") != NULL) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1044 | weberror=0; // wait for valid SEND OK |
nishimura_taku_pet | 24:9481c8f56a49 | 1045 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1046 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1047 | */ |
nishimura_taku_pet | 24:9481c8f56a49 | 1048 | if(weberror==1) { // restart connection |
nishimura_taku_pet | 24:9481c8f56a49 | 1049 | strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1050 | timeout=500; |
nishimura_taku_pet | 24:9481c8f56a49 | 1051 | getcount=10; |
nishimura_taku_pet | 24:9481c8f56a49 | 1052 | SendCMD(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1053 | getreply(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1054 | pc.printf(replybuff); |
nishimura_taku_pet | 24:9481c8f56a49 | 1055 | sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port); |
nishimura_taku_pet | 24:9481c8f56a49 | 1056 | timeout=500; |
nishimura_taku_pet | 24:9481c8f56a49 | 1057 | getcount=10; |
nishimura_taku_pet | 24:9481c8f56a49 | 1058 | SendCMD(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1059 | getreply(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1060 | pc.printf(replybuff); |
nishimura_taku_pet | 24:9481c8f56a49 | 1061 | } else { |
nishimura_taku_pet | 24:9481c8f56a49 | 1062 | sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection |
nishimura_taku_pet | 24:9481c8f56a49 | 1063 | SendCMD(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1064 | getreply(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1065 | pc.printf(replybuff); |
nishimura_taku_pet | 24:9481c8f56a49 | 1066 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1067 | time2.reset(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1068 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1069 | |
nishimura_taku_pet | 24:9481c8f56a49 | 1070 | // Reads and processes GET and POST web data |
nishimura_taku_pet | 24:9481c8f56a49 | 1071 | void ReadWebData() |
nishimura_taku_pet | 24:9481c8f56a49 | 1072 | { |
nishimura_taku_pet | 24:9481c8f56a49 | 1073 | pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n"); |
nishimura_taku_pet | 30:c80da0ecc260 | 1074 | ThisThread::sleep_for(200); |
nishimura_taku_pet | 24:9481c8f56a49 | 1075 | esp.attach(NULL); |
nishimura_taku_pet | 24:9481c8f56a49 | 1076 | ount=0; |
nishimura_taku_pet | 24:9481c8f56a49 | 1077 | DataRX=0; |
nishimura_taku_pet | 24:9481c8f56a49 | 1078 | weberror=0; |
nishimura_taku_pet | 24:9481c8f56a49 | 1079 | memset(webdata, '\0', sizeof(webdata)); |
nishimura_taku_pet | 24:9481c8f56a49 | 1080 | int x = strcspn (webbuff,"+"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1081 | if(x) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1082 | strcpy(webdata, webbuff + x); |
nishimura_taku_pet | 24:9481c8f56a49 | 1083 | weberror=0; |
nishimura_taku_pet | 24:9481c8f56a49 | 1084 | int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type); |
nishimura_taku_pet | 24:9481c8f56a49 | 1085 | //int i=0; |
nishimura_taku_pet | 24:9481c8f56a49 | 1086 | pc.printf("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1087 | pc.printf("%s",webdata); |
nishimura_taku_pet | 24:9481c8f56a49 | 1088 | pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1089 | if( strstr(webdata, "GO") != NULL ) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1090 | pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n"); |
yangtzuli | 37:0cde453dce7d | 1091 | //delete avoi_thread; //障害物回避スレッド停止 |
yangtzuli | 37:0cde453dce7d | 1092 | //delete trace_thread; //ライントレーススレッド停止 |
molberry | 35:4cda290bdb87 | 1093 | run = ADVANCE; // 前進 |
molberry | 35:4cda290bdb87 | 1094 | mode = ADVANCE; // モード変更 |
molberry | 35:4cda290bdb87 | 1095 | display(); // ディスプレイ表示 |
nishimura_taku_pet | 24:9481c8f56a49 | 1096 | } |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1097 | |
nishimura_taku_pet | 24:9481c8f56a49 | 1098 | if( strstr(webdata, "LEFT") != NULL ) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1099 | pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n"); |
