mbed_robotcar / Mbed OS saikyo-0903

高速wifiついてる

Dependencies:   RemoteIR TextLCD

main.cpp@58:d60f9b0d564d, 2020-09-03 (annotated)

Committer:
nishimura_taku_pet
Date:
Thu Sep 03 08:26:54 2020 +0000
Revision:
58:d60f9b0d564d
Parent:
57:65dd71a6ce72
Child:
59:9e35200f52ea
iphone use

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yangtzuli 0:0d0037aabe41 1 /* mbed Microcontroller Library
yangtzuli 0:0d0037aabe41 2 * Copyright (c) 2019 ARM Limited
yangtzuli 0:0d0037aabe41 3 * SPDX-License-Identifier: Apache-2.0
yangtzuli 0:0d0037aabe41 4 */
yangtzuli 0:0d0037aabe41 5
yangtzuli 0:0d0037aabe41 6 #include "mbed.h"
yangtzuli 0:0d0037aabe41 7 #include "ReceiverIR.h"
yangtzuli 0:0d0037aabe41 8 #include "rtos.h"
yangtzuli 0:0d0037aabe41 9 #include <stdint.h>
yangtzuli 0:0d0037aabe41 10 #include "platform/mbed_thread.h"
yangtzuli 2:38825726cb1b 11 #include "TextLCD.h"
yangtzuli 0:0d0037aabe41 12
nishimura_taku_pet 27:90962c01bfeb 13 RawSerial pc(USBTX, USBRX);
yangtzuli 0:0d0037aabe41 14
yangtzuli 3:2ae6218973be 15 /* マクロ定義、列挙型定義 */
takuminomura 48:3003ea51c619 16 #define MIN_V 2.0 // 電圧の最小値
takuminomura 48:3003ea51c619 17 #define MAX_V 2.67 // 電圧の最大値
takuminomura 48:3003ea51c619 18 #define LOW 0 // モーターOFF
takuminomura 48:3003ea51c619 19 #define HIGH 1 // モーターON
takuminomura 48:3003ea51c619 20 #define NORMAL 0 // 普通
takuminomura 48:3003ea51c619 21 #define FAST 1 // 速い
takuminomura 48:3003ea51c619 22 #define VERYFAST 2 // とても速い
takuminomura 48:3003ea51c619 23
takuminomura 49:7224132f4b0e 24
takuminomura 49:7224132f4b0e 25
takuminomura 49:7224132f4b0e 26 /* // 右回り37.21[s]
takuminomura 49:7224132f4b0e 27 #define S 0.9
takuminomura 49:7224132f4b0e 28 #define VF 1.2
takuminomura 48:3003ea51c619 29 #define REVERSE 0.5
takuminomura 48:3003ea51c619 30
takuminomura 48:3003ea51c619 31 #define MBED04 0.781//Mbed04号機の左右のモーター速度比(R:L = 1: 0.781)
takuminomura 48:3003ea51c619 32 #define MBED05 0.953//Mbed05号機の左右のモーター速度比(R:L = 1: 0.953)
takuminomura 49:7224132f4b0e 33 #define MBED07 1
takuminomura 49:7224132f4b0e 34 // MSR = Motor Speed Right
takuminomura 49:7224132f4b0e 35 // MSL = Motor Speed Left
takuminomura 49:7224132f4b0e 36 #define MSR0 0.5 // 基準速度Normal
takuminomura 49:7224132f4b0e 37 #define MSR1 0.6 // 基準速度Fast
takuminomura 49:7224132f4b0e 38 #define MSR2 0.7 // 基準速度VeryFast
takuminomura 49:7224132f4b0e 39 */
takuminomura 49:7224132f4b0e 40
takuminomura 49:7224132f4b0e 41
takuminomura 49:7224132f4b0e 42
takuminomura 49:7224132f4b0e 43 #define S 0.9
takuminomura 49:7224132f4b0e 44 #define VF 1
takuminomura 49:7224132f4b0e 45 #define REVERSE 0.5
takuminomura 49:7224132f4b0e 46
nishimura_taku_pet 51:1baf4407f384 47 #define MBED02 0.719 //Mbed02号機の左右のモーター速度比(R:L = 1: 0.719)
takuminomura 49:7224132f4b0e 48 #define MBED04 0.781 //Mbed04号機の左右のモーター速度比(R:L = 1: 0.781)
takuminomura 49:7224132f4b0e 49 #define MBED05 0.953 //Mbed05号機の左右のモーター速度比(R:L = 1: 0.953)
takuminomura 49:7224132f4b0e 50 #define MBED07 1
takuminomura 49:7224132f4b0e 51 // MSR = Motor Speed Right
takuminomura 49:7224132f4b0e 52 // MSL = Motor Speed Left
takuminomura 49:7224132f4b0e 53 #define MSR0 0.55 // 基準速度Normal
takuminomura 49:7224132f4b0e 54 #define MSR1 0.6 // 基準速度Fast
takuminomura 49:7224132f4b0e 55 #define MSR2 0.65 // 基準速度VeryFast
takuminomura 49:7224132f4b0e 56
takuminomura 49:7224132f4b0e 57 #define MSR3 MSR0*S // 低速旋回(Normalの時)
takuminomura 49:7224132f4b0e 58 #define MSR4 MSR1*S*S // 低速旋回(Fastの時)
takuminomura 49:7224132f4b0e 59 #define MSR5 MSR2*S*S*S // 低速旋回(VeryFastの時)
takuminomura 49:7224132f4b0e 60 #define MSR6 MSR0*VF // 高速(Normalの時)
takuminomura 49:7224132f4b0e 61 #define MSR7 MSR1*VF // 高速(Fastの時)
takuminomura 49:7224132f4b0e 62 #define MSR8 MSR2*VF // 高速(VeryFastの時)
takuminomura 49:7224132f4b0e 63 #define MSL0 MSR0*MBED07
takuminomura 49:7224132f4b0e 64 #define MSL1 MSR1*MBED07
takuminomura 49:7224132f4b0e 65 #define MSL2 MSR2*MBED07
takuminomura 49:7224132f4b0e 66 #define MSL3 MSR3*MBED07
takuminomura 49:7224132f4b0e 67 #define MSL4 MSR4*MBED07
takuminomura 49:7224132f4b0e 68 #define MSL5 MSR5*MBED07
takuminomura 49:7224132f4b0e 69 #define MSL6 MSR6*MBED07
takuminomura 49:7224132f4b0e 70 #define MSL7 MSR7*MBED07
takuminomura 49:7224132f4b0e 71 #define MSL8 MSR8*MBED07
yangtzuli 2:38825726cb1b 72
tomotsugu 8:a47dbf4fa455 73 /* 操作モード定義 */
yangtzuli 3:2ae6218973be 74 enum MODE{
tomotsugu 8:a47dbf4fa455 75 READY = -1, // -1：待ち
tomotsugu 8:a47dbf4fa455 76 ADVANCE = 1, // 1：前進
tomotsugu 8:a47dbf4fa455 77 RIGHT, // 2：右折
tomotsugu 8:a47dbf4fa455 78 LEFT, // 3：左折
tomotsugu 8:a47dbf4fa455 79 BACK, // 4：後退
tomotsugu 8:a47dbf4fa455 80 STOP, // 5：停止
tomotsugu 8:a47dbf4fa455 81 LINE_TRACE, // 6：ライントレース
tomotsugu 8:a47dbf4fa455 82 AVOIDANCE, // 7：障害物回避
tomotsugu 8:a47dbf4fa455 83 SPEED, // 8：スピード制御
takuminomura 49:7224132f4b0e 84 LT_R, // 9:低速右折(ライントレース時)
nishimura_taku_pet 56:d02c62149a19 85 LT_L, // 10:低速左折(ライントレース時)
tomotsugu 53:debc8879ba5d 86 A1RIGHT,
tomotsugu 53:debc8879ba5d 87 A1LEFT,
tomotsugu 53:debc8879ba5d 88 A2RIGHT,
tomotsugu 53:debc8879ba5d 89 A2LEFT,
yangtzuli 2:38825726cb1b 90 };
yangtzuli 2:38825726cb1b 91
yangtzuli 3:2ae6218973be 92 /* ピン配置 */
yangtzuli 3:2ae6218973be 93 ReceiverIR ir(p5); // リモコン操作
yangtzuli 3:2ae6218973be 94 DigitalOut trig(p6); // 超音波センサtrigger
yangtzuli 5:3fffb364744b 95 DigitalIn echo(p7); // 超音波センサecho
yangtzuli 3:2ae6218973be 96 DigitalIn ss1(p8); // ライントレースセンサ(左)
yangtzuli 3:2ae6218973be 97 DigitalIn ss2(p9); // ライントレースセンサ
yangtzuli 3:2ae6218973be 98 DigitalIn ss3(p10); // ライントレースセンサ
yangtzuli 3:2ae6218973be 99 DigitalIn ss4(p11); // ライントレースセンサ
yangtzuli 3:2ae6218973be 100 DigitalIn ss5(p12); // ライントレースセンサ(右)
nishimura_taku_pet 24:9481c8f56a49 101 RawSerial esp(p13, p14); // Wi-Fiモジュール(tx, rx)
yangtzuli 3:2ae6218973be 102 AnalogIn battery(p15); // 電池残量読み取り(Max 3.3V)
takuminomura 48:3003ea51c619 103 PwmOut motorR2(p22); // 右モーター後退
takuminomura 48:3003ea51c619 104 PwmOut motorR1(p21); // 右モーター前進
yangtzuli 3:2ae6218973be 105 PwmOut motorL2(p23); // 左モーター後退
yangtzuli 3:2ae6218973be 106 PwmOut motorL1(p24); // 左モーター前進
yangtzuli 3:2ae6218973be 107 PwmOut servo(p25); // サーボ
yangtzuli 3:2ae6218973be 108 I2C i2c_lcd(p28,p27); // LCD(tx, rx)
yangtzuli 2:38825726cb1b 109
yangtzuli 3:2ae6218973be 110 /* 変数宣言 */
nishimura_taku_pet 51:1baf4407f384 111 MODE mode; // 操作モード
yangtzuli 3:2ae6218973be 112 int run; // 走行状態
nishimura_taku_pet 51:1baf4407f384 113 MODE beforeMode; // 前回のモード
tomotsugu 8:a47dbf4fa455 114 int flag_sp = 0; // スピード変化フラグ
tomotsugu 8:a47dbf4fa455 115 Timer viewTimer; // スピ―ド変更時に3秒計測タイマー
takuminomura 48:3003ea51c619 116
takuminomura 48:3003ea51c619 117 float motorSpeedR1[9] = {MSR0, MSR1, MSR2, MSR3 , MSR4 , MSR5 , MSR6 , MSR7 , MSR8 };
takuminomura 48:3003ea51c619 118 //float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3*REVERSE, MSR4*REVERSE, MSR5*REVERSE, MSR6*REVERSE, MSR7*REVERSE, MSR8*REVERSE};
takuminomura 48:3003ea51c619 119 float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3*REVERSE, MSR4*REVERSE, MSR5*REVERSE, MSR6, MSR7, MSR8};
takuminomura 48:3003ea51c619 120 float motorSpeedL1[9] = {MSL0, MSL1, MSL2, MSL3 , MSL4 , MSL5 , MSL6 , MSL7 , MSL8 };
takuminomura 48:3003ea51c619 121 //float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3*REVERSE, MSL4*REVERSE, MSL5*REVERSE, MSL6*REVERSE, MSL7*REVERSE, MSL8*REVERSE};
takuminomura 48:3003ea51c619 122 float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3*REVERSE, MSL4*REVERSE, MSL5*REVERSE, MSL6, MSL7, MSL8};
yangtzuli 3:2ae6218973be 123 // モーター速度設定(後半はライントレース用)
takuminomura 48:3003ea51c619 124 // 0,1,2:基準速度
takuminomura 48:3003ea51c619 125 // 3,4,5:低速
takuminomura 48:3003ea51c619 126 // 6,7,8:高速
takuminomura 48:3003ea51c619 127 // R1 : 右前, R2 : 右後, L1 : 左前, L2 : 左後
tomotsugu 8:a47dbf4fa455 128
tomotsugu 8:a47dbf4fa455 129 Mutex mutex; // ミューテックス
takuminomura 48:3003ea51c619 130
tomotsugu 8:a47dbf4fa455 131 /* decodeIR用変数 */
yangtzuli 3:2ae6218973be 132 RemoteIR::Format format;
yangtzuli 3:2ae6218973be 133 uint8_t buf[32];
yangtzuli 3:2ae6218973be 134 uint32_t bitcount;
yangtzuli 3:2ae6218973be 135 uint32_t code;
yangtzuli 3:2ae6218973be 136
tomotsugu 8:a47dbf4fa455 137 /* bChange, lcdbacklight用変数 */
yangtzuli 3:2ae6218973be 138 TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780);
tomotsugu 8:a47dbf4fa455 139 int b = 0; // バッテリー残量
tomotsugu 8:a47dbf4fa455 140 int flag_b = 0; // バックライト点滅フラグ
tomotsugu 8:a47dbf4fa455 141 int flag_t = 0; // バックライトタイマーフラグ
yangtzuli 3:2ae6218973be 142
tomotsugu 8:a47dbf4fa455 143 /* trace用変数 */
takuminomura 49:7224132f4b0e 144 int sensArray[32] = {0,6,2,4,1,4,2,4, // ライントレースセンサパターン
takuminomura 49:7224132f4b0e 145 3,4,1,6,3,1,1,6, // 0:前回動作継続
takuminomura 49:7224132f4b0e 146 7,1,5,1,5,1,1,1, // 1:高速前進
takuminomura 48:3003ea51c619 147 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura 48:3003ea51c619 148 // 3:低速左折
takuminomura 48:3003ea51c619 149 // 4:中速右折
takuminomura 48:3003ea51c619 150 // 5:中速左折
takuminomura 48:3003ea51c619 151 // 6:高速右折
takuminomura 48:3003ea51c619 152 // 7:高速左折
takuminomura 48:3003ea51c619 153
takuminomura 48:3003ea51c619 154 //int sensArray[32] = {0,6,0,4,1,0,1,4, // ライントレースセンサパターン
takuminomura 48:3003ea51c619 155 // 0,6,1,6,1,1,1,6, // 0:前回動作継続
takuminomura 48:3003ea51c619 156 // 7,1,7,1,0,1,1,1, // 1:高速前進
takuminomura 48:3003ea51c619 157 // 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura 48:3003ea51c619 158 // // 3:低速左折
takuminomura 48:3003ea51c619 159 // // 4:中速右折
takuminomura 48:3003ea51c619 160 // // 5:中速左折
takuminomura 48:3003ea51c619 161 // // 6:高速右折
takuminomura 48:3003ea51c619 162 // // 7:高速左折
yangtzuli 0:0d0037aabe41 163
tomotsugu 8:a47dbf4fa455 164 /* avoidance用変数 */
yangtzuli 3:2ae6218973be 165 Timer timer; // 距離計測用タイマ
yangtzuli 3:2ae6218973be 166 int DT; // 距離
takuminomura 48:3003ea51c619 167 int SC; // 正面
yangtzuli 2:38825726cb1b 168 int SL; // 左
yangtzuli 2:38825726cb1b 169 int SR; // 右
yangtzuli 2:38825726cb1b 170 int SLD; // 左前
yangtzuli 2:38825726cb1b 171 int SRD; // 右前
tomotsugu 8:a47dbf4fa455 172 int flag_a = 0; // 障害物有無のフラグ
yangtzuli 2:38825726cb1b 173 const int limit = 20; // 障害物の距離のリミット(単位：cm)
yangtzuli 3:2ae6218973be 174 int far; // 最も遠い距離
yangtzuli 2:38825726cb1b 175 int houkou; // 進行方向(1:前 2:左 3:右)
nishimura_taku_pet 29:600e4b9b5c5b 176 int t1 = 0;
yangtzuli 2:38825726cb1b 177
nishimura_taku_pet 24:9481c8f56a49 178 /*WiFi用変数*/
