mbed_robotcar / Mbed OS saikyo-0903

高速wifiついてる

Dependencies:   RemoteIR TextLCD

main.cpp@50:ee78382fd399, 2020-09-02 (annotated)

Committer:
mori2020
Date:
Wed Sep 02 06:14:47 2020 +0000
Revision:
50:ee78382fd399
Parent:
49:7224132f4b0e
Child:
51:1baf4407f384
saikyou??;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yangtzuli 0:0d0037aabe41 1 /* mbed Microcontroller Library
yangtzuli 0:0d0037aabe41 2 * Copyright (c) 2019 ARM Limited
yangtzuli 0:0d0037aabe41 3 * SPDX-License-Identifier: Apache-2.0
yangtzuli 0:0d0037aabe41 4 */
yangtzuli 0:0d0037aabe41 5
yangtzuli 0:0d0037aabe41 6 #include "mbed.h"
yangtzuli 0:0d0037aabe41 7 #include "ReceiverIR.h"
yangtzuli 0:0d0037aabe41 8 #include "rtos.h"
yangtzuli 0:0d0037aabe41 9 #include <stdint.h>
yangtzuli 0:0d0037aabe41 10 #include "platform/mbed_thread.h"
yangtzuli 2:38825726cb1b 11 #include "TextLCD.h"
yangtzuli 0:0d0037aabe41 12
nishimura_taku_pet 27:90962c01bfeb 13 RawSerial pc(USBTX, USBRX);
yangtzuli 0:0d0037aabe41 14
yangtzuli 3:2ae6218973be 15 /* マクロ定義、列挙型定義 */
takuminomura 48:3003ea51c619 16 #define MIN_V 2.0 // 電圧の最小値
takuminomura 48:3003ea51c619 17 #define MAX_V 2.67 // 電圧の最大値
takuminomura 48:3003ea51c619 18 #define LOW 0 // モーターOFF
takuminomura 48:3003ea51c619 19 #define HIGH 1 // モーターON
takuminomura 48:3003ea51c619 20 #define NORMAL 0 // 普通
takuminomura 48:3003ea51c619 21 #define FAST 1 // 速い
takuminomura 48:3003ea51c619 22 #define VERYFAST 2 // とても速い
takuminomura 48:3003ea51c619 23
takuminomura 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
takuminomura 49:7224132f4b0e 47 #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 48 #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 49 #define MBED07 1
takuminomura 49:7224132f4b0e 50 // MSR = Motor Speed Right
takuminomura 49:7224132f4b0e 51 // MSL = Motor Speed Left
takuminomura 49:7224132f4b0e 52 #define MSR0 0.55 // 基準速度Normal
takuminomura 49:7224132f4b0e 53 #define MSR1 0.6 // 基準速度Fast
takuminomura 49:7224132f4b0e 54 #define MSR2 0.65 // 基準速度VeryFast
takuminomura 49:7224132f4b0e 55
takuminomura 49:7224132f4b0e 56 #define MSR3 MSR0*S // 低速旋回(Normalの時)
takuminomura 49:7224132f4b0e 57 #define MSR4 MSR1*S*S // 低速旋回(Fastの時)
takuminomura 49:7224132f4b0e 58 #define MSR5 MSR2*S*S*S // 低速旋回(VeryFastの時)
takuminomura 49:7224132f4b0e 59 #define MSR6 MSR0*VF // 高速(Normalの時)
takuminomura 49:7224132f4b0e 60 #define MSR7 MSR1*VF // 高速(Fastの時)
takuminomura 49:7224132f4b0e 61 #define MSR8 MSR2*VF // 高速(VeryFastの時)
takuminomura 49:7224132f4b0e 62 #define MSL0 MSR0*MBED07
takuminomura 49:7224132f4b0e 63 #define MSL1 MSR1*MBED07
takuminomura 49:7224132f4b0e 64 #define MSL2 MSR2*MBED07
takuminomura 49:7224132f4b0e 65 #define MSL3 MSR3*MBED07
takuminomura 49:7224132f4b0e 66 #define MSL4 MSR4*MBED07
takuminomura 49:7224132f4b0e 67 #define MSL5 MSR5*MBED07
takuminomura 49:7224132f4b0e 68 #define MSL6 MSR6*MBED07
takuminomura 49:7224132f4b0e 69 #define MSL7 MSR7*MBED07
takuminomura 49:7224132f4b0e 70 #define MSL8 MSR8*MBED07
yangtzuli 2:38825726cb1b 71
tomotsugu 8:a47dbf4fa455 72 /* 操作モード定義 */
yangtzuli 3:2ae6218973be 73 enum MODE{
tomotsugu 8:a47dbf4fa455 74 READY = -1, // -1：待ち
tomotsugu 8:a47dbf4fa455 75 ADVANCE = 1, // 1：前進
tomotsugu 8:a47dbf4fa455 76 RIGHT, // 2：右折
tomotsugu 8:a47dbf4fa455 77 LEFT, // 3：左折
tomotsugu 8:a47dbf4fa455 78 BACK, // 4：後退
tomotsugu 8:a47dbf4fa455 79 STOP, // 5：停止
tomotsugu 8:a47dbf4fa455 80 LINE_TRACE, // 6：ライントレース
tomotsugu 8:a47dbf4fa455 81 AVOIDANCE, // 7：障害物回避
tomotsugu 8:a47dbf4fa455 82 SPEED, // 8：スピード制御
takuminomura 49:7224132f4b0e 83 LT_R, // 9:低速右折(ライントレース時)
mori2020 50:ee78382fd399 84 LT_L, // 10:低速左折(ライントレース時)
mori2020 50:ee78382fd399 85 ARIGHT,
mori2020 50:ee78382fd399 86 ALEFT,
yangtzuli 2:38825726cb1b 87 };
yangtzuli 2:38825726cb1b 88
yangtzuli 3:2ae6218973be 89 /* ピン配置 */
yangtzuli 3:2ae6218973be 90 ReceiverIR ir(p5); // リモコン操作
yangtzuli 3:2ae6218973be 91 DigitalOut trig(p6); // 超音波センサtrigger
yangtzuli 5:3fffb364744b 92 DigitalIn echo(p7); // 超音波センサecho
yangtzuli 3:2ae6218973be 93 DigitalIn ss1(p8); // ライントレースセンサ(左)
yangtzuli 3:2ae6218973be 94 DigitalIn ss2(p9); // ライントレースセンサ
yangtzuli 3:2ae6218973be 95 DigitalIn ss3(p10); // ライントレースセンサ
yangtzuli 3:2ae6218973be 96 DigitalIn ss4(p11); // ライントレースセンサ
yangtzuli 3:2ae6218973be 97 DigitalIn ss5(p12); // ライントレースセンサ(右)
nishimura_taku_pet 24:9481c8f56a49 98 RawSerial esp(p13, p14); // Wi-Fiモジュール(tx, rx)
yangtzuli 3:2ae6218973be 99 AnalogIn battery(p15); // 電池残量読み取り(Max 3.3V)
takuminomura 48:3003ea51c619 100 PwmOut motorR2(p22); // 右モーター後退
takuminomura 48:3003ea51c619 101 PwmOut motorR1(p21); // 右モーター前進
yangtzuli 3:2ae6218973be 102 PwmOut motorL2(p23); // 左モーター後退
yangtzuli 3:2ae6218973be 103 PwmOut motorL1(p24); // 左モーター前進
yangtzuli 3:2ae6218973be 104 PwmOut servo(p25); // サーボ
yangtzuli 3:2ae6218973be 105 I2C i2c_lcd(p28,p27); // LCD(tx, rx)
yangtzuli 2:38825726cb1b 106
yangtzuli 3:2ae6218973be 107 /* 変数宣言 */
yangtzuli 3:2ae6218973be 108 int mode; // 操作モード
yangtzuli 3:2ae6218973be 109 int run; // 走行状態
takuminomura 48:3003ea51c619 110 int beforeRun = STOP; // 前回の走行状態
tomotsugu 8:a47dbf4fa455 111 int beforeMode; // 前回のモード
tomotsugu 8:a47dbf4fa455 112 int flag_sp = 0; // スピード変化フラグ
tomotsugu 8:a47dbf4fa455 113 Timer viewTimer; // スピ―ド変更時に3秒計測タイマー
takuminomura 48:3003ea51c619 114
takuminomura 48:3003ea51c619 115 float motorSpeedR1[9] = {MSR0, MSR1, MSR2, MSR3 , MSR4 , MSR5 , MSR6 , MSR7 , MSR8 };
takuminomura 48:3003ea51c619 116 //float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3*REVERSE, MSR4*REVERSE, MSR5*REVERSE, MSR6*REVERSE, MSR7*REVERSE, MSR8*REVERSE};
takuminomura 48:3003ea51c619 117 float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3*REVERSE, MSR4*REVERSE, MSR5*REVERSE, MSR6, MSR7, MSR8};
takuminomura 48:3003ea51c619 118 float motorSpeedL1[9] = {MSL0, MSL1, MSL2, MSL3 , MSL4 , MSL5 , MSL6 , MSL7 , MSL8 };
takuminomura 48:3003ea51c619 119 //float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3*REVERSE, MSL4*REVERSE, MSL5*REVERSE, MSL6*REVERSE, MSL7*REVERSE, MSL8*REVERSE};
takuminomura 48:3003ea51c619 120 float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3*REVERSE, MSL4*REVERSE, MSL5*REVERSE, MSL6, MSL7, MSL8};
yangtzuli 3:2ae6218973be 121 // モーター速度設定(後半はライントレース用)
takuminomura 48:3003ea51c619 122 // 0,1,2:基準速度
takuminomura 48:3003ea51c619 123 // 3,4,5:低速
takuminomura 48:3003ea51c619 124 // 6,7,8:高速
takuminomura 48:3003ea51c619 125 // R1 : 右前, R2 : 右後, L1 : 左前, L2 : 左後
tomotsugu 8:a47dbf4fa455 126
tomotsugu 8:a47dbf4fa455 127 Mutex mutex; // ミューテックス
takuminomura 48:3003ea51c619 128
tomotsugu 8:a47dbf4fa455 129 /* decodeIR用変数 */
yangtzuli 3:2ae6218973be 130 RemoteIR::Format format;
yangtzuli 3:2ae6218973be 131 uint8_t buf[32];
yangtzuli 3:2ae6218973be 132 uint32_t bitcount;
yangtzuli 3:2ae6218973be 133 uint32_t code;
yangtzuli 3:2ae6218973be 134
tomotsugu 8:a47dbf4fa455 135 /* bChange, lcdbacklight用変数 */
yangtzuli 3:2ae6218973be 136 TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780);
tomotsugu 8:a47dbf4fa455 137 int b = 0; // バッテリー残量
tomotsugu 8:a47dbf4fa455 138 int flag_b = 0; // バックライト点滅フラグ
tomotsugu 8:a47dbf4fa455 139 int flag_t = 0; // バックライトタイマーフラグ
yangtzuli 3:2ae6218973be 140
tomotsugu 8:a47dbf4fa455 141 /* trace用変数 */
takuminomura 49:7224132f4b0e 142 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 143 3,4,1,6,3,1,1,6, // 0:前回動作継続
takuminomura 49:7224132f4b0e 144 7,1,5,1,5,1,1,1, // 1:高速前進
takuminomura 48:3003ea51c619 145 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura 48:3003ea51c619 146 // 3:低速左折
takuminomura 48:3003ea51c619 147 // 4:中速右折
takuminomura 48:3003ea51c619 148 // 5:中速左折
takuminomura 48:3003ea51c619 149 // 6:高速右折
takuminomura 48:3003ea51c619 150 // 7:高速左折
takuminomura 48:3003ea51c619 151
takuminomura 48:3003ea51c619 152 //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 153 // 0,6,1,6,1,1,1,6, // 0:前回動作継続
takuminomura 48:3003ea51c619 154 // 7,1,7,1,0,1,1,1, // 1:高速前進
takuminomura 48:3003ea51c619 155 // 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura 48:3003ea51c619 156 // // 3:低速左折
takuminomura 48:3003ea51c619 157 // // 4:中速右折
takuminomura 48:3003ea51c619 158 // // 5:中速左折
takuminomura 48:3003ea51c619 159 // // 6:高速右折
takuminomura 48:3003ea51c619 160 // // 7:高速左折
yangtzuli 0:0d0037aabe41 161
tomotsugu 8:a47dbf4fa455 162 /* avoidance用変数 */
yangtzuli 3:2ae6218973be 163 Timer timer; // 距離計測用タイマ
yangtzuli 3:2ae6218973be 164 int DT; // 距離
takuminomura 48:3003ea51c619 165 int SC; // 正面
yangtzuli 2:38825726cb1b 166 int SL; // 左
yangtzuli 2:38825726cb1b 167 int SR; // 右
yangtzuli 2:38825726cb1b 168 int SLD; // 左前
yangtzuli 2:38825726cb1b 169 int SRD; // 右前
tomotsugu 8:a47dbf4fa455 170 int flag_a = 0; // 障害物有無のフラグ
yangtzuli 2:38825726cb1b 171 const int limit = 20; // 障害物の距離のリミット(単位：cm)
yangtzuli 3:2ae6218973be 172 int far; // 最も遠い距離
yangtzuli 2:38825726cb1b 173 int houkou; // 進行方向(1:前 2:左 3:右)
nishimura_taku_pet 29:600e4b9b5c5b 174 int t1 = 0;
yangtzuli 2:38825726cb1b 175
nishimura_taku_pet 24:9481c8f56a49 176 /*WiFi用変数*/
nishimura_taku_pet 24:9481c8f56a49 177 Timer time1;
nishimura_taku_pet 24:9481c8f56a49 178 Timer time2;
nishimura_taku_pet 24:9481c8f56a49 179 int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
nishimura_taku_pet 24:9481c8f56a49 180 int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
nishimura_taku_pet 24:9481c8f56a49 181 float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet 24:9481c8f56a49 182 char webcount[8];
nishimura_taku_pet 24:9481c8f56a49 183 char type[16];
nishimura_taku_pet 24:9481c8f56a49 184 char channel[2];
nishimura_taku_pet 24:9481c8f56a49 185 char cmdbuff[32];
nishimura_taku_pet 24:9481c8f56a49 186 char replybuff[1024];
nishimura_taku_pet 24:9481c8f56a49 187 char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet 27:90962c01bfeb 188 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet 24:9481c8f56a49 189 int port =80; // set server port
