mbed_robotcar / Mbed OS saikyo

linetrace saikyou

Dependencies:   RemoteIR TextLCD

main.cpp@49:7224132f4b0e, 2020-09-02 (annotated)

Committer:
takuminomura
Date:
Wed Sep 02 05:35:17 2020 +0000
Revision:
49:7224132f4b0e
Parent:
48:3003ea51c619
Child:
50:ee78382fd399
shin no 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)
takuminomura 49:7224132f4b0e 84 LT_L // 10:低速左折(ライントレース時)
yangtzuli 2:38825726cb1b 85 };
yangtzuli 2:38825726cb1b 86
yangtzuli 3:2ae6218973be 87 /* ピン配置 */
yangtzuli 3:2ae6218973be 88 ReceiverIR ir(p5); // リモコン操作
yangtzuli 3:2ae6218973be 89 DigitalOut trig(p6); // 超音波センサtrigger
yangtzuli 5:3fffb364744b 90 DigitalIn echo(p7); // 超音波センサecho
yangtzuli 3:2ae6218973be 91 DigitalIn ss1(p8); // ライントレースセンサ(左)
yangtzuli 3:2ae6218973be 92 DigitalIn ss2(p9); // ライントレースセンサ
yangtzuli 3:2ae6218973be 93 DigitalIn ss3(p10); // ライントレースセンサ
yangtzuli 3:2ae6218973be 94 DigitalIn ss4(p11); // ライントレースセンサ
yangtzuli 3:2ae6218973be 95 DigitalIn ss5(p12); // ライントレースセンサ(右)
nishimura_taku_pet 24:9481c8f56a49 96 RawSerial esp(p13, p14); // Wi-Fiモジュール(tx, rx)
yangtzuli 3:2ae6218973be 97 AnalogIn battery(p15); // 電池残量読み取り(Max 3.3V)
takuminomura 48:3003ea51c619 98 PwmOut motorR2(p22); // 右モーター後退
takuminomura 48:3003ea51c619 99 PwmOut motorR1(p21); // 右モーター前進
yangtzuli 3:2ae6218973be 100 PwmOut motorL2(p23); // 左モーター後退
yangtzuli 3:2ae6218973be 101 PwmOut motorL1(p24); // 左モーター前進
yangtzuli 3:2ae6218973be 102 PwmOut servo(p25); // サーボ
yangtzuli 3:2ae6218973be 103 I2C i2c_lcd(p28,p27); // LCD(tx, rx)
yangtzuli 2:38825726cb1b 104
yangtzuli 3:2ae6218973be 105 /* 変数宣言 */
yangtzuli 3:2ae6218973be 106 int mode; // 操作モード
yangtzuli 3:2ae6218973be 107 int run; // 走行状態
takuminomura 48:3003ea51c619 108 int beforeRun = STOP; // 前回の走行状態
tomotsugu 8:a47dbf4fa455 109 int beforeMode; // 前回のモード
tomotsugu 8:a47dbf4fa455 110 int flag_sp = 0; // スピード変化フラグ
tomotsugu 8:a47dbf4fa455 111 Timer viewTimer; // スピ―ド変更時に3秒計測タイマー
takuminomura 48:3003ea51c619 112
takuminomura 48:3003ea51c619 113 float motorSpeedR1[9] = {MSR0, MSR1, MSR2, MSR3 , MSR4 , MSR5 , MSR6 , MSR7 , MSR8 };
takuminomura 48:3003ea51c619 114 //float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3*REVERSE, MSR4*REVERSE, MSR5*REVERSE, MSR6*REVERSE, MSR7*REVERSE, MSR8*REVERSE};
takuminomura 48:3003ea51c619 115 float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3*REVERSE, MSR4*REVERSE, MSR5*REVERSE, MSR6, MSR7, MSR8};
takuminomura 48:3003ea51c619 116 float motorSpeedL1[9] = {MSL0, MSL1, MSL2, MSL3 , MSL4 , MSL5 , MSL6 , MSL7 , MSL8 };
takuminomura 48:3003ea51c619 117 //float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3*REVERSE, MSL4*REVERSE, MSL5*REVERSE, MSL6*REVERSE, MSL7*REVERSE, MSL8*REVERSE};
takuminomura 48:3003ea51c619 118 float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3*REVERSE, MSL4*REVERSE, MSL5*REVERSE, MSL6, MSL7, MSL8};
yangtzuli 3:2ae6218973be 119 // モーター速度設定(後半はライントレース用)
takuminomura 48:3003ea51c619 120 // 0,1,2:基準速度
takuminomura 48:3003ea51c619 121 // 3,4,5:低速
takuminomura 48:3003ea51c619 122 // 6,7,8:高速
takuminomura 48:3003ea51c619 123 // R1 : 右前, R2 : 右後, L1 : 左前, L2 : 左後
tomotsugu 8:a47dbf4fa455 124
tomotsugu 8:a47dbf4fa455 125 Mutex mutex; // ミューテックス
takuminomura 48:3003ea51c619 126
tomotsugu 8:a47dbf4fa455 127 /* decodeIR用変数 */
yangtzuli 3:2ae6218973be 128 RemoteIR::Format format;
yangtzuli 3:2ae6218973be 129 uint8_t buf[32];
yangtzuli 3:2ae6218973be 130 uint32_t bitcount;
yangtzuli 3:2ae6218973be 131 uint32_t code;
yangtzuli 3:2ae6218973be 132
tomotsugu 8:a47dbf4fa455 133 /* bChange, lcdbacklight用変数 */
yangtzuli 3:2ae6218973be 134 TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780);
tomotsugu 8:a47dbf4fa455 135 int b = 0; // バッテリー残量
tomotsugu 8:a47dbf4fa455 136 int flag_b = 0; // バックライト点滅フラグ
tomotsugu 8:a47dbf4fa455 137 int flag_t = 0; // バックライトタイマーフラグ
yangtzuli 3:2ae6218973be 138
tomotsugu 8:a47dbf4fa455 139 /* trace用変数 */
takuminomura 49:7224132f4b0e 140 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 141 3,4,1,6,3,1,1,6, // 0:前回動作継続
takuminomura 49:7224132f4b0e 142 7,1,5,1,5,1,1,1, // 1:高速前進
takuminomura 48:3003ea51c619 143 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura 48:3003ea51c619 144 // 3:低速左折
takuminomura 48:3003ea51c619 145 // 4:中速右折
takuminomura 48:3003ea51c619 146 // 5:中速左折
takuminomura 48:3003ea51c619 147 // 6:高速右折
takuminomura 48:3003ea51c619 148 // 7:高速左折
takuminomura 48:3003ea51c619 149
takuminomura 48:3003ea51c619 150 //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 151 // 0,6,1,6,1,1,1,6, // 0:前回動作継続
takuminomura 48:3003ea51c619 152 // 7,1,7,1,0,1,1,1, // 1:高速前進
takuminomura 48:3003ea51c619 153 // 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura 48:3003ea51c619 154 // // 3:低速左折
takuminomura 48:3003ea51c619 155 // // 4:中速右折
takuminomura 48:3003ea51c619 156 // // 5:中速左折
takuminomura 48:3003ea51c619 157 // // 6:高速右折
takuminomura 48:3003ea51c619 158 // // 7:高速左折
yangtzuli 0:0d0037aabe41 159
tomotsugu 8:a47dbf4fa455 160 /* avoidance用変数 */
yangtzuli 3:2ae6218973be 161 Timer timer; // 距離計測用タイマ
yangtzuli 3:2ae6218973be 162 int DT; // 距離
takuminomura 48:3003ea51c619 163 int SC; // 正面
yangtzuli 2:38825726cb1b 164 int SL; // 左
yangtzuli 2:38825726cb1b 165 int SR; // 右
yangtzuli 2:38825726cb1b 166 int SLD; // 左前
yangtzuli 2:38825726cb1b 167 int SRD; // 右前
tomotsugu 8:a47dbf4fa455 168 int flag_a = 0; // 障害物有無のフラグ
yangtzuli 2:38825726cb1b 169 const int limit = 20; // 障害物の距離のリミット(単位：cm)
yangtzuli 3:2ae6218973be 170 int far; // 最も遠い距離
yangtzuli 2:38825726cb1b 171 int houkou; // 進行方向(1:前 2:左 3:右)
nishimura_taku_pet 29:600e4b9b5c5b 172 int t1 = 0;
yangtzuli 2:38825726cb1b 173
nishimura_taku_pet 24:9481c8f56a49 174 /*WiFi用変数*/
nishimura_taku_pet 24:9481c8f56a49 175 Timer time1;
nishimura_taku_pet 24:9481c8f56a49 176 Timer time2;
nishimura_taku_pet 24:9481c8f56a49 177 int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
nishimura_taku_pet 24:9481c8f56a49 178 int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
nishimura_taku_pet 24:9481c8f56a49 179 float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet 24:9481c8f56a49 180 char webcount[8];
nishimura_taku_pet 24:9481c8f56a49 181 char type[16];
nishimura_taku_pet 24:9481c8f56a49 182 char channel[2];
nishimura_taku_pet 24:9481c8f56a49 183 char cmdbuff[32];
nishimura_taku_pet 24:9481c8f56a49 184 char replybuff[1024];
nishimura_taku_pet 24:9481c8f56a49 185 char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet 27:90962c01bfeb 186 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet 24:9481c8f56a49 187 int port =80; // set server port
nishimura_taku_pet 24:9481c8f56a49 188 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
takuminomura 48:3003ea51c619 189 char ssid[32] = "mbed05"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet 24:9481c8f56a49 190 char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
yangtzuli 3:2ae6218973be 191
yangtzuli 3:2ae6218973be 192 /* プロトタイプ宣言 */
nishimura_taku_pet 33:a6f1090e0174 193 void decodeIR(/*void const *argument*/);
nishimura_taku_pet 33:a6f1090e0174 194 void motor(/*void const *argument*/);