nishimura_taku_pet 24:9481c8f56a49 179 Timer time1;
nishimura_taku_pet 24:9481c8f56a49 180 Timer time2;
nishimura_taku_pet 24:9481c8f56a49 181 int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
nishimura_taku_pet 24:9481c8f56a49 182 int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
nishimura_taku_pet 24:9481c8f56a49 183 float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet 24:9481c8f56a49 184 char webcount[8];
nishimura_taku_pet 24:9481c8f56a49 185 char type[16];
nishimura_taku_pet 24:9481c8f56a49 186 char channel[2];
nishimura_taku_pet 24:9481c8f56a49 187 char cmdbuff[32];
nishimura_taku_pet 24:9481c8f56a49 188 char replybuff[1024];
nishimura_taku_pet 24:9481c8f56a49 189 char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet 27:90962c01bfeb 190 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet 24:9481c8f56a49 191 int port =80; // set server port
nishimura_taku_pet 24:9481c8f56a49 192 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
takuminomura 48:3003ea51c619 193 char ssid[32] = "mbed05"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet 24:9481c8f56a49 194 char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
faker_71 57:65dd71a6ce72 195 bool click_log = false;
faker_71 57:65dd71a6ce72 196 DigitalOut pred(p16);
faker_71 57:65dd71a6ce72 197 DigitalOut pblue(p19);
yangtzuli 3:2ae6218973be 198
yangtzuli 3:2ae6218973be 199 /* プロトタイプ宣言 */
nishimura_taku_pet 33:a6f1090e0174 200 void decodeIR(/*void const *argument*/);
nishimura_taku_pet 33:a6f1090e0174 201 void motor(/*void const *argument*/);
yangtzuli 3:2ae6218973be 202 void changeSpeed();
nishimura_taku_pet 16:ffc732a3cf92 203 void avoidance(/*void const *argument*/);
nishimura_taku_pet 16:ffc732a3cf92 204 void trace(/*void const *argument*/);
nishimura_taku_pet 40:75e1ad7c27e4 205 void watchsurrounding3();
nishimura_taku_pet 40:75e1ad7c27e4 206 void watchsurrounding5();
yangtzuli 2:38825726cb1b 207 int watch();
takuminomura 48:3003ea51c619 208 char battery_ch[8];
yangtzuli 5:3fffb364744b 209 void bChange();
yangtzuli 3:2ae6218973be 210 void display();
yangtzuli 3:2ae6218973be 211 void lcdBacklight(void const *argument);
nishimura_taku_pet 45:76e8c07d76ef 212 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
nishimura_taku_pet 43:243c1455f88a 213 void wifi(/*void const *argument*/);
takuminomura 48:3003ea51c619 214 Thread *deco_thread; // decodeIRをスレッド化 ：+3
nishimura_taku_pet 43:243c1455f88a 215 Thread *wifi_thread;
takuminomura 48:3003ea51c619 216 Thread *motor_thread; // motorをスレッド化 ：+2
takuminomura 48:3003ea51c619 217 RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
takuminomura 48:3003ea51c619 218 Thread *avoi_thread; // avoidanceをスレッド化：+2
takuminomura 48:3003ea51c619 219 Thread *trace_thread; // traceをスレッド化 ：+2
yangtzuli 2:38825726cb1b 220
nishimura_taku_pet 24:9481c8f56a49 221 DigitalOut led1(LED1);
nishimura_taku_pet 24:9481c8f56a49 222 DigitalOut led2(LED2);
nishimura_taku_pet 24:9481c8f56a49 223 DigitalOut led3(LED3);
nishimura_taku_pet 24:9481c8f56a49 224 DigitalOut led4(LED4);
yangtzuli 3:2ae6218973be 225
nishimura_taku_pet 33:a6f1090e0174 226 void setup(){
nishimura_taku_pet 33:a6f1090e0174 227 deco_thread = new Thread(decodeIR);
nishimura_taku_pet 33:a6f1090e0174 228 deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 229 motor_thread = new Thread(motor);
nishimura_taku_pet 33:a6f1090e0174 230 motor_thread -> set_priority(osPriorityHigh);
mori2020 50:ee78382fd399 231 wifi_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 232 display();
nishimura_taku_pet 33:a6f1090e0174 233 }
nishimura_taku_pet 33:a6f1090e0174 234
tomotsugu 8:a47dbf4fa455 235 /* リモコン受信スレッド */
takuminomura 48:3003ea51c619 236 void decodeIR(/*void const *argument*/){
takuminomura 48:3003ea51c619 237 while(1){
yangtzuli 0:0d0037aabe41 238 // 受信待ち
tomotsugu 8:a47dbf4fa455 239 if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli 3:2ae6218973be 240 bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu 8:a47dbf4fa455 241 if(bitcount > 1){ // 受信成功
yangtzuli 1:5bb497a38344 242 code=0;
tomotsugu 15:5eef1955f6c2 243 for(int j = 0; j < 4; j++){
yangtzuli 1:5bb497a38344 244 code+=(buf[j]<<(8*(3-j)));
yangtzuli 1:5bb497a38344 245 }
tomotsugu 8:a47dbf4fa455 246 if(mode != SPEED){ // スピードモード以外なら
takuminomura 48:3003ea51c619 247 beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli 3:2ae6218973be 248 }
yangtzuli 0:0d0037aabe41 249 switch(code){
tomotsugu 8:a47dbf4fa455 250 case 0x40bf27d8: // クイック
yangtzuli 17:f7259ab2fe86 251 //pc.printf("mode = SPEED\r\n");
takuminomura 48:3003ea51c619 252 mode = SPEED; // スピードモード
tomotsugu 8:a47dbf4fa455 253 changeSpeed(); // 速度変更
tomotsugu 8:a47dbf4fa455 254 display(); // ディスプレイ表示
tomotsugu 8:a47dbf4fa455 255 mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli 1:5bb497a38344 256 break;
tomotsugu 8:a47dbf4fa455 257 case 0x40be34cb: // レグザリンク
yangtzuli 17:f7259ab2fe86 258 //pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 259 if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 260 delete trace_thread;
nishimura_taku_pet 16:ffc732a3cf92 261 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 262 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 263 }
tomotsugu 8:a47dbf4fa455 264 mode=LINE_TRACE; // ライントレースモード
tomotsugu 8:a47dbf4fa455 265 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 266 break;
tomotsugu 8:a47dbf4fa455 267 case 0x40bf6e91: // 番組表
yangtzuli 17:f7259ab2fe86 268 //pc.printf("mode = AVOIDANCE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 269 if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 270 delete avoi_thread;
nishimura_taku_pet 16:ffc732a3cf92 271 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 272 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 273 }
tomotsugu 18:6cca64c7dbc3 274 flag_a = 0;
tomotsugu 8:a47dbf4fa455 275 mode=AVOIDANCE; // 障害物回避モード
tomotsugu 13:1a7667d0aa78 276 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 277 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 278 break;
takuminomura 48:3003ea51c619 279 case 0x40bf3ec1: // ↑
yangtzuli 17:f7259ab2fe86 280 //pc.printf("mode = ADVANCE\r\n");
tomotsugu 8:a47dbf4fa455 281 mode = ADVANCE; // 前進モード
tomotsugu 8:a47dbf4fa455 282 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 283 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 284 break;
takuminomura 48:3003ea51c619 285 case 0x40bf3fc0: // ↓
yangtzuli 17:f7259ab2fe86 286 //pc.printf("mode = BACK\r\n");
tomotsugu 8:a47dbf4fa455 287 mode = BACK; // 後退モード
tomotsugu 8:a47dbf4fa455 288 run = BACK; // 後退
tomotsugu 8:a47dbf4fa455 289 display(); // ディスプレイ表示
yangtzuli 0:0d0037aabe41 290 break;
takuminomura 48:3003ea51c619 291 case 0x40bf5fa0: // ←
yangtzuli 17:f7259ab2fe86 292 //pc.printf("mode = LEFT\r\n");
tomotsugu 8:a47dbf4fa455 293 mode = LEFT; // 左折モード
tomotsugu 8:a47dbf4fa455 294 run = LEFT; // 左折
tomotsugu 8:a47dbf4fa455 295 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 296 break;
takuminomura 48:3003ea51c619 297 case 0x40bf5ba4: // →
yangtzuli 17:f7259ab2fe86 298 //pc.printf("mode = RIGHT\r\n");
tomotsugu 8:a47dbf4fa455 299 mode = RIGHT; // 右折モード
tomotsugu 8:a47dbf4fa455 300 run = RIGHT; // 右折
tomotsugu 8:a47dbf4fa455 301 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 302 break;
takuminomura 48:3003ea51c619 303 case 0x40bf3dc2: // 決定
yangtzuli 17:f7259ab2fe86 304 //pc.printf("mode = STOP\r\n");
tomotsugu 8:a47dbf4fa455 305 mode = STOP; // 停止モード
tomotsugu 8:a47dbf4fa455 306 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 307 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 308 break;
yangtzuli 0:0d0037aabe41 309 default:
yangtzuli 0:0d0037aabe41 310 ;
yangtzuli 0:0d0037aabe41 311 }
nishimura_taku_pet 16:ffc732a3cf92 312 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 313 trace_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 314 }
nishimura_taku_pet 16:ffc732a3cf92 315 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 316 avoi_thread->terminate();
nishimura_taku_pet 28:cb51cafca490 317 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 16:ffc732a3cf92 318 }
yangtzuli 0:0d0037aabe41 319 }
yangtzuli 0:0d0037aabe41 320 }
takuminomura 48:3003ea51c619 321 if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
takuminomura 48:3003ea51c619 322 viewTimer.stop(); // タイマーストップ
takuminomura 48:3003ea51c619 323 viewTimer.reset(); // タイマーリセット
takuminomura 48:3003ea51c619 324 display(); // ディスプレイ表示
yangtzuli 4:3f80c0180e2f 325 }
takuminomura 48:3003ea51c619 326 ThisThread::sleep_for(90); // 90ms待つ
takuminomura 48:3003ea51c619 327 }
yangtzuli 2:38825726cb1b 328 }
tomotsugu 8:a47dbf4fa455 329
tomotsugu 8:a47dbf4fa455 330 /* モーター制御スレッド */
nishimura_taku_pet 33:a6f1090e0174 331 void motor(/*void const *argument*/){
tomotsugu 8:a47dbf4fa455 332 while(1){
tomotsugu 8:a47dbf4fa455 333 /* 走行状態の場合分け */
nishimura_taku_pet 51:1baf4407f384 334 if(mode != LINE_TRACE){ // スピード変更フラグが2より大きいなら
nishimura_taku_pet 51:1baf4407f384 335 flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet 51:1baf4407f384 336 }
yangtzuli 3:2ae6218973be 337 switch(run){
tomotsugu 8:a47dbf4fa455 338 /* 前進 */
yangtzuli 3:2ae6218973be 339 case ADVANCE:
takuminomura 48:3003ea51c619 340 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020 50:ee78382fd399 341 motorR2 = LOW; // 右後退モーターOFF
takuminomura 48:3003ea51c619 342 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020 50:ee78382fd399 343 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 344 break;
tomotsugu 8:a47dbf4fa455 345 /* 右折 */
yangtzuli 3:2ae6218973be 346 case RIGHT:
mori2020 50:ee78382fd399 347 motorR1 = LOW; // 右前進モーターOFF
takuminomura 48:3003ea51c619 348 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
takuminomura 48:3003ea51c619 349 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020 50:ee78382fd399 350 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 351 break;
tomotsugu 8:a47dbf4fa455 352 /* 左折 */
yangtzuli 3:2ae6218973be 353 case LEFT:
takuminomura 48:3003ea51c619 354 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020 50:ee78382fd399 355 motorR2 = LOW; // 右後退モーターOFF
mori2020 50:ee78382fd399 356 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 357 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 358 break;
tomotsugu 8:a47dbf4fa455 359 /* 後退 */
