mbed_robotcar / Mbed OS saikyo

linetrace saikyou

Dependencies:   RemoteIR TextLCD

main.cpp@51:1baf4407f384, 2020-09-02 (annotated)

Committer:
nishimura_taku_pet
Date:
Wed Sep 02 06:37:27 2020 +0000
Revision:
51:1baf4407f384
Parent:
50:ee78382fd399
Child:
52:c868403753e8
bug fix

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)
mori2020 50:ee78382fd399 85 LT_L, // 10:低速左折(ライントレース時)
mori2020 50:ee78382fd399 86 ARIGHT,
mori2020 50:ee78382fd399 87 ALEFT,
yangtzuli 2:38825726cb1b 88 };
yangtzuli 2:38825726cb1b 89
yangtzuli 3:2ae6218973be 90 /* ピン配置 */
yangtzuli 3:2ae6218973be 91 ReceiverIR ir(p5); // リモコン操作
yangtzuli 3:2ae6218973be 92 DigitalOut trig(p6); // 超音波センサtrigger
yangtzuli 5:3fffb364744b 93 DigitalIn echo(p7); // 超音波センサecho
yangtzuli 3:2ae6218973be 94 DigitalIn ss1(p8); // ライントレースセンサ(左)
yangtzuli 3:2ae6218973be 95 DigitalIn ss2(p9); // ライントレースセンサ
yangtzuli 3:2ae6218973be 96 DigitalIn ss3(p10); // ライントレースセンサ
yangtzuli 3:2ae6218973be 97 DigitalIn ss4(p11); // ライントレースセンサ
yangtzuli 3:2ae6218973be 98 DigitalIn ss5(p12); // ライントレースセンサ(右)
nishimura_taku_pet 24:9481c8f56a49 99 RawSerial esp(p13, p14); // Wi-Fiモジュール(tx, rx)
yangtzuli 3:2ae6218973be 100 AnalogIn battery(p15); // 電池残量読み取り(Max 3.3V)
takuminomura 48:3003ea51c619 101 PwmOut motorR2(p22); // 右モーター後退
takuminomura 48:3003ea51c619 102 PwmOut motorR1(p21); // 右モーター前進
yangtzuli 3:2ae6218973be 103 PwmOut motorL2(p23); // 左モーター後退
yangtzuli 3:2ae6218973be 104 PwmOut motorL1(p24); // 左モーター前進
yangtzuli 3:2ae6218973be 105 PwmOut servo(p25); // サーボ
yangtzuli 3:2ae6218973be 106 I2C i2c_lcd(p28,p27); // LCD(tx, rx)
yangtzuli 2:38825726cb1b 107
yangtzuli 3:2ae6218973be 108 /* 変数宣言 */
nishimura_taku_pet 51:1baf4407f384 109 MODE mode; // 操作モード
yangtzuli 3:2ae6218973be 110 int run; // 走行状態
nishimura_taku_pet 51:1baf4407f384 111 MODE 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 */
nishimura_taku_pet 51:1baf4407f384 329 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 330 flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet 51:1baf4407f384 331 }
yangtzuli 3:2ae6218973be 332 switch(run){
tomotsugu 8:a47dbf4fa455 333 /* 前進 */
yangtzuli 3:2ae6218973be 334 case ADVANCE:
takuminomura 48:3003ea51c619 335 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020 50:ee78382fd399 336 motorR2 = LOW; // 右後退モーターOFF
takuminomura 48:3003ea51c619 337 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020 50:ee78382fd399 338 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 339 break;
tomotsugu 8:a47dbf4fa455 340 /* 右折 */
yangtzuli 3:2ae6218973be 341 case RIGHT:
mori2020 50:ee78382fd399 342 motorR1 = LOW; // 右前進モーターOFF
takuminomura 48:3003ea51c619 343 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
takuminomura 48:3003ea51c619 344 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020 50:ee78382fd399 345 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 346 break;
tomotsugu 8:a47dbf4fa455 347 /* 左折 */
yangtzuli 3:2ae6218973be 348 case LEFT:
takuminomura 48:3003ea51c619 349 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020 50:ee78382fd399 350 motorR2 = LOW; // 右後退モーターOFF
mori2020 50:ee78382fd399 351 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 352 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 353 break;
tomotsugu 8:a47dbf4fa455 354 /* 後退 */
yangtzuli 3:2ae6218973be 355 case BACK:
mori2020 50:ee78382fd399 356 motorR1 = LOW; // 右前進モーターOFF
mori2020 50:ee78382fd399 357 motorR2 = motorSpeedR2[flag_sp] + 0.02; // 右後退モーターON
mori2020 50:ee78382fd399 358 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 359 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 360 break;
tomotsugu 8:a47dbf4fa455 361 /* 停止 */
yangtzuli 3:2ae6218973be 362 case STOP:
tomotsugu 8:a47dbf4fa455 363 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 364 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 365 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 366 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 367 break;
mori2020 50:ee78382fd399 368 case ARIGHT:
mori2020 50:ee78382fd399 369 motorR1 = LOW;
mori2020 50:ee78382fd399 370 motorR2 = 0.38;
mori2020 50:ee78382fd399 371 motorL1 = 0.36;
mori2020 50:ee78382fd399 372 motorL2 = LOW;
takuminomura 49:7224132f4b0e 373 break;
mori2020 50:ee78382fd399 374 case ALEFT:
mori2020 50:ee78382fd399 375 motorR1 = 0.38;
mori2020 50:ee78382fd399 376 motorR2 = LOW;
mori2020 50:ee78382fd399 377 motorL1 = LOW;
mori2020 50:ee78382fd399 378 motorL2 = 0.36;
takuminomura 49:7224132f4b0e 379 break;
yangtzuli 3:2ae6218973be 380 }
nishimura_taku_pet 51:1baf4407f384 381 /*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 382 flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet 51:1baf4407f384 383 }*/
takuminomura 48:3003ea51c619 384 ThisThread::sleep_for(3); // 30ms待つ
yangtzuli 2:38825726cb1b 385 }
yangtzuli 2:38825726cb1b 386 }
tomotsugu 8:a47dbf4fa455 387
tomotsugu 8:a47dbf4fa455 388 /* スピード変更関数 */
yangtzuli 3:2ae6218973be 389 void changeSpeed(){
tomotsugu 8:a47dbf4fa455 390 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 391 flag_sp = 0; // スピード変更フラグを0にする
tomotsugu 8:a47dbf4fa455 392 }else{ // それ以外
takuminomura 48:3003ea51c619 393 flag_sp = flag_sp + 1; // スピード変更フラグを+1
takuminomura 48:3003ea51c619 394 }
yangtzuli 3:2ae6218973be 395 }
tomotsugu 8:a47dbf4fa455 396
tomotsugu 8:a47dbf4fa455 397 /* ライントレーススレッド */
takuminomura 49:7224132f4b0e 398 //void trace(){
takuminomura 49:7224132f4b0e 399 // // PID用
takuminomura 49:7224132f4b0e 400 // while(1){
takuminomura 49:7224132f4b0e 401 // ThisThread::sleep_for(3);
takuminomura 49:7224132f4b0e 402 // }
takuminomura 49:7224132f4b0e 403 //}
tomotsugu 20:02bb875a9b13 404 void trace(){
takuminomura 48:3003ea51c619 405 while(1){
takuminomura 48:3003ea51c619 406 /* 各センサー値読み取り */
takuminomura 48:3003ea51c619 407 int sensor1 = ss1;
takuminomura 48:3003ea51c619 408 int sensor2 = ss2;
takuminomura 48:3003ea51c619 409 int sensor3 = ss3;
takuminomura 48:3003ea51c619 410 int sensor4 = ss4;
takuminomura 48:3003ea51c619 411 int sensor5 = ss5;
takuminomura 48:3003ea51c619 412 int sensD = 0;
takuminomura 48:3003ea51c619 413
takuminomura 48:3003ea51c619 414 /* センサー値の決定 */
takuminomura 48:3003ea51c619 415 if(sensor1 > 0) sensD |= 0x10;
takuminomura 48:3003ea51c619 416 if(sensor2 > 0) sensD |= 0x08;
takuminomura 48:3003ea51c619 417 if(sensor3 > 0) sensD |= 0x04;
takuminomura 48:3003ea51c619 418 if(sensor4 > 0) sensD |= 0x02;
takuminomura 48:3003ea51c619 419 if(sensor5 > 0) sensD |= 0x01;
takuminomura 48:3003ea51c619 420
takuminomura 48:3003ea51c619 421 /* センサー値によって場合分け */
takuminomura 48:3003ea51c619 422 switch(sensArray[sensD]){
takuminomura 48:3003ea51c619 423 case 1:
takuminomura 48:3003ea51c619 424 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 425 run = ADVANCE; // 高速で前進
takuminomura 48:3003ea51c619 426 break;
takuminomura 48:3003ea51c619 427 case 2:
takuminomura 48:3003ea51c619 428 flag_sp = flag_sp % 3 + 3;
takuminomura 49:7224132f4b0e 429 // run = RIGHT; // 低速で右折
takuminomura 49:7224132f4b0e 430 run = LT_R; // 低速で右折
takuminomura 48:3003ea51c619 431 break;
takuminomura 48:3003ea51c619 432 case 3:
takuminomura 48:3003ea51c619 433 flag_sp = flag_sp % 3 + 3;
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 run = RIGHT; // 中速で右折
takuminomura 48:3003ea51c619 440 break;
takuminomura 48:3003ea51c619 441 case 5:
takuminomura 48:3003ea51c619 442 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 443 run = LEFT; // 中速で左折
takuminomura 48:3003ea51c619 444 break;
takuminomura 48:3003ea51c619 445 case 6:
takuminomura 48:3003ea51c619 446 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 447 run = RIGHT; // 高速で右折
takuminomura 48:3003ea51c619 448 break;
takuminomura 48:3003ea51c619 449 case 7:
takuminomura 48:3003ea51c619 450 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 451 run = LEFT; // 高速で左折
takuminomura 48:3003ea51c619 452 break;
takuminomura 48:3003ea51c619 453 default:
takuminomura 48:3003ea51c619 454 break; // 前回動作を継続
tomotsugu 18:6cca64c7dbc3 455 }
takuminomura 48:3003ea51c619 456 // ThisThread::sleep_for(30); // 30ms待つ
takuminomura 48:3003ea51c619 457 ThisThread::sleep_for(3);
takuminomura 48:3003ea51c619 458 }
yangtzuli 3:2ae6218973be 459 }
yangtzuli 3:2ae6218973be 460
tomotsugu 8:a47dbf4fa455 461 /* 障害物回避走行スレッド */
tomotsugu 20:02bb875a9b13 462 void avoidance(){
nishimura_taku_pet 46:c6deb699160b 463 int i;
yangtzuli 3:2ae6218973be 464 while(1){
nishimura_taku_pet 40:75e1ad7c27e4 465 watchsurrounding3();
mori2020 50:ee78382fd399 466 if(flag_a == 0){ // 障害物がない場合
mori2020 50:ee78382fd399 467 run = ADVANCE; // 前進
mori2020 50:ee78382fd399 468 // if(SLD < 25){ // 正面15cm以内に障害物が現れた場合
mori2020 50:ee78382fd399 469 // run = RIGHT; // 右折
mori2020 50:ee78382fd399 470 // ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 471 // run = STOP; // 停止
mori2020 50:ee78382fd399 472 // }else if(SRD < 25){
mori2020 50:ee78382fd399 473 // run = LEFT; // 左折
mori2020 50:ee78382fd399 474 // ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 475 // run = STOP; // 停止
mori2020 50:ee78382fd399 476 // }
mori2020 50:ee78382fd399 477 }else{ // 障害物がある場合
tomotsugu 18:6cca64c7dbc3 478 i = 0;
mori2020 50:ee78382fd399 479 int cnt_kyori;
mori2020 50:ee78382fd399 480 int kyori;
mori2020 50:ee78382fd399 481 if(SC < 15){
mori2020 50:ee78382fd399 482 servo.pulsewidth_us(1425); // サーボを中央位置に戻す
nishimura_taku_pet 41:3c58a4be1199 483 ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 484 run = STOP;
mori2020 50:ee78382fd399 485 ThisThread::sleep_for(80);
mori2020 50:ee78382fd399 486 run = BACK;
mori2020 50:ee78382fd399 487 // switch(flag_sp){
mori2020 50:ee78382fd399 488 // case 0:
mori2020 50:ee78382fd399 489 // ThisThread::sleep_for(200);
mori2020 50:ee78382fd399 490 // break;
mori2020 50:ee78382fd399 491 // case 1:
mori2020 50:ee78382fd399 492 // ThisThread::sleep_for(150);
mori2020 50:ee78382fd399 493 // break;
mori2020 50:ee78382fd399 494 // case 2:
mori2020 50:ee78382fd399 495 // ThisThread::sleep_for(120);
mori2020 50:ee78382fd399 496 // break;
mori2020 50:ee78382fd399 497 // default:
mori2020 50:ee78382fd399 498 // break;
mori2020 50:ee78382fd399 499 // }
mori2020 50:ee78382fd399 500 cnt_kyori = 0;
mori2020 50:ee78382fd399 501 kyori = watch();
mori2020 50:ee78382fd399 502 while(kyori < limit){ // 正面20cm以内に障害物がある間
mori2020 50:ee78382fd399 503 if(kyori == -1){
nishimura_taku_pet 40:75e1ad7c27e4 504 cnt_kyori++;
mori2020 50:ee78382fd399 505 if(cnt_kyori > 15){
mori2020 50:ee78382fd399 506 cnt_kyori = 0;
nishimura_taku_pet 40:75e1ad7c27e4 507 break;
nishimura_taku_pet 40:75e1ad7c27e4 508 }
nishimura_taku_pet 40:75e1ad7c27e4 509 }
nishimura_taku_pet 40:75e1ad7c27e4 510 kyori = watch();
tomotsugu 18:6cca64c7dbc3 511 }
mori2020 50:ee78382fd399 512 run = STOP;
mori2020 50:ee78382fd399 513 }
nishimura_taku_pet 40:75e1ad7c27e4 514 watchsurrounding5();
takuminomura 48:3003ea51c619 515 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 516 run = ALEFT; // 左折
mori2020 50:ee78382fd399 517 while(i < 20){ // 進行方向確認
tomotsugu 18:6cca64c7dbc3 518 if(watch() > limit){
mori2020 50:ee78382fd399 519 break;
nishimura_taku_pet 28:cb51cafca490 520 }else{
mori2020 50:ee78382fd399 521 i++;
yangtzuli 2:38825726cb1b 522 }
yangtzuli 2:38825726cb1b 523 }
nishimura_taku_pet 28:cb51cafca490 524 run = STOP; // 停止
mori2020 50:ee78382fd399 525 }else { // 全方向以外
nishimura_taku_pet 28:cb51cafca490 526 far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 527 houkou = 1; // 進行方向を前に設定
mori2020 50:ee78382fd399 528 if(SC < limit){
mori2020 50:ee78382fd399 529 if(far < SLD || far < SL){ // 左または左前がより遠い場合
mori2020 50:ee78382fd399 530 if(SL < SLD){ // 左前が左より遠い場合
mori2020 50:ee78382fd399 531 far = SLD; // 左前を最も遠い距離に設定
mori2020 50:ee78382fd399 532 }else{ // 左が左前より遠い場合
mori2020 50:ee78382fd399 533 far = SL; // 左を最も遠い距離に設定
mori2020 50:ee78382fd399 534 }
mori2020 50:ee78382fd399 535 houkou = 2; // 進行方向を左に設定
nishimura_taku_pet 28:cb51cafca490 536 }
mori2020 50:ee78382fd399 537 if(far < SRD || far < SR){ // 右または右前がより遠い場合
mori2020 50:ee78382fd399 538 if(SR < SRD){ // 右前が右より遠い場合
mori2020 50:ee78382fd399 539 far = SRD; // 右前を最も遠い距離に設定
mori2020 50:ee78382fd399 540 }else{ // 右が右前よりも遠い場合
mori2020 50:ee78382fd399 541 far = SR; // 右を最も遠い距離に設定
mori2020 50:ee78382fd399 542 }
mori2020 50:ee78382fd399 543 houkou = 3; // 進行方向を右に設定
nishimura_taku_pet 28:cb51cafca490 544 }
nishimura_taku_pet 28:cb51cafca490 545 }
nishimura_taku_pet 28:cb51cafca490 546 switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet 28:cb51cafca490 547 case 1: // 前の場合
nishimura_taku_pet 28:cb51cafca490 548 run = ADVANCE; // 前進
mori2020 50:ee78382fd399 549 switch(flag_sp){
mori2020 50:ee78382fd399 550 case 0:
mori2020 50:ee78382fd399 551 ThisThread::sleep_for(300); // 0.5秒待つ
mori2020 50:ee78382fd399 552 break;
mori2020 50:ee78382fd399 553 case 1:
mori2020 50:ee78382fd399 554 ThisThread::sleep_for(200);
mori2020 50:ee78382fd399 555 break;
mori2020 50:ee78382fd399 556 case 2:
mori2020 50:ee78382fd399 557 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 558 break;
mori2020 50:ee78382fd399 559 }
nishimura_taku_pet 28:cb51cafca490 560 break;
mori2020 50:ee78382fd399 561 case 2: // 左の場合
mori2020 50:ee78382fd399 562 run = ALEFT; // 左折
mori2020 50:ee78382fd399 563 while(i < 15){ // 進行方向確認
nishimura_taku_pet 28:cb51cafca490 564 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 565 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 566 }else{
nishimura_taku_pet 40:75e1ad7c27e4 567 i++;
nishimura_taku_pet 28:cb51cafca490 568 }
nishimura_taku_pet 28:cb51cafca490 569 }
mori2020 50:ee78382fd399 570 run = ADVANCE; // 停止
nishimura_taku_pet 28:cb51cafca490 571 break;
mori2020 50:ee78382fd399 572 case 3: // 右の場合
mori2020 50:ee78382fd399 573 run = ARIGHT; // 右折
mori2020 50:ee78382fd399 574 while(i < 15){ // 進行方向確認
mori2020 50:ee78382fd399 575 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 576 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 577 }else{
nishimura_taku_pet 40:75e1ad7c27e4 578 i++;
nishimura_taku_pet 28:cb51cafca490 579 }
nishimura_taku_pet 28:cb51cafca490 580 }
mori2020 50:ee78382fd399 581 run = ADVANCE; // 停止
nishimura_taku_pet 28:cb51cafca490 582 break;
nishimura_taku_pet 28:cb51cafca490 583 }
yangtzuli 5:3fffb364744b 584 }
nishimura_taku_pet 28:cb51cafca490 585 }
nishimura_taku_pet 28:cb51cafca490 586 flag_a = 0; // 障害物有無フラグを0にセット
mori2020 50:ee78382fd399 587 if(SLD < 30 && SRD > 30){ // 正面15cm以内に障害物が現れた場合
mori2020 50:ee78382fd399 588 run = ARIGHT; // 右折
mori2020 50:ee78382fd399 589 ThisThread::sleep_for(110);
mori2020 50:ee78382fd399 590 run = ADVANCE;
mori2020 50:ee78382fd399 591 }else if(SRD < 30 && SLD > 30){
mori2020 50:ee78382fd399 592 run = ALEFT; // 左折
mori2020 50:ee78382fd399 593 ThisThread::sleep_for(110);
mori2020 50:ee78382fd399 594 run = ADVANCE;
mori2020 50:ee78382fd399 595 }
mori2020 50:ee78382fd399 596 }
mori2020 50:ee78382fd399 597 }
mori2020 50:ee78382fd399 598
tomotsugu 8:a47dbf4fa455 599 /* 距離計測関数 */
yangtzuli 2:38825726cb1b 600 int watch(){
mori2020 50:ee78382fd399 601 do{
mori2020 50:ee78382fd399 602 do{
mori2020 50:ee78382fd399 603 trig = 0;
mori2020 50:ee78382fd399 604 ThisThread::sleep_for(5); // 5ms待つ
mori2020 50:ee78382fd399 605 trig = 1;
mori2020 50:ee78382fd399 606 ThisThread::sleep_for(15); // 15ms待つ
mori2020 50:ee78382fd399 607 trig = 0;
mori2020 50:ee78382fd399 608 timer.start();
tomotsugu 21:68d38e8f64b5 609 t1=timer.read_ms();
mori2020 50:ee78382fd399 610 while(echo.read() == 0 && t1<10){
mori2020 50:ee78382fd399 611 t1=timer.read_ms();
mori2020 50:ee78382fd399 612 led1 = 1;
mori2020 50:ee78382fd399 613 }
mori2020 50:ee78382fd399 614 timer.stop();
mori2020 50:ee78382fd399 615 timer.reset();
mori2020 50:ee78382fd399 616 }while(t1 >= 10);
mori2020 50:ee78382fd399 617 timer.start(); // 距離計測タイマースタート
mori2020 50:ee78382fd399 618 while(echo.read() == 1){
tomotsugu 21:68d38e8f64b5 619 }