yangtzuli 3:2ae6218973be 195 void changeSpeed();
nishimura_taku_pet 16:ffc732a3cf92 196 void avoidance(/*void const *argument*/);
nishimura_taku_pet 16:ffc732a3cf92 197 void trace(/*void const *argument*/);
nishimura_taku_pet 40:75e1ad7c27e4 198 void watchsurrounding3();
nishimura_taku_pet 40:75e1ad7c27e4 199 void watchsurrounding5();
yangtzuli 2:38825726cb1b 200 int watch();
takuminomura 48:3003ea51c619 201 char battery_ch[8];
yangtzuli 5:3fffb364744b 202 void bChange();
yangtzuli 3:2ae6218973be 203 void display();
yangtzuli 3:2ae6218973be 204 void lcdBacklight(void const *argument);
nishimura_taku_pet 45:76e8c07d76ef 205 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
nishimura_taku_pet 43:243c1455f88a 206 void wifi(/*void const *argument*/);
takuminomura 48:3003ea51c619 207 Thread *deco_thread; // decodeIRをスレッド化 ：+3
nishimura_taku_pet 43:243c1455f88a 208 Thread *wifi_thread;
takuminomura 48:3003ea51c619 209 //wifi_thread(wifi,NULL,osPriorityHigh); // wifiをスレッド化
takuminomura 48:3003ea51c619 210 Thread *motor_thread; // motorをスレッド化 ：+2
takuminomura 48:3003ea51c619 211 RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
takuminomura 48:3003ea51c619 212 Thread *avoi_thread; // avoidanceをスレッド化：+2
takuminomura 48:3003ea51c619 213 Thread *trace_thread; // traceをスレッド化 ：+2
yangtzuli 2:38825726cb1b 214
nishimura_taku_pet 24:9481c8f56a49 215 DigitalOut led1(LED1);
nishimura_taku_pet 24:9481c8f56a49 216 DigitalOut led2(LED2);
nishimura_taku_pet 24:9481c8f56a49 217 DigitalOut led3(LED3);
nishimura_taku_pet 24:9481c8f56a49 218 DigitalOut led4(LED4);
yangtzuli 3:2ae6218973be 219
nishimura_taku_pet 33:a6f1090e0174 220 void setup(){
nishimura_taku_pet 33:a6f1090e0174 221 deco_thread = new Thread(decodeIR);
nishimura_taku_pet 33:a6f1090e0174 222 deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 223 motor_thread = new Thread(motor);
nishimura_taku_pet 33:a6f1090e0174 224 motor_thread -> set_priority(osPriorityHigh);
takuminomura 48:3003ea51c619 225 // wifi_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 226 display();
nishimura_taku_pet 33:a6f1090e0174 227 }
nishimura_taku_pet 33:a6f1090e0174 228
tomotsugu 8:a47dbf4fa455 229 /* リモコン受信スレッド */
takuminomura 48:3003ea51c619 230 void decodeIR(/*void const *argument*/){
takuminomura 48:3003ea51c619 231 while(1){
yangtzuli 0:0d0037aabe41 232 // 受信待ち
tomotsugu 8:a47dbf4fa455 233 if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli 3:2ae6218973be 234 bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu 8:a47dbf4fa455 235 if(bitcount > 1){ // 受信成功
yangtzuli 1:5bb497a38344 236 code=0;
tomotsugu 15:5eef1955f6c2 237 for(int j = 0; j < 4; j++){
yangtzuli 1:5bb497a38344 238 code+=(buf[j]<<(8*(3-j)));
yangtzuli 1:5bb497a38344 239 }
tomotsugu 8:a47dbf4fa455 240 if(mode != SPEED){ // スピードモード以外なら
takuminomura 48:3003ea51c619 241 beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli 3:2ae6218973be 242 }
yangtzuli 0:0d0037aabe41 243 switch(code){
tomotsugu 8:a47dbf4fa455 244 case 0x40bf27d8: // クイック
yangtzuli 17:f7259ab2fe86 245 //pc.printf("mode = SPEED\r\n");
takuminomura 48:3003ea51c619 246 mode = SPEED; // スピードモード
tomotsugu 8:a47dbf4fa455 247 changeSpeed(); // 速度変更
tomotsugu 8:a47dbf4fa455 248 display(); // ディスプレイ表示
tomotsugu 8:a47dbf4fa455 249 mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli 1:5bb497a38344 250 break;
tomotsugu 8:a47dbf4fa455 251 case 0x40be34cb: // レグザリンク
yangtzuli 17:f7259ab2fe86 252 //pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 253 if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 254 delete trace_thread;
nishimura_taku_pet 16:ffc732a3cf92 255 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 256 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 257 }
tomotsugu 8:a47dbf4fa455 258 mode=LINE_TRACE; // ライントレースモード
tomotsugu 8:a47dbf4fa455 259 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 260 break;
tomotsugu 8:a47dbf4fa455 261 case 0x40bf6e91: // 番組表
yangtzuli 17:f7259ab2fe86 262 //pc.printf("mode = AVOIDANCE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 263 if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 264 delete avoi_thread;
nishimura_taku_pet 16:ffc732a3cf92 265 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 266 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 267 }
tomotsugu 18:6cca64c7dbc3 268 flag_a = 0;
tomotsugu 8:a47dbf4fa455 269 mode=AVOIDANCE; // 障害物回避モード
tomotsugu 13:1a7667d0aa78 270 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 271 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 272 break;
takuminomura 48:3003ea51c619 273 case 0x40bf3ec1: // ↑
yangtzuli 17:f7259ab2fe86 274 //pc.printf("mode = ADVANCE\r\n");
tomotsugu 8:a47dbf4fa455 275 mode = ADVANCE; // 前進モード
tomotsugu 8:a47dbf4fa455 276 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 277 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 278 break;
takuminomura 48:3003ea51c619 279 case 0x40bf3fc0: // ↓
yangtzuli 17:f7259ab2fe86 280 //pc.printf("mode = BACK\r\n");
tomotsugu 8:a47dbf4fa455 281 mode = BACK; // 後退モード
tomotsugu 8:a47dbf4fa455 282 run = BACK; // 後退
tomotsugu 8:a47dbf4fa455 283 display(); // ディスプレイ表示
yangtzuli 0:0d0037aabe41 284 break;
takuminomura 48:3003ea51c619 285 case 0x40bf5fa0: // ←
yangtzuli 17:f7259ab2fe86 286 //pc.printf("mode = LEFT\r\n");
tomotsugu 8:a47dbf4fa455 287 mode = LEFT; // 左折モード
tomotsugu 8:a47dbf4fa455 288 run = LEFT; // 左折
tomotsugu 8:a47dbf4fa455 289 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 290 break;
takuminomura 48:3003ea51c619 291 case 0x40bf5ba4: // →
yangtzuli 17:f7259ab2fe86 292 //pc.printf("mode = RIGHT\r\n");
tomotsugu 8:a47dbf4fa455 293 mode = RIGHT; // 右折モード
tomotsugu 8:a47dbf4fa455 294 run = RIGHT; // 右折
tomotsugu 8:a47dbf4fa455 295 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 296 break;
takuminomura 48:3003ea51c619 297 case 0x40bf3dc2: // 決定
yangtzuli 17:f7259ab2fe86 298 //pc.printf("mode = STOP\r\n");
tomotsugu 8:a47dbf4fa455 299 mode = STOP; // 停止モード
tomotsugu 8:a47dbf4fa455 300 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 301 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 302 break;
yangtzuli 0:0d0037aabe41 303 default:
yangtzuli 0:0d0037aabe41 304 ;
yangtzuli 0:0d0037aabe41 305 }
nishimura_taku_pet 16:ffc732a3cf92 306 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 307 trace_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 308 }
nishimura_taku_pet 16:ffc732a3cf92 309 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 310 avoi_thread->terminate();
nishimura_taku_pet 28:cb51cafca490 311 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 16:ffc732a3cf92 312 }
yangtzuli 0:0d0037aabe41 313 }
yangtzuli 0:0d0037aabe41 314 }
takuminomura 48:3003ea51c619 315 if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
takuminomura 48:3003ea51c619 316 viewTimer.stop(); // タイマーストップ
takuminomura 48:3003ea51c619 317 viewTimer.reset(); // タイマーリセット
takuminomura 48:3003ea51c619 318 display(); // ディスプレイ表示
yangtzuli 4:3f80c0180e2f 319 }
takuminomura 48:3003ea51c619 320 ThisThread::sleep_for(90); // 90ms待つ