nishimura_taku_pet 24:9481c8f56a49 190 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
takuminomura 48:3003ea51c619 191 char ssid[32] = "mbed05"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet 24:9481c8f56a49 192 char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
yangtzuli 3:2ae6218973be 193
yangtzuli 3:2ae6218973be 194 /* プロトタイプ宣言 */
nishimura_taku_pet 33:a6f1090e0174 195 void decodeIR(/*void const *argument*/);
nishimura_taku_pet 33:a6f1090e0174 196 void motor(/*void const *argument*/);
yangtzuli 3:2ae6218973be 197 void changeSpeed();
nishimura_taku_pet 16:ffc732a3cf92 198 void avoidance(/*void const *argument*/);
nishimura_taku_pet 16:ffc732a3cf92 199 void trace(/*void const *argument*/);
nishimura_taku_pet 40:75e1ad7c27e4 200 void watchsurrounding3();
nishimura_taku_pet 40:75e1ad7c27e4 201 void watchsurrounding5();
yangtzuli 2:38825726cb1b 202 int watch();
takuminomura 48:3003ea51c619 203 char battery_ch[8];
yangtzuli 5:3fffb364744b 204 void bChange();
yangtzuli 3:2ae6218973be 205 void display();
yangtzuli 3:2ae6218973be 206 void lcdBacklight(void const *argument);
nishimura_taku_pet 45:76e8c07d76ef 207 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
nishimura_taku_pet 43:243c1455f88a 208 void wifi(/*void const *argument*/);
takuminomura 48:3003ea51c619 209 Thread *deco_thread; // decodeIRをスレッド化 ：+3
nishimura_taku_pet 43:243c1455f88a 210 Thread *wifi_thread;
takuminomura 48:3003ea51c619 211 Thread *motor_thread; // motorをスレッド化 ：+2
takuminomura 48:3003ea51c619 212 RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
takuminomura 48:3003ea51c619 213 Thread *avoi_thread; // avoidanceをスレッド化：+2
takuminomura 48:3003ea51c619 214 Thread *trace_thread; // traceをスレッド化 ：+2
yangtzuli 2:38825726cb1b 215
nishimura_taku_pet 24:9481c8f56a49 216 DigitalOut led1(LED1);
nishimura_taku_pet 24:9481c8f56a49 217 DigitalOut led2(LED2);
nishimura_taku_pet 24:9481c8f56a49 218 DigitalOut led3(LED3);
nishimura_taku_pet 24:9481c8f56a49 219 DigitalOut led4(LED4);
yangtzuli 3:2ae6218973be 220
nishimura_taku_pet 33:a6f1090e0174 221 void setup(){
nishimura_taku_pet 33:a6f1090e0174 222 deco_thread = new Thread(decodeIR);
nishimura_taku_pet 33:a6f1090e0174 223 deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 224 motor_thread = new Thread(motor);
nishimura_taku_pet 33:a6f1090e0174 225 motor_thread -> set_priority(osPriorityHigh);
mori2020 50:ee78382fd399 226 wifi_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 227 display();
nishimura_taku_pet 33:a6f1090e0174 228 }
nishimura_taku_pet 33:a6f1090e0174 229
tomotsugu 8:a47dbf4fa455 230 /* リモコン受信スレッド */
takuminomura 48:3003ea51c619 231 void decodeIR(/*void const *argument*/){
takuminomura 48:3003ea51c619 232 while(1){
yangtzuli 0:0d0037aabe41 233 // 受信待ち
tomotsugu 8:a47dbf4fa455 234 if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli 3:2ae6218973be 235 bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu 8:a47dbf4fa455 236 if(bitcount > 1){ // 受信成功
yangtzuli 1:5bb497a38344 237 code=0;
tomotsugu 15:5eef1955f6c2 238 for(int j = 0; j < 4; j++){
yangtzuli 1:5bb497a38344 239 code+=(buf[j]<<(8*(3-j)));
yangtzuli 1:5bb497a38344 240 }
tomotsugu 8:a47dbf4fa455 241 if(mode != SPEED){ // スピードモード以外なら
takuminomura 48:3003ea51c619 242 beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli 3:2ae6218973be 243 }
yangtzuli 0:0d0037aabe41 244 switch(code){
tomotsugu 8:a47dbf4fa455 245 case 0x40bf27d8: // クイック
yangtzuli 17:f7259ab2fe86 246 //pc.printf("mode = SPEED\r\n");
takuminomura 48:3003ea51c619 247 mode = SPEED; // スピードモード
tomotsugu 8:a47dbf4fa455 248 changeSpeed(); // 速度変更
tomotsugu 8:a47dbf4fa455 249 display(); // ディスプレイ表示
tomotsugu 8:a47dbf4fa455 250 mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli 1:5bb497a38344 251 break;
tomotsugu 8:a47dbf4fa455 252 case 0x40be34cb: // レグザリンク
yangtzuli 17:f7259ab2fe86 253 //pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 254 if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 255 delete trace_thread;
nishimura_taku_pet 16:ffc732a3cf92 256 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 257 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 258 }
tomotsugu 8:a47dbf4fa455 259 mode=LINE_TRACE; // ライントレースモード
tomotsugu 8:a47dbf4fa455 260 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 261 break;
tomotsugu 8:a47dbf4fa455 262 case 0x40bf6e91: // 番組表
yangtzuli 17:f7259ab2fe86 263 //pc.printf("mode = AVOIDANCE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 264 if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 265 delete avoi_thread;
nishimura_taku_pet 16:ffc732a3cf92 266 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 267 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 268 }
tomotsugu 18:6cca64c7dbc3 269 flag_a = 0;
tomotsugu 8:a47dbf4fa455 270 mode=AVOIDANCE; // 障害物回避モード
tomotsugu 13:1a7667d0aa78 271 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 272 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 273 break;
takuminomura 48:3003ea51c619 274 case 0x40bf3ec1: // ↑
yangtzuli 17:f7259ab2fe86 275 //pc.printf("mode = ADVANCE\r\n");
tomotsugu 8:a47dbf4fa455 276 mode = ADVANCE; // 前進モード
tomotsugu 8:a47dbf4fa455 277 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 278 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 279 break;
takuminomura 48:3003ea51c619 280 case 0x40bf3fc0: // ↓
yangtzuli 17:f7259ab2fe86 281 //pc.printf("mode = BACK\r\n");
tomotsugu 8:a47dbf4fa455 282 mode = BACK; // 後退モード
tomotsugu 8:a47dbf4fa455 283 run = BACK; // 後退
tomotsugu 8:a47dbf4fa455 284 display(); // ディスプレイ表示
yangtzuli 0:0d0037aabe41 285 break;
takuminomura 48:3003ea51c619 286 case 0x40bf5fa0: // ←
yangtzuli 17:f7259ab2fe86 287 //pc.printf("mode = LEFT\r\n");
tomotsugu 8:a47dbf4fa455 288 mode = LEFT; // 左折モード
tomotsugu 8:a47dbf4fa455 289 run = LEFT; // 左折
tomotsugu 8:a47dbf4fa455 290 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 291 break;
takuminomura 48:3003ea51c619 292 case 0x40bf5ba4: // →
yangtzuli 17:f7259ab2fe86 293 //pc.printf("mode = RIGHT\r\n");
tomotsugu 8:a47dbf4fa455 294 mode = RIGHT; // 右折モード
tomotsugu 8:a47dbf4fa455 295 run = RIGHT; // 右折
tomotsugu 8:a47dbf4fa455 296 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 297 break;
takuminomura 48:3003ea51c619 298 case 0x40bf3dc2: // 決定
yangtzuli 17:f7259ab2fe86 299 //pc.printf("mode = STOP\r\n");
tomotsugu 8:a47dbf4fa455 300 mode = STOP; // 停止モード
tomotsugu 8:a47dbf4fa455 301 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 302 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 303 break;
yangtzuli 0:0d0037aabe41 304 default:
yangtzuli 0:0d0037aabe41 305 ;
yangtzuli 0:0d0037aabe41 306 }
nishimura_taku_pet 16:ffc732a3cf92 307 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 308 trace_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 309 }
nishimura_taku_pet 16:ffc732a3cf92 310 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 311 avoi_thread->terminate();
nishimura_taku_pet 28:cb51cafca490 312 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 16:ffc732a3cf92 313 }
yangtzuli 0:0d0037aabe41 314 }
yangtzuli 0:0d0037aabe41 315 }
takuminomura 48:3003ea51c619 316 if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
takuminomura 48:3003ea51c619 317 viewTimer.stop(); // タイマーストップ
takuminomura 48:3003ea51c619 318 viewTimer.reset(); // タイマーリセット
takuminomura 48:3003ea51c619 319 display(); // ディスプレイ表示
yangtzuli 4:3f80c0180e2f 320 }
takuminomura 48:3003ea51c619 321 ThisThread::sleep_for(90); // 90ms待つ
takuminomura 48:3003ea51c619 322 }
yangtzuli 2:38825726cb1b 323 }
tomotsugu 8:a47dbf4fa455 324
tomotsugu 8:a47dbf4fa455 325 /* モーター制御スレッド */
nishimura_taku_pet 33:a6f1090e0174 326 void motor(/*void const *argument*/){
tomotsugu 8:a47dbf4fa455 327 while(1){
tomotsugu 8:a47dbf4fa455 328 /* 走行状態の場合分け */
yangtzuli 3:2ae6218973be 329 switch(run){
tomotsugu 8:a47dbf4fa455 330 /* 前進 */
yangtzuli 3:2ae6218973be 331 case ADVANCE:
takuminomura 48:3003ea51c619 332 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020 50:ee78382fd399 333 motorR2 = LOW; // 右後退モーターOFF
takuminomura 48:3003ea51c619 334 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020 50:ee78382fd399 335 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 336 break;
tomotsugu 8:a47dbf4fa455 337 /* 右折 */
yangtzuli 3:2ae6218973be 338 case RIGHT:
mori2020 50:ee78382fd399 339 motorR1 = LOW; // 右前進モーターOFF
takuminomura 48:3003ea51c619 340 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
takuminomura 48:3003ea51c619 341 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020 50:ee78382fd399 342 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 343 break;
tomotsugu 8:a47dbf4fa455 344 /* 左折 */
yangtzuli 3:2ae6218973be 345 case LEFT:
takuminomura 48:3003ea51c619 346 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020 50:ee78382fd399 347 motorR2 = LOW; // 右後退モーターOFF
mori2020 50:ee78382fd399 348 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 349 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 350 break;
tomotsugu 8:a47dbf4fa455 351 /* 後退 */
yangtzuli 3:2ae6218973be 352 case BACK:
mori2020 50:ee78382fd399 353 motorR1 = LOW; // 右前進モーターOFF
mori2020 50:ee78382fd399 354 motorR2 = motorSpeedR2[flag_sp] + 0.02; // 右後退モーターON
mori2020 50:ee78382fd399 355 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 356 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 357 break;
tomotsugu 8:a47dbf4fa455 358 /* 停止 */
yangtzuli 3:2ae6218973be 359 case STOP:
tomotsugu 8:a47dbf4fa455 360 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 361 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 362 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 363 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 364 break;