mori2020 50:ee78382fd399 620 timer.stop(); // 距離計測タイマーストップ
mori2020 50:ee78382fd399 621 DT = (int)(timer.read_us()*0.01657); // 距離計算
mori2020 50:ee78382fd399 622 if(timer.read_ms() > 1000){
mori2020 50:ee78382fd399 623 DT = -1;
mori2020 50:ee78382fd399 624 break;
mori2020 50:ee78382fd399 625 }
mori2020 50:ee78382fd399 626 }while(DT > 1000);
mori2020 50:ee78382fd399 627 if(DT > 400){
mori2020 50:ee78382fd399 628 DT = 400;
mori2020 50:ee78382fd399 629 }
tomotsugu 21:68d38e8f64b5 630 timer.reset();
mori2020 50:ee78382fd399 631 led1 = 0;
mori2020 50:ee78382fd399 632 return DT;
yangtzuli 0:0d0037aabe41 633 }
mori2020 50:ee78382fd399 634
tomotsugu 8:a47dbf4fa455 635 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 636 void watchsurrounding3(){
yangtzuli 2:38825726cb1b 637 SC = watch();
nishimura_taku_pet 28:cb51cafca490 638 if(SC < limit){ // 正面20cm以内に障害物がある場合
mori2020 50:ee78382fd399 639 if(SC!=-1){
nishimura_taku_pet 28:cb51cafca490 640 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 641 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 642 return;
nishimura_taku_pet 28:cb51cafca490 643 }
yangtzuli 2:38825726cb1b 644 }
mori2020 50:ee78382fd399 645 servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet 28:cb51cafca490 646 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 647 SLD = watch();
mori2020 50:ee78382fd399 648 if(SLD < 18){ // 左前20cm以内に障害物がある場合
mori2020 50:ee78382fd399 649 run = STOP;
mori2020 50:ee78382fd399 650 ThisThread::sleep_for(90);
mori2020 50:ee78382fd399 651 run = BACK;
mori2020 50:ee78382fd399 652 ThisThread::sleep_for(150);
mori2020 50:ee78382fd399 653 run = ARIGHT;
mori2020 50:ee78382fd399 654 ThisThread::sleep_for(120);
mori2020 50:ee78382fd399 655 return;
yangtzuli 2:38825726cb1b 656 }
mori2020 50:ee78382fd399 657 servo.pulsewidth_us(1425);
mori2020 50:ee78382fd399 658 ThisThread::sleep_for(100);
tomotsugu 19:c6f9f010bd9e 659 SC = watch();
tomotsugu 19:c6f9f010bd9e 660 if(SC < limit){
mori2020 50:ee78382fd399 661 if(SC != -1){
mori2020 50:ee78382fd399 662 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 663 flag_a = 1;
takuminomura 48:3003ea51c619 664 return;
mori2020 50:ee78382fd399 665 }
tomotsugu 19:c6f9f010bd9e 666 }
mori2020 50:ee78382fd399 667 servo.pulsewidth_us(923); // サーボを右に40度回転
nishimura_taku_pet 28:cb51cafca490 668 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 669 SRD = watch();
mori2020 50:ee78382fd399 670 if(SRD < 18){ // 右前20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 671 run = STOP; // 停止
mori2020 50:ee78382fd399 672 ThisThread::sleep_for(90);
mori2020 50:ee78382fd399 673 run = BACK;
mori2020 50:ee78382fd399 674 ThisThread::sleep_for(150);
mori2020 50:ee78382fd399 675 run = ALEFT;
mori2020 50:ee78382fd399 676 ThisThread::sleep_for(120);
mori2020 50:ee78382fd399 677 return;
yangtzuli 2:38825726cb1b 678 }
mori2020 50:ee78382fd399 679 servo.pulsewidth_us(1425); // サーボを中央位置に戻す
nishimura_taku_pet 40:75e1ad7c27e4 680 ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 681 }
mori2020 50:ee78382fd399 682
nishimura_taku_pet 40:75e1ad7c27e4 683 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 684 void watchsurrounding5(){
nishimura_taku_pet 40:75e1ad7c27e4 685 SC = watch();
mori2020 50:ee78382fd399 686 servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 687 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 688 SLD = watch();
nishimura_taku_pet 40:75e1ad7c27e4 689 servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet 40:75e1ad7c27e4 690 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 691 SL = watch();
mori2020 50:ee78382fd399 692 servo.pulsewidth_us(1425);
nishimura_taku_pet 40:75e1ad7c27e4 693 ThisThread::sleep_for(250);
nishimura_taku_pet 40:75e1ad7c27e4 694 SC = watch();
mori2020 50:ee78382fd399 695 servo.pulsewidth_us(923); // サーボを右に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 696 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 697 SRD = watch();
yangtzuli 2:38825726cb1b 698 servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet 28:cb51cafca490 699 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 700 SR = watch();
mori2020 50:ee78382fd399 701 servo.pulsewidth_us(1425); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 702 ThisThread::sleep_for(250); // 100ms待つ
yangtzuli 3:2ae6218973be 703 }
yangtzuli 3:2ae6218973be 704
tomotsugu 8:a47dbf4fa455 705 /* ディスプレイ表示関数 */
yangtzuli 3:2ae6218973be 706 void display(){
tomotsugu 8:a47dbf4fa455 707 mutex.lock(); // ミューテックスロック
yangtzuli 3:2ae6218973be 708 lcd.setAddress(0,1);
tomotsugu 8:a47dbf4fa455 709
tomotsugu 8:a47dbf4fa455 710 /* 操作モードによる場合分け */
yangtzuli 3:2ae6218973be 711 switch(mode){
tomotsugu 8:a47dbf4fa455 712 /* 前進 */
yangtzuli 3:2ae6218973be 713 case ADVANCE:
yangtzuli 3:2ae6218973be 714 lcd.printf("Mode:Advance ");
yangtzuli 3:2ae6218973be 715 break;
tomotsugu 8:a47dbf4fa455 716 /* 右折 */
yangtzuli 3:2ae6218973be 717 case RIGHT:
yangtzuli 5:3fffb364744b 718 lcd.printf("Mode:TurnRight ");
yangtzuli 3:2ae6218973be 719 break;
tomotsugu 8:a47dbf4fa455 720 /* 左折 */
yangtzuli 3:2ae6218973be 721 case LEFT:
yangtzuli 5:3fffb364744b 722 lcd.printf("Mode:TurnLeft ");
yangtzuli 3:2ae6218973be 723 break;
tomotsugu 8:a47dbf4fa455 724 /* 後退 */
yangtzuli 3:2ae6218973be 725 case BACK:
yangtzuli 3:2ae6218973be 726 lcd.printf("Mode:Back ");
yangtzuli 3:2ae6218973be 727 break;
tomotsugu 8:a47dbf4fa455 728 /* 停止 */
yangtzuli 3:2ae6218973be 729 case STOP:
yangtzuli 3:2ae6218973be 730 lcd.printf("Mode:Stop ");
yangtzuli 3:2ae6218973be 731 break;
tomotsugu 8:a47dbf4fa455 732 /* 待ち */
yangtzuli 3:2ae6218973be 733 case READY:
yangtzuli 3:2ae6218973be 734 lcd.printf("Mode:Ready ");
yangtzuli 3:2ae6218973be 735 break;
tomotsugu 8:a47dbf4fa455 736 /* ライントレース */
yangtzuli 3:2ae6218973be 737 case LINE_TRACE:
yangtzuli 3:2ae6218973be 738 lcd.printf("Mode:LineTrace ");
yangtzuli 3:2ae6218973be 739 break;
tomotsugu 8:a47dbf4fa455 740 /* 障害物回避 */
yangtzuli 3:2ae6218973be 741 case AVOIDANCE:
yangtzuli 3:2ae6218973be 742 lcd.printf("Mode:Avoidance ");
yangtzuli 3:2ae6218973be 743 break;
tomotsugu 8:a47dbf4fa455 744 /* スピード制御 */
yangtzuli 3:2ae6218973be 745 case SPEED:
tomotsugu 8:a47dbf4fa455 746 /* スピードの状態で場合分け */
takuminomura 48:3003ea51c619 747 switch(flag_sp % 3){
tomotsugu 8:a47dbf4fa455 748 /* 普通 */
yangtzuli 3:2ae6218973be 749 case(NORMAL):
yangtzuli 3:2ae6218973be 750 lcd.printf("Speed:Normal ");
yangtzuli 3:2ae6218973be 751 break;
tomotsugu 8:a47dbf4fa455 752 /* 速い */
yangtzuli 3:2ae6218973be 753 case(FAST):
yangtzuli 3:2ae6218973be 754 lcd.printf("Speed:Fast ");
yangtzuli 3:2ae6218973be 755 break;
tomotsugu 8:a47dbf4fa455 756 /* とても速い */
yangtzuli 3:2ae6218973be 757 case(VERYFAST):
yangtzuli 3:2ae6218973be 758 lcd.printf("Speed:VeryFast ");
yangtzuli 3:2ae6218973be 759 break;
yangtzuli 3:2ae6218973be 760 }
tomotsugu 8:a47dbf4fa455 761 viewTimer.reset(); // タイマーリセット
tomotsugu 8:a47dbf4fa455 762 viewTimer.start(); // タイマースタート
takuminomura 48:3003ea51c619 763 break;
yangtzuli 3:2ae6218973be 764 }
tomotsugu 8:a47dbf4fa455 765 mutex.unlock(); // ミューテックスアンロック
yangtzuli 3:2ae6218973be 766 }
yangtzuli 3:2ae6218973be 767
tomotsugu 8:a47dbf4fa455 768 /* バックライト点滅 */
yangtzuli 3:2ae6218973be 769 void lcdBacklight(void const *argument){
tomotsugu 8:a47dbf4fa455 770 if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu 8:a47dbf4fa455 771 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 8:a47dbf4fa455 772 }else{ // バックライト点滅フラグが0なら
tomotsugu 8:a47dbf4fa455 773 lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli 3:2ae6218973be 774 }
tomotsugu 8:a47dbf4fa455 775 flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli 3:2ae6218973be 776 }
yangtzuli 2:38825726cb1b 777
tomotsugu 8:a47dbf4fa455 778 /* バッテリー残量更新関数 */
yangtzuli 5:3fffb364744b 779 void bChange(){
yangtzuli 17:f7259ab2fe86 780 //pc.printf(" bChange1\r\n");
nishimura_taku_pet 51:1baf4407f384 781 if(run == STOP){