takuminomura 48:3003ea51c619 321 }
yangtzuli 2:38825726cb1b 322 }
tomotsugu 8:a47dbf4fa455 323
tomotsugu 8:a47dbf4fa455 324 /* モーター制御スレッド */
nishimura_taku_pet 33:a6f1090e0174 325 void motor(/*void const *argument*/){
tomotsugu 8:a47dbf4fa455 326 while(1){
tomotsugu 8:a47dbf4fa455 327 /* 走行状態の場合分け */
yangtzuli 3:2ae6218973be 328 switch(run){
tomotsugu 8:a47dbf4fa455 329 /* 前進 */
yangtzuli 3:2ae6218973be 330 case ADVANCE:
takuminomura 48:3003ea51c619 331 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
takuminomura 48:3003ea51c619 332 motorR2 = LOW; // 右後退モーターOFF
takuminomura 48:3003ea51c619 333 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
takuminomura 48:3003ea51c619 334 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 335 break;
tomotsugu 8:a47dbf4fa455 336 /* 右折 */
yangtzuli 3:2ae6218973be 337 case RIGHT:
takuminomura 48:3003ea51c619 338 motorR1 = LOW; // 右前進モーターOFF
takuminomura 48:3003ea51c619 339 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
takuminomura 48:3003ea51c619 340 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
takuminomura 48:3003ea51c619 341 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 342 break;
tomotsugu 8:a47dbf4fa455 343 /* 左折 */
yangtzuli 3:2ae6218973be 344 case LEFT:
takuminomura 48:3003ea51c619 345 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
takuminomura 48:3003ea51c619 346 motorR2 = LOW; // 右後退モーターOFF
takuminomura 48:3003ea51c619 347 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 348 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 349 break;
tomotsugu 8:a47dbf4fa455 350 /* 後退 */
yangtzuli 3:2ae6218973be 351 case BACK:
takuminomura 48:3003ea51c619 352 motorR1 = LOW; // 右前進モーターOFF
takuminomura 48:3003ea51c619 353 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
takuminomura 48:3003ea51c619 354 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 355 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 356 break;
tomotsugu 8:a47dbf4fa455 357 /* 停止 */
yangtzuli 3:2ae6218973be 358 case STOP:
tomotsugu 8:a47dbf4fa455 359 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 360 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 361 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 362 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 363 break;
takuminomura 49:7224132f4b0e 364 /* 低速右折 */
takuminomura 49:7224132f4b0e 365 case LT_R:
takuminomura 49:7224132f4b0e 366 motorR1 = motorSpeedR2[flag_sp]; // 右前進モーターON
takuminomura 49:7224132f4b0e 367 motorR2 = LOW; // 右後退モーターOFF
takuminomura 49:7224132f4b0e 368 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
takuminomura 49:7224132f4b0e 369 motorL2 = LOW; // 左後退モーターOFF
takuminomura 49:7224132f4b0e 370 break;
takuminomura 49:7224132f4b0e 371 /* 低速左折 */
takuminomura 49:7224132f4b0e 372 case LT_L:
takuminomura 49:7224132f4b0e 373 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
takuminomura 49:7224132f4b0e 374 motorR2 = LOW; // 右後退モーターOFF
takuminomura 49:7224132f4b0e 375 motorL1 = motorSpeedL2[flag_sp]; // 左前進モーターON
takuminomura 49:7224132f4b0e 376 motorL2 = LOW; // 左後退モーターOFF
takuminomura 49:7224132f4b0e 377 break;
yangtzuli 3:2ae6218973be 378 }
tomotsugu 8:a47dbf4fa455 379 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 380 flag_sp %= 3; // スピード変更フラグ調整
yangtzuli 6:800a745c7f2e 381 }
takuminomura 48:3003ea51c619 382 ThisThread::sleep_for(3); // 30ms待つ
yangtzuli 2:38825726cb1b 383 }
yangtzuli 2:38825726cb1b 384 }
tomotsugu 8:a47dbf4fa455 385
tomotsugu 8:a47dbf4fa455 386 /* スピード変更関数 */
yangtzuli 3:2ae6218973be 387 void changeSpeed(){
tomotsugu 8:a47dbf4fa455 388 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 389 flag_sp = 0; // スピード変更フラグを0にする
tomotsugu 8:a47dbf4fa455 390 }else{ // それ以外
takuminomura 48:3003ea51c619 391 flag_sp = flag_sp + 1; // スピード変更フラグを+1
takuminomura 48:3003ea51c619 392 }
yangtzuli 3:2ae6218973be 393 }
tomotsugu 8:a47dbf4fa455 394
tomotsugu 8:a47dbf4fa455 395 /* ライントレーススレッド */
takuminomura 49:7224132f4b0e 396 //void trace(){
takuminomura 49:7224132f4b0e 397 // // PID用
takuminomura 49:7224132f4b0e 398 // while(1){
takuminomura 49:7224132f4b0e 399 // ThisThread::sleep_for(3);
takuminomura 49:7224132f4b0e 400 // }
takuminomura 49:7224132f4b0e 401 //}
tomotsugu 20:02bb875a9b13 402 void trace(){
takuminomura 48:3003ea51c619 403 while(1){
takuminomura 48:3003ea51c619 404 /* 各センサー値読み取り */
takuminomura 48:3003ea51c619 405 int sensor1 = ss1;
takuminomura 48:3003ea51c619 406 int sensor2 = ss2;
takuminomura 48:3003ea51c619 407 int sensor3 = ss3;
takuminomura 48:3003ea51c619 408 int sensor4 = ss4;
takuminomura 48:3003ea51c619 409 int sensor5 = ss5;
takuminomura 48:3003ea51c619 410 int sensD = 0;
takuminomura 48:3003ea51c619 411
takuminomura 48:3003ea51c619 412 /* センサー値の決定 */
takuminomura 48:3003ea51c619 413 if(sensor1 > 0) sensD |= 0x10;
takuminomura 48:3003ea51c619 414 if(sensor2 > 0) sensD |= 0x08;
takuminomura 48:3003ea51c619 415 if(sensor3 > 0) sensD |= 0x04;
takuminomura 48:3003ea51c619 416 if(sensor4 > 0) sensD |= 0x02;
takuminomura 48:3003ea51c619 417 if(sensor5 > 0) sensD |= 0x01;
takuminomura 48:3003ea51c619 418
takuminomura 48:3003ea51c619 419 /* センサー値によって場合分け */
takuminomura 48:3003ea51c619 420 switch(sensArray[sensD]){
takuminomura 48:3003ea51c619 421 case 1:
takuminomura 48:3003ea51c619 422 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 423 beforeRun = run;
takuminomura 48:3003ea51c619 424 run = ADVANCE; // 高速で前進
takuminomura 48:3003ea51c619 425 break;
takuminomura 48:3003ea51c619 426 case 2:
takuminomura 48:3003ea51c619 427 flag_sp = flag_sp % 3 + 3;
takuminomura 48:3003ea51c619 428 beforeRun = run;
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 48:3003ea51c619 434 beforeRun = run;
takuminomura 49:7224132f4b0e 435 // run = LEFT; // 低速で左折
takuminomura 49:7224132f4b0e 436 run = LT_L; // 低速で左折
takuminomura 48:3003ea51c619 437 break;
takuminomura 48:3003ea51c619 438 case 4:
takuminomura 48:3003ea51c619 439 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 440 beforeRun = run;
takuminomura 48:3003ea51c619 441 run = RIGHT; // 中速で右折
takuminomura 48:3003ea51c619 442 break;
takuminomura 48:3003ea51c619 443 case 5:
takuminomura 48:3003ea51c619 444 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 445 beforeRun = run;
takuminomura 48:3003ea51c619 446 run = LEFT; // 中速で左折
takuminomura 48:3003ea51c619 447 break;
takuminomura 48:3003ea51c619 448 case 6:
takuminomura 48:3003ea51c619 449 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 450 beforeRun = run;
takuminomura 48:3003ea51c619 451 run = RIGHT; // 高速で右折
takuminomura 48:3003ea51c619 452 break;
takuminomura 48:3003ea51c619 453 case 7:
takuminomura 48:3003ea51c619 454 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 455 beforeRun = run;
takuminomura 48:3003ea51c619 456 run = LEFT; // 高速で左折
takuminomura 48:3003ea51c619 457 break;
takuminomura 48:3003ea51c619 458 default:
takuminomura 48:3003ea51c619 459 break; // 前回動作を継続
tomotsugu 18:6cca64c7dbc3 460 }
takuminomura 48:3003ea51c619 461 // ThisThread::sleep_for(30); // 30ms待つ
takuminomura 48:3003ea51c619 462 ThisThread::sleep_for(3);