mori2020 50:ee78382fd399 365 case ARIGHT:
mori2020 50:ee78382fd399 366 motorR1 = LOW;
mori2020 50:ee78382fd399 367 motorR2 = 0.38;
mori2020 50:ee78382fd399 368 motorL1 = 0.36;
mori2020 50:ee78382fd399 369 motorL2 = LOW;
takuminomura 49:7224132f4b0e 370 break;
mori2020 50:ee78382fd399 371 case ALEFT:
mori2020 50:ee78382fd399 372 motorR1 = 0.38;
mori2020 50:ee78382fd399 373 motorR2 = LOW;
mori2020 50:ee78382fd399 374 motorL1 = LOW;
mori2020 50:ee78382fd399 375 motorL2 = 0.36;
takuminomura 49:7224132f4b0e 376 break;
yangtzuli 3:2ae6218973be 377 }
tomotsugu 8:a47dbf4fa455 378 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 379 flag_sp %= 3; // スピード変更フラグ調整
yangtzuli 6:800a745c7f2e 380 }
takuminomura 48:3003ea51c619 381 ThisThread::sleep_for(3); // 30ms待つ
yangtzuli 2:38825726cb1b 382 }
yangtzuli 2:38825726cb1b 383 }
tomotsugu 8:a47dbf4fa455 384
tomotsugu 8:a47dbf4fa455 385 /* スピード変更関数 */
yangtzuli 3:2ae6218973be 386 void changeSpeed(){
tomotsugu 8:a47dbf4fa455 387 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 388 flag_sp = 0; // スピード変更フラグを0にする
tomotsugu 8:a47dbf4fa455 389 }else{ // それ以外
takuminomura 48:3003ea51c619 390 flag_sp = flag_sp + 1; // スピード変更フラグを+1
takuminomura 48:3003ea51c619 391 }
yangtzuli 3:2ae6218973be 392 }
tomotsugu 8:a47dbf4fa455 393
tomotsugu 8:a47dbf4fa455 394 /* ライントレーススレッド */
takuminomura 49:7224132f4b0e 395 //void trace(){
takuminomura 49:7224132f4b0e 396 // // PID用
takuminomura 49:7224132f4b0e 397 // while(1){
takuminomura 49:7224132f4b0e 398 // ThisThread::sleep_for(3);
takuminomura 49:7224132f4b0e 399 // }
takuminomura 49:7224132f4b0e 400 //}
tomotsugu 20:02bb875a9b13 401 void trace(){
takuminomura 48:3003ea51c619 402 while(1){
takuminomura 48:3003ea51c619 403 /* 各センサー値読み取り */
takuminomura 48:3003ea51c619 404 int sensor1 = ss1;
takuminomura 48:3003ea51c619 405 int sensor2 = ss2;
takuminomura 48:3003ea51c619 406 int sensor3 = ss3;
takuminomura 48:3003ea51c619 407 int sensor4 = ss4;
takuminomura 48:3003ea51c619 408 int sensor5 = ss5;
takuminomura 48:3003ea51c619 409 int sensD = 0;
takuminomura 48:3003ea51c619 410
takuminomura 48:3003ea51c619 411 /* センサー値の決定 */
takuminomura 48:3003ea51c619 412 if(sensor1 > 0) sensD |= 0x10;
takuminomura 48:3003ea51c619 413 if(sensor2 > 0) sensD |= 0x08;
takuminomura 48:3003ea51c619 414 if(sensor3 > 0) sensD |= 0x04;
takuminomura 48:3003ea51c619 415 if(sensor4 > 0) sensD |= 0x02;
takuminomura 48:3003ea51c619 416 if(sensor5 > 0) sensD |= 0x01;
takuminomura 48:3003ea51c619 417
takuminomura 48:3003ea51c619 418 /* センサー値によって場合分け */
takuminomura 48:3003ea51c619 419 switch(sensArray[sensD]){
takuminomura 48:3003ea51c619 420 case 1:
takuminomura 48:3003ea51c619 421 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 422 beforeRun = run;
takuminomura 48:3003ea51c619 423 run = ADVANCE; // 高速で前進
takuminomura 48:3003ea51c619 424 break;
takuminomura 48:3003ea51c619 425 case 2:
takuminomura 48:3003ea51c619 426 flag_sp = flag_sp % 3 + 3;
takuminomura 48:3003ea51c619 427 beforeRun = run;
takuminomura 49:7224132f4b0e 428 // run = RIGHT; // 低速で右折
takuminomura 49:7224132f4b0e 429 run = LT_R; // 低速で右折
takuminomura 48:3003ea51c619 430 break;
takuminomura 48:3003ea51c619 431 case 3:
takuminomura 48:3003ea51c619 432 flag_sp = flag_sp % 3 + 3;
takuminomura 48:3003ea51c619 433 beforeRun = run;
takuminomura 49:7224132f4b0e 434 // run = LEFT; // 低速で左折
takuminomura 49:7224132f4b0e 435 run = LT_L; // 低速で左折
takuminomura 48:3003ea51c619 436 break;
takuminomura 48:3003ea51c619 437 case 4:
takuminomura 48:3003ea51c619 438 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 439 beforeRun = run;
takuminomura 48:3003ea51c619 440 run = RIGHT; // 中速で右折
takuminomura 48:3003ea51c619 441 break;
takuminomura 48:3003ea51c619 442 case 5:
takuminomura 48:3003ea51c619 443 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 444 beforeRun = run;
takuminomura 48:3003ea51c619 445 run = LEFT; // 中速で左折
takuminomura 48:3003ea51c619 446 break;
takuminomura 48:3003ea51c619 447 case 6:
takuminomura 48:3003ea51c619 448 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 449 beforeRun = run;
takuminomura 48:3003ea51c619 450 run = RIGHT; // 高速で右折
takuminomura 48:3003ea51c619 451 break;
takuminomura 48:3003ea51c619 452 case 7:
takuminomura 48:3003ea51c619 453 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 454 beforeRun = run;
takuminomura 48:3003ea51c619 455 run = LEFT; // 高速で左折
takuminomura 48:3003ea51c619 456 break;
takuminomura 48:3003ea51c619 457 default:
takuminomura 48:3003ea51c619 458 break; // 前回動作を継続
tomotsugu 18:6cca64c7dbc3 459 }
takuminomura 48:3003ea51c619 460 // ThisThread::sleep_for(30); // 30ms待つ
takuminomura 48:3003ea51c619 461 ThisThread::sleep_for(3);
takuminomura 48:3003ea51c619 462 }
yangtzuli 3:2ae6218973be 463 }
yangtzuli 3:2ae6218973be 464
tomotsugu 8:a47dbf4fa455 465 /* 障害物回避走行スレッド */
tomotsugu 20:02bb875a9b13 466 void avoidance(){
nishimura_taku_pet 46:c6deb699160b 467 int i;
yangtzuli 3:2ae6218973be 468 while(1){
nishimura_taku_pet 40:75e1ad7c27e4 469 watchsurrounding3();
mori2020 50:ee78382fd399 470 if(flag_a == 0){ // 障害物がない場合
mori2020 50:ee78382fd399 471 run = ADVANCE; // 前進
mori2020 50:ee78382fd399 472 // if(SLD < 25){ // 正面15cm以内に障害物が現れた場合
mori2020 50:ee78382fd399 473 // run = RIGHT; // 右折
mori2020 50:ee78382fd399 474 // ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 475 // run = STOP; // 停止
mori2020 50:ee78382fd399 476 // }else if(SRD < 25){
mori2020 50:ee78382fd399 477 // run = LEFT; // 左折
mori2020 50:ee78382fd399 478 // ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 479 // run = STOP; // 停止
mori2020 50:ee78382fd399 480 // }
mori2020 50:ee78382fd399 481 }else{ // 障害物がある場合
tomotsugu 18:6cca64c7dbc3 482 i = 0;
mori2020 50:ee78382fd399 483 int cnt_kyori;
mori2020 50:ee78382fd399 484 int kyori;
mori2020 50:ee78382fd399 485 if(SC < 15){
mori2020 50:ee78382fd399 486 servo.pulsewidth_us(1425); // サーボを中央位置に戻す
nishimura_taku_pet 41:3c58a4be1199 487 ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 488 run = STOP;
mori2020 50:ee78382fd399 489 ThisThread::sleep_for(80);
mori2020 50:ee78382fd399 490 run = BACK;
mori2020 50:ee78382fd399 491 // switch(flag_sp){
mori2020 50:ee78382fd399 492 // case 0:
mori2020 50:ee78382fd399 493 // ThisThread::sleep_for(200);
mori2020 50:ee78382fd399 494 // break;
mori2020 50:ee78382fd399 495 // case 1:
mori2020 50:ee78382fd399 496 // ThisThread::sleep_for(150);
mori2020 50:ee78382fd399 497 // break;
mori2020 50:ee78382fd399 498 // case 2:
mori2020 50:ee78382fd399 499 // ThisThread::sleep_for(120);
mori2020 50:ee78382fd399 500 // break;
mori2020 50:ee78382fd399 501 // default:
mori2020 50:ee78382fd399 502 // break;
mori2020 50:ee78382fd399 503 // }
mori2020 50:ee78382fd399 504 cnt_kyori = 0;
mori2020 50:ee78382fd399 505 kyori = watch();
mori2020 50:ee78382fd399 506 while(kyori < limit){ // 正面20cm以内に障害物がある間
mori2020 50:ee78382fd399 507 if(kyori == -1){
nishimura_taku_pet 40:75e1ad7c27e4 508 cnt_kyori++;
mori2020 50:ee78382fd399 509 if(cnt_kyori > 15){
mori2020 50:ee78382fd399 510 cnt_kyori = 0;
nishimura_taku_pet 40:75e1ad7c27e4 511 break;
nishimura_taku_pet 40:75e1ad7c27e4 512 }
nishimura_taku_pet 40:75e1ad7c27e4 513 }
nishimura_taku_pet 40:75e1ad7c27e4 514 kyori = watch();
tomotsugu 18:6cca64c7dbc3 515 }
mori2020 50:ee78382fd399 516 run = STOP;
mori2020 50:ee78382fd399 517 }
nishimura_taku_pet 40:75e1ad7c27e4 518 watchsurrounding5();
takuminomura 48:3003ea51c619 519 if(SC < limit && SLD < limit && SL < limit && SRD < limit && SR < limit){ // 全方向に障害物がある場合
mori2020 50:ee78382fd399 520 run = ALEFT; // 左折
mori2020 50:ee78382fd399 521 while(i < 20){ // 進行方向確認
tomotsugu 18:6cca64c7dbc3 522 if(watch() > limit){
mori2020 50:ee78382fd399 523 break;
nishimura_taku_pet 28:cb51cafca490 524 }else{
mori2020 50:ee78382fd399 525 i++;
yangtzuli 2:38825726cb1b 526 }
yangtzuli 2:38825726cb1b 527 }
nishimura_taku_pet 28:cb51cafca490 528 run = STOP; // 停止
mori2020 50:ee78382fd399 529 }else { // 全方向以外
nishimura_taku_pet 28:cb51cafca490 530 far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 531 houkou = 1; // 進行方向を前に設定
mori2020 50:ee78382fd399 532 if(SC < limit){
mori2020 50:ee78382fd399 533 if(far < SLD || far < SL){ // 左または左前がより遠い場合
mori2020 50:ee78382fd399 534 if(SL < SLD){ // 左前が左より遠い場合
mori2020 50:ee78382fd399 535 far = SLD; // 左前を最も遠い距離に設定
mori2020 50:ee78382fd399 536 }else{ // 左が左前より遠い場合
mori2020 50:ee78382fd399 537 far = SL; // 左を最も遠い距離に設定
mori2020 50:ee78382fd399 538 }
mori2020 50:ee78382fd399 539 houkou = 2; // 進行方向を左に設定
nishimura_taku_pet 28:cb51cafca490 540 }
mori2020 50:ee78382fd399 541 if(far < SRD || far < SR){ // 右または右前がより遠い場合
mori2020 50:ee78382fd399 542 if(SR < SRD){ // 右前が右より遠い場合
mori2020 50:ee78382fd399 543 far = SRD; // 右前を最も遠い距離に設定
mori2020 50:ee78382fd399 544 }else{ // 右が右前よりも遠い場合
mori2020 50:ee78382fd399 545 far = SR; // 右を最も遠い距離に設定
mori2020 50:ee78382fd399 546 }
mori2020 50:ee78382fd399 547 houkou = 3; // 進行方向を右に設定
nishimura_taku_pet 28:cb51cafca490 548 }
nishimura_taku_pet 28:cb51cafca490 549 }
nishimura_taku_pet 28:cb51cafca490 550 switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet 28:cb51cafca490 551 case 1: // 前の場合
nishimura_taku_pet 28:cb51cafca490 552 run = ADVANCE; // 前進
mori2020 50:ee78382fd399 553 switch(flag_sp){
mori2020 50:ee78382fd399 554 case 0:
mori2020 50:ee78382fd399 555 ThisThread::sleep_for(300); // 0.5秒待つ
mori2020 50:ee78382fd399 556 break;
mori2020 50:ee78382fd399 557 case 1:
mori2020 50:ee78382fd399 558 ThisThread::sleep_for(200);
mori2020 50:ee78382fd399 559 break;
mori2020 50:ee78382fd399 560 case 2:
mori2020 50:ee78382fd399 561 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 562 break;
mori2020 50:ee78382fd399 563 }
nishimura_taku_pet 28:cb51cafca490 564 break;
mori2020 50:ee78382fd399 565 case 2: // 左の場合
mori2020 50:ee78382fd399 566 run = ALEFT; // 左折