nishimura_taku_pet 51:1baf4407f384 782 b = (int)((((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10);
nishimura_taku_pet 51:1baf4407f384 783 }
tomotsugu 10:d193030ce672 784 if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu 10:d193030ce672 785 b = 0;
tomotsugu 10:d193030ce672 786 //lcd.setBacklight(TextLCD::LightOff);
tomotsugu 10:d193030ce672 787 //run = STOP;
tomotsugu 10:d193030ce672 788 //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 789 }
tomotsugu 10:d193030ce672 790 mutex.lock(); // ミューテックスロック
tomotsugu 10:d193030ce672 791 lcd.setAddress(0,0);
tomotsugu 10:d193030ce672 792 lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
takuminomura 48:3003ea51c619 793 mutex.unlock(); // ミューテックスアンロック
tomotsugu 10:d193030ce672 794 if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu 10:d193030ce672 795 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 796 //bTimer.attach(lcdBacklight,0.5);
tomotsugu 10:d193030ce672 797 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 798 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 799 }
tomotsugu 10:d193030ce672 800 }else{
tomotsugu 10:d193030ce672 801 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 802 //bTimer.detach();
tomotsugu 10:d193030ce672 803 bTimer.stop(); // バックライトタイマーストップ
tomotsugu 10:d193030ce672 804 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 10:d193030ce672 805 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 806 }
tomotsugu 10:d193030ce672 807 }
yangtzuli 2:38825726cb1b 808 }
mori2020 50:ee78382fd399 809
mori2020 50:ee78382fd399 810
nishimura_taku_pet 24:9481c8f56a49 811 // Serial Interrupt read ESP data
nishimura_taku_pet 24:9481c8f56a49 812 void callback()
nishimura_taku_pet 24:9481c8f56a49 813 {
mori2020 50:ee78382fd399 814 ////*-*-*-5("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 815 led3=1;
nishimura_taku_pet 24:9481c8f56a49 816 while (esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 817 webbuff[ount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 818 ount++;
nishimura_taku_pet 24:9481c8f56a49 819 }
nishimura_taku_pet 24:9481c8f56a49 820 if(strlen(webbuff)>bufflen) {
mori2020 50:ee78382fd399 821 // //*-*-*-5("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 822 DataRX=1;
nishimura_taku_pet 24:9481c8f56a49 823 led3=0;
nishimura_taku_pet 24:9481c8f56a49 824 }
nishimura_taku_pet 24:9481c8f56a49 825 }
mori2020 50:ee78382fd399 826
nishimura_taku_pet 43:243c1455f88a 827 void wifi(/*void const *argument*/)
nishimura_taku_pet 24:9481c8f56a49 828 {
mori2020 50:ee78382fd399 829 //*-*-*-5("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet 33:a6f1090e0174 830 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 831 led1=1,led2=0,led3=0;
nishimura_taku_pet 24:9481c8f56a49 832 timeout=6000;
nishimura_taku_pet 24:9481c8f56a49 833 getcount=500;
nishimura_taku_pet 24:9481c8f56a49 834 getreply();
nishimura_taku_pet 24:9481c8f56a49 835 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet 24:9481c8f56a49 836 startserver();
mori2020 50:ee78382fd399 837
nishimura_taku_pet 24:9481c8f56a49 838 while(1) {
nishimura_taku_pet 24:9481c8f56a49 839 if(DataRX==1) {
mori2020 50:ee78382fd399 840 //*-*-*-5("\f\n\r------------ main while > if --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 841 click_flag = 1;
nishimura_taku_pet 24:9481c8f56a49 842 ReadWebData();
mori2020 50:ee78382fd399 843 //*-*-*-5("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
mori2020 50:ee78382fd399 844 //if ((servreq == 1 && weberror == 0) && click_flag == 1) {
mori2020 50:ee78382fd399 845 if (servreq == 1 && weberror == 0) {
mori2020 50:ee78382fd399 846 //*-*-*-5("\f\n\r------------ befor send page --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 847 sendpage();
nishimura_taku_pet 24:9481c8f56a49 848 }
mori2020 50:ee78382fd399 849 //*-*-*-5("\f\n\r------------ send_check begin --------------\n\r");
mori2020 50:ee78382fd399 850
mori2020 50:ee78382fd399 851 //sendcheck();
mori2020 50:ee78382fd399 852 //*-*-*-5("\f\n\r------------ ssend_check end--------------\n\r");
mori2020 50:ee78382fd399 853
nishimura_taku_pet 24:9481c8f56a49 854 esp.attach(&callback);
mori2020 50:ee78382fd399 855 //*-*-*-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 856 //*-*-*-5("\n\n HTTP Packet: \n\n%s\n", webdata);
mori2020 50:ee78382fd399 857 //*-*-*-5(" Web Characters sent : %d\n\n", bufl);
mori2020 50:ee78382fd399 858 //*-*-*-5(" -------------------------------------\n\n");
nishimura_taku_pet 24:9481c8f56a49 859 servreq=0;
nishimura_taku_pet 24:9481c8f56a49 860 }
nishimura_taku_pet 24:9481c8f56a49 861 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 862 }
nishimura_taku_pet 24:9481c8f56a49 863 }
nishimura_taku_pet 24:9481c8f56a49 864 // Static WEB page
nishimura_taku_pet 24:9481c8f56a49 865 void sendpage()
nishimura_taku_pet 24:9481c8f56a49 866 {
nishimura_taku_pet 24:9481c8f56a49 867 // WEB page data
mori2020 50:ee78382fd399 868
nishimura_taku_pet 24:9481c8f56a49 869 strcpy(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet 24:9481c8f56a49 870 strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
mori2020 50:ee78382fd399 871 //strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >");
molberry 38:39db3f7450c2 872 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 873 strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet 24:9481c8f56a49 874 strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
mori2020 50:ee78382fd399 875 if(b > 30) { //残電量表示
mori2020 50:ee78382fd399 876 sprintf(webbuff, "%s%3d", webbuff, b);
mori2020 50:ee78382fd399 877 } else { //30%より下の場合残電量を赤文字
mori2020 50:ee78382fd399 878 strcat(webbuff, "<font color=\"red\">");
mori2020 50:ee78382fd399 879 sprintf(webbuff, "%s%3d", webbuff, b);
mori2020 50:ee78382fd399 880 strcat(webbuff, "</font>");
mori2020 50:ee78382fd399 881 }
mori2020 50:ee78382fd399 882 strcat(webbuff, "%</strong>");
mori2020 50:ee78382fd399 883 strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"location.reload()\">RELOAD</button>");
nishimura_taku_pet 24:9481c8f56a49 884 strcat(webbuff, "</td></p>");
nishimura_taku_pet 24:9481c8f56a49 885 strcat(webbuff, "<br>");
nishimura_taku_pet 24:9481c8f56a49 886 strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 887
molberry 35:4cda290bdb87 888 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 889 case ADVANCE: //前進
mori2020 50:ee78382fd399 890 strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 891 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 892 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 893 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 894 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 895 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 896 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 897 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 898 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 899 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 900 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 901 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 902 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 903 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 904 break;
molberry 35:4cda290bdb87 905 case LEFT: //左折
mori2020 50:ee78382fd399 906 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 907 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 908 strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 909 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 910 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 911 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 912 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 913 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 914 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 915 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 916 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 917 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 918 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 919 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 920 break;