takuminomura 48:3003ea51c619 463 }
yangtzuli 3:2ae6218973be 464 }
yangtzuli 3:2ae6218973be 465
tomotsugu 8:a47dbf4fa455 466 /* 障害物回避走行スレッド */
tomotsugu 20:02bb875a9b13 467 void avoidance(){
nishimura_taku_pet 46:c6deb699160b 468 int i;
yangtzuli 3:2ae6218973be 469 while(1){
nishimura_taku_pet 40:75e1ad7c27e4 470 watchsurrounding3();
takuminomura 48:3003ea51c619 471 // pc.printf("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR);
takuminomura 48:3003ea51c619 472 if(flag_a == 0){ // 障害物がない場合
takuminomura 48:3003ea51c619 473 run = ADVANCE; // 前進
takuminomura 48:3003ea51c619 474 }else{ // 障害物がある場合
tomotsugu 18:6cca64c7dbc3 475 i = 0;
takuminomura 48:3003ea51c619 476 if(SC < 15){ // 正面15cm以内に障害物が現れた場合
nishimura_taku_pet 41:3c58a4be1199 477 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 41:3c58a4be1199 478 ThisThread::sleep_for(100); // 100ms待つ
takuminomura 48:3003ea51c619 479 run = BACK; // 後退
nishimura_taku_pet 40:75e1ad7c27e4 480 int cnt_kyori=0;
nishimura_taku_pet 40:75e1ad7c27e4 481 int kyori = watch();
takuminomura 48:3003ea51c619 482 while(kyori < limit){ // 正面20cm以内に障害物がある間
nishimura_taku_pet 40:75e1ad7c27e4 483 if(kyori==-1){
nishimura_taku_pet 40:75e1ad7c27e4 484 cnt_kyori++;
nishimura_taku_pet 40:75e1ad7c27e4 485 if(cnt_kyori>15){
nishimura_taku_pet 40:75e1ad7c27e4 486 cnt_kyori=0;
nishimura_taku_pet 40:75e1ad7c27e4 487 break;
nishimura_taku_pet 40:75e1ad7c27e4 488 }
nishimura_taku_pet 40:75e1ad7c27e4 489 }
nishimura_taku_pet 40:75e1ad7c27e4 490 kyori = watch();
tomotsugu 18:6cca64c7dbc3 491 }
nishimura_taku_pet 40:75e1ad7c27e4 492 /*while(i < 30){ // 正面20cm以内に障害物がある間
nishimura_taku_pet 40:75e1ad7c27e4 493 if(watch() < limit){
nishimura_taku_pet 40:75e1ad7c27e4 494 break;
nishimura_taku_pet 40:75e1ad7c27e4 495 }
nishimura_taku_pet 40:75e1ad7c27e4 496 i++;
nishimura_taku_pet 40:75e1ad7c27e4 497 }
nishimura_taku_pet 40:75e1ad7c27e4 498 i = 0;*/
takuminomura 48:3003ea51c619 499 run = STOP; // 停止
yangtzuli 3:2ae6218973be 500 }
nishimura_taku_pet 40:75e1ad7c27e4 501 watchsurrounding5();
takuminomura 48:3003ea51c619 502 if(SC < limit && SLD < limit && SL < limit && SRD < limit && SR < limit){ // 全方向に障害物がある場合
takuminomura 48:3003ea51c619 503 run = LEFT; // 左折
nishimura_taku_pet 28:cb51cafca490 504 while(i < 1){ // 進行方向確認
tomotsugu 18:6cca64c7dbc3 505 if(watch() > limit){
tomotsugu 18:6cca64c7dbc3 506 i++;
nishimura_taku_pet 28:cb51cafca490 507 }else{
nishimura_taku_pet 28:cb51cafca490 508 i = 0;
yangtzuli 2:38825726cb1b 509 }
yangtzuli 2:38825726cb1b 510 }
nishimura_taku_pet 28:cb51cafca490 511 run = STOP; // 停止
takuminomura 48:3003ea51c619 512 }else { // 全方向以外
nishimura_taku_pet 28:cb51cafca490 513 far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 514 houkou = 1; // 進行方向を前に設定
nishimura_taku_pet 28:cb51cafca490 515 if(far < SLD || far < SL){ // 左または左前がより遠い場合
nishimura_taku_pet 28:cb51cafca490 516 if(SL < SLD){ // 左前が左より遠い場合
nishimura_taku_pet 28:cb51cafca490 517 far = SLD; // 左前を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 518 }else{ // 左が左前より遠い場合
nishimura_taku_pet 28:cb51cafca490 519 far = SL; // 左を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 520 }
nishimura_taku_pet 28:cb51cafca490 521 houkou = 2; // 進行方向を左に設定
nishimura_taku_pet 28:cb51cafca490 522 }
nishimura_taku_pet 28:cb51cafca490 523 if(far < SRD || far < SR){ // 右または右前がより遠い場合
nishimura_taku_pet 28:cb51cafca490 524 if(SR < SRD){ // 右前が右より遠い場合
nishimura_taku_pet 28:cb51cafca490 525 far = SRD; // 右前を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 526 }else{ // 右が右前よりも遠い場合
nishimura_taku_pet 28:cb51cafca490 527 far = SR; // 右を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 528 }
nishimura_taku_pet 28:cb51cafca490 529 houkou = 3; // 進行方向を右に設定
nishimura_taku_pet 28:cb51cafca490 530 }
nishimura_taku_pet 28:cb51cafca490 531 switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet 28:cb51cafca490 532 case 1: // 前の場合
nishimura_taku_pet 28:cb51cafca490 533 run = ADVANCE; // 前進
nishimura_taku_pet 40:75e1ad7c27e4 534 ThisThread::sleep_for(500); // 0.5秒待つ
nishimura_taku_pet 28:cb51cafca490 535 break;
takuminomura 48:3003ea51c619 536 case 2: // 左の場合
nishimura_taku_pet 28:cb51cafca490 537 run = LEFT; // 左折
nishimura_taku_pet 40:75e1ad7c27e4 538 //int kyori = watch();
nishimura_taku_pet 40:75e1ad7c27e4 539 //int kyori_f=0;
nishimura_taku_pet 40:75e1ad7c27e4 540 while(i < 20){ // 進行方向確認
nishimura_taku_pet 40:75e1ad7c27e4 541 /*if(kyori > (far - 2) || kyori_f == 2){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
takuminomura 48:3003ea51c619 542 break; // ループ+
nishimura_taku_pet 40:75e1ad7c27e4 543 }else if(kyori==-1){
nishimura_taku_pet 40:75e1ad7c27e4 544 kyori_f++;
nishimura_taku_pet 40:75e1ad7c27e4 545 }else{
nishimura_taku_pet 40:75e1ad7c27e4 546 kyori_f = 0;
nishimura_taku_pet 40:75e1ad7c27e4 547 i++;
nishimura_taku_pet 40:75e1ad7c27e4 548 }*/
nishimura_taku_pet 28:cb51cafca490 549 if(watch() > (far - 2)){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
takuminomura 48:3003ea51c619 550 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 551 }else{
nishimura_taku_pet 40:75e1ad7c27e4 552 i++;
nishimura_taku_pet 28:cb51cafca490 553 }
nishimura_taku_pet 28:cb51cafca490 554 }
nishimura_taku_pet 28:cb51cafca490 555 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 556 break;
takuminomura 48:3003ea51c619 557 case 3: // 右の場合
nishimura_taku_pet 28:cb51cafca490 558 run = RIGHT; // 右折
nishimura_taku_pet 45:76e8c07d76ef 559 //int kyori = watch();
nishimura_taku_pet 45:76e8c07d76ef 560 //int kyori_f=0;
nishimura_taku_pet 40:75e1ad7c27e4 561 while(i < 20){ // 進行方向確認
nishimura_taku_pet 40:75e1ad7c27e4 562 /*if(kyori > (far - 2) || kyori_f == 2){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
nishimura_taku_pet 40:75e1ad7c27e4 563 break; // ループ+
nishimura_taku_pet 40:75e1ad7c27e4 564 }else if(kyori==-1){
nishimura_taku_pet 40:75e1ad7c27e4 565 kyori_f++;
nishimura_taku_pet 40:75e1ad7c27e4 566 }else{
nishimura_taku_pet 40:75e1ad7c27e4 567 kyori_f = 0;
nishimura_taku_pet 40:75e1ad7c27e4 568 i++;
nishimura_taku_pet 40:75e1ad7c27e4 569 }*/
nishimura_taku_pet 28:cb51cafca490 570 if(watch() > (far - 2)){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
takuminomura 48:3003ea51c619 571 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 572 }else{
nishimura_taku_pet 40:75e1ad7c27e4 573 i++;
nishimura_taku_pet 28:cb51cafca490 574 }
nishimura_taku_pet 28:cb51cafca490 575 }
nishimura_taku_pet 28:cb51cafca490 576 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 577 break;
nishimura_taku_pet 28:cb51cafca490 578 }
yangtzuli 5:3fffb364744b 579 }
nishimura_taku_pet 28:cb51cafca490 580 }
nishimura_taku_pet 28:cb51cafca490 581 flag_a = 0; // 障害物有無フラグを0にセット
nishimura_taku_pet 40:75e1ad7c27e4 582 if(SLD < 29){ // 正面15cm以内に障害物が現れた場合
nishimura_taku_pet 40:75e1ad7c27e4 583 run = RIGHT; // 右折
nishimura_taku_pet 41:3c58a4be1199 584 ThisThread::sleep_for(200); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 585 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 586 }else if(SRD < 29){
nishimura_taku_pet 40:75e1ad7c27e4 587 run = LEFT; // 左折