mori2020 50:ee78382fd399 567 while(i < 15){ // 進行方向確認
nishimura_taku_pet 28:cb51cafca490 568 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 569 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 570 }else{
nishimura_taku_pet 40:75e1ad7c27e4 571 i++;
nishimura_taku_pet 28:cb51cafca490 572 }
nishimura_taku_pet 28:cb51cafca490 573 }
mori2020 50:ee78382fd399 574 run = ADVANCE; // 停止
nishimura_taku_pet 28:cb51cafca490 575 break;
mori2020 50:ee78382fd399 576 case 3: // 右の場合
mori2020 50:ee78382fd399 577 run = ARIGHT; // 右折
mori2020 50:ee78382fd399 578 while(i < 15){ // 進行方向確認
mori2020 50:ee78382fd399 579 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 580 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 581 }else{
nishimura_taku_pet 40:75e1ad7c27e4 582 i++;
nishimura_taku_pet 28:cb51cafca490 583 }
nishimura_taku_pet 28:cb51cafca490 584 }
mori2020 50:ee78382fd399 585 run = ADVANCE; // 停止
nishimura_taku_pet 28:cb51cafca490 586 break;
nishimura_taku_pet 28:cb51cafca490 587 }
yangtzuli 5:3fffb364744b 588 }
nishimura_taku_pet 28:cb51cafca490 589 }
nishimura_taku_pet 28:cb51cafca490 590 flag_a = 0; // 障害物有無フラグを0にセット
mori2020 50:ee78382fd399 591 if(SLD < 30 && SRD > 30){ // 正面15cm以内に障害物が現れた場合
mori2020 50:ee78382fd399 592 run = ARIGHT; // 右折
mori2020 50:ee78382fd399 593 ThisThread::sleep_for(110);
mori2020 50:ee78382fd399 594 run = ADVANCE;
mori2020 50:ee78382fd399 595 }else if(SRD < 30 && SLD > 30){
mori2020 50:ee78382fd399 596 run = ALEFT; // 左折
mori2020 50:ee78382fd399 597 ThisThread::sleep_for(110);
mori2020 50:ee78382fd399 598 run = ADVANCE;
mori2020 50:ee78382fd399 599 }
mori2020 50:ee78382fd399 600 }
mori2020 50:ee78382fd399 601 }
mori2020 50:ee78382fd399 602
tomotsugu 8:a47dbf4fa455 603 /* 距離計測関数 */
yangtzuli 2:38825726cb1b 604 int watch(){
mori2020 50:ee78382fd399 605 do{
mori2020 50:ee78382fd399 606 do{
mori2020 50:ee78382fd399 607 trig = 0;
mori2020 50:ee78382fd399 608 ThisThread::sleep_for(5); // 5ms待つ
mori2020 50:ee78382fd399 609 trig = 1;
mori2020 50:ee78382fd399 610 ThisThread::sleep_for(15); // 15ms待つ
mori2020 50:ee78382fd399 611 trig = 0;
mori2020 50:ee78382fd399 612 timer.start();
tomotsugu 21:68d38e8f64b5 613 t1=timer.read_ms();
mori2020 50:ee78382fd399 614 while(echo.read() == 0 && t1<10){
mori2020 50:ee78382fd399 615 t1=timer.read_ms();
mori2020 50:ee78382fd399 616 led1 = 1;
mori2020 50:ee78382fd399 617 }
mori2020 50:ee78382fd399 618 timer.stop();
mori2020 50:ee78382fd399 619 timer.reset();
mori2020 50:ee78382fd399 620 }while(t1 >= 10);
mori2020 50:ee78382fd399 621 timer.start(); // 距離計測タイマースタート
mori2020 50:ee78382fd399 622 while(echo.read() == 1){
tomotsugu 21:68d38e8f64b5 623 }
mori2020 50:ee78382fd399 624 timer.stop(); // 距離計測タイマーストップ
mori2020 50:ee78382fd399 625 DT = (int)(timer.read_us()*0.01657); // 距離計算
mori2020 50:ee78382fd399 626 if(timer.read_ms() > 1000){
mori2020 50:ee78382fd399 627 DT = -1;
mori2020 50:ee78382fd399 628 break;
mori2020 50:ee78382fd399 629 }
mori2020 50:ee78382fd399 630 }while(DT > 1000);
mori2020 50:ee78382fd399 631 if(DT > 400){
mori2020 50:ee78382fd399 632 DT = 400;
mori2020 50:ee78382fd399 633 }
tomotsugu 21:68d38e8f64b5 634 timer.reset();
mori2020 50:ee78382fd399 635 led1 = 0;
mori2020 50:ee78382fd399 636 return DT;
yangtzuli 0:0d0037aabe41 637 }
mori2020 50:ee78382fd399 638
tomotsugu 8:a47dbf4fa455 639 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 640 void watchsurrounding3(){
yangtzuli 2:38825726cb1b 641 SC = watch();
nishimura_taku_pet 28:cb51cafca490 642 if(SC < limit){ // 正面20cm以内に障害物がある場合
mori2020 50:ee78382fd399 643 if(SC!=-1){
nishimura_taku_pet 28:cb51cafca490 644 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 645 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 646 return;
nishimura_taku_pet 28:cb51cafca490 647 }
yangtzuli 2:38825726cb1b 648 }
mori2020 50:ee78382fd399 649 servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet 28:cb51cafca490 650 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 651 SLD = watch();
mori2020 50:ee78382fd399 652 if(SLD < 18){ // 左前20cm以内に障害物がある場合
mori2020 50:ee78382fd399 653 run = STOP;
mori2020 50:ee78382fd399 654 ThisThread::sleep_for(90);
mori2020 50:ee78382fd399 655 run = BACK;
mori2020 50:ee78382fd399 656 ThisThread::sleep_for(150);
mori2020 50:ee78382fd399 657 run = ARIGHT;
mori2020 50:ee78382fd399 658 ThisThread::sleep_for(120);
mori2020 50:ee78382fd399 659 return;
yangtzuli 2:38825726cb1b 660 }
mori2020 50:ee78382fd399 661 servo.pulsewidth_us(1425);
mori2020 50:ee78382fd399 662 ThisThread::sleep_for(100);
tomotsugu 19:c6f9f010bd9e 663 SC = watch();
tomotsugu 19:c6f9f010bd9e 664 if(SC < limit){
mori2020 50:ee78382fd399 665 if(SC != -1){
mori2020 50:ee78382fd399 666 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 667 flag_a = 1;
takuminomura 48:3003ea51c619 668 return;
mori2020 50:ee78382fd399 669 }
tomotsugu 19:c6f9f010bd9e 670 }
mori2020 50:ee78382fd399 671 servo.pulsewidth_us(923); // サーボを右に40度回転
nishimura_taku_pet 28:cb51cafca490 672 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 673 SRD = watch();
mori2020 50:ee78382fd399 674 if(SRD < 18){ // 右前20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 675 run = STOP; // 停止
mori2020 50:ee78382fd399 676 ThisThread::sleep_for(90);
mori2020 50:ee78382fd399 677 run = BACK;
mori2020 50:ee78382fd399 678 ThisThread::sleep_for(150);
mori2020 50:ee78382fd399 679 run = ALEFT;
mori2020 50:ee78382fd399 680 ThisThread::sleep_for(120);
mori2020 50:ee78382fd399 681 return;
yangtzuli 2:38825726cb1b 682 }
mori2020 50:ee78382fd399 683 servo.pulsewidth_us(1425); // サーボを中央位置に戻す
nishimura_taku_pet 40:75e1ad7c27e4 684 ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 685 }
mori2020 50:ee78382fd399 686
nishimura_taku_pet 40:75e1ad7c27e4 687 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 688 void watchsurrounding5(){
nishimura_taku_pet 40:75e1ad7c27e4 689 SC = watch();
mori2020 50:ee78382fd399 690 servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 691 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 692 SLD = watch();
nishimura_taku_pet 40:75e1ad7c27e4 693 servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet 40:75e1ad7c27e4 694 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 695 SL = watch();
mori2020 50:ee78382fd399 696 servo.pulsewidth_us(1425);
nishimura_taku_pet 40:75e1ad7c27e4 697 ThisThread::sleep_for(250);
nishimura_taku_pet 40:75e1ad7c27e4 698 SC = watch();
mori2020 50:ee78382fd399 699 servo.pulsewidth_us(923); // サーボを右に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 700 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 701 SRD = watch();
yangtzuli 2:38825726cb1b 702 servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet 28:cb51cafca490 703 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 704 SR = watch();
mori2020 50:ee78382fd399 705 servo.pulsewidth_us(1425); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 706 ThisThread::sleep_for(250); // 100ms待つ
yangtzuli 3:2ae6218973be 707 }
yangtzuli 3:2ae6218973be 708
tomotsugu 8:a47dbf4fa455 709 /* ディスプレイ表示関数 */
yangtzuli 3:2ae6218973be 710 void display(){
tomotsugu 8:a47dbf4fa455 711 mutex.lock(); // ミューテックスロック
yangtzuli 3:2ae6218973be 712 lcd.setAddress(0,1);
tomotsugu 8:a47dbf4fa455 713
tomotsugu 8:a47dbf4fa455 714 /* 操作モードによる場合分け */
yangtzuli 3:2ae6218973be 715 switch(mode){
tomotsugu 8:a47dbf4fa455 716 /* 前進 */
yangtzuli 3:2ae6218973be 717 case ADVANCE:
yangtzuli 3:2ae6218973be 718 lcd.printf("Mode:Advance ");
yangtzuli 3:2ae6218973be 719 break;
tomotsugu 8:a47dbf4fa455 720 /* 右折 */
yangtzuli 3:2ae6218973be 721 case RIGHT:
yangtzuli 5:3fffb364744b 722 lcd.printf("Mode:TurnRight ");
yangtzuli 3:2ae6218973be 723 break;
tomotsugu 8:a47dbf4fa455 724 /* 左折 */
yangtzuli 3:2ae6218973be 725 case LEFT:
yangtzuli 5:3fffb364744b 726 lcd.printf("Mode:TurnLeft ");
yangtzuli 3:2ae6218973be 727 break;
tomotsugu 8:a47dbf4fa455 728 /* 後退 */
yangtzuli 3:2ae6218973be 729 case BACK:
yangtzuli 3:2ae6218973be 730 lcd.printf("Mode:Back ");
yangtzuli 3:2ae6218973be 731 break;
tomotsugu 8:a47dbf4fa455 732 /* 停止 */
yangtzuli 3:2ae6218973be 733 case STOP:
yangtzuli 3:2ae6218973be 734 lcd.printf("Mode:Stop ");
yangtzuli 3:2ae6218973be 735 break;
tomotsugu 8:a47dbf4fa455 736 /* 待ち */
yangtzuli 3:2ae6218973be 737 case READY:
yangtzuli 3:2ae6218973be 738 lcd.printf("Mode:Ready ");
yangtzuli 3:2ae6218973be 739 break;
tomotsugu 8:a47dbf4fa455 740 /* ライントレース */
yangtzuli 3:2ae6218973be 741 case LINE_TRACE:
yangtzuli 3:2ae6218973be 742 lcd.printf("Mode:LineTrace ");
yangtzuli 3:2ae6218973be 743 break;
tomotsugu 8:a47dbf4fa455 744 /* 障害物回避 */
yangtzuli 3:2ae6218973be 745 case AVOIDANCE:
yangtzuli 3:2ae6218973be 746 lcd.printf("Mode:Avoidance ");
yangtzuli 3:2ae6218973be 747 break;
tomotsugu 8:a47dbf4fa455 748 /* スピード制御 */
yangtzuli 3:2ae6218973be 749 case SPEED:
tomotsugu 8:a47dbf4fa455 750 /* スピードの状態で場合分け */
takuminomura 48:3003ea51c619 751 switch(flag_sp % 3){
tomotsugu 8:a47dbf4fa455 752 /* 普通 */
yangtzuli 3:2ae6218973be 753 case(NORMAL):
yangtzuli 3:2ae6218973be 754 lcd.printf("Speed:Normal ");
yangtzuli 3:2ae6218973be 755 break;
tomotsugu 8:a47dbf4fa455 756 /* 速い */
yangtzuli 3:2ae6218973be 757 case(FAST):
yangtzuli 3:2ae6218973be 758 lcd.printf("Speed:Fast ");
yangtzuli 3:2ae6218973be 759 break;
tomotsugu 8:a47dbf4fa455 760 /* とても速い */
yangtzuli 3:2ae6218973be 761 case(VERYFAST):
yangtzuli 3:2ae6218973be 762 lcd.printf("Speed:VeryFast ");
yangtzuli 3:2ae6218973be 763 break;
yangtzuli 3:2ae6218973be 764 }
tomotsugu 8:a47dbf4fa455 765 viewTimer.reset(); // タイマーリセット
tomotsugu 8:a47dbf4fa455 766 viewTimer.start(); // タイマースタート
takuminomura 48:3003ea51c619 767 break;
yangtzuli 3:2ae6218973be 768 }
tomotsugu 8:a47dbf4fa455 769 mutex.unlock(); // ミューテックスアンロック
yangtzuli 3:2ae6218973be 770 }
yangtzuli 3:2ae6218973be 771
tomotsugu 8:a47dbf4fa455 772 /* バックライト点滅 */