molberry 35:4cda290bdb87 921 case STOP: //停止
mori2020 50:ee78382fd399 922 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 923 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 924 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 925 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 926 strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 927 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 928 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 929 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 930 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 931 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 932 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 933 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 934 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 935 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 936 break;
molberry 35:4cda290bdb87 937 case RIGHT: //右折
mori2020 50:ee78382fd399 938 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 939 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 940 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 941 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 942 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 943 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 944 strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 945 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 946 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 947 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 948 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 949 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 950 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 951 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 952 break;
molberry 35:4cda290bdb87 953 case BACK: //後進
mori2020 50:ee78382fd399 954 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 955 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 956 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 957 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 958 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 959 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 960 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 961 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 962 strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 963 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet 24:9481c8f56a49 964 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 965 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 966 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 967 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 968 break;
molberry 35:4cda290bdb87 969 case AVOIDANCE: //障害物回避
mori2020 50:ee78382fd399 970 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 971 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 972 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 973 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 974 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 975 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 976 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 977 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 978 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 979 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 980 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 981 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 982 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 983 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 984 break;
molberry 35:4cda290bdb87 985 case LINE_TRACE: //ライントレース
mori2020 50:ee78382fd399 986 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 987 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 988 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 989 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 990 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 991 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 992 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 993 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 994 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 995 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 996 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 997 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 998 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 999 strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1000 break;
molberry 35:4cda290bdb87 1001 default: //その他
mori2020 50:ee78382fd399 1002 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 1003 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 1004 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 1005 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1006 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 1007 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1008 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 1009 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 1010 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 1011 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1012 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 1013 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 1014 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 1015 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1016 break;
nishimura_taku_pet 24:9481c8f56a49 1017 }
nishimura_taku_pet 24:9481c8f56a49 1018 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1019 strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet 24:9481c8f56a49 1020 strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 1021 //ready示速度だけ点灯
molberry 35:4cda290bdb87 1022 switch (flag_sp) { //現在の速度のボタン表示
molberry 35:4cda290bdb87 1023 case 0: //ノーマル
mori2020 50:ee78382fd399 1024 strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1025 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1026 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1027 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1028 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1029 break;
molberry 35:4cda290bdb87 1030 case 1: //ファスト
mori2020 50:ee78382fd399 1031 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1032 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1033 strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1034 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1035 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1036 break;
molberry 35:4cda290bdb87 1037 case 2: //ベリーファスト
mori2020 50:ee78382fd399 1038 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1039 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1040 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1041 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1042 strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1043 break;
molberry 35:4cda290bdb87 1044 default: //その他
mori2020 50:ee78382fd399 1045 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1046 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1047 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1048 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1049 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1050 break;
nishimura_taku_pet 24:9481c8f56a49 1051 }
nishimura_taku_pet 24:9481c8f56a49 1052 strcat(webbuff, "</button></td></tr></table>");
mori2020 50:ee78382fd399 1053
nishimura_taku_pet 24:9481c8f56a49 1054 strcat(webbuff, "</center>");
nishimura_taku_pet 24:9481c8f56a49 1055 strcat(webbuff, "</body>");
nishimura_taku_pet 24:9481c8f56a49 1056 strcat(webbuff, "</html>");
mori2020 50:ee78382fd399 1057
molberry 35:4cda290bdb87 1058 strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
mori2020 50:ee78382fd399 1059