yangtzuli | 37:0cde453dce7d | 1100 | //delete avoi_thread; //障害物回避スレッド停止 |
yangtzuli | 37:0cde453dce7d | 1101 | //delete trace_thread; //ライントレーススレッド停止 |
molberry | 35:4cda290bdb87 | 1102 | run = LEFT; // 左折 |
molberry | 35:4cda290bdb87 | 1103 | mode = LEFT; // モード変更 |
molberry | 35:4cda290bdb87 | 1104 | display(); // ディスプレイ表示 |
nishimura_taku_pet | 24:9481c8f56a49 | 1105 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1106 | |
nishimura_taku_pet | 24:9481c8f56a49 | 1107 | if( strstr(webdata, "STOP") != NULL ) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1108 | pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n"); |
yangtzuli | 37:0cde453dce7d | 1109 | //delete avoi_thread; //障害物回避スレッド停止 |
yangtzuli | 37:0cde453dce7d | 1110 | //delete trace_thread; //ライントレーススレッド停止 |
molberry | 35:4cda290bdb87 | 1111 | run = STOP; // 停止 |
molberry | 35:4cda290bdb87 | 1112 | mode = STOP; // モード変更 |
molberry | 35:4cda290bdb87 | 1113 | display(); // ディスプレイ表示 |
nishimura_taku_pet | 24:9481c8f56a49 | 1114 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1115 | |
nishimura_taku_pet | 24:9481c8f56a49 | 1116 | if( strstr(webdata, "RIGHT") != NULL ) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1117 | pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n"); |
yangtzuli | 37:0cde453dce7d | 1118 | //delete avoi_thread; //障害物回避スレッド停止 |
yangtzuli | 37:0cde453dce7d | 1119 | //delete trace_thread; //ライントレーススレッド停止 |
molberry | 35:4cda290bdb87 | 1120 | run = RIGHT; // 右折 |
molberry | 35:4cda290bdb87 | 1121 | mode = RIGHT; // モード変更 |
molberry | 35:4cda290bdb87 | 1122 | display(); // ディスプレイ表示 |
nishimura_taku_pet | 24:9481c8f56a49 | 1123 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1124 | |
nishimura_taku_pet | 24:9481c8f56a49 | 1125 | if( strstr(webdata, "BACK") != NULL ) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1126 | pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n"); |
yangtzuli | 37:0cde453dce7d | 1127 | //delete avoi_thread; //障害物回避スレッド停止 |
yangtzuli | 37:0cde453dce7d | 1128 | //delete trace_thread; //ライントレーススレッド停止 |
molberry | 35:4cda290bdb87 | 1129 | run = BACK; // 後進 |
molberry | 35:4cda290bdb87 | 1130 | mode = BACK; // モード変更 |
molberry | 35:4cda290bdb87 | 1131 | display(); // ディスプレイ表示 |
nishimura_taku_pet | 24:9481c8f56a49 | 1132 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1133 | pc.printf("+++++++++++++++++succed+++++++++++++++++++++"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1134 | |
nishimura_taku_pet | 24:9481c8f56a49 | 1135 | if( strstr(webdata, "AVOIDANCE") != NULL ) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1136 | pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++"); |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1137 | if(avoi_thread->get_state() == Thread::Deleted) { |
molberry | 35:4cda290bdb87 | 1138 | delete avoi_thread; //障害物回避スレッド停止 |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1139 | avoi_thread = new Thread(avoidance); |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1140 | avoi_thread -> set_priority(osPriorityHigh); |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1141 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1142 | mode=AVOIDANCE; |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1143 | run = ADVANCE; |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1144 | display(); // ディスプレイ表示 |
nishimura_taku_pet | 24:9481c8f56a49 | 1145 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1146 | if( strstr(webdata, "LINE_TRACE") != NULL ) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1147 | pc.printf("+++++++++++++++++LINET RACE+++++++++++++++++++++"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1148 | pc.printf("mode = LINE_TRACE\r\n"); |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1149 | if(trace_thread->get_state() == Thread::Deleted) { |