yangtzuli 3:2ae6218973be 773 void lcdBacklight(void const *argument){
tomotsugu 8:a47dbf4fa455 774 if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu 8:a47dbf4fa455 775 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 8:a47dbf4fa455 776 }else{ // バックライト点滅フラグが0なら
tomotsugu 8:a47dbf4fa455 777 lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli 3:2ae6218973be 778 }
tomotsugu 8:a47dbf4fa455 779 flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli 3:2ae6218973be 780 }
yangtzuli 2:38825726cb1b 781
tomotsugu 8:a47dbf4fa455 782 /* バッテリー残量更新関数 */
yangtzuli 5:3fffb364744b 783 void bChange(){
yangtzuli 17:f7259ab2fe86 784 //pc.printf(" bChange1\r\n");
tomotsugu 10:d193030ce672 785 b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10;
tomotsugu 10:d193030ce672 786 if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu 10:d193030ce672 787 b = 0;
tomotsugu 10:d193030ce672 788 //lcd.setBacklight(TextLCD::LightOff);
tomotsugu 10:d193030ce672 789 //run = STOP;
tomotsugu 10:d193030ce672 790 //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 791 }
tomotsugu 10:d193030ce672 792 mutex.lock(); // ミューテックスロック
tomotsugu 10:d193030ce672 793 lcd.setAddress(0,0);
tomotsugu 10:d193030ce672 794 lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
takuminomura 48:3003ea51c619 795 mutex.unlock(); // ミューテックスアンロック
tomotsugu 10:d193030ce672 796 if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu 10:d193030ce672 797 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 798 //bTimer.attach(lcdBacklight,0.5);
tomotsugu 10:d193030ce672 799 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 800 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 801 }
tomotsugu 10:d193030ce672 802 }else{
tomotsugu 10:d193030ce672 803 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 804 //bTimer.detach();
tomotsugu 10:d193030ce672 805 bTimer.stop(); // バックライトタイマーストップ
tomotsugu 10:d193030ce672 806 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 10:d193030ce672 807 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 808 }
tomotsugu 10:d193030ce672 809 }
yangtzuli 2:38825726cb1b 810 }
mori2020 50:ee78382fd399 811
mori2020 50:ee78382fd399 812
nishimura_taku_pet 24:9481c8f56a49 813 // Serial Interrupt read ESP data
nishimura_taku_pet 24:9481c8f56a49 814 void callback()
nishimura_taku_pet 24:9481c8f56a49 815 {
mori2020 50:ee78382fd399 816 ////*-*-*-5("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 817 led3=1;
nishimura_taku_pet 24:9481c8f56a49 818 while (esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 819 webbuff[ount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 820 ount++;
nishimura_taku_pet 24:9481c8f56a49 821 }
nishimura_taku_pet 24:9481c8f56a49 822 if(strlen(webbuff)>bufflen) {
mori2020 50:ee78382fd399 823 // //*-*-*-5("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 824 DataRX=1;
nishimura_taku_pet 24:9481c8f56a49 825 led3=0;
nishimura_taku_pet 24:9481c8f56a49 826 }
nishimura_taku_pet 24:9481c8f56a49 827 }
mori2020 50:ee78382fd399 828
nishimura_taku_pet 43:243c1455f88a 829 void wifi(/*void const *argument*/)
nishimura_taku_pet 24:9481c8f56a49 830 {
mori2020 50:ee78382fd399 831 //*-*-*-5("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet 33:a6f1090e0174 832 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 833 led1=1,led2=0,led3=0;
nishimura_taku_pet 24:9481c8f56a49 834 timeout=6000;
nishimura_taku_pet 24:9481c8f56a49 835 getcount=500;
nishimura_taku_pet 24:9481c8f56a49 836 getreply();
nishimura_taku_pet 24:9481c8f56a49 837 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet 24:9481c8f56a49 838 startserver();
mori2020 50:ee78382fd399 839
nishimura_taku_pet 24:9481c8f56a49 840 while(1) {
nishimura_taku_pet 24:9481c8f56a49 841 if(DataRX==1) {
mori2020 50:ee78382fd399 842 //*-*-*-5("\f\n\r------------ main while > if --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 843 click_flag = 1;
nishimura_taku_pet 24:9481c8f56a49 844 ReadWebData();
mori2020 50:ee78382fd399 845 //*-*-*-5("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
mori2020 50:ee78382fd399 846 //if ((servreq == 1 && weberror == 0) && click_flag == 1) {
mori2020 50:ee78382fd399 847 if (servreq == 1 && weberror == 0) {
mori2020 50:ee78382fd399 848 //*-*-*-5("\f\n\r------------ befor send page --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 849 sendpage();
nishimura_taku_pet 24:9481c8f56a49 850 }
mori2020 50:ee78382fd399 851 //*-*-*-5("\f\n\r------------ send_check begin --------------\n\r");
mori2020 50:ee78382fd399 852
mori2020 50:ee78382fd399 853 //sendcheck();
mori2020 50:ee78382fd399 854 //*-*-*-5("\f\n\r------------ ssend_check end--------------\n\r");
mori2020 50:ee78382fd399 855
nishimura_taku_pet 24:9481c8f56a49 856 esp.attach(&callback);
mori2020 50:ee78382fd399 857 //*-*-*-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 858 //*-*-*-5("\n\n HTTP Packet: \n\n%s\n", webdata);
mori2020 50:ee78382fd399 859 //*-*-*-5(" Web Characters sent : %d\n\n", bufl);
mori2020 50:ee78382fd399 860 //*-*-*-5(" -------------------------------------\n\n");
nishimura_taku_pet 24:9481c8f56a49 861 servreq=0;
nishimura_taku_pet 24:9481c8f56a49 862 }
nishimura_taku_pet 24:9481c8f56a49 863 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 864 }
nishimura_taku_pet 24:9481c8f56a49 865 }
nishimura_taku_pet 24:9481c8f56a49 866 // Static WEB page
nishimura_taku_pet 24:9481c8f56a49 867 void sendpage()
nishimura_taku_pet 24:9481c8f56a49 868 {
nishimura_taku_pet 24:9481c8f56a49 869 // WEB page data
mori2020 50:ee78382fd399 870
nishimura_taku_pet 24:9481c8f56a49 871 strcpy(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet 24:9481c8f56a49 872 strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
mori2020 50:ee78382fd399 873 //strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >");
molberry 38:39db3f7450c2 874 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 875 strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet 24:9481c8f56a49 876 strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
mori2020 50:ee78382fd399 877 if(b > 30) { //残電量表示
mori2020 50:ee78382fd399 878 sprintf(webbuff, "%s%3d", webbuff, b);
mori2020 50:ee78382fd399 879 } else { //30%より下の場合残電量を赤文字
mori2020 50:ee78382fd399 880 strcat(webbuff, "<font color=\"red\">");
mori2020 50:ee78382fd399 881 sprintf(webbuff, "%s%3d", webbuff, b);
mori2020 50:ee78382fd399 882 strcat(webbuff, "</font>");
mori2020 50:ee78382fd399 883 }
mori2020 50:ee78382fd399 884 strcat(webbuff, "%</strong>");
mori2020 50:ee78382fd399 885 strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"location.reload()\">RELOAD</button>");
nishimura_taku_pet 24:9481c8f56a49 886 strcat(webbuff, "</td></p>");
nishimura_taku_pet 24:9481c8f56a49 887 strcat(webbuff, "<br>");
nishimura_taku_pet 24:9481c8f56a49 888 strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 889
molberry 35:4cda290bdb87 890 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 891 case ADVANCE: //前進
mori2020 50:ee78382fd399 892 strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 893 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 894 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 895 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 896 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 897 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 898 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 899 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 900 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 901 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 902 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 903 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 904 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 905 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 906 break;
molberry 35:4cda290bdb87 907 case LEFT: //左折
mori2020 50:ee78382fd399 908 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 909 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 910 strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 911 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 912 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 913 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 914 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 915 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 916 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 917 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 918 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 919 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 920 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 921 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 922 break;
molberry 35:4cda290bdb87 923 case STOP: //停止
mori2020 50:ee78382fd399 924 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 925 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 926 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 927 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 928 strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 929 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 930 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 931 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 932 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 933 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 934 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 935 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 936 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 937 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 938 break;
molberry 35:4cda290bdb87 939 case RIGHT: //右折