yangtzuli 3:2ae6218973be 360 case BACK:
mori2020 50:ee78382fd399 361 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 52:c868403753e8 362 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
mori2020 50:ee78382fd399 363 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 364 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 365 break;
tomotsugu 8:a47dbf4fa455 366 /* 停止 */
yangtzuli 3:2ae6218973be 367 case STOP:
tomotsugu 8:a47dbf4fa455 368 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 369 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 370 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 371 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 372 break;
tomotsugu 52:c868403753e8 373 case A1RIGHT:
mori2020 50:ee78382fd399 374 motorR1 = LOW;
tomotsugu 52:c868403753e8 375 motorR2 = 0.55;
tomotsugu 52:c868403753e8 376 motorL1 = 0.57;
mori2020 50:ee78382fd399 377 motorL2 = LOW;
takuminomura 49:7224132f4b0e 378 break;
tomotsugu 53:debc8879ba5d 379 case A1LEFT:
tomotsugu 52:c868403753e8 380 motorR1 = 0.57;
mori2020 50:ee78382fd399 381 motorR2 = LOW;
mori2020 50:ee78382fd399 382 motorL1 = LOW;
tomotsugu 52:c868403753e8 383 motorL2 = 0.55;
tomotsugu 52:c868403753e8 384 break;
tomotsugu 52:c868403753e8 385 case A2RIGHT:
tomotsugu 52:c868403753e8 386 motorR1 = LOW;
tomotsugu 52:c868403753e8 387 motorR2 = 0.33;
tomotsugu 52:c868403753e8 388 motorL1 = 0.35;
tomotsugu 52:c868403753e8 389 motorL2 = LOW;
tomotsugu 52:c868403753e8 390 break;
tomotsugu 52:c868403753e8 391 case A2LEFT:
tomotsugu 52:c868403753e8 392 motorR1 = 0.35;
tomotsugu 52:c868403753e8 393 motorR2 = LOW;
tomotsugu 52:c868403753e8 394 motorL1 = LOW;
tomotsugu 52:c868403753e8 395 motorL2 = 0.33;
takuminomura 49:7224132f4b0e 396 break;
nishimura_taku_pet 54:f862caf08a7f 397 /* 低速右折 */
nishimura_taku_pet 54:f862caf08a7f 398 case LT_R:
nishimura_taku_pet 54:f862caf08a7f 399 motorR1 = motorSpeedR2[flag_sp]; // 右前進モーターON
nishimura_taku_pet 54:f862caf08a7f 400 motorR2 = LOW; // 右後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 401 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
nishimura_taku_pet 54:f862caf08a7f 402 motorL2 = LOW; // 左後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 403 break;
nishimura_taku_pet 54:f862caf08a7f 404 /* 低速左折 */
nishimura_taku_pet 54:f862caf08a7f 405 case LT_L:
nishimura_taku_pet 54:f862caf08a7f 406 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
nishimura_taku_pet 54:f862caf08a7f 407 motorR2 = LOW; // 右後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 408 motorL1 = motorSpeedL2[flag_sp]; // 左前進モーターON
nishimura_taku_pet 54:f862caf08a7f 409 motorL2 = LOW; // 左後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 410 break;
yangtzuli 3:2ae6218973be 411 }
nishimura_taku_pet 51:1baf4407f384 412 /*if(flag_sp > VERYFAST){ // スピード変更フラグが2より大きいなら
nishimura_taku_pet 47:8a5a4275480a 413 flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet 51:1baf4407f384 414 }*/
takuminomura 48:3003ea51c619 415 ThisThread::sleep_for(3); // 30ms待つ
yangtzuli 2:38825726cb1b 416 }
yangtzuli 2:38825726cb1b 417 }
tomotsugu 8:a47dbf4fa455 418
tomotsugu 8:a47dbf4fa455 419 /* スピード変更関数 */
yangtzuli 3:2ae6218973be 420 void changeSpeed(){
tomotsugu 8:a47dbf4fa455 421 if(flag_sp%3 == 2){ // スピード変更フラグを3で割った余りが2なら
takuminomura 48:3003ea51c619 422 flag_sp = 0; // スピード変更フラグを0にする
tomotsugu 8:a47dbf4fa455 423 }else{ // それ以外
takuminomura 48:3003ea51c619 424 flag_sp = flag_sp + 1; // スピード変更フラグを+1
takuminomura 48:3003ea51c619 425 }
yangtzuli 3:2ae6218973be 426 }
tomotsugu 8:a47dbf4fa455 427
tomotsugu 8:a47dbf4fa455 428 /* ライントレーススレッド */
takuminomura 49:7224132f4b0e 429 //void trace(){
takuminomura 49:7224132f4b0e 430 // // PID用
takuminomura 49:7224132f4b0e 431 // while(1){
takuminomura 49:7224132f4b0e 432 // ThisThread::sleep_for(3);
takuminomura 49:7224132f4b0e 433 // }
takuminomura 49:7224132f4b0e 434 //}
tomotsugu 20:02bb875a9b13 435 void trace(){
takuminomura 48:3003ea51c619 436 while(1){
takuminomura 48:3003ea51c619 437 /* 各センサー値読み取り */
takuminomura 48:3003ea51c619 438 int sensor1 = ss1;
takuminomura 48:3003ea51c619 439 int sensor2 = ss2;
takuminomura 48:3003ea51c619 440 int sensor3 = ss3;
takuminomura 48:3003ea51c619 441 int sensor4 = ss4;
takuminomura 48:3003ea51c619 442 int sensor5 = ss5;
takuminomura 48:3003ea51c619 443 int sensD = 0;
takuminomura 48:3003ea51c619 444
takuminomura 48:3003ea51c619 445 /* センサー値の決定 */
takuminomura 48:3003ea51c619 446 if(sensor1 > 0) sensD |= 0x10;
takuminomura 48:3003ea51c619 447 if(sensor2 > 0) sensD |= 0x08;
takuminomura 48:3003ea51c619 448 if(sensor3 > 0) sensD |= 0x04;
takuminomura 48:3003ea51c619 449 if(sensor4 > 0) sensD |= 0x02;
takuminomura 48:3003ea51c619 450 if(sensor5 > 0) sensD |= 0x01;
takuminomura 48:3003ea51c619 451
takuminomura 48:3003ea51c619 452 /* センサー値によって場合分け */
takuminomura 48:3003ea51c619 453 switch(sensArray[sensD]){
takuminomura 48:3003ea51c619 454 case 1:
takuminomura 48:3003ea51c619 455 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 456 run = ADVANCE; // 高速で前進
takuminomura 48:3003ea51c619 457 break;
takuminomura 48:3003ea51c619 458 case 2:
takuminomura 48:3003ea51c619 459 flag_sp = flag_sp % 3 + 3;
takuminomura 49:7224132f4b0e 460 // run = RIGHT; // 低速で右折
takuminomura 49:7224132f4b0e 461 run = LT_R; // 低速で右折
takuminomura 48:3003ea51c619 462 break;
takuminomura 48:3003ea51c619 463 case 3:
takuminomura 48:3003ea51c619 464 flag_sp = flag_sp % 3 + 3;
takuminomura 49:7224132f4b0e 465 // run = LEFT; // 低速で左折
takuminomura 49:7224132f4b0e 466 run = LT_L; // 低速で左折
takuminomura 48:3003ea51c619 467 break;
takuminomura 48:3003ea51c619 468 case 4:
takuminomura 48:3003ea51c619 469 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 470 run = RIGHT; // 中速で右折
takuminomura 48:3003ea51c619 471 break;
takuminomura 48:3003ea51c619 472 case 5:
takuminomura 48:3003ea51c619 473 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 474 run = LEFT; // 中速で左折
takuminomura 48:3003ea51c619 475 break;
takuminomura 48:3003ea51c619 476 case 6:
takuminomura 48:3003ea51c619 477 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 478 run = RIGHT; // 高速で右折
takuminomura 48:3003ea51c619 479 break;
takuminomura 48:3003ea51c619 480 case 7:
takuminomura 48:3003ea51c619 481 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 482 run = LEFT; // 高速で左折
takuminomura 48:3003ea51c619 483 break;
takuminomura 48:3003ea51c619 484 default:
takuminomura 48:3003ea51c619 485 break; // 前回動作を継続
tomotsugu 18:6cca64c7dbc3 486 }
takuminomura 48:3003ea51c619 487 // ThisThread::sleep_for(30); // 30ms待つ
takuminomura 48:3003ea51c619 488 ThisThread::sleep_for(3);
takuminomura 48:3003ea51c619 489 }
yangtzuli 3:2ae6218973be 490 }
yangtzuli 3:2ae6218973be 491
tomotsugu 8:a47dbf4fa455 492 /* 障害物回避走行スレッド */
tomotsugu 20:02bb875a9b13 493 void avoidance(){
nishimura_taku_pet 46:c6deb699160b 494 int i;
yangtzuli 3:2ae6218973be 495 while(1){
nishimura_taku_pet 40:75e1ad7c27e4 496 watchsurrounding3();
mori2020 50:ee78382fd399 497 if(flag_a == 0){ // 障害物がない場合
mori2020 50:ee78382fd399 498 run = ADVANCE; // 前進
mori2020 50:ee78382fd399 499 // if(SLD < 25){ // 正面15cm以内に障害物が現れた場合
mori2020 50:ee78382fd399 500 // run = RIGHT; // 右折
mori2020 50:ee78382fd399 501 // ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 502 // run = STOP; // 停止
mori2020 50:ee78382fd399 503 // }else if(SRD < 25){
mori2020 50:ee78382fd399 504 // run = LEFT; // 左折
mori2020 50:ee78382fd399 505 // ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 506 // run = STOP; // 停止
mori2020 50:ee78382fd399 507 // }
mori2020 50:ee78382fd399 508 }else{ // 障害物がある場合
tomotsugu 18:6cca64c7dbc3 509 i = 0;
mori2020 50:ee78382fd399 510 int cnt_kyori;
mori2020 50:ee78382fd399 511 int kyori;
mori2020 50:ee78382fd399 512 if(SC < 15){
mori2020 50:ee78382fd399 513 servo.pulsewidth_us(1425); // サーボを中央位置に戻す
nishimura_taku_pet 41:3c58a4be1199 514 ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 515 run = STOP;
mori2020 50:ee78382fd399 516 ThisThread::sleep_for(80);
mori2020 50:ee78382fd399 517 run = BACK;
mori2020 50:ee78382fd399 518 // switch(flag_sp){
mori2020 50:ee78382fd399 519 // case 0:
mori2020 50:ee78382fd399 520 // ThisThread::sleep_for(200);
mori2020 50:ee78382fd399 521 // break;
mori2020 50:ee78382fd399 522 // case 1:
mori2020 50:ee78382fd399 523 // ThisThread::sleep_for(150);
mori2020 50:ee78382fd399 524 // break;
mori2020 50:ee78382fd399 525 // case 2:
mori2020 50:ee78382fd399 526 // ThisThread::sleep_for(120);
mori2020 50:ee78382fd399 527 // break;
mori2020 50:ee78382fd399 528 // default:
mori2020 50:ee78382fd399 529 // break;
mori2020 50:ee78382fd399 530 // }
mori2020 50:ee78382fd399 531 cnt_kyori = 0;
mori2020 50:ee78382fd399 532 kyori = watch();
mori2020 50:ee78382fd399 533 while(kyori < limit){ // 正面20cm以内に障害物がある間
mori2020 50:ee78382fd399 534 if(kyori == -1){
nishimura_taku_pet 40:75e1ad7c27e4 535 cnt_kyori++;
mori2020 50:ee78382fd399 536 if(cnt_kyori > 15){
mori2020 50:ee78382fd399 537 cnt_kyori = 0;
nishimura_taku_pet 40:75e1ad7c27e4 538 break;
nishimura_taku_pet 40:75e1ad7c27e4 539 }
nishimura_taku_pet 40:75e1ad7c27e4 540 }
nishimura_taku_pet 40:75e1ad7c27e4 541 kyori = watch();
tomotsugu 18:6cca64c7dbc3 542 }
mori2020 50:ee78382fd399 543 run = STOP;
mori2020 50:ee78382fd399 544 }
nishimura_taku_pet 40:75e1ad7c27e4 545 watchsurrounding5();
takuminomura 48:3003ea51c619 546 if(SC < limit && SLD < limit && SL < limit && SRD < limit && SR < limit){ // 全方向に障害物がある場合
tomotsugu 52:c868403753e8 547 run = A1LEFT; // 左折
tomotsugu 52:c868403753e8 548 while(i < 15){ // 進行方向確認
tomotsugu 18:6cca64c7dbc3 549 if(watch() > limit){
mori2020 50:ee78382fd399 550 break;
nishimura_taku_pet 28:cb51cafca490 551 }else{
mori2020 50:ee78382fd399 552 i++;
yangtzuli 2:38825726cb1b 553 }
yangtzuli 2:38825726cb1b 554 }
nishimura_taku_pet 28:cb51cafca490 555 run = STOP; // 停止
mori2020 50:ee78382fd399 556 }else { // 全方向以外
nishimura_taku_pet 28:cb51cafca490 557 far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 558 houkou = 1; // 進行方向を前に設定
mori2020 50:ee78382fd399 559 if(SC < limit){
mori2020 50:ee78382fd399 560 if(far < SLD || far < SL){ // 左または左前がより遠い場合
mori2020 50:ee78382fd399 561 if(SL < SLD){ // 左前が左より遠い場合
mori2020 50:ee78382fd399 562 far = SLD; // 左前を最も遠い距離に設定
mori2020 50:ee78382fd399 563 }else{ // 左が左前より遠い場合
mori2020 50:ee78382fd399 564 far = SL; // 左を最も遠い距離に設定