molberry | 35:4cda290bdb87 | 1150 | delete trace_thread; //ライントレーススレッド停止 |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1151 | trace_thread = new Thread(trace); |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1152 | trace_thread -> set_priority(osPriorityHigh); |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1153 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1154 | mode=LINE_TRACE; |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1155 | display(); // ディスプレイ表示 |
nishimura_taku_pet | 24:9481c8f56a49 | 1156 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1157 | if( strstr(webdata, "Normal") != NULL ) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1158 | pc.printf("++++++++++++++++++Normal++++++++++++++++++++"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1159 | mode = SPEED; // スピードモード |
nishimura_taku_pet | 24:9481c8f56a49 | 1160 | flag_sp = 0; |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1161 | display(); // ディスプレイ表示 |
nishimura_taku_pet | 24:9481c8f56a49 | 1162 | mode = beforeMode; // 現在のモードに前回のモードを設定 |
nishimura_taku_pet | 24:9481c8f56a49 | 1163 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1164 | if( strstr(webdata, "Fast") != NULL ) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1165 | pc.printf("++++++++++++++++++++Fast++++++++++++++++++"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1166 | mode = SPEED; // スピードモード |
nishimura_taku_pet | 24:9481c8f56a49 | 1167 | flag_sp = 1; |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1168 | display(); // ディスプレイ表示 |
nishimura_taku_pet | 24:9481c8f56a49 | 1169 | mode = beforeMode; // 現在のモードに前回のモードを設定 |
nishimura_taku_pet | 24:9481c8f56a49 | 1170 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1171 | if( strstr(webdata, "VeryFast") != NULL ) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1172 | pc.printf("+++++++++++++++++++VeryFast+++++++++++++++++++"); |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1173 | mode = SPEED; // スピードモード |
nishimura_taku_pet | 24:9481c8f56a49 | 1174 | flag_sp = 2; |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1175 | display(); // ディスプレイ表示 |
nishimura_taku_pet | 24:9481c8f56a49 | 1176 | mode = beforeMode; // 現在のモードに前回のモードを設定 |
nishimura_taku_pet | 24:9481c8f56a49 | 1177 | } |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1178 | if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){ |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1179 | trace_thread->terminate(); |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1180 | } |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1181 | if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){ |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1182 | avoi_thread->terminate(); |
nishimura_taku_pet | 31:3665282561d6 | 1183 | servo.pulsewidth_us(1450); // サーボを中央位置に戻す |
nishimura_taku_pet | 26:0badbc9f9cb3 | 1184 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1185 | sprintf(channel, "%d",linkID); |
nishimura_taku_pet | 24:9481c8f56a49 | 1186 | if (strstr(webdata, "GET") != NULL) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1187 | servreq=1; |
nishimura_taku_pet | 24:9481c8f56a49 | 1188 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1189 | if (strstr(webdata, "POST") != NULL) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1190 | servreq=1; |
nishimura_taku_pet | 24:9481c8f56a49 | 1191 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1192 | webcounter++; |
nishimura_taku_pet | 24:9481c8f56a49 | 1193 | sprintf(webcount, "%d",webcounter); |
nishimura_taku_pet | 24:9481c8f56a49 | 1194 | } else { |
nishimura_taku_pet | 24:9481c8f56a49 | 1195 | memset(webbuff, '\0', sizeof(webbuff)); |
nishimura_taku_pet | 24:9481c8f56a49 | 1196 | esp.attach(&callback); |
nishimura_taku_pet | 24:9481c8f56a49 | 1197 | weberror=1; |
nishimura_taku_pet | 24:9481c8f56a49 | 1198 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1199 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1200 | // Starts and restarts webserver if errors detected. |