mori2020 50:ee78382fd399 940 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 941 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 942 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 943 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 944 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 945 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 946 strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 947 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 948 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 949 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 950 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 951 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 952 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 953 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 954 break;
molberry 35:4cda290bdb87 955 case BACK: //後進
mori2020 50:ee78382fd399 956 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 957 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 958 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 959 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 960 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 961 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 962 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 963 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 964 strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 965 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet 24:9481c8f56a49 966 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 967 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 968 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 969 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 970 break;
molberry 35:4cda290bdb87 971 case AVOIDANCE: //障害物回避
mori2020 50:ee78382fd399 972 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 973 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 974 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 975 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 976 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 977 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 978 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 979 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 980 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 981 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 982 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 983 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 984 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 985 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 986 break;
molberry 35:4cda290bdb87 987 case LINE_TRACE: //ライントレース
mori2020 50:ee78382fd399 988 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 989 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 990 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 991 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 992 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 993 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 994 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 995 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 996 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 997 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 998 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 999 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 1000 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 1001 strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1002 break;
molberry 35:4cda290bdb87 1003 default: //その他
mori2020 50:ee78382fd399 1004 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 1005 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 1006 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 1007 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1008 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 1009 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1010 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 1011 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 1012 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 1013 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1014 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 1015 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 1016 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 1017 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1018 break;
nishimura_taku_pet 24:9481c8f56a49 1019 }
nishimura_taku_pet 24:9481c8f56a49 1020 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1021 strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet 24:9481c8f56a49 1022 strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 1023 //ready示速度だけ点灯
molberry 35:4cda290bdb87 1024 switch (flag_sp) { //現在の速度のボタン表示
molberry 35:4cda290bdb87 1025 case 0: //ノーマル
mori2020 50:ee78382fd399 1026 strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1027 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1028 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1029 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1030 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1031 break;
molberry 35:4cda290bdb87 1032 case 1: //ファスト
mori2020 50:ee78382fd399 1033 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1034 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1035 strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1036 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1037 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1038 break;
molberry 35:4cda290bdb87 1039 case 2: //ベリーファスト
mori2020 50:ee78382fd399 1040 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1041 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1042 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1043 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1044 strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1045 break;
molberry 35:4cda290bdb87 1046 default: //その他
mori2020 50:ee78382fd399 1047 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1048 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1049 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1050 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1051 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1052 break;
nishimura_taku_pet 24:9481c8f56a49 1053 }
nishimura_taku_pet 24:9481c8f56a49 1054 strcat(webbuff, "</button></td></tr></table>");
mori2020 50:ee78382fd399 1055
nishimura_taku_pet 24:9481c8f56a49 1056 strcat(webbuff, "</center>");
nishimura_taku_pet 24:9481c8f56a49 1057 strcat(webbuff, "</body>");
nishimura_taku_pet 24:9481c8f56a49 1058 strcat(webbuff, "</html>");
mori2020 50:ee78382fd399 1059
molberry 35:4cda290bdb87 1060 strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
mori2020 50:ee78382fd399 1061
mori2020 50:ee78382fd399 1062 strcat(webbuff, "var button_9 = document.getElementsByTagName(\"button\");");
mori2020 50:ee78382fd399 1063
mori2020 50:ee78382fd399 1064 //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
nishimura_taku_pet 24:9481c8f56a49 1065 strcat(webbuff, "function htmlacs(url) {");
mori2020 50:ee78382fd399 1066 strcat(webbuff, "for(var m=0;m<11;m++){button_9[m].disabled=true;}");
mori2020 50:ee78382fd399 1067 strcat(webbuff, "var xhr = new XMLHttpRequest();");
mori2020 50:ee78382fd399 1068 strcat(webbuff, "xhr.open(\"GET\", url);");
mori2020 50:ee78382fd399 1069 strcat(webbuff, "xhr.onreadystatechange = function(){");
mori2020 50:ee78382fd399 1070 strcat(webbuff, "if(this.readyState == 4 || this.status == 200){");
mori2020 50:ee78382fd399 1071 strcat(webbuff, "for(var m=0;m<11;m++){button_9[m].disabled=false;}");
mori2020 50:ee78382fd399 1072 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1073 strcat(webbuff, "};");
mori2020 50:ee78382fd399 1074 strcat(webbuff, "xhr.send(\"\");");
nishimura_taku_pet 24:9481c8f56a49 1075 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1076
mori2020 50:ee78382fd399 1077 //mode変更ボタン入力時動作 //sendmes
mori2020 50:ee78382fd399 1078 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 1079 strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet 24:9481c8f56a49 1080 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1081 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1082 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1083 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1084 strcat(webbuff, "for(var i=1;i<8;i++){");
nishimura_taku_pet 24:9481c8f56a49 1085 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1086 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1087 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1088 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1089 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1090 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1091 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1092
mori2020 50:ee78382fd399 1093 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 1094 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1095 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1096 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1097 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1098 strcat(webbuff, "for(var i=8;i<11;i++){");
nishimura_taku_pet 24:9481c8f56a49 1099 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1100 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1101 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1102 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1103 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1104 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1105 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1106 strcat(webbuff, "</script>");
mori2020 50:ee78382fd399 1107
mori2020 50:ee78382fd399 1108
nishimura_taku_pet 24:9481c8f56a49 1109 // end of WEB page data