mori2020 50:ee78382fd399 565 }
mori2020 50:ee78382fd399 566 houkou = 2; // 進行方向を左に設定
nishimura_taku_pet 28:cb51cafca490 567 }
mori2020 50:ee78382fd399 568 if(far < SRD || far < SR){ // 右または右前がより遠い場合
mori2020 50:ee78382fd399 569 if(SR < SRD){ // 右前が右より遠い場合
mori2020 50:ee78382fd399 570 far = SRD; // 右前を最も遠い距離に設定
mori2020 50:ee78382fd399 571 }else{ // 右が右前よりも遠い場合
mori2020 50:ee78382fd399 572 far = SR; // 右を最も遠い距離に設定
mori2020 50:ee78382fd399 573 }
mori2020 50:ee78382fd399 574 houkou = 3; // 進行方向を右に設定
nishimura_taku_pet 28:cb51cafca490 575 }
nishimura_taku_pet 28:cb51cafca490 576 }
nishimura_taku_pet 28:cb51cafca490 577 switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet 28:cb51cafca490 578 case 1: // 前の場合
nishimura_taku_pet 28:cb51cafca490 579 run = ADVANCE; // 前進
mori2020 50:ee78382fd399 580 switch(flag_sp){
mori2020 50:ee78382fd399 581 case 0:
mori2020 50:ee78382fd399 582 ThisThread::sleep_for(300); // 0.5秒待つ
mori2020 50:ee78382fd399 583 break;
mori2020 50:ee78382fd399 584 case 1:
mori2020 50:ee78382fd399 585 ThisThread::sleep_for(200);
mori2020 50:ee78382fd399 586 break;
mori2020 50:ee78382fd399 587 case 2:
mori2020 50:ee78382fd399 588 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 589 break;
mori2020 50:ee78382fd399 590 }
nishimura_taku_pet 28:cb51cafca490 591 break;
mori2020 50:ee78382fd399 592 case 2: // 左の場合
tomotsugu 52:c868403753e8 593 run = A1LEFT; // 左折
mori2020 50:ee78382fd399 594 while(i < 15){ // 進行方向確認
nishimura_taku_pet 28:cb51cafca490 595 if(watch() > (far - 2)){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
mori2020 50:ee78382fd399 596 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 597 }else{
nishimura_taku_pet 40:75e1ad7c27e4 598 i++;
nishimura_taku_pet 28:cb51cafca490 599 }
nishimura_taku_pet 28:cb51cafca490 600 }
mori2020 50:ee78382fd399 601 run = ADVANCE; // 停止
nishimura_taku_pet 28:cb51cafca490 602 break;
mori2020 50:ee78382fd399 603 case 3: // 右の場合
tomotsugu 52:c868403753e8 604 run = A1RIGHT; // 右折
mori2020 50:ee78382fd399 605 while(i < 15){ // 進行方向確認
mori2020 50:ee78382fd399 606 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 607 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 608 }else{
nishimura_taku_pet 40:75e1ad7c27e4 609 i++;
nishimura_taku_pet 28:cb51cafca490 610 }
nishimura_taku_pet 28:cb51cafca490 611 }
mori2020 50:ee78382fd399 612 run = ADVANCE; // 停止
nishimura_taku_pet 28:cb51cafca490 613 break;
nishimura_taku_pet 28:cb51cafca490 614 }
yangtzuli 5:3fffb364744b 615 }
nishimura_taku_pet 28:cb51cafca490 616 }
nishimura_taku_pet 28:cb51cafca490 617 flag_a = 0; // 障害物有無フラグを0にセット
mori2020 50:ee78382fd399 618 if(SLD < 30 && SRD > 30){ // 正面15cm以内に障害物が現れた場合
tomotsugu 52:c868403753e8 619 run = A2RIGHT; // 右折
tomotsugu 52:c868403753e8 620 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 621 run = ADVANCE;
mori2020 50:ee78382fd399 622 }else if(SRD < 30 && SLD > 30){
tomotsugu 52:c868403753e8 623 run = A2LEFT; // 左折
tomotsugu 52:c868403753e8 624 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 625 run = ADVANCE;
mori2020 50:ee78382fd399 626 }
mori2020 50:ee78382fd399 627 }
mori2020 50:ee78382fd399 628 }
mori2020 50:ee78382fd399 629
tomotsugu 8:a47dbf4fa455 630 /* 距離計測関数 */
yangtzuli 2:38825726cb1b 631 int watch(){
mori2020 50:ee78382fd399 632 do{
mori2020 50:ee78382fd399 633 do{
mori2020 50:ee78382fd399 634 trig = 0;
mori2020 50:ee78382fd399 635 ThisThread::sleep_for(5); // 5ms待つ
mori2020 50:ee78382fd399 636 trig = 1;
mori2020 50:ee78382fd399 637 ThisThread::sleep_for(15); // 15ms待つ
mori2020 50:ee78382fd399 638 trig = 0;
mori2020 50:ee78382fd399 639 timer.start();
tomotsugu 21:68d38e8f64b5 640 t1=timer.read_ms();
mori2020 50:ee78382fd399 641 while(echo.read() == 0 && t1<10){
mori2020 50:ee78382fd399 642 t1=timer.read_ms();
mori2020 50:ee78382fd399 643 led1 = 1;
mori2020 50:ee78382fd399 644 }
mori2020 50:ee78382fd399 645 timer.stop();
mori2020 50:ee78382fd399 646 timer.reset();
mori2020 50:ee78382fd399 647 }while(t1 >= 10);
mori2020 50:ee78382fd399 648 timer.start(); // 距離計測タイマースタート
mori2020 50:ee78382fd399 649 while(echo.read() == 1){
tomotsugu 21:68d38e8f64b5 650 }
mori2020 50:ee78382fd399 651 timer.stop(); // 距離計測タイマーストップ
mori2020 50:ee78382fd399 652 DT = (int)(timer.read_us()*0.01657); // 距離計算
mori2020 50:ee78382fd399 653 if(timer.read_ms() > 1000){
mori2020 50:ee78382fd399 654 DT = -1;
mori2020 50:ee78382fd399 655 break;
mori2020 50:ee78382fd399 656 }
mori2020 50:ee78382fd399 657 }while(DT > 1000);
mori2020 50:ee78382fd399 658 if(DT > 400){
mori2020 50:ee78382fd399 659 DT = 400;
mori2020 50:ee78382fd399 660 }
tomotsugu 21:68d38e8f64b5 661 timer.reset();
mori2020 50:ee78382fd399 662 led1 = 0;
mori2020 50:ee78382fd399 663 return DT;
yangtzuli 0:0d0037aabe41 664 }
mori2020 50:ee78382fd399 665
tomotsugu 8:a47dbf4fa455 666 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 667 void watchsurrounding3(){
yangtzuli 2:38825726cb1b 668 SC = watch();
nishimura_taku_pet 28:cb51cafca490 669 if(SC < limit){ // 正面20cm以内に障害物がある場合
mori2020 50:ee78382fd399 670 if(SC!=-1){
nishimura_taku_pet 28:cb51cafca490 671 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 672 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 673 return;
nishimura_taku_pet 28:cb51cafca490 674 }
yangtzuli 2:38825726cb1b 675 }
mori2020 50:ee78382fd399 676 servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet 28:cb51cafca490 677 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 678 SLD = watch();
mori2020 50:ee78382fd399 679 if(SLD < 18){ // 左前20cm以内に障害物がある場合
mori2020 50:ee78382fd399 680 run = STOP;
mori2020 50:ee78382fd399 681 ThisThread::sleep_for(90);
mori2020 50:ee78382fd399 682 run = BACK;
mori2020 50:ee78382fd399 683 ThisThread::sleep_for(150);
tomotsugu 52:c868403753e8 684 run = A2RIGHT;
tomotsugu 52:c868403753e8 685 ThisThread::sleep_for(130);
mori2020 50:ee78382fd399 686 return;
yangtzuli 2:38825726cb1b 687 }
mori2020 50:ee78382fd399 688 servo.pulsewidth_us(1425);
mori2020 50:ee78382fd399 689 ThisThread::sleep_for(100);
tomotsugu 19:c6f9f010bd9e 690 SC = watch();
tomotsugu 19:c6f9f010bd9e 691 if(SC < limit){
mori2020 50:ee78382fd399 692 if(SC != -1){
mori2020 50:ee78382fd399 693 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 694 flag_a = 1;
takuminomura 48:3003ea51c619 695 return;
mori2020 50:ee78382fd399 696 }
tomotsugu 19:c6f9f010bd9e 697 }
mori2020 50:ee78382fd399 698 servo.pulsewidth_us(923); // サーボを右に40度回転
nishimura_taku_pet 28:cb51cafca490 699 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 700 SRD = watch();
mori2020 50:ee78382fd399 701 if(SRD < 18){ // 右前20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 702 run = STOP; // 停止
mori2020 50:ee78382fd399 703 ThisThread::sleep_for(90);
mori2020 50:ee78382fd399 704 run = BACK;
mori2020 50:ee78382fd399 705 ThisThread::sleep_for(150);
tomotsugu 52:c868403753e8 706 run = A2LEFT;
tomotsugu 52:c868403753e8 707 ThisThread::sleep_for(130);
mori2020 50:ee78382fd399 708 return;
yangtzuli 2:38825726cb1b 709 }
mori2020 50:ee78382fd399 710 servo.pulsewidth_us(1425); // サーボを中央位置に戻す
nishimura_taku_pet 40:75e1ad7c27e4 711 ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 712 }
mori2020 50:ee78382fd399 713
nishimura_taku_pet 40:75e1ad7c27e4 714 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 715 void watchsurrounding5(){
nishimura_taku_pet 40:75e1ad7c27e4 716 SC = watch();
mori2020 50:ee78382fd399 717 servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 718 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 719 SLD = watch();
nishimura_taku_pet 40:75e1ad7c27e4 720 servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet 40:75e1ad7c27e4 721 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 722 SL = watch();
mori2020 50:ee78382fd399 723 servo.pulsewidth_us(1425);
nishimura_taku_pet 40:75e1ad7c27e4 724 ThisThread::sleep_for(250);
nishimura_taku_pet 40:75e1ad7c27e4 725 SC = watch();
mori2020 50:ee78382fd399 726 servo.pulsewidth_us(923); // サーボを右に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 727 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 728 SRD = watch();
yangtzuli 2:38825726cb1b 729 servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet 28:cb51cafca490 730 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 731 SR = watch();
mori2020 50:ee78382fd399 732 servo.pulsewidth_us(1425); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 733 ThisThread::sleep_for(250); // 100ms待つ
yangtzuli 3:2ae6218973be 734 }
yangtzuli 3:2ae6218973be 735
tomotsugu 8:a47dbf4fa455 736 /* ディスプレイ表示関数 */
yangtzuli 3:2ae6218973be 737 void display(){
faker_71 57:65dd71a6ce72 738 // pblue=!pblue;
tomotsugu 8:a47dbf4fa455 739 mutex.lock(); // ミューテックスロック
yangtzuli 3:2ae6218973be 740 lcd.setAddress(0,1);
tomotsugu 8:a47dbf4fa455 741
tomotsugu 8:a47dbf4fa455 742 /* 操作モードによる場合分け */
yangtzuli 3:2ae6218973be 743 switch(mode){
tomotsugu 8:a47dbf4fa455 744 /* 前進 */
yangtzuli 3:2ae6218973be 745 case ADVANCE:
yangtzuli 3:2ae6218973be 746 lcd.printf("Mode:Advance ");
yangtzuli 3:2ae6218973be 747 break;
tomotsugu 8:a47dbf4fa455 748 /* 右折 */
yangtzuli 3:2ae6218973be 749 case RIGHT:
yangtzuli 5:3fffb364744b 750 lcd.printf("Mode:TurnRight ");
yangtzuli 3:2ae6218973be 751 break;
tomotsugu 8:a47dbf4fa455 752 /* 左折 */
yangtzuli 3:2ae6218973be 753 case LEFT:
yangtzuli 5:3fffb364744b 754 lcd.printf("Mode:TurnLeft ");
yangtzuli 3:2ae6218973be 755 break;
tomotsugu 8:a47dbf4fa455 756 /* 後退 */
yangtzuli 3:2ae6218973be 757 case BACK:
yangtzuli 3:2ae6218973be 758 lcd.printf("Mode:Back ");
yangtzuli 3:2ae6218973be 759 break;
tomotsugu 8:a47dbf4fa455 760 /* 停止 */
yangtzuli 3:2ae6218973be 761 case STOP:
yangtzuli 3:2ae6218973be 762 lcd.printf("Mode:Stop ");
yangtzuli 3:2ae6218973be 763 break;
tomotsugu 8:a47dbf4fa455 764 /* 待ち */
yangtzuli 3:2ae6218973be 765 case READY:
yangtzuli 3:2ae6218973be 766 lcd.printf("Mode:Ready ");
yangtzuli 3:2ae6218973be 767 break;
tomotsugu 8:a47dbf4fa455 768 /* ライントレース */
yangtzuli 3:2ae6218973be 769 case LINE_TRACE:
yangtzuli 3:2ae6218973be 770 lcd.printf("Mode:LineTrace ");
yangtzuli 3:2ae6218973be 771 break;
tomotsugu 8:a47dbf4fa455 772 /* 障害物回避 */
yangtzuli 3:2ae6218973be 773 case AVOIDANCE:
yangtzuli 3:2ae6218973be 774 lcd.printf("Mode:Avoidance ");
yangtzuli 3:2ae6218973be 775 break;
tomotsugu 8:a47dbf4fa455 776 /* スピード制御 */