nishimura_taku_pet | 24:9481c8f56a49 | 1201 | void startserver() |
nishimura_taku_pet | 24:9481c8f56a49 | 1202 | { |
nishimura_taku_pet | 24:9481c8f56a49 | 1203 | pc.printf("++++++++++ Resetting ESP ++++++++++\r\n"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1204 | strcpy(cmdbuff,"AT+RST\r\n"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1205 | timeout=8000; |
nishimura_taku_pet | 24:9481c8f56a49 | 1206 | getcount=1000; |
nishimura_taku_pet | 24:9481c8f56a49 | 1207 | SendCMD(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1208 | getreply(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1209 | pc.printf(replybuff); |
nishimura_taku_pet | 24:9481c8f56a49 | 1210 | pc.printf("%d",ount); |
nishimura_taku_pet | 24:9481c8f56a49 | 1211 | if (strstr(replybuff, "OK") != NULL) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1212 | pc.printf("\n++++++++++ Starting Server ++++++++++\r\n"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1213 | strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections. |
nishimura_taku_pet | 24:9481c8f56a49 | 1214 | timeout=500; |
nishimura_taku_pet | 24:9481c8f56a49 | 1215 | getcount=20; |
nishimura_taku_pet | 24:9481c8f56a49 | 1216 | SendCMD(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1217 | getreply(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1218 | pc.printf(replybuff); |
nishimura_taku_pet | 24:9481c8f56a49 | 1219 | sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port); |
nishimura_taku_pet | 24:9481c8f56a49 | 1220 | timeout=500; |
nishimura_taku_pet | 24:9481c8f56a49 | 1221 | getcount=20; |
nishimura_taku_pet | 24:9481c8f56a49 | 1222 | SendCMD(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1223 | getreply(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1224 | pc.printf(replybuff); |
nishimura_taku_pet | 33:a6f1090e0174 | 1225 | ThisThread::sleep_for(500); |
nishimura_taku_pet | 24:9481c8f56a49 | 1226 | sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout); |
nishimura_taku_pet | 24:9481c8f56a49 | 1227 | timeout=500; |
nishimura_taku_pet | 24:9481c8f56a49 | 1228 | getcount=50; |
nishimura_taku_pet | 24:9481c8f56a49 | 1229 | SendCMD(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1230 | getreply(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1231 | pc.printf(replybuff); |
nishimura_taku_pet | 25:8ed98982faa7 | 1232 | ThisThread::sleep_for(5000); |
nishimura_taku_pet | 24:9481c8f56a49 | 1233 | pc.printf("\n Getting Server IP \r\n"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1234 | strcpy(cmdbuff, "AT+CIFSR\r\n"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1235 | timeout=2500; |
nishimura_taku_pet | 24:9481c8f56a49 | 1236 | getcount=200; |
nishimura_taku_pet | 24:9481c8f56a49 | 1237 | while(weberror==0) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1238 | SendCMD(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1239 | getreply(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1240 | if (strstr(replybuff, "0.0.0.0") == NULL) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1241 | weberror=1; // wait for valid IP |
nishimura_taku_pet | 24:9481c8f56a49 | 1242 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1243 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1244 | pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1245 | pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1246 | replybuff[strlen(replybuff)-1] = '\0'; |
nishimura_taku_pet | 24:9481c8f56a49 | 1247 | //char* IP = replybuff + 5; |
nishimura_taku_pet | 24:9481c8f56a49 | 1248 | sprintf(webdata,"%s", replybuff); |
nishimura_taku_pet | 24:9481c8f56a49 | 1249 | pc.printf(webdata); |
nishimura_taku_pet | 24:9481c8f56a49 | 1250 | led2=1; |
nishimura_taku_pet | 24:9481c8f56a49 | 1251 | bufflen=200; |
nishimura_taku_pet | 24:9481c8f56a49 | 1252 | //bufflen=100; |
nishimura_taku_pet | 24:9481c8f56a49 | 1253 | ount=0; |