nishimura_taku_pet 24:9481c8f56a49 1110 bufl = strlen(webbuff); // get total page buffer length
mori2020 50:ee78382fd399 1111 //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet 24:9481c8f56a49 1112
nishimura_taku_pet 24:9481c8f56a49 1113 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 1114 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1115 getcount=40;
nishimura_taku_pet 24:9481c8f56a49 1116 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1117 getreply();
mori2020 50:ee78382fd399 1118 //*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1119 ////*-*-*-5("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
mori2020 50:ee78382fd399 1120
mori2020 50:ee78382fd399 1121 //*-*-*-5("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
mori2020 50:ee78382fd399 1122
nishimura_taku_pet 24:9481c8f56a49 1123 //pastthrough mode
nishimura_taku_pet 24:9481c8f56a49 1124 SendWEB(); // send web page
mori2020 50:ee78382fd399 1125 //*-*-*-5("\n++++++++++ webbuff clear ++++++++++\r\n");
mori2020 50:ee78382fd399 1126
nishimura_taku_pet 24:9481c8f56a49 1127 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1128 sendcheck();
nishimura_taku_pet 24:9481c8f56a49 1129 }
nishimura_taku_pet 24:9481c8f56a49 1130
nishimura_taku_pet 24:9481c8f56a49 1131 // Large WEB buffer data send
nishimura_taku_pet 24:9481c8f56a49 1132 void SendWEB()
nishimura_taku_pet 24:9481c8f56a49 1133 {
nishimura_taku_pet 24:9481c8f56a49 1134 int i=0;
nishimura_taku_pet 24:9481c8f56a49 1135 if(esp.writeable()) {
nishimura_taku_pet 24:9481c8f56a49 1136 while(webbuff[i]!='\0') {
nishimura_taku_pet 24:9481c8f56a49 1137 esp.putc(webbuff[i]);
mori2020 50:ee78382fd399 1138
nishimura_taku_pet 24:9481c8f56a49 1139 //****
nishimura_taku_pet 24:9481c8f56a49 1140 //output at command when 2000
nishimura_taku_pet 24:9481c8f56a49 1141 if(((i%2047)==0) && (i>0)) {
mori2020 50:ee78382fd399 1142 //wait_ms(10);
takuminomura 48:3003ea51c619 1143 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 1144 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 1145 ////*-*-*-5("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet 24:9481c8f56a49 1146 timeout=600;
nishimura_taku_pet 24:9481c8f56a49 1147 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1148 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1149 getreply();
mori2020 50:ee78382fd399 1150 ////*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1151 ////*-*-*-5("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1152 }
nishimura_taku_pet 24:9481c8f56a49 1153 //****
nishimura_taku_pet 24:9481c8f56a49 1154 i++;
mori2020 50:ee78382fd399 1155 ////*-*-*-5("%c",webbuff[i]);
nishimura_taku_pet 24:9481c8f56a49 1156 }
nishimura_taku_pet 24:9481c8f56a49 1157 }
mori2020 50:ee78382fd399 1158 //*-*-*-5("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet 24:9481c8f56a49 1159 }
nishimura_taku_pet 24:9481c8f56a49 1160
nishimura_taku_pet 24:9481c8f56a49 1161
nishimura_taku_pet 24:9481c8f56a49 1162 void sendcheck()
nishimura_taku_pet 24:9481c8f56a49 1163 {
nishimura_taku_pet 24:9481c8f56a49 1164 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1165 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1166 getcount=24;
nishimura_taku_pet 24:9481c8f56a49 1167 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1168 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1169
mori2020 50:ee78382fd399 1170 /*
mori2020 50:ee78382fd399 1171 while(weberror==1 && time2.read() <5) {
mori2020 50:ee78382fd399 1172 getreply();
mori2020 50:ee78382fd399 1173 if (strstr(replybuff, "SEND OK") != NULL) {
mori2020 50:ee78382fd399 1174 weberror=0; // wait for valid SEND OK
mori2020 50:ee78382fd399 1175 }
mori2020 50:ee78382fd399 1176 }
mori2020 50:ee78382fd399 1177 */
nishimura_taku_pet 24:9481c8f56a49 1178 if(weberror==1) { // restart connection
nishimura_taku_pet 24:9481c8f56a49 1179 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet 24:9481c8f56a49 1180 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1181 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1182 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1183 getreply();
mori2020 50:ee78382fd399 1184 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1185 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1186 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1187 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1188 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1189 getreply();
mori2020 50:ee78382fd399 1190 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1191 } else {
nishimura_taku_pet 24:9481c8f56a49 1192 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet 24:9481c8f56a49 1193 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1194 getreply();
mori2020 50:ee78382fd399 1195 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1196 }
nishimura_taku_pet 24:9481c8f56a49 1197 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1198 }
nishimura_taku_pet 24:9481c8f56a49 1199
nishimura_taku_pet 24:9481c8f56a49 1200 // Reads and processes GET and POST web data
nishimura_taku_pet 24:9481c8f56a49 1201 void ReadWebData()
nishimura_taku_pet 24:9481c8f56a49 1202 {
mori2020 50:ee78382fd399 1203 //*-*-*-5("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet 30:c80da0ecc260 1204 ThisThread::sleep_for(200);
nishimura_taku_pet 24:9481c8f56a49 1205 esp.attach(NULL);
nishimura_taku_pet 24:9481c8f56a49 1206 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1207 DataRX=0;
nishimura_taku_pet 24:9481c8f56a49 1208 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1209 memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet 24:9481c8f56a49 1210 int x = strcspn (webbuff,"+");
nishimura_taku_pet 24:9481c8f56a49 1211 if(x) {
nishimura_taku_pet 24:9481c8f56a49 1212 strcpy(webdata, webbuff + x);
nishimura_taku_pet 24:9481c8f56a49 1213 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1214 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
mori2020 50:ee78382fd399 1215 //int i=0;
mori2020 50:ee78382fd399 1216 //*-*-*-5("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
mori2020 50:ee78382fd399 1217 //*-*-*-5("%s",webdata);
mori2020 50:ee78382fd399 1218 //*-*-*-5("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet 43:243c1455f88a 1219 if( strstr(webdata, "Normal") != NULL ) {
mori2020 50:ee78382fd399 1220 //*-*-*-5("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1221 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1222 flag_sp = 0;
nishimura_taku_pet 43:243c1455f88a 1223 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1224 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1225 }else if( strstr(webdata, "VeryFast") != NULL ) {
mori2020 50:ee78382fd399 1226 //*-*-*-5("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1227 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1228 flag_sp = 2;
nishimura_taku_pet 43:243c1455f88a 1229 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1230 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1231 }else if( strstr(webdata, "Fast") != NULL ) {
mori2020 50:ee78382fd399 1232 //*-*-*-5("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1233 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1234 flag_sp = 1;
nishimura_taku_pet 43:243c1455f88a 1235 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1236 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1237 }else{
nishimura_taku_pet 43:243c1455f88a 1238 beforeMode = mode;
nishimura_taku_pet 43:243c1455f88a 1239 }
nishimura_taku_pet 24:9481c8f56a49 1240 if( strstr(webdata, "GO") != NULL ) {
mori2020 50:ee78382fd399 1241 //*-*-*-5("+++++++++++++++++前進+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1242 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1243 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1244 run = ADVANCE; // 前進
molberry 35:4cda290bdb87 1245 mode = ADVANCE; // モード変更
molberry 35:4cda290bdb87 1246 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1247 }
takuminomura 48:3003ea51c619 1248
nishimura_taku_pet 24:9481c8f56a49 1249 if( strstr(webdata, "LEFT") != NULL ) {
mori2020 50:ee78382fd399 1250 //*-*-*-5("+++++++++++++++++左折+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1251 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1252 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1253 run = LEFT; // 左折
molberry 35:4cda290bdb87 1254 mode = LEFT; // モード変更
molberry 35:4cda290bdb87 1255 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1256 }
nishimura_taku_pet 24:9481c8f56a49 1257
nishimura_taku_pet 24:9481c8f56a49 1258 if( strstr(webdata, "STOP") != NULL ) {
mori2020 50:ee78382fd399 1259 //*-*-*-5("+++++++++++++++++停止+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1260 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1261 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1262 run = STOP; // 停止
molberry 35:4cda290bdb87 1263 mode = STOP; // モード変更
molberry 35:4cda290bdb87 1264 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1265 }
nishimura_taku_pet 24:9481c8f56a49 1266
nishimura_taku_pet 24:9481c8f56a49 1267 if( strstr(webdata, "RIGHT") != NULL ) {
mori2020 50:ee78382fd399 1268 //*-*-*-5("+++++++++++++++++右折+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1269 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1270 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1271 run = RIGHT; // 右折
molberry 35:4cda290bdb87 1272 mode = RIGHT; // モード変更
molberry 35:4cda290bdb87 1273 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1274 }
nishimura_taku_pet 24:9481c8f56a49 1275
nishimura_taku_pet 24:9481c8f56a49 1276 if( strstr(webdata, "BACK") != NULL ) {
mori2020 50:ee78382fd399 1277 //*-*-*-5("+++++++++++++++++後進+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1278 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1279 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1280 run = BACK; // 後進