yangtzuli 3:2ae6218973be 777 case SPEED:
tomotsugu 8:a47dbf4fa455 778 /* スピードの状態で場合分け */
takuminomura 48:3003ea51c619 779 switch(flag_sp % 3){
tomotsugu 8:a47dbf4fa455 780 /* 普通 */
yangtzuli 3:2ae6218973be 781 case(NORMAL):
yangtzuli 3:2ae6218973be 782 lcd.printf("Speed:Normal ");
yangtzuli 3:2ae6218973be 783 break;
tomotsugu 8:a47dbf4fa455 784 /* 速い */
yangtzuli 3:2ae6218973be 785 case(FAST):
yangtzuli 3:2ae6218973be 786 lcd.printf("Speed:Fast ");
yangtzuli 3:2ae6218973be 787 break;
tomotsugu 8:a47dbf4fa455 788 /* とても速い */
yangtzuli 3:2ae6218973be 789 case(VERYFAST):
yangtzuli 3:2ae6218973be 790 lcd.printf("Speed:VeryFast ");
yangtzuli 3:2ae6218973be 791 break;
yangtzuli 3:2ae6218973be 792 }
tomotsugu 8:a47dbf4fa455 793 viewTimer.reset(); // タイマーリセット
tomotsugu 8:a47dbf4fa455 794 viewTimer.start(); // タイマースタート
takuminomura 48:3003ea51c619 795 break;
nishimura_taku_pet 56:d02c62149a19 796 default:
nishimura_taku_pet 56:d02c62149a19 797 lcd.printf("Mode:ModeError ");
nishimura_taku_pet 56:d02c62149a19 798 break;
yangtzuli 3:2ae6218973be 799 }
tomotsugu 8:a47dbf4fa455 800 mutex.unlock(); // ミューテックスアンロック
faker_71 57:65dd71a6ce72 801 // pblue=!pblue;
faker_71 57:65dd71a6ce72 802
yangtzuli 3:2ae6218973be 803 }
yangtzuli 3:2ae6218973be 804
tomotsugu 8:a47dbf4fa455 805 /* バックライト点滅 */
yangtzuli 3:2ae6218973be 806 void lcdBacklight(void const *argument){
tomotsugu 8:a47dbf4fa455 807 if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu 8:a47dbf4fa455 808 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 8:a47dbf4fa455 809 }else{ // バックライト点滅フラグが0なら
tomotsugu 8:a47dbf4fa455 810 lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli 3:2ae6218973be 811 }
tomotsugu 8:a47dbf4fa455 812 flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli 3:2ae6218973be 813 }
yangtzuli 2:38825726cb1b 814
tomotsugu 8:a47dbf4fa455 815 /* バッテリー残量更新関数 */
yangtzuli 5:3fffb364744b 816 void bChange(){
yangtzuli 17:f7259ab2fe86 817 //pc.printf(" bChange1\r\n");
nishimura_taku_pet 51:1baf4407f384 818 if(run == STOP){
nishimura_taku_pet 54:f862caf08a7f 819 b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10;
nishimura_taku_pet 51:1baf4407f384 820 }
tomotsugu 10:d193030ce672 821 if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu 10:d193030ce672 822 b = 0;
tomotsugu 10:d193030ce672 823 //lcd.setBacklight(TextLCD::LightOff);
tomotsugu 10:d193030ce672 824 //run = STOP;
tomotsugu 10:d193030ce672 825 //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 826 }
tomotsugu 10:d193030ce672 827 mutex.lock(); // ミューテックスロック
tomotsugu 10:d193030ce672 828 lcd.setAddress(0,0);
tomotsugu 10:d193030ce672 829 lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
takuminomura 48:3003ea51c619 830 mutex.unlock(); // ミューテックスアンロック
tomotsugu 10:d193030ce672 831 if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu 10:d193030ce672 832 if(flag_t == 0){ // バックライトタイマーフラグが0なら
nishimura_taku_pet 43:243c1455f88a 833 //bTimer.attach(lcdBacklight,0.5);
tomotsugu 10:d193030ce672 834 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 835 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 836 }
tomotsugu 10:d193030ce672 837 }else{
tomotsugu 10:d193030ce672 838 if(flag_t == 1){ // バックライトタイマーフラグが1なら
nishimura_taku_pet 43:243c1455f88a 839 //bTimer.detach();
tomotsugu 10:d193030ce672 840 bTimer.stop(); // バックライトタイマーストップ
tomotsugu 10:d193030ce672 841 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 10:d193030ce672 842 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 843 }
tomotsugu 10:d193030ce672 844 }
yangtzuli 2:38825726cb1b 845 }
mori2020 50:ee78382fd399 846
mori2020 50:ee78382fd399 847
nishimura_taku_pet 24:9481c8f56a49 848 // Serial Interrupt read ESP data
nishimura_taku_pet 24:9481c8f56a49 849 void callback()
nishimura_taku_pet 24:9481c8f56a49 850 {
nishimura_taku_pet 58:d60f9b0d564d 851 //pc.printf("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 852 led3=1;
nishimura_taku_pet 24:9481c8f56a49 853 while (esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 854 webbuff[ount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 855 ount++;
nishimura_taku_pet 24:9481c8f56a49 856 }
nishimura_taku_pet 24:9481c8f56a49 857 if(strlen(webbuff)>bufflen) {
mori2020 50:ee78382fd399 858 // //*-*-*-5("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 859 DataRX=1;
nishimura_taku_pet 58:d60f9b0d564d 860 led4=1;
nishimura_taku_pet 24:9481c8f56a49 861 }
nishimura_taku_pet 24:9481c8f56a49 862 }
mori2020 50:ee78382fd399 863
nishimura_taku_pet 43:243c1455f88a 864 void wifi(/*void const *argument*/)
nishimura_taku_pet 24:9481c8f56a49 865 {
mori2020 50:ee78382fd399 866 //*-*-*-5("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet 33:a6f1090e0174 867 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 868 led1=1,led2=0,led3=0;
nishimura_taku_pet 24:9481c8f56a49 869 timeout=6000;
nishimura_taku_pet 24:9481c8f56a49 870 getcount=500;
nishimura_taku_pet 24:9481c8f56a49 871 getreply();
nishimura_taku_pet 24:9481c8f56a49 872 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet 24:9481c8f56a49 873 startserver();
mori2020 50:ee78382fd399 874
nishimura_taku_pet 24:9481c8f56a49 875 while(1) {
nishimura_taku_pet 24:9481c8f56a49 876 if(DataRX==1) {
mori2020 50:ee78382fd399 877 //*-*-*-5("\f\n\r------------ main while > if --------------\n\r");
faker_71 57:65dd71a6ce72 878 // click_flag = 1;
faker_71 57:65dd71a6ce72 879 click_log=false;
nishimura_taku_pet 24:9481c8f56a49 880 ReadWebData();
mori2020 50:ee78382fd399 881 //*-*-*-5("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
mori2020 50:ee78382fd399 882 //if ((servreq == 1 && weberror == 0) && click_flag == 1) {
faker_71 57:65dd71a6ce72 883 if (servreq == 1 && weberror == 0 && click_log == false) {
mori2020 50:ee78382fd399 884 //*-*-*-5("\f\n\r------------ befor send page --------------\n\r");
faker_71 57:65dd71a6ce72 885 sendpage(); }
mori2020 50:ee78382fd399 886 //*-*-*-5("\f\n\r------------ send_check begin --------------\n\r");
mori2020 50:ee78382fd399 887
mori2020 50:ee78382fd399 888 //sendcheck();
mori2020 50:ee78382fd399 889 //*-*-*-5("\f\n\r------------ ssend_check end--------------\n\r");
faker_71 57:65dd71a6ce72 890 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 891 esp.attach(&callback);
mori2020 50:ee78382fd399 892 //*-*-*-5(" IPD Data:\r\n\n Link ID = %d,\r\n IPD Header Length = %d \r\n IPD Type = %s\r\n", linkID, ipdLen, type);
mori2020 50:ee78382fd399 893 //*-*-*-5("\n\n HTTP Packet: \n\n%s\n", webdata);
mori2020 50:ee78382fd399 894 //*-*-*-5(" Web Characters sent : %d\n\n", bufl);
mori2020 50:ee78382fd399 895 //*-*-*-5(" -------------------------------------\n\n");
nishimura_taku_pet 24:9481c8f56a49 896 servreq=0;
nishimura_taku_pet 24:9481c8f56a49 897 }
nishimura_taku_pet 24:9481c8f56a49 898 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 899 }
nishimura_taku_pet 24:9481c8f56a49 900 }
nishimura_taku_pet 24:9481c8f56a49 901 // Static WEB page
nishimura_taku_pet 24:9481c8f56a49 902 void sendpage()
nishimura_taku_pet 24:9481c8f56a49 903 {
nishimura_taku_pet 24:9481c8f56a49 904 // WEB page data
mori2020 50:ee78382fd399 905
nishimura_taku_pet 58:d60f9b0d564d 906 strcpy(webbuff, "HTTP/1.1 200 OK\nDate: Thu, 03 Sep 2020 07:43:28 GMT\nContent-Type: text/html\nContent-Length: 2843\nConnection: keep-alive\n\n");
nishimura_taku_pet 58:d60f9b0d564d 907 strcat(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet 24:9481c8f56a49 908 strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
mori2020 50:ee78382fd399 909 //strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >");
molberry 38:39db3f7450c2 910 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 911 strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet 24:9481c8f56a49 912 strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
molberry 55:d3c19efa1ef9 913 if(b >= 70) { //残電量表示
molberry 55:d3c19efa1ef9 914 strcat(webbuff, "<font color=\"blue\">");
mori2020 50:ee78382fd399 915 sprintf(webbuff, "%s%3d", webbuff, b);
molberry 55:d3c19efa1ef9 916 strcat(webbuff, "</font>");
molberry 55:d3c19efa1ef9 917 }
molberry 55:d3c19efa1ef9 918 else if(b >= 40) {
molberry 55:d3c19efa1ef9 919 strcat(webbuff, "<font color=\"orange\">");
molberry 55:d3c19efa1ef9 920 sprintf(webbuff, "%s%3d", webbuff, b);
molberry 55:d3c19efa1ef9 921 strcat(webbuff, "</font>");
mori2020 50:ee78382fd399 922 } else { //30%より下の場合残電量を赤文字
mori2020 50:ee78382fd399 923 strcat(webbuff, "<font color=\"red\">");
mori2020 50:ee78382fd399 924 sprintf(webbuff, "%s%3d", webbuff, b);
mori2020 50:ee78382fd399 925 strcat(webbuff, "</font>");
mori2020 50:ee78382fd399 926 }
mori2020 50:ee78382fd399 927 strcat(webbuff, "%</strong>");
mori2020 50:ee78382fd399 928 strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"location.reload()\">RELOAD</button>");
nishimura_taku_pet 24:9481c8f56a49 929 strcat(webbuff, "</td></p>");
nishimura_taku_pet 24:9481c8f56a49 930 strcat(webbuff, "<br>");
nishimura_taku_pet 24:9481c8f56a49 931 strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 932
molberry 35:4cda290bdb87 933 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 934 case ADVANCE: //前進
mori2020 50:ee78382fd399 935 strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 936 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 937 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 938 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 939 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 940 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 941 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 942 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 943 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 944 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 945 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 946 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 947 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 948 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 949 break;
molberry 35:4cda290bdb87 950 case LEFT: //左折