mori2020 50:ee78382fd399 1060 strcat(webbuff, "var button_9 = document.getElementsByTagName(\"button\");");
mori2020 50:ee78382fd399 1061
mori2020 50:ee78382fd399 1062 //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 1063 strcat(webbuff, "function htmlacs(url) {");
mori2020 50:ee78382fd399 1064 strcat(webbuff, "for(var m=0;m<11;m++){button_9[m].disabled=true;}");
mori2020 50:ee78382fd399 1065 strcat(webbuff, "var xhr = new XMLHttpRequest();");
mori2020 50:ee78382fd399 1066 strcat(webbuff, "xhr.open(\"GET\", url);");
mori2020 50:ee78382fd399 1067 strcat(webbuff, "xhr.onreadystatechange = function(){");
mori2020 50:ee78382fd399 1068 strcat(webbuff, "if(this.readyState == 4 || this.status == 200){");
mori2020 50:ee78382fd399 1069 strcat(webbuff, "for(var m=0;m<11;m++){button_9[m].disabled=false;}");
mori2020 50:ee78382fd399 1070 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1071 strcat(webbuff, "};");
mori2020 50:ee78382fd399 1072 strcat(webbuff, "xhr.send(\"\");");
nishimura_taku_pet 24:9481c8f56a49 1073 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1074
mori2020 50:ee78382fd399 1075 //mode変更ボタン入力時動作 //sendmes
mori2020 50:ee78382fd399 1076 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 1077 strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet 24:9481c8f56a49 1078 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1079 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1080 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1081 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1082 strcat(webbuff, "for(var i=1;i<8;i++){");
nishimura_taku_pet 24:9481c8f56a49 1083 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1084 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1085 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1086 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1087 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1088 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1089 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1090
mori2020 50:ee78382fd399 1091 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 1092 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1093 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1094 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1095 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1096 strcat(webbuff, "for(var i=8;i<11;i++){");
nishimura_taku_pet 24:9481c8f56a49 1097 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1098 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1099 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1100 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1101 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1102 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1103 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1104 strcat(webbuff, "</script>");
mori2020 50:ee78382fd399 1105
mori2020 50:ee78382fd399 1106
nishimura_taku_pet 24:9481c8f56a49 1107 // end of WEB page data
nishimura_taku_pet 24:9481c8f56a49 1108 bufl = strlen(webbuff); // get total page buffer length
mori2020 50:ee78382fd399 1109 //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet 24:9481c8f56a49 1110
nishimura_taku_pet 24:9481c8f56a49 1111 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 1112 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1113 getcount=40;
nishimura_taku_pet 24:9481c8f56a49 1114 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1115 getreply();
mori2020 50:ee78382fd399 1116 //*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1117 ////*-*-*-5("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
mori2020 50:ee78382fd399 1118
mori2020 50:ee78382fd399 1119 //*-*-*-5("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
mori2020 50:ee78382fd399 1120
nishimura_taku_pet 24:9481c8f56a49 1121 //pastthrough mode
nishimura_taku_pet 24:9481c8f56a49 1122 SendWEB(); // send web page
mori2020 50:ee78382fd399 1123 //*-*-*-5("\n++++++++++ webbuff clear ++++++++++\r\n");
mori2020 50:ee78382fd399 1124
nishimura_taku_pet 24:9481c8f56a49 1125 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1126 sendcheck();
nishimura_taku_pet 24:9481c8f56a49 1127 }
nishimura_taku_pet 24:9481c8f56a49 1128
nishimura_taku_pet 24:9481c8f56a49 1129 // Large WEB buffer data send
nishimura_taku_pet 24:9481c8f56a49 1130 void SendWEB()
nishimura_taku_pet 24:9481c8f56a49 1131 {
nishimura_taku_pet 24:9481c8f56a49 1132 int i=0;
nishimura_taku_pet 24:9481c8f56a49 1133 if(esp.writeable()) {
nishimura_taku_pet 24:9481c8f56a49 1134 while(webbuff[i]!='\0') {
nishimura_taku_pet 24:9481c8f56a49 1135 esp.putc(webbuff[i]);
mori2020 50:ee78382fd399 1136
nishimura_taku_pet 24:9481c8f56a49 1137 //****
nishimura_taku_pet 24:9481c8f56a49 1138 //output at command when 2000
nishimura_taku_pet 24:9481c8f56a49 1139 if(((i%2047)==0) && (i>0)) {
mori2020 50:ee78382fd399 1140 //wait_ms(10);
takuminomura 48:3003ea51c619 1141 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 1142 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 1143 ////*-*-*-5("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet 24:9481c8f56a49 1144 timeout=600;
nishimura_taku_pet 24:9481c8f56a49 1145 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1146 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1147 getreply();
mori2020 50:ee78382fd399 1148 ////*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1149 ////*-*-*-5("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1150 }
nishimura_taku_pet 24:9481c8f56a49 1151 //****
nishimura_taku_pet 24:9481c8f56a49 1152 i++;
mori2020 50:ee78382fd399 1153 ////*-*-*-5("%c",webbuff[i]);
nishimura_taku_pet 24:9481c8f56a49 1154 }
nishimura_taku_pet 24:9481c8f56a49 1155 }
mori2020 50:ee78382fd399 1156 //*-*-*-5("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet 24:9481c8f56a49 1157 }
nishimura_taku_pet 24:9481c8f56a49 1158
nishimura_taku_pet 24:9481c8f56a49 1159
nishimura_taku_pet 24:9481c8f56a49 1160 void sendcheck()
nishimura_taku_pet 24:9481c8f56a49 1161 {
nishimura_taku_pet 24:9481c8f56a49 1162 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1163 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1164 getcount=24;
nishimura_taku_pet 24:9481c8f56a49 1165 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1166 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1167
mori2020 50:ee78382fd399 1168 /*
mori2020 50:ee78382fd399 1169 while(weberror==1 && time2.read() <5) {
mori2020 50:ee78382fd399 1170 getreply();
mori2020 50:ee78382fd399 1171 if (strstr(replybuff, "SEND OK") != NULL) {
mori2020 50:ee78382fd399 1172 weberror=0; // wait for valid SEND OK
mori2020 50:ee78382fd399 1173 }
mori2020 50:ee78382fd399 1174 }
mori2020 50:ee78382fd399 1175 */
nishimura_taku_pet 24:9481c8f56a49 1176 if(weberror==1) { // restart connection
nishimura_taku_pet 24:9481c8f56a49 1177 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet 24:9481c8f56a49 1178 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1179 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1180 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1181 getreply();
mori2020 50:ee78382fd399 1182 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1183 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1184 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1185 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1186 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1187 getreply();
mori2020 50:ee78382fd399 1188 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1189 } else {
nishimura_taku_pet 24:9481c8f56a49 1190 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet 24:9481c8f56a49 1191 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1192 getreply();
mori2020 50:ee78382fd399 1193 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1194 }
nishimura_taku_pet 24:9481c8f56a49 1195 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1196 }