molberry 35:4cda290bdb87 1281 mode = BACK; // モード変更
molberry 35:4cda290bdb87 1282 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1283 }
mori2020 50:ee78382fd399 1284 //*-*-*-5("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1285
nishimura_taku_pet 24:9481c8f56a49 1286 if( strstr(webdata, "AVOIDANCE") != NULL ) {
mori2020 50:ee78382fd399 1287 //*-*-*-5("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet 26:0badbc9f9cb3 1288 if(avoi_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1289 delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1290 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 26:0badbc9f9cb3 1291 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1292 }
nishimura_taku_pet 24:9481c8f56a49 1293 mode=AVOIDANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1294 run = ADVANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1295 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1296 }
nishimura_taku_pet 24:9481c8f56a49 1297 if( strstr(webdata, "LINE_TRACE") != NULL ) {
mori2020 50:ee78382fd399 1298 //*-*-*-5("+++++++++++++++++LINET RACE+++++++++++++++++++++");
mori2020 50:ee78382fd399 1299 //*-*-*-5("mode = LINE_TRACE\r\n");
nishimura_taku_pet 26:0badbc9f9cb3 1300 if(trace_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1301 delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1302 trace_thread = new Thread(trace);
nishimura_taku_pet 26:0badbc9f9cb3 1303 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1304 }
nishimura_taku_pet 24:9481c8f56a49 1305 mode=LINE_TRACE;
nishimura_taku_pet 26:0badbc9f9cb3 1306 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1307 }
nishimura_taku_pet 26:0badbc9f9cb3 1308 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1309 trace_thread->terminate();
nishimura_taku_pet 26:0badbc9f9cb3 1310 }
nishimura_taku_pet 26:0badbc9f9cb3 1311 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1312 avoi_thread->terminate();
nishimura_taku_pet 31:3665282561d6 1313 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 26:0badbc9f9cb3 1314 }
nishimura_taku_pet 24:9481c8f56a49 1315 sprintf(channel, "%d",linkID);
nishimura_taku_pet 24:9481c8f56a49 1316 if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1317 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1318 }
nishimura_taku_pet 24:9481c8f56a49 1319 if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1320 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1321 }
nishimura_taku_pet 24:9481c8f56a49 1322 webcounter++;
nishimura_taku_pet 24:9481c8f56a49 1323 sprintf(webcount, "%d",webcounter);
nishimura_taku_pet 24:9481c8f56a49 1324 } else {
nishimura_taku_pet 24:9481c8f56a49 1325 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1326 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1327 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1328 }
nishimura_taku_pet 24:9481c8f56a49 1329 }
nishimura_taku_pet 24:9481c8f56a49 1330 // Starts and restarts webserver if errors detected.
nishimura_taku_pet 24:9481c8f56a49 1331 void startserver()
nishimura_taku_pet 24:9481c8f56a49 1332 {
mori2020 50:ee78382fd399 1333 //*-*-*-5("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1334 strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet 24:9481c8f56a49 1335 timeout=8000;
nishimura_taku_pet 24:9481c8f56a49 1336 getcount=1000;
nishimura_taku_pet 24:9481c8f56a49 1337 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1338 getreply();
mori2020 50:ee78382fd399 1339 //*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1340 //*-*-*-5("%d",ount);
nishimura_taku_pet 24:9481c8f56a49 1341 if (strstr(replybuff, "OK") != NULL) {
mori2020 50:ee78382fd399 1342 //*-*-*-5("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1343 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet 24:9481c8f56a49 1344 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1345 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1346 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1347 getreply();
mori2020 50:ee78382fd399 1348 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1349 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1350 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1351 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1352 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1353 getreply();
mori2020 50:ee78382fd399 1354 //*-*-*-5(replybuff);
nishimura_taku_pet 33:a6f1090e0174 1355 ThisThread::sleep_for(500);
nishimura_taku_pet 24:9481c8f56a49 1356 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet 24:9481c8f56a49 1357 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1358 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1359 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1360 getreply();
mori2020 50:ee78382fd399 1361 //*-*-*-5(replybuff);
nishimura_taku_pet 25:8ed98982faa7 1362 ThisThread::sleep_for(5000);
mori2020 50:ee78382fd399 1363 //*-*-*-5("\n Getting Server IP \r\n");
nishimura_taku_pet 24:9481c8f56a49 1364 strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet 24:9481c8f56a49 1365 timeout=2500;
nishimura_taku_pet 24:9481c8f56a49 1366 getcount=200;
nishimura_taku_pet 24:9481c8f56a49 1367 while(weberror==0) {
nishimura_taku_pet 24:9481c8f56a49 1368 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1369 getreply();
nishimura_taku_pet 24:9481c8f56a49 1370 if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet 24:9481c8f56a49 1371 weberror=1; // wait for valid IP
nishimura_taku_pet 24:9481c8f56a49 1372 }
nishimura_taku_pet 24:9481c8f56a49 1373 }
mori2020 50:ee78382fd399 1374 //*-*-*-5("\n Enter WEB address (IP) found below in your browser \r\n\n");
mori2020 50:ee78382fd399 1375 //*-*-*-5("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1376 replybuff[strlen(replybuff)-1] = '\0';
mori2020 50:ee78382fd399 1377 //char* IP = replybuff + 5;
nishimura_taku_pet 24:9481c8f56a49 1378 sprintf(webdata,"%s", replybuff);
mori2020 50:ee78382fd399 1379 //*-*-*-5(webdata);
nishimura_taku_pet 24:9481c8f56a49 1380 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1381 bufflen=200;
mori2020 50:ee78382fd399 1382 //bufflen=100;
nishimura_taku_pet 24:9481c8f56a49 1383 ount=0;
mori2020 50:ee78382fd399 1384 //*-*-*-5("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet 33:a6f1090e0174 1385 setup();
nishimura_taku_pet 24:9481c8f56a49 1386 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1387 } else {
mori2020 50:ee78382fd399 1388 //*-*-*-5("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1389 led1=1;
nishimura_taku_pet 24:9481c8f56a49 1390 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1391 led3=1;
nishimura_taku_pet 24:9481c8f56a49 1392 led4=1;
nishimura_taku_pet 24:9481c8f56a49 1393 while(1) {
nishimura_taku_pet 24:9481c8f56a49 1394 led1=!led1;
nishimura_taku_pet 24:9481c8f56a49 1395 led2=!led2;
nishimura_taku_pet 24:9481c8f56a49 1396 led3=!led3;
nishimura_taku_pet 24:9481c8f56a49 1397 led4=!led4;
nishimura_taku_pet 25:8ed98982faa7 1398 ThisThread::sleep_for(1000);
nishimura_taku_pet 24:9481c8f56a49 1399 }
nishimura_taku_pet 24:9481c8f56a49 1400 }
nishimura_taku_pet 24:9481c8f56a49 1401 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1402 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1403 }
mori2020 50:ee78382fd399 1404
nishimura_taku_pet 24:9481c8f56a49 1405 // ESP Command data send
nishimura_taku_pet 24:9481c8f56a49 1406 void SendCMD()
nishimura_taku_pet 24:9481c8f56a49 1407 {
nishimura_taku_pet 24:9481c8f56a49 1408 esp.printf("%s", cmdbuff);
nishimura_taku_pet 24:9481c8f56a49 1409 }
nishimura_taku_pet 24:9481c8f56a49 1410 // Get Command and ESP status replies
nishimura_taku_pet 24:9481c8f56a49 1411 void getreply()
nishimura_taku_pet 24:9481c8f56a49 1412 {
nishimura_taku_pet 24:9481c8f56a49 1413 memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet 24:9481c8f56a49 1414 time1.reset();
nishimura_taku_pet 24:9481c8f56a49 1415 time1.start();
nishimura_taku_pet 24:9481c8f56a49 1416 replycount=0;
nishimura_taku_pet 24:9481c8f56a49 1417 while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet 24:9481c8f56a49 1418 if(esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 1419 replybuff[replycount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 1420 replycount++;
nishimura_taku_pet 24:9481c8f56a49 1421 }
nishimura_taku_pet 24:9481c8f56a49 1422 }
nishimura_taku_pet 24:9481c8f56a49 1423 time1.stop();
nishimura_taku_pet 24:9481c8f56a49 1424 }
takuminomura 48:3003ea51c619 1425
tomotsugu 8:a47dbf4fa455 1426 /* mainスレッド */
yangtzuli 0:0d0037aabe41 1427 int main() {
tomotsugu 8:a47dbf4fa455 1428 /* 初期設定 */
mori2020 50:ee78382fd399 1429 wifi_thread = new Thread(wifi);
mori2020 50:ee78382fd399 1430 wifi_thread -> set_priority(osPriorityHigh);
mori2020 50:ee78382fd399 1431 // setup();
nishimura_taku_pet 16:ffc732a3cf92 1432 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 1433 avoi_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 1434 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 1435 trace_thread->terminate();
tomotsugu 8:a47dbf4fa455 1436 mode = READY; // 現在待ちモード
tomotsugu 8:a47dbf4fa455 1437 beforeMode = READY; // 前回待ちモード
tomotsugu 8:a47dbf4fa455 1438 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 1439 flag_sp = NORMAL; // スピード(普通)
tomotsugu 10:d193030ce672 1440 lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet 33:a6f1090e0174 1441 lcd.setAddress(0,1);
nishimura_taku_pet 33:a6f1090e0174 1442 lcd.printf("Mode:SetUp");
takuminomura 48:3003ea51c619 1443 display(); // ディスプレイ表示
yangtzuli 2:38825726cb1b 1444
yangtzuli 0:0d0037aabe41 1445 while(1){
tomotsugu 8:a47dbf4fa455 1446 bChange(); // バッテリー残量更新
yangtzuli 0:0d0037aabe41 1447 }
yangtzuli 0:0d0037aabe41 1448 }