mori2020 50:ee78382fd399 951 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 952 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 953 strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 954 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 955 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 956 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 957 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 958 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 959 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 960 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 961 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 962 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 963 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 964 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 965 break;
molberry 35:4cda290bdb87 966 case STOP: //停止
mori2020 50:ee78382fd399 967 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 968 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 969 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 970 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 971 strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 972 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 973 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 974 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 975 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 976 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 977 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 978 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 979 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 980 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 981 break;
molberry 35:4cda290bdb87 982 case RIGHT: //右折
mori2020 50:ee78382fd399 983 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 984 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 985 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 986 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 987 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 988 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 989 strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 990 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 991 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 992 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 993 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 994 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 995 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 996 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 997 break;
molberry 35:4cda290bdb87 998 case BACK: //後進
mori2020 50:ee78382fd399 999 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 1000 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 1001 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 1002 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1003 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 1004 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1005 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 1006 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 1007 strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 1008 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet 24:9481c8f56a49 1009 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 1010 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 1011 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 1012 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1013 break;
molberry 35:4cda290bdb87 1014 case AVOIDANCE: //障害物回避
mori2020 50:ee78382fd399 1015 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 1016 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 1017 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 1018 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1019 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 1020 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1021 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 1022 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 1023 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 1024 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1025 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 1026 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 1027 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 1028 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1029 break;
molberry 35:4cda290bdb87 1030 case LINE_TRACE: //ライントレース
mori2020 50:ee78382fd399 1031 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 1032 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 1033 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 1034 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1035 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 1036 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1037 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 1038 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 1039 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 1040 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1041 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 1042 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 1043 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 1044 strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1045 break;
molberry 35:4cda290bdb87 1046 default: //その他
mori2020 50:ee78382fd399 1047 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 1048 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 1049 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 1050 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1051 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 1052 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1053 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 1054 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 1055 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 1056 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1057 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 1058 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 1059 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 1060 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1061 break;
nishimura_taku_pet 24:9481c8f56a49 1062 }
nishimura_taku_pet 24:9481c8f56a49 1063 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1064 strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet 24:9481c8f56a49 1065 strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 1066 //ready示速度だけ点灯
molberry 35:4cda290bdb87 1067 switch (flag_sp) { //現在の速度のボタン表示
molberry 35:4cda290bdb87 1068 case 0: //ノーマル
mori2020 50:ee78382fd399 1069 strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1070 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1071 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1072 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1073 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1074 break;
molberry 35:4cda290bdb87 1075 case 1: //ファスト
mori2020 50:ee78382fd399 1076 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1077 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1078 strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1079 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1080 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1081 break;
molberry 35:4cda290bdb87 1082 case 2: //ベリーファスト
mori2020 50:ee78382fd399 1083 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1084 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1085 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1086 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1087 strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1088 break;
molberry 35:4cda290bdb87 1089 default: //その他
mori2020 50:ee78382fd399 1090 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1091 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1092 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1093 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1094 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1095 break;
nishimura_taku_pet 24:9481c8f56a49 1096 }
nishimura_taku_pet 24:9481c8f56a49 1097 strcat(webbuff, "</button></td></tr></table>");
mori2020 50:ee78382fd399 1098
nishimura_taku_pet 24:9481c8f56a49 1099 strcat(webbuff, "</center>");
nishimura_taku_pet 24:9481c8f56a49 1100 strcat(webbuff, "</body>");
nishimura_taku_pet 24:9481c8f56a49 1101 strcat(webbuff, "</html>");
mori2020 50:ee78382fd399 1102
molberry 35:4cda290bdb87 1103 strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
faker_71 57:65dd71a6ce72 1104
mori2020 50:ee78382fd399 1105 //ボタン入力時それぞれの関数から呼び出されサーバーとの通信を行う
faker_71 57:65dd71a6ce72 1106 strcat(webbuff, "function htmlacs(url) {");
faker_71 57:65dd71a6ce72 1107 strcat(webbuff, "var xhr = new XMLHttpRequest();");
faker_71 57:65dd71a6ce72 1108 strcat(webbuff, "xhr.open(\"GET\", url, true);");
faker_71 57:65dd71a6ce72 1109 strcat(webbuff, "xhr.send();");
faker_71 57:65dd71a6ce72 1110 strcat(webbuff, "setTimeout(function(){xhr.abort();},100);");
nishimura_taku_pet 24:9481c8f56a49 1111 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1112
mori2020 50:ee78382fd399 1113 //mode変更ボタン入力時動作 //sendmes
mori2020 50:ee78382fd399 1114 strcat(webbuff, "function send_mes(btnval){"); //mode変更ボタン入力時の点灯消灯判定
nishimura_taku_pet 24:9481c8f56a49 1115 strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet 24:9481c8f56a49 1116 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1117 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1118 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1119 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1120 strcat(webbuff, "for(var i=1;i<8;i++){");
nishimura_taku_pet 24:9481c8f56a49 1121 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1122 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1123 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1124 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1125 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1126 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1127 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1128
mori2020 50:ee78382fd399 1129 strcat(webbuff, "function send_mes_spe(btnval){"); //speed変更ボタン入力時の点灯消灯判定
nishimura_taku_pet 24:9481c8f56a49 1130 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1131 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1132 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1133 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1134 strcat(webbuff, "for(var i=8;i<11;i++){");