nishimura_taku_pet 24:9481c8f56a49 1197
nishimura_taku_pet 24:9481c8f56a49 1198 // Reads and processes GET and POST web data
nishimura_taku_pet 24:9481c8f56a49 1199 void ReadWebData()
nishimura_taku_pet 24:9481c8f56a49 1200 {
mori2020 50:ee78382fd399 1201 //*-*-*-5("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet 30:c80da0ecc260 1202 ThisThread::sleep_for(200);
nishimura_taku_pet 24:9481c8f56a49 1203 esp.attach(NULL);
nishimura_taku_pet 24:9481c8f56a49 1204 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1205 DataRX=0;
nishimura_taku_pet 24:9481c8f56a49 1206 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1207 memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet 24:9481c8f56a49 1208 int x = strcspn (webbuff,"+");
nishimura_taku_pet 24:9481c8f56a49 1209 if(x) {
nishimura_taku_pet 24:9481c8f56a49 1210 strcpy(webdata, webbuff + x);
nishimura_taku_pet 24:9481c8f56a49 1211 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1212 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
mori2020 50:ee78382fd399 1213 //int i=0;
mori2020 50:ee78382fd399 1214 //*-*-*-5("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
mori2020 50:ee78382fd399 1215 //*-*-*-5("%s",webdata);
mori2020 50:ee78382fd399 1216 //*-*-*-5("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet 51:1baf4407f384 1217 beforeMode = mode;
nishimura_taku_pet 43:243c1455f88a 1218 if( strstr(webdata, "Normal") != NULL ) {
mori2020 50:ee78382fd399 1219 //*-*-*-5("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1220 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1221 flag_sp = 0;
nishimura_taku_pet 43:243c1455f88a 1222 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1223 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1224 }else if( strstr(webdata, "VeryFast") != NULL ) {
mori2020 50:ee78382fd399 1225 //*-*-*-5("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1226 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1227 flag_sp = 2;
nishimura_taku_pet 43:243c1455f88a 1228 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1229 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1230 }else if( strstr(webdata, "Fast") != NULL ) {
mori2020 50:ee78382fd399 1231 //*-*-*-5("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1232 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1233 flag_sp = 1;
nishimura_taku_pet 43:243c1455f88a 1234 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1235 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1236 }
nishimura_taku_pet 24:9481c8f56a49 1237 if( strstr(webdata, "GO") != NULL ) {
mori2020 50:ee78382fd399 1238 //*-*-*-5("+++++++++++++++++前進+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1239 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1240 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1241 run = ADVANCE; // 前進
molberry 35:4cda290bdb87 1242 mode = ADVANCE; // モード変更
molberry 35:4cda290bdb87 1243 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1244 }
takuminomura 48:3003ea51c619 1245
nishimura_taku_pet 24:9481c8f56a49 1246 if( strstr(webdata, "LEFT") != NULL ) {
mori2020 50:ee78382fd399 1247 //*-*-*-5("+++++++++++++++++左折+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1248 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1249 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1250 run = LEFT; // 左折
molberry 35:4cda290bdb87 1251 mode = LEFT; // モード変更
molberry 35:4cda290bdb87 1252 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1253 }
nishimura_taku_pet 24:9481c8f56a49 1254
nishimura_taku_pet 24:9481c8f56a49 1255 if( strstr(webdata, "STOP") != NULL ) {
mori2020 50:ee78382fd399 1256 //*-*-*-5("+++++++++++++++++停止+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1257 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1258 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1259 run = STOP; // 停止
molberry 35:4cda290bdb87 1260 mode = STOP; // モード変更
molberry 35:4cda290bdb87 1261 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1262 }
nishimura_taku_pet 24:9481c8f56a49 1263
nishimura_taku_pet 24:9481c8f56a49 1264 if( strstr(webdata, "RIGHT") != NULL ) {
mori2020 50:ee78382fd399 1265 //*-*-*-5("+++++++++++++++++右折+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1266 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1267 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1268 run = RIGHT; // 右折
molberry 35:4cda290bdb87 1269 mode = RIGHT; // モード変更
molberry 35:4cda290bdb87 1270 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1271 }
nishimura_taku_pet 24:9481c8f56a49 1272
nishimura_taku_pet 24:9481c8f56a49 1273 if( strstr(webdata, "BACK") != NULL ) {
mori2020 50:ee78382fd399 1274 //*-*-*-5("+++++++++++++++++後進+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1275 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1276 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1277 run = BACK; // 後進
molberry 35:4cda290bdb87 1278 mode = BACK; // モード変更
molberry 35:4cda290bdb87 1279 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1280 }
mori2020 50:ee78382fd399 1281 //*-*-*-5("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1282
nishimura_taku_pet 24:9481c8f56a49 1283 if( strstr(webdata, "AVOIDANCE") != NULL ) {
mori2020 50:ee78382fd399 1284 //*-*-*-5("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet 26:0badbc9f9cb3 1285 if(avoi_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1286 delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1287 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 26:0badbc9f9cb3 1288 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1289 }
nishimura_taku_pet 24:9481c8f56a49 1290 mode=AVOIDANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1291 run = ADVANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1292 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1293 }
nishimura_taku_pet 24:9481c8f56a49 1294 if( strstr(webdata, "LINE_TRACE") != NULL ) {
mori2020 50:ee78382fd399 1295 //*-*-*-5("+++++++++++++++++LINET RACE+++++++++++++++++++++");
mori2020 50:ee78382fd399 1296 //*-*-*-5("mode = LINE_TRACE\r\n");
nishimura_taku_pet 26:0badbc9f9cb3 1297 if(trace_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1298 delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1299 trace_thread = new Thread(trace);
nishimura_taku_pet 26:0badbc9f9cb3 1300 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1301 }
nishimura_taku_pet 24:9481c8f56a49 1302 mode=LINE_TRACE;
nishimura_taku_pet 26:0badbc9f9cb3 1303 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1304 }
nishimura_taku_pet 26:0badbc9f9cb3 1305 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1306 trace_thread->terminate();
nishimura_taku_pet 26:0badbc9f9cb3 1307 }
nishimura_taku_pet 26:0badbc9f9cb3 1308 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1309 avoi_thread->terminate();
nishimura_taku_pet 31:3665282561d6 1310 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 26:0badbc9f9cb3 1311 }
nishimura_taku_pet 24:9481c8f56a49 1312 sprintf(channel, "%d",linkID);
nishimura_taku_pet 24:9481c8f56a49 1313 if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1314 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1315 }
nishimura_taku_pet 24:9481c8f56a49 1316 if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1317 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1318 }
nishimura_taku_pet 24:9481c8f56a49 1319 webcounter++;
nishimura_taku_pet 24:9481c8f56a49 1320 sprintf(webcount, "%d",webcounter);
nishimura_taku_pet 24:9481c8f56a49 1321 } else {
nishimura_taku_pet 24:9481c8f56a49 1322 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1323 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1324 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1325 }
nishimura_taku_pet 24:9481c8f56a49 1326 }
nishimura_taku_pet 24:9481c8f56a49 1327 // Starts and restarts webserver if errors detected.