nishimura_taku_pet | 24:9481c8f56a49 | 1254 | pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n"); |
nishimura_taku_pet | 33:a6f1090e0174 | 1255 | setup(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1256 | esp.attach(&callback); |
nishimura_taku_pet | 24:9481c8f56a49 | 1257 | } else { |
nishimura_taku_pet | 24:9481c8f56a49 | 1258 | pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n"); |
nishimura_taku_pet | 24:9481c8f56a49 | 1259 | led1=1; |
nishimura_taku_pet | 24:9481c8f56a49 | 1260 | led2=1; |
nishimura_taku_pet | 24:9481c8f56a49 | 1261 | led3=1; |
nishimura_taku_pet | 24:9481c8f56a49 | 1262 | led4=1; |
nishimura_taku_pet | 24:9481c8f56a49 | 1263 | while(1) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1264 | led1=!led1; |
nishimura_taku_pet | 24:9481c8f56a49 | 1265 | led2=!led2; |
nishimura_taku_pet | 24:9481c8f56a49 | 1266 | led3=!led3; |
nishimura_taku_pet | 24:9481c8f56a49 | 1267 | led4=!led4; |
nishimura_taku_pet | 25:8ed98982faa7 | 1268 | ThisThread::sleep_for(1000); |
nishimura_taku_pet | 24:9481c8f56a49 | 1269 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1270 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1271 | time2.reset(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1272 | time2.start(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1273 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1274 | // ESP Command data send |
nishimura_taku_pet | 24:9481c8f56a49 | 1275 | void SendCMD() |
nishimura_taku_pet | 24:9481c8f56a49 | 1276 | { |
nishimura_taku_pet | 24:9481c8f56a49 | 1277 | esp.printf("%s", cmdbuff); |
nishimura_taku_pet | 24:9481c8f56a49 | 1278 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1279 | // Get Command and ESP status replies |
nishimura_taku_pet | 24:9481c8f56a49 | 1280 | void getreply() |
nishimura_taku_pet | 24:9481c8f56a49 | 1281 | { |
nishimura_taku_pet | 24:9481c8f56a49 | 1282 | memset(replybuff, '\0', sizeof(replybuff)); |
nishimura_taku_pet | 24:9481c8f56a49 | 1283 | time1.reset(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1284 | time1.start(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1285 | replycount=0; |
nishimura_taku_pet | 24:9481c8f56a49 | 1286 | while(time1.read_ms()< timeout && replycount < getcount) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1287 | if(esp.readable()) { |
nishimura_taku_pet | 24:9481c8f56a49 | 1288 | replybuff[replycount] = esp.getc(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1289 | replycount++; |
nishimura_taku_pet | 24:9481c8f56a49 | 1290 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1291 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1292 | time1.stop(); |
nishimura_taku_pet | 24:9481c8f56a49 | 1293 | } |
nishimura_taku_pet | 24:9481c8f56a49 | 1294 | |
tomotsugu | 8:a47dbf4fa455 | 1295 | /* mainスレッド */ |
yangtzuli | 0:0d0037aabe41 | 1296 | int main() { |
tomotsugu | 8:a47dbf4fa455 | 1297 | /* 初期設定 */ |
nishimura_taku_pet | 16:ffc732a3cf92 | 1298 | avoi_thread = new Thread(avoidance); |
nishimura_taku_pet | 16:ffc732a3cf92 | 1299 | avoi_thread->terminate(); |
nishimura_taku_pet | 16:ffc732a3cf92 | 1300 | trace_thread = new Thread(trace); |
nishimura_taku_pet | 16:ffc732a3cf92 | 1301 | trace_thread->terminate(); |
tomotsugu | 8:a47dbf4fa455 | 1302 | mode = READY; // 現在待ちモード |
tomotsugu | 8:a47dbf4fa455 | 1303 | beforeMode = READY; // 前回待ちモード |
tomotsugu | 8:a47dbf4fa455 | 1304 | run = STOP; // 停止 |
tomotsugu | 8:a47dbf4fa455 | 1305 | flag_sp = NORMAL; // スピード(普通) |
tomotsugu | 10:d193030ce672 | 1306 | lcd.setBacklight(TextLCD::LightOn); // バックライトON |
nishimura_taku_pet | 33:a6f1090e0174 | 1307 | lcd.setAddress(0,1); |
nishimura_taku_pet | 33:a6f1090e0174 | 1308 | lcd.printf("Mode:SetUp"); |
nishimura_taku_pet | 33:a6f1090e0174 | 1309 | //display(); // ディスプレイ表示 |
yangtzuli | 2:38825726cb1b | 1310 | |
yangtzuli | 0:0d0037aabe41 | 1311 | while(1){ |
tomotsugu | 8:a47dbf4fa455 | 1312 | bChange(); // バッテリー残量更新 |
yangtzuli | 0:0d0037aabe41 | 1313 | } |
yangtzuli | 0:0d0037aabe41 | 1314 | } |