nishimura_taku_pet 24:9481c8f56a49 1135 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1136 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1137 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1138 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1139 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1140 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1141 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1142 strcat(webbuff, "</script>");
mori2020 50:ee78382fd399 1143
mori2020 50:ee78382fd399 1144
nishimura_taku_pet 24:9481c8f56a49 1145 // end of WEB page data
nishimura_taku_pet 24:9481c8f56a49 1146 bufl = strlen(webbuff); // get total page buffer length
mori2020 50:ee78382fd399 1147 //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet 24:9481c8f56a49 1148
nishimura_taku_pet 24:9481c8f56a49 1149 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 1150 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1151 getcount=40;
nishimura_taku_pet 24:9481c8f56a49 1152 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1153 getreply();
mori2020 50:ee78382fd399 1154 //*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1155 ////*-*-*-5("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
mori2020 50:ee78382fd399 1156
mori2020 50:ee78382fd399 1157 //*-*-*-5("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
mori2020 50:ee78382fd399 1158
nishimura_taku_pet 24:9481c8f56a49 1159 //pastthrough mode
nishimura_taku_pet 24:9481c8f56a49 1160 SendWEB(); // send web page
mori2020 50:ee78382fd399 1161 //*-*-*-5("\n++++++++++ webbuff clear ++++++++++\r\n");
mori2020 50:ee78382fd399 1162
nishimura_taku_pet 24:9481c8f56a49 1163 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1164 sendcheck();
nishimura_taku_pet 24:9481c8f56a49 1165 }
nishimura_taku_pet 24:9481c8f56a49 1166
nishimura_taku_pet 24:9481c8f56a49 1167 // Large WEB buffer data send
nishimura_taku_pet 24:9481c8f56a49 1168 void SendWEB()
nishimura_taku_pet 24:9481c8f56a49 1169 {
nishimura_taku_pet 24:9481c8f56a49 1170 int i=0;
nishimura_taku_pet 24:9481c8f56a49 1171 if(esp.writeable()) {
nishimura_taku_pet 24:9481c8f56a49 1172 while(webbuff[i]!='\0') {
nishimura_taku_pet 24:9481c8f56a49 1173 esp.putc(webbuff[i]);
mori2020 50:ee78382fd399 1174
nishimura_taku_pet 24:9481c8f56a49 1175 //****
nishimura_taku_pet 24:9481c8f56a49 1176 //output at command when 2000
nishimura_taku_pet 24:9481c8f56a49 1177 if(((i%2047)==0) && (i>0)) {
mori2020 50:ee78382fd399 1178 //wait_ms(10);
takuminomura 48:3003ea51c619 1179 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 1180 sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); // send IPD link channel and buffer character length.
mori2020 50:ee78382fd399 1181 ////*-*-*-5("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet 24:9481c8f56a49 1182 timeout=600;
nishimura_taku_pet 24:9481c8f56a49 1183 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1184 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1185 getreply();
mori2020 50:ee78382fd399 1186 ////*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1187 ////*-*-*-5("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1188 }
nishimura_taku_pet 24:9481c8f56a49 1189 //****
nishimura_taku_pet 24:9481c8f56a49 1190 i++;
mori2020 50:ee78382fd399 1191 ////*-*-*-5("%c",webbuff[i]);
nishimura_taku_pet 24:9481c8f56a49 1192 }
nishimura_taku_pet 58:d60f9b0d564d 1193 led1 = !led1;
nishimura_taku_pet 58:d60f9b0d564d 1194 pc.printf("%d",bufl);
nishimura_taku_pet 24:9481c8f56a49 1195 }
mori2020 50:ee78382fd399 1196 //*-*-*-5("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet 24:9481c8f56a49 1197 }
nishimura_taku_pet 24:9481c8f56a49 1198
nishimura_taku_pet 24:9481c8f56a49 1199
nishimura_taku_pet 24:9481c8f56a49 1200 void sendcheck()
nishimura_taku_pet 24:9481c8f56a49 1201 {
nishimura_taku_pet 24:9481c8f56a49 1202 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1203 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1204 getcount=24;
nishimura_taku_pet 24:9481c8f56a49 1205 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1206 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1207
mori2020 50:ee78382fd399 1208 /*
mori2020 50:ee78382fd399 1209 while(weberror==1 && time2.read() <5) {
mori2020 50:ee78382fd399 1210 getreply();
mori2020 50:ee78382fd399 1211 if (strstr(replybuff, "SEND OK") != NULL) {
mori2020 50:ee78382fd399 1212 weberror=0; // wait for valid SEND OK
mori2020 50:ee78382fd399 1213 }
mori2020 50:ee78382fd399 1214 }
mori2020 50:ee78382fd399 1215 */
nishimura_taku_pet 24:9481c8f56a49 1216 if(weberror==1) { // restart connection
nishimura_taku_pet 24:9481c8f56a49 1217 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet 24:9481c8f56a49 1218 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1219 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1220 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1221 getreply();
mori2020 50:ee78382fd399 1222 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1223 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1224 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1225 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1226 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1227 getreply();
mori2020 50:ee78382fd399 1228 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1229 } else {
nishimura_taku_pet 24:9481c8f56a49 1230 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet 24:9481c8f56a49 1231 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1232 getreply();
mori2020 50:ee78382fd399 1233 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1234 }
nishimura_taku_pet 24:9481c8f56a49 1235 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1236 }
nishimura_taku_pet 24:9481c8f56a49 1237
nishimura_taku_pet 24:9481c8f56a49 1238 // Reads and processes GET and POST web data
nishimura_taku_pet 24:9481c8f56a49 1239 void ReadWebData()
nishimura_taku_pet 24:9481c8f56a49 1240 {
mori2020 50:ee78382fd399 1241 //*-*-*-5("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet 30:c80da0ecc260 1242 ThisThread::sleep_for(200);
nishimura_taku_pet 24:9481c8f56a49 1243 esp.attach(NULL);
nishimura_taku_pet 24:9481c8f56a49 1244 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1245 DataRX=0;
nishimura_taku_pet 24:9481c8f56a49 1246 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1247 memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet 24:9481c8f56a49 1248 int x = strcspn (webbuff,"+");
nishimura_taku_pet 24:9481c8f56a49 1249 if(x) {
nishimura_taku_pet 24:9481c8f56a49 1250 strcpy(webdata, webbuff + x);
nishimura_taku_pet 24:9481c8f56a49 1251 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1252 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
mori2020 50:ee78382fd399 1253 //int i=0;
mori2020 50:ee78382fd399 1254 //*-*-*-5("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
mori2020 50:ee78382fd399 1255 //*-*-*-5("%s",webdata);
mori2020 50:ee78382fd399 1256 //*-*-*-5("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet 51:1baf4407f384 1257 beforeMode = mode;
nishimura_taku_pet 43:243c1455f88a 1258 if( strstr(webdata, "Normal") != NULL ) {
faker_71 57:65dd71a6ce72 1259 click_log=true;
mori2020 50:ee78382fd399 1260 //*-*-*-5("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1261 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1262 flag_sp = 0;
nishimura_taku_pet 43:243c1455f88a 1263 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1264 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1265 }else if( strstr(webdata, "VeryFast") != NULL ) {
faker_71 57:65dd71a6ce72 1266 click_log=true;
mori2020 50:ee78382fd399 1267 //*-*-*-5("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1268 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1269 flag_sp = 2;
nishimura_taku_pet 43:243c1455f88a 1270 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1271 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1272 }else if( strstr(webdata, "Fast") != NULL ) {
faker_71 57:65dd71a6ce72 1273 click_log=true;
mori2020 50:ee78382fd399 1274 //*-*-*-5("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1275 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1276 flag_sp = 1;
nishimura_taku_pet 43:243c1455f88a 1277 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1278 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1279 }
nishimura_taku_pet 24:9481c8f56a49 1280 if( strstr(webdata, "GO") != NULL ) {
faker_71 57:65dd71a6ce72 1281 pred=!pred;
faker_71 57:65dd71a6ce72 1282 click_log=true;
mori2020 50:ee78382fd399 1283 //*-*-*-5("+++++++++++++++++前進+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1284 run = ADVANCE; // 前進
molberry 35:4cda290bdb87 1285 mode = ADVANCE; // モード変更
molberry 35:4cda290bdb87 1286 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1287 }
takuminomura 48:3003ea51c619 1288
nishimura_taku_pet 24:9481c8f56a49 1289 if( strstr(webdata, "LEFT") != NULL ) {
faker_71 57:65dd71a6ce72 1290 click_log=true;
mori2020 50:ee78382fd399 1291 //*-*-*-5("+++++++++++++++++左折+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1292 run = LEFT; // 左折
molberry 35:4cda290bdb87 1293 mode = LEFT; // モード変更
molberry 35:4cda290bdb87 1294 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1295 }
nishimura_taku_pet 24:9481c8f56a49 1296
nishimura_taku_pet 24:9481c8f56a49 1297 if( strstr(webdata, "STOP") != NULL ) {
faker_71 57:65dd71a6ce72 1298 click_log=true;
mori2020 50:ee78382fd399 1299 //*-*-*-5("+++++++++++++++++停止+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1300 run = STOP; // 停止
molberry 35:4cda290bdb87 1301 mode = STOP; // モード変更
molberry 35:4cda290bdb87 1302 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1303 }
nishimura_taku_pet 24:9481c8f56a49 1304
nishimura_taku_pet 24:9481c8f56a49 1305 if( strstr(webdata, "RIGHT") != NULL ) {
faker_71 57:65dd71a6ce72 1306 click_log=true;
mori2020 50:ee78382fd399 1307 //*-*-*-5("+++++++++++++++++右折+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1308 run = RIGHT; // 右折
molberry 35:4cda290bdb87 1309 mode = RIGHT; // モード変更
molberry 35:4cda290bdb87 1310 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1311 }
nishimura_taku_pet 24:9481c8f56a49 1312