nishimura_taku_pet 24:9481c8f56a49 1328 void startserver()
nishimura_taku_pet 24:9481c8f56a49 1329 {
mori2020 50:ee78382fd399 1330 //*-*-*-5("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1331 strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet 24:9481c8f56a49 1332 timeout=8000;
nishimura_taku_pet 24:9481c8f56a49 1333 getcount=1000;
nishimura_taku_pet 24:9481c8f56a49 1334 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1335 getreply();
mori2020 50:ee78382fd399 1336 //*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1337 //*-*-*-5("%d",ount);
nishimura_taku_pet 24:9481c8f56a49 1338 if (strstr(replybuff, "OK") != NULL) {
mori2020 50:ee78382fd399 1339 //*-*-*-5("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1340 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet 24:9481c8f56a49 1341 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1342 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1343 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1344 getreply();
mori2020 50:ee78382fd399 1345 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1346 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1347 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1348 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1349 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1350 getreply();
mori2020 50:ee78382fd399 1351 //*-*-*-5(replybuff);
nishimura_taku_pet 33:a6f1090e0174 1352 ThisThread::sleep_for(500);
nishimura_taku_pet 24:9481c8f56a49 1353 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet 24:9481c8f56a49 1354 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1355 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1356 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1357 getreply();
mori2020 50:ee78382fd399 1358 //*-*-*-5(replybuff);
nishimura_taku_pet 25:8ed98982faa7 1359 ThisThread::sleep_for(5000);
mori2020 50:ee78382fd399 1360 //*-*-*-5("\n Getting Server IP \r\n");
nishimura_taku_pet 24:9481c8f56a49 1361 strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet 24:9481c8f56a49 1362 timeout=2500;
nishimura_taku_pet 24:9481c8f56a49 1363 getcount=200;
nishimura_taku_pet 24:9481c8f56a49 1364 while(weberror==0) {
nishimura_taku_pet 24:9481c8f56a49 1365 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1366 getreply();
nishimura_taku_pet 24:9481c8f56a49 1367 if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet 24:9481c8f56a49 1368 weberror=1; // wait for valid IP
nishimura_taku_pet 24:9481c8f56a49 1369 }
nishimura_taku_pet 24:9481c8f56a49 1370 }
mori2020 50:ee78382fd399 1371 //*-*-*-5("\n Enter WEB address (IP) found below in your browser \r\n\n");
mori2020 50:ee78382fd399 1372 //*-*-*-5("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1373 replybuff[strlen(replybuff)-1] = '\0';
mori2020 50:ee78382fd399 1374 //char* IP = replybuff + 5;
nishimura_taku_pet 24:9481c8f56a49 1375 sprintf(webdata,"%s", replybuff);
mori2020 50:ee78382fd399 1376 //*-*-*-5(webdata);
nishimura_taku_pet 24:9481c8f56a49 1377 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1378 bufflen=200;
mori2020 50:ee78382fd399 1379 //bufflen=100;
nishimura_taku_pet 24:9481c8f56a49 1380 ount=0;
mori2020 50:ee78382fd399 1381 //*-*-*-5("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet 33:a6f1090e0174 1382 setup();
nishimura_taku_pet 24:9481c8f56a49 1383 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1384 } else {
mori2020 50:ee78382fd399 1385 //*-*-*-5("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1386 led1=1;
nishimura_taku_pet 24:9481c8f56a49 1387 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1388 led3=1;
nishimura_taku_pet 24:9481c8f56a49 1389 led4=1;
nishimura_taku_pet 24:9481c8f56a49 1390 while(1) {
nishimura_taku_pet 24:9481c8f56a49 1391 led1=!led1;
nishimura_taku_pet 24:9481c8f56a49 1392 led2=!led2;
nishimura_taku_pet 24:9481c8f56a49 1393 led3=!led3;
nishimura_taku_pet 24:9481c8f56a49 1394 led4=!led4;
nishimura_taku_pet 25:8ed98982faa7 1395 ThisThread::sleep_for(1000);
nishimura_taku_pet 24:9481c8f56a49 1396 }
nishimura_taku_pet 24:9481c8f56a49 1397 }
nishimura_taku_pet 24:9481c8f56a49 1398 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1399 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1400 }
mori2020 50:ee78382fd399 1401
nishimura_taku_pet 24:9481c8f56a49 1402 // ESP Command data send
nishimura_taku_pet 24:9481c8f56a49 1403 void SendCMD()
nishimura_taku_pet 24:9481c8f56a49 1404 {
nishimura_taku_pet 24:9481c8f56a49 1405 esp.printf("%s", cmdbuff);
nishimura_taku_pet 24:9481c8f56a49 1406 }
nishimura_taku_pet 24:9481c8f56a49 1407 // Get Command and ESP status replies
nishimura_taku_pet 24:9481c8f56a49 1408 void getreply()
nishimura_taku_pet 24:9481c8f56a49 1409 {
nishimura_taku_pet 24:9481c8f56a49 1410 memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet 24:9481c8f56a49 1411 time1.reset();
nishimura_taku_pet 24:9481c8f56a49 1412 time1.start();
nishimura_taku_pet 24:9481c8f56a49 1413 replycount=0;
nishimura_taku_pet 24:9481c8f56a49 1414 while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet 24:9481c8f56a49 1415 if(esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 1416 replybuff[replycount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 1417 replycount++;
nishimura_taku_pet 24:9481c8f56a49 1418 }
nishimura_taku_pet 24:9481c8f56a49 1419 }
nishimura_taku_pet 24:9481c8f56a49 1420 time1.stop();
nishimura_taku_pet 24:9481c8f56a49 1421 }
takuminomura 48:3003ea51c619 1422
tomotsugu 8:a47dbf4fa455 1423 /* mainスレッド */
yangtzuli 0:0d0037aabe41 1424 int main() {
tomotsugu 8:a47dbf4fa455 1425 /* 初期設定 */
mori2020 50:ee78382fd399 1426 wifi_thread = new Thread(wifi);
mori2020 50:ee78382fd399 1427 wifi_thread -> set_priority(osPriorityHigh);
mori2020 50:ee78382fd399 1428 // setup();
nishimura_taku_pet 16:ffc732a3cf92 1429 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 1430 avoi_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 1431 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 1432 trace_thread->terminate();
tomotsugu 8:a47dbf4fa455 1433 mode = READY; // 現在待ちモード
tomotsugu 8:a47dbf4fa455 1434 beforeMode = READY; // 前回待ちモード
tomotsugu 8:a47dbf4fa455 1435 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 1436 flag_sp = NORMAL; // スピード(普通)
tomotsugu 10:d193030ce672 1437 lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet 33:a6f1090e0174 1438 lcd.setAddress(0,1);
nishimura_taku_pet 33:a6f1090e0174 1439 lcd.printf("Mode:SetUp");
nishimura_taku_pet 51:1baf4407f384 1440 //display(); // ディスプレイ表示
yangtzuli 2:38825726cb1b 1441
yangtzuli 0:0d0037aabe41 1442 while(1){
tomotsugu 8:a47dbf4fa455 1443 bChange(); // バッテリー残量更新
yangtzuli 0:0d0037aabe41 1444 }
yangtzuli 0:0d0037aabe41 1445 }