nishimura_taku_pet 41:3c58a4be1199 588 ThisThread::sleep_for(200); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 589 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 590 }
yangtzuli 2:38825726cb1b 591 }
yangtzuli 2:38825726cb1b 592 }
tomotsugu 8:a47dbf4fa455 593
tomotsugu 8:a47dbf4fa455 594 /* 距離計測関数 */
yangtzuli 2:38825726cb1b 595 int watch(){
tomotsugu 21:68d38e8f64b5 596 do{
tomotsugu 21:68d38e8f64b5 597 trig = 0;
tomotsugu 21:68d38e8f64b5 598 ThisThread::sleep_for(5); // 5ms待つ
tomotsugu 21:68d38e8f64b5 599 trig = 1;
tomotsugu 21:68d38e8f64b5 600 ThisThread::sleep_for(15); // 15ms待つ
tomotsugu 21:68d38e8f64b5 601 trig = 0;
tomotsugu 21:68d38e8f64b5 602 timer.start();
yangtzuli 17:f7259ab2fe86 603 t1=timer.read_ms();
nishimura_taku_pet 29:600e4b9b5c5b 604 while(echo.read() == 0 && t1<10){
tomotsugu 21:68d38e8f64b5 605 t1=timer.read_ms();
tomotsugu 21:68d38e8f64b5 606 led1 = 1;
tomotsugu 21:68d38e8f64b5 607 }
tomotsugu 21:68d38e8f64b5 608 timer.stop();
tomotsugu 21:68d38e8f64b5 609 timer.reset();
nishimura_taku_pet 28:cb51cafca490 610 /*if((t1-t2) >= 10){
nishimura_taku_pet 28:cb51cafca490 611 run = STOP;*/
nishimura_taku_pet 29:600e4b9b5c5b 612 }while(t1 >= 10);
tomotsugu 21:68d38e8f64b5 613 timer.start(); // 距離計測タイマースタート
tomotsugu 21:68d38e8f64b5 614 while(echo.read() == 1){
yangtzuli 5:3fffb364744b 615 }
tomotsugu 21:68d38e8f64b5 616 timer.stop(); // 距離計測タイマーストップ
tomotsugu 21:68d38e8f64b5 617 DT = (int)(timer.read_us()*0.01657); // 距離計算
nishimura_taku_pet 28:cb51cafca490 618 if(DT > 1000){
nishimura_taku_pet 28:cb51cafca490 619 DT = -1;
nishimura_taku_pet 28:cb51cafca490 620 }else if(DT > 150){ // 検知範囲外なら100cmに設定
tomotsugu 22:c6e2a3b9aa14 621 DT = 150;
yangtzuli 2:38825726cb1b 622 }
tomotsugu 21:68d38e8f64b5 623 timer.reset(); // 距離計測タイマーリセット
tomotsugu 8:a47dbf4fa455 624 led1 = 0;
yangtzuli 2:38825726cb1b 625 return DT;
yangtzuli 0:0d0037aabe41 626 }
yangtzuli 0:0d0037aabe41 627
tomotsugu 8:a47dbf4fa455 628 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 629 void watchsurrounding3(){
nishimura_taku_pet 28:cb51cafca490 630 //servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 631 //ThisThread::sleep_for(200); // 100ms待つ
yangtzuli 2:38825726cb1b 632 SC = watch();
nishimura_taku_pet 28:cb51cafca490 633 if(SC < limit){ // 正面20cm以内に障害物がある場合
takuminomura 48:3003ea51c619 634 if(SC!=-1){
nishimura_taku_pet 28:cb51cafca490 635 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 636 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 637 return;
nishimura_taku_pet 28:cb51cafca490 638 }
yangtzuli 2:38825726cb1b 639 }
yangtzuli 2:38825726cb1b 640 servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet 28:cb51cafca490 641 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 642 SLD = watch();
yangtzuli 2:38825726cb1b 643 if(SLD < limit){ // 左前20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 644 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 645 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 646 return;
yangtzuli 2:38825726cb1b 647 }
tomotsugu 19:c6f9f010bd9e 648 servo.pulsewidth_us(1450);
nishimura_taku_pet 42:56022456ef23 649 ThisThread::sleep_for(150);
tomotsugu 19:c6f9f010bd9e 650 SC = watch();
tomotsugu 19:c6f9f010bd9e 651 if(SC < limit){
takuminomura 48:3003ea51c619 652 if(SC!=-1){
takuminomura 48:3003ea51c619 653 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 654 flag_a = 1;
takuminomura 48:3003ea51c619 655 return;
nishimura_taku_pet 28:cb51cafca490 656 }
tomotsugu 19:c6f9f010bd9e 657 }
yangtzuli 2:38825726cb1b 658 servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet 28:cb51cafca490 659 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 660 SRD = watch();
yangtzuli 2:38825726cb1b 661 if(SRD < limit){ // 右前20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 662 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 663 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 664 return;
yangtzuli 2:38825726cb1b 665 }
nishimura_taku_pet 40:75e1ad7c27e4 666 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 40:75e1ad7c27e4 667 ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 668 /*if(SC < limit || SLD < limit || SL < limit || SRD < limit || SR < limit){ // 20cm以内に障害物を検知した場合
nishimura_taku_pet 40:75e1ad7c27e4 669 flag_a = 1; // 障害物有無フラグに1をセット
nishimura_taku_pet 40:75e1ad7c27e4 670 }*/
nishimura_taku_pet 40:75e1ad7c27e4 671 }
nishimura_taku_pet 40:75e1ad7c27e4 672
nishimura_taku_pet 40:75e1ad7c27e4 673 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 674 void watchsurrounding5(){
nishimura_taku_pet 40:75e1ad7c27e4 675 //servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 40:75e1ad7c27e4 676 //ThisThread::sleep_for(200); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 677 SC = watch();
nishimura_taku_pet 40:75e1ad7c27e4 678 servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 679 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 680 SLD = watch();
nishimura_taku_pet 40:75e1ad7c27e4 681 servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet 40:75e1ad7c27e4 682 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 683 SL = watch();
nishimura_taku_pet 40:75e1ad7c27e4 684 servo.pulsewidth_us(1450);
nishimura_taku_pet 40:75e1ad7c27e4 685 ThisThread::sleep_for(250);
nishimura_taku_pet 40:75e1ad7c27e4 686 SC = watch();
nishimura_taku_pet 40:75e1ad7c27e4 687 servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 688 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 689 SRD = watch();
yangtzuli 2:38825726cb1b 690 servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet 28:cb51cafca490 691 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 692 SR = watch();
yangtzuli 2:38825726cb1b 693 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 694 ThisThread::sleep_for(250); // 100ms待つ
yangtzuli 3:2ae6218973be 695 }
yangtzuli 3:2ae6218973be 696
tomotsugu 8:a47dbf4fa455 697 /* ディスプレイ表示関数 */
yangtzuli 3:2ae6218973be 698 void display(){
tomotsugu 8:a47dbf4fa455 699 mutex.lock(); // ミューテックスロック
yangtzuli 3:2ae6218973be 700 lcd.setAddress(0,1);
tomotsugu 8:a47dbf4fa455 701
tomotsugu 8:a47dbf4fa455 702 /* 操作モードによる場合分け */
yangtzuli 3:2ae6218973be 703 switch(mode){
tomotsugu 8:a47dbf4fa455 704 /* 前進 */
yangtzuli 3:2ae6218973be 705 case ADVANCE:
yangtzuli 3:2ae6218973be 706 lcd.printf("Mode:Advance ");
yangtzuli 3:2ae6218973be 707 break;
tomotsugu 8:a47dbf4fa455 708 /* 右折 */
yangtzuli 3:2ae6218973be 709 case RIGHT:
yangtzuli 5:3fffb364744b 710 lcd.printf("Mode:TurnRight ");
yangtzuli 3:2ae6218973be 711 break;
tomotsugu 8:a47dbf4fa455 712 /* 左折 */
yangtzuli 3:2ae6218973be 713 case LEFT:
yangtzuli 5:3fffb364744b 714 lcd.printf("Mode:TurnLeft ");
yangtzuli 3:2ae6218973be 715 break;
tomotsugu 8:a47dbf4fa455 716 /* 後退 */
yangtzuli 3:2ae6218973be 717 case BACK:
yangtzuli 3:2ae6218973be 718 lcd.printf("Mode:Back ");
yangtzuli 3:2ae6218973be 719 break;
tomotsugu 8:a47dbf4fa455 720 /* 停止 */
yangtzuli 3:2ae6218973be 721 case STOP:
yangtzuli 3:2ae6218973be 722 lcd.printf("Mode:Stop ");
yangtzuli 3:2ae6218973be 723 break;
tomotsugu 8:a47dbf4fa455 724 /* 待ち */
yangtzuli 3:2ae6218973be 725 case READY:
yangtzuli 3:2ae6218973be 726 lcd.printf("Mode:Ready ");
yangtzuli 3:2ae6218973be 727 break;
tomotsugu 8:a47dbf4fa455 728 /* ライントレース */
yangtzuli 3:2ae6218973be 729 case LINE_TRACE:
yangtzuli 3:2ae6218973be 730 lcd.printf("Mode:LineTrace ");
yangtzuli 3:2ae6218973be 731 break;
tomotsugu 8:a47dbf4fa455 732 /* 障害物回避 */
yangtzuli 3:2ae6218973be 733 case AVOIDANCE:
yangtzuli 3:2ae6218973be 734 lcd.printf("Mode:Avoidance ");
yangtzuli 3:2ae6218973be 735 break;
tomotsugu 8:a47dbf4fa455 736 /* スピード制御 */
yangtzuli 3:2ae6218973be 737 case SPEED:
tomotsugu 8:a47dbf4fa455 738 /* スピードの状態で場合分け */
takuminomura 48:3003ea51c619 739 switch(flag_sp % 3){
tomotsugu 8:a47dbf4fa455 740 /* 普通 */
yangtzuli 3:2ae6218973be 741 case(NORMAL):
yangtzuli 3:2ae6218973be 742 lcd.printf("Speed:Normal ");
yangtzuli 3:2ae6218973be 743 break;
tomotsugu 8:a47dbf4fa455 744 /* 速い */
yangtzuli 3:2ae6218973be 745 case(FAST):
yangtzuli 3:2ae6218973be 746 lcd.printf("Speed:Fast ");
yangtzuli 3:2ae6218973be 747 break;
tomotsugu 8:a47dbf4fa455 748 /* とても速い */
yangtzuli 3:2ae6218973be 749 case(VERYFAST):
yangtzuli 3:2ae6218973be 750 lcd.printf("Speed:VeryFast ");
yangtzuli 3:2ae6218973be 751 break;
yangtzuli 3:2ae6218973be 752 }
tomotsugu 8:a47dbf4fa455 753 viewTimer.reset(); // タイマーリセット
tomotsugu 8:a47dbf4fa455 754 viewTimer.start(); // タイマースタート
takuminomura 48:3003ea51c619 755 break;
yangtzuli 3:2ae6218973be 756 }
tomotsugu 8:a47dbf4fa455 757 mutex.unlock(); // ミューテックスアンロック
yangtzuli 3:2ae6218973be 758 }
yangtzuli 3:2ae6218973be 759
tomotsugu 8:a47dbf4fa455 760 /* バックライト点滅 */
yangtzuli 3:2ae6218973be 761 void lcdBacklight(void const *argument){
tomotsugu 8:a47dbf4fa455 762 if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu 8:a47dbf4fa455 763 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 8:a47dbf4fa455 764 }else{ // バックライト点滅フラグが0なら
tomotsugu 8:a47dbf4fa455 765 lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli 3:2ae6218973be 766 }
tomotsugu 8:a47dbf4fa455 767 flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli 3:2ae6218973be 768 }
yangtzuli 2:38825726cb1b 769
tomotsugu 8:a47dbf4fa455 770 /* バッテリー残量更新関数 */
yangtzuli 5:3fffb364744b 771 void bChange(){
yangtzuli 17:f7259ab2fe86 772 //pc.printf(" bChange1\r\n");
tomotsugu 10:d193030ce672 773 b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10;
tomotsugu 10:d193030ce672 774 if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu 10:d193030ce672 775 b = 0;
tomotsugu 10:d193030ce672 776 //lcd.setBacklight(TextLCD::LightOff);
tomotsugu 10:d193030ce672 777 //run = STOP;
tomotsugu 10:d193030ce672 778 //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 779 }
tomotsugu 10:d193030ce672 780 mutex.lock(); // ミューテックスロック
tomotsugu 10:d193030ce672 781 lcd.setAddress(0,0);
tomotsugu 10:d193030ce672 782 lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
takuminomura 48:3003ea51c619 783 mutex.unlock(); // ミューテックスアンロック
tomotsugu 10:d193030ce672 784 if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu 10:d193030ce672 785 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 786 //bTimer.attach(lcdBacklight,0.5);
tomotsugu 10:d193030ce672 787 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 788 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 789 }
tomotsugu 10:d193030ce672 790 }else{
tomotsugu 10:d193030ce672 791 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 792 //bTimer.detach();
tomotsugu 10:d193030ce672 793 bTimer.stop(); // バックライトタイマーストップ
tomotsugu 10:d193030ce672 794 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 10:d193030ce672 795 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 796 }
tomotsugu 10:d193030ce672 797 }
yangtzuli 2:38825726cb1b 798 }
nishimura_taku_pet 24:9481c8f56a49 799 // Serial Interrupt read ESP data
nishimura_taku_pet 24:9481c8f56a49 800 void callback()
nishimura_taku_pet 24:9481c8f56a49 801 {
nishimura_taku_pet 24:9481c8f56a49 802 //pc.printf("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 803 led3=1;
nishimura_taku_pet 24:9481c8f56a49 804 while (esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 805 webbuff[ount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 806 ount++;
nishimura_taku_pet 24:9481c8f56a49 807 }
nishimura_taku_pet 24:9481c8f56a49 808 if(strlen(webbuff)>bufflen) {
takuminomura 48:3003ea51c619 809 // pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 810 DataRX=1;
nishimura_taku_pet 24:9481c8f56a49 811 led3=0;
nishimura_taku_pet 24:9481c8f56a49 812 }
nishimura_taku_pet 24:9481c8f56a49 813 }
takuminomura 48:3003ea51c619 814
nishimura_taku_pet 43:243c1455f88a 815 void wifi(/*void const *argument*/)
nishimura_taku_pet 24:9481c8f56a49 816 {
nishimura_taku_pet 24:9481c8f56a49 817 pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet 33:a6f1090e0174 818 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 819 led1=1,led2=0,led3=0;
nishimura_taku_pet 24:9481c8f56a49 820 timeout=6000;
nishimura_taku_pet 24:9481c8f56a49 821 getcount=500;
nishimura_taku_pet 24:9481c8f56a49 822 getreply();
nishimura_taku_pet 24:9481c8f56a49 823 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet 24:9481c8f56a49 824 startserver();
takuminomura 48:3003ea51c619 825
nishimura_taku_pet 24:9481c8f56a49 826 while(1) {
nishimura_taku_pet 24:9481c8f56a49 827 if(DataRX==1) {
nishimura_taku_pet 24:9481c8f56a49 828 click_flag = 1;
nishimura_taku_pet 24:9481c8f56a49 829 ReadWebData();
takuminomura 48:3003ea51c619 830 if (servreq == 1 && weberror == 0) { // ページ表示のリクエストがあったとき
nishimura_taku_pet 24:9481c8f56a49 831 sendpage();
nishimura_taku_pet 24:9481c8f56a49 832 }
nishimura_taku_pet 24:9481c8f56a49 833 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 834 servreq=0;
nishimura_taku_pet 24:9481c8f56a49 835 }
nishimura_taku_pet 24:9481c8f56a49 836 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 837 }
nishimura_taku_pet 24:9481c8f56a49 838 }
nishimura_taku_pet 24:9481c8f56a49 839 // Static WEB page
nishimura_taku_pet 24:9481c8f56a49 840 void sendpage()
nishimura_taku_pet 24:9481c8f56a49 841 {
nishimura_taku_pet 24:9481c8f56a49 842 // WEB page data
nishimura_taku_pet 24:9481c8f56a49 843 strcpy(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet 24:9481c8f56a49 844 strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
molberry 38:39db3f7450c2 845 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 846 strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet 24:9481c8f56a49 847 strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
takuminomura 48:3003ea51c619 848 strcat(webbuff, "<input type=\"text\" id=\"leftms\" size=4 value=250>%</strong>");
molberry 38:39db3f7450c2 849 strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"rel()\">RELOAD</button>");
nishimura_taku_pet 24:9481c8f56a49 850 strcat(webbuff, "</td></p>");
nishimura_taku_pet 24:9481c8f56a49 851 strcat(webbuff, "<br>");
nishimura_taku_pet 24:9481c8f56a49 852 strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 853
molberry 35:4cda290bdb87 854 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 855 case ADVANCE: //前進
nishimura_taku_pet 24:9481c8f56a49 856 strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 857 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 858 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 859 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 860 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 861 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 862 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 863 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 864 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 865 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 866 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 867 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 868 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 869 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 870 break;
molberry 35:4cda290bdb87 871 case LEFT: //左折
nishimura_taku_pet 24:9481c8f56a49 872 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 873 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 874 strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 875 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 876 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 877 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 878 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 879 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 880 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 881 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 882 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 883 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 884 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 885 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 886 break;
molberry 35:4cda290bdb87 887 case STOP: //停止
nishimura_taku_pet 24:9481c8f56a49 888 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 889 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 890 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 891 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 892 strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 893 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 894 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 895 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 896 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 897 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 898 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 899 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 900 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 901 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 902 break;
molberry 35:4cda290bdb87 903 case RIGHT: //右折
nishimura_taku_pet 24:9481c8f56a49 904 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 905 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 906 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 907 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 908 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 909 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 910 strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 911 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 912 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 913 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 914 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 915 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 916 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 917 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 918 break;
molberry 35:4cda290bdb87 919 case BACK: //後進
nishimura_taku_pet 24:9481c8f56a49 920 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 921 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 922 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 923 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 924 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 925 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 926 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 927 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 928 strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 929 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet 24:9481c8f56a49 930 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 931 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 932 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 933 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 934 break;
molberry 35:4cda290bdb87 935 case AVOIDANCE: //障害物回避
nishimura_taku_pet 24:9481c8f56a49 936 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 937 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 938 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 939 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 940 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 941 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 942 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 943 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 944 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 945 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 946 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 947 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 948 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 949 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 950 break;
molberry 35:4cda290bdb87 951 case LINE_TRACE: //ライントレース
nishimura_taku_pet 24:9481c8f56a49 952 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 953 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 954 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 955 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 956 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 957 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 958 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 959 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 960 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 961 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 962 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 963 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 964 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 965 strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 966 break;
molberry 35:4cda290bdb87 967 default: //その他
nishimura_taku_pet 24:9481c8f56a49 968 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 969 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 970 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 971 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 972 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 973 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 974 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 975 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 976 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 977 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 978 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 979 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 980 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 981 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 982 break;
nishimura_taku_pet 24:9481c8f56a49 983 }
nishimura_taku_pet 24:9481c8f56a49 984 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 985 strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet 24:9481c8f56a49 986 strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 987 //ready示速度だけ点灯
molberry 35:4cda290bdb87 988 switch (flag_sp) { //現在の速度のボタン表示
molberry 35:4cda290bdb87 989 case 0: //ノーマル
nishimura_taku_pet 24:9481c8f56a49 990 strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 991 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 992 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 993 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 994 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 995 break;
molberry 35:4cda290bdb87 996 case 1: //ファスト
nishimura_taku_pet 24:9481c8f56a49 997 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 998 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 999 strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1000 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 1001 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1002 break;
molberry 35:4cda290bdb87 1003 case 2: //ベリーファスト
nishimura_taku_pet 24:9481c8f56a49 1004 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1005 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 1006 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1007 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 1008 strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1009 break;
molberry 35:4cda290bdb87 1010 default: //その他
nishimura_taku_pet 24:9481c8f56a49 1011 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1012 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 1013 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1014 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 1015 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 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, "</center>");
nishimura_taku_pet 24:9481c8f56a49 1020 strcat(webbuff, "</body>");
nishimura_taku_pet 24:9481c8f56a49 1021 strcat(webbuff, "</html>");
molberry 35:4cda290bdb87 1022 strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
molberry 38:39db3f7450c2 1023 strcat(webbuff, "function rel(){");
molberry 38:39db3f7450c2 1024 strcat(webbuff, "location.reload();");
molberry 38:39db3f7450c2 1025 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1026 strcat(webbuff, "function htmlacs(url) {");
nishimura_taku_pet 24:9481c8f56a49 1027 strcat(webbuff, "var xhr = new XMLHttpRequest();");
nishimura_taku_pet 24:9481c8f56a49 1028 strcat(webbuff, "xhr.open(\"GET\", url);");
nishimura_taku_pet 24:9481c8f56a49 1029 strcat(webbuff, "xhr.send(\"\");");
nishimura_taku_pet 24:9481c8f56a49 1030 strcat(webbuff, "}");
takuminomura 48:3003ea51c619 1031 //0825
takuminomura 48:3003ea51c619 1032 //0824 battery update auto
takuminomura 48:3003ea51c619 1033 strcat(webbuff, "function battery_update() {");
takuminomura 48:3003ea51c619 1034 strcat(webbuff, "var url1 = \"http://\" + window.location.hostname+ \"/cargo?a=responseBattery\";");
takuminomura 48:3003ea51c619 1035 strcat(webbuff, "var xhr1 = new XMLHttpRequest();");
takuminomura 48:3003ea51c619 1036 strcat(webbuff, "xhr1.open(\"GET\", url1);");
takuminomura 48:3003ea51c619 1037 //0820
takuminomura 48:3003ea51c619 1038 strcat(webbuff, "xhr1.onreadystatechange = function(){");
takuminomura 48:3003ea51c619 1039 strcat(webbuff, "if(this.readyState == 4 && this.status == 200){");
takuminomura 48:3003ea51c619 1040 strcat(webbuff, "var res1 = xhr1.responseText;");
takuminomura 48:3003ea51c619 1041 //color
takuminomura 48:3003ea51c619 1042 strcat(webbuff, "var battery_num=res1;");
takuminomura 48:3003ea51c619 1043 strcat(webbuff, "if(battery_num>0 && battery_num<31){");
takuminomura 48:3003ea51c619 1044 strcat(webbuff, "document.getElementById('leftms').style.color=\"red\";");
takuminomura 48:3003ea51c619 1045 strcat(webbuff, "}");
takuminomura 48:3003ea51c619 1046 strcat(webbuff, "if(battery_num>39 && battery_num<61){");
takuminomura 48:3003ea51c619 1047 strcat(webbuff, "document.getElementById('leftms').style.color=\"orange\";");
takuminomura 48:3003ea51c619 1048 strcat(webbuff, "}");
takuminomura 48:3003ea51c619 1049 strcat(webbuff, "if(battery_num>69 && battery_num<101){");
takuminomura 48:3003ea51c619 1050 strcat(webbuff, "document.getElementById('leftms').style.color=\"blue\";");
takuminomura 48:3003ea51c619 1051 strcat(webbuff, "}");
takuminomura 48:3003ea51c619 1052 //color
takuminomura 48:3003ea51c619 1053 strcat(webbuff, "document.getElementById('leftms').value=res1;}};");
takuminomura 48:3003ea51c619 1054 //0820
takuminomura 48:3003ea51c619 1055 strcat(webbuff, "xhr1.send();");
takuminomura 48:3003ea51c619 1056 strcat(webbuff, "}");
takuminomura 48:3003ea51c619 1057 strcat(webbuff, "setInterval(battery_update,15000);");
takuminomura 48:3003ea51c619 1058 //0824 battery update auto
takuminomura 48:3003ea51c619 1059 //0825
molberry 35:4cda290bdb87 1060 strcat(webbuff, "function send_mes(btnmes,btnval){"); //mode変更ボタン入力時の点灯消灯判定
nishimura_taku_pet 24:9481c8f56a49 1061 strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet 24:9481c8f56a49 1062 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1063 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1064 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1065 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1066 strcat(webbuff, "for(var i=1;i<8;i++){");
nishimura_taku_pet 24:9481c8f56a49 1067 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1068 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1069 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1070 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1071 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1072 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1073 strcat(webbuff, "}");
molberry 35:4cda290bdb87 1074 strcat(webbuff, "function send_mes_spe(btnmes,btnval){"); //speed変更ボタン入力時の点灯消灯判定
nishimura_taku_pet 24:9481c8f56a49 1075 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1076 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1077 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1078 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1079 strcat(webbuff, "for(var i=8;i<11;i++){");
nishimura_taku_pet 24:9481c8f56a49 1080 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1081 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1082 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1083 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1084 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1085 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1086 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1087 strcat(webbuff, "</script>");
nishimura_taku_pet 24:9481c8f56a49 1088 // end of WEB page data