nishimura_taku_pet 24:9481c8f56a49 1313 if( strstr(webdata, "BACK") != NULL ) {
faker_71 57:65dd71a6ce72 1314 click_log=true;
mori2020 50:ee78382fd399 1315 //*-*-*-5("+++++++++++++++++後進+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1316 run = BACK; // 後進
molberry 35:4cda290bdb87 1317 mode = BACK; // モード変更
molberry 35:4cda290bdb87 1318 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1319 }
mori2020 50:ee78382fd399 1320 //*-*-*-5("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1321
nishimura_taku_pet 24:9481c8f56a49 1322 if( strstr(webdata, "AVOIDANCE") != NULL ) {
faker_71 57:65dd71a6ce72 1323 click_log=true;
mori2020 50:ee78382fd399 1324 //*-*-*-5("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet 26:0badbc9f9cb3 1325 if(avoi_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1326 delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1327 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 26:0badbc9f9cb3 1328 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1329 }
nishimura_taku_pet 24:9481c8f56a49 1330 mode=AVOIDANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1331 run = ADVANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1332 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1333 }
nishimura_taku_pet 24:9481c8f56a49 1334 if( strstr(webdata, "LINE_TRACE") != NULL ) {
faker_71 57:65dd71a6ce72 1335 click_log=true;
mori2020 50:ee78382fd399 1336 //*-*-*-5("+++++++++++++++++LINET RACE+++++++++++++++++++++");
mori2020 50:ee78382fd399 1337 //*-*-*-5("mode = LINE_TRACE\r\n");
nishimura_taku_pet 26:0badbc9f9cb3 1338 if(trace_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1339 delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1340 trace_thread = new Thread(trace);
nishimura_taku_pet 26:0badbc9f9cb3 1341 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1342 }
nishimura_taku_pet 24:9481c8f56a49 1343 mode=LINE_TRACE;
nishimura_taku_pet 26:0badbc9f9cb3 1344 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1345 }
nishimura_taku_pet 26:0badbc9f9cb3 1346 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1347 trace_thread->terminate();
nishimura_taku_pet 26:0badbc9f9cb3 1348 }
nishimura_taku_pet 26:0badbc9f9cb3 1349 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1350 avoi_thread->terminate();
nishimura_taku_pet 31:3665282561d6 1351 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 26:0badbc9f9cb3 1352 }
nishimura_taku_pet 24:9481c8f56a49 1353 sprintf(channel, "%d",linkID);
nishimura_taku_pet 24:9481c8f56a49 1354 if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1355 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1356 }
nishimura_taku_pet 24:9481c8f56a49 1357 if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1358 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1359 }
nishimura_taku_pet 24:9481c8f56a49 1360 webcounter++;
nishimura_taku_pet 24:9481c8f56a49 1361 sprintf(webcount, "%d",webcounter);
nishimura_taku_pet 24:9481c8f56a49 1362 } else {
nishimura_taku_pet 24:9481c8f56a49 1363 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1364 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1365 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1366 }
nishimura_taku_pet 24:9481c8f56a49 1367 }
nishimura_taku_pet 24:9481c8f56a49 1368 // Starts and restarts webserver if errors detected.
nishimura_taku_pet 24:9481c8f56a49 1369 void startserver()
nishimura_taku_pet 24:9481c8f56a49 1370 {
mori2020 50:ee78382fd399 1371 //*-*-*-5("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1372 strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet 24:9481c8f56a49 1373 timeout=8000;
nishimura_taku_pet 24:9481c8f56a49 1374 getcount=1000;
nishimura_taku_pet 24:9481c8f56a49 1375 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1376 getreply();
mori2020 50:ee78382fd399 1377 //*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1378 //*-*-*-5("%d",ount);
nishimura_taku_pet 24:9481c8f56a49 1379 if (strstr(replybuff, "OK") != NULL) {
mori2020 50:ee78382fd399 1380 //*-*-*-5("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1381 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet 24:9481c8f56a49 1382 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1383 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1384 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1385 getreply();
mori2020 50:ee78382fd399 1386 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1387 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1388 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1389 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1390 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1391 getreply();
mori2020 50:ee78382fd399 1392 //*-*-*-5(replybuff);
nishimura_taku_pet 33:a6f1090e0174 1393 ThisThread::sleep_for(500);
nishimura_taku_pet 24:9481c8f56a49 1394 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet 24:9481c8f56a49 1395 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1396 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1397 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1398 getreply();
mori2020 50:ee78382fd399 1399 //*-*-*-5(replybuff);
nishimura_taku_pet 25:8ed98982faa7 1400 ThisThread::sleep_for(5000);
mori2020 50:ee78382fd399 1401 //*-*-*-5("\n Getting Server IP \r\n");
nishimura_taku_pet 24:9481c8f56a49 1402 strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet 24:9481c8f56a49 1403 timeout=2500;
nishimura_taku_pet 24:9481c8f56a49 1404 getcount=200;
nishimura_taku_pet 24:9481c8f56a49 1405 while(weberror==0) {
nishimura_taku_pet 24:9481c8f56a49 1406 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1407 getreply();
nishimura_taku_pet 24:9481c8f56a49 1408 if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet 24:9481c8f56a49 1409 weberror=1; // wait for valid IP
nishimura_taku_pet 24:9481c8f56a49 1410 }
nishimura_taku_pet 24:9481c8f56a49 1411 }
mori2020 50:ee78382fd399 1412 //*-*-*-5("\n Enter WEB address (IP) found below in your browser \r\n\n");
mori2020 50:ee78382fd399 1413 //*-*-*-5("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1414 replybuff[strlen(replybuff)-1] = '\0';
mori2020 50:ee78382fd399 1415 //char* IP = replybuff + 5;
nishimura_taku_pet 24:9481c8f56a49 1416 sprintf(webdata,"%s", replybuff);
mori2020 50:ee78382fd399 1417 //*-*-*-5(webdata);
nishimura_taku_pet 24:9481c8f56a49 1418 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1419 bufflen=200;
mori2020 50:ee78382fd399 1420 //bufflen=100;
nishimura_taku_pet 24:9481c8f56a49 1421 ount=0;
mori2020 50:ee78382fd399 1422 //*-*-*-5("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet 33:a6f1090e0174 1423 setup();
nishimura_taku_pet 24:9481c8f56a49 1424 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1425 } else {
mori2020 50:ee78382fd399 1426 //*-*-*-5("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1427 led1=1;
nishimura_taku_pet 24:9481c8f56a49 1428 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1429 led3=1;
nishimura_taku_pet 24:9481c8f56a49 1430 led4=1;
nishimura_taku_pet 24:9481c8f56a49 1431 while(1) {
nishimura_taku_pet 24:9481c8f56a49 1432 led1=!led1;
nishimura_taku_pet 24:9481c8f56a49 1433 led2=!led2;
nishimura_taku_pet 24:9481c8f56a49 1434 led3=!led3;
nishimura_taku_pet 24:9481c8f56a49 1435 led4=!led4;
nishimura_taku_pet 56:d02c62149a19 1436 mutex.lock(); // ミューテックスロック
nishimura_taku_pet 56:d02c62149a19 1437 lcd.setAddress(0,1);
nishimura_taku_pet 56:d02c62149a19 1438 lcd.printf("Mode:WiFiError ");
nishimura_taku_pet 56:d02c62149a19 1439 mutex.unlock();
nishimura_taku_pet 25:8ed98982faa7 1440 ThisThread::sleep_for(1000);
nishimura_taku_pet 24:9481c8f56a49 1441 }
nishimura_taku_pet 24:9481c8f56a49 1442 }
nishimura_taku_pet 24:9481c8f56a49 1443 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1444 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1445 }
mori2020 50:ee78382fd399 1446
nishimura_taku_pet 24:9481c8f56a49 1447 // ESP Command data send
nishimura_taku_pet 24:9481c8f56a49 1448 void SendCMD()
nishimura_taku_pet 24:9481c8f56a49 1449 {
nishimura_taku_pet 24:9481c8f56a49 1450 esp.printf("%s", cmdbuff);
nishimura_taku_pet 24:9481c8f56a49 1451 }
nishimura_taku_pet 24:9481c8f56a49 1452 // Get Command and ESP status replies
nishimura_taku_pet 24:9481c8f56a49 1453 void getreply()
nishimura_taku_pet 24:9481c8f56a49 1454 {
nishimura_taku_pet 24:9481c8f56a49 1455 memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet 24:9481c8f56a49 1456 time1.reset();
nishimura_taku_pet 24:9481c8f56a49 1457 time1.start();
nishimura_taku_pet 24:9481c8f56a49 1458 replycount=0;
nishimura_taku_pet 24:9481c8f56a49 1459 while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet 24:9481c8f56a49 1460 if(esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 1461 replybuff[replycount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 1462 replycount++;
nishimura_taku_pet 24:9481c8f56a49 1463 }
nishimura_taku_pet 24:9481c8f56a49 1464 }
nishimura_taku_pet 24:9481c8f56a49 1465 time1.stop();
nishimura_taku_pet 24:9481c8f56a49 1466 }
takuminomura 48:3003ea51c619 1467
tomotsugu 8:a47dbf4fa455 1468 /* mainスレッド */
yangtzuli 0:0d0037aabe41 1469 int main() {
tomotsugu 8:a47dbf4fa455 1470 /* 初期設定 */
mori2020 50:ee78382fd399 1471 wifi_thread = new Thread(wifi);
mori2020 50:ee78382fd399 1472 wifi_thread -> set_priority(osPriorityHigh);
mori2020 50:ee78382fd399 1473 // setup();
nishimura_taku_pet 16:ffc732a3cf92 1474 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 1475 avoi_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 1476 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 1477 trace_thread->terminate();
tomotsugu 8:a47dbf4fa455 1478 mode = READY; // 現在待ちモード
tomotsugu 8:a47dbf4fa455 1479 beforeMode = READY; // 前回待ちモード
tomotsugu 8:a47dbf4fa455 1480 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 1481 flag_sp = NORMAL; // スピード(普通)
tomotsugu 10:d193030ce672 1482 lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet 33:a6f1090e0174 1483 lcd.setAddress(0,1);
nishimura_taku_pet 33:a6f1090e0174 1484 lcd.printf("Mode:SetUp");
nishimura_taku_pet 51:1baf4407f384 1485 //display(); // ディスプレイ表示
yangtzuli 2:38825726cb1b 1486
yangtzuli 0:0d0037aabe41 1487 while(1){
tomotsugu 8:a47dbf4fa455 1488 bChange(); // バッテリー残量更新
yangtzuli 0:0d0037aabe41 1489 }
yangtzuli 0:0d0037aabe41 1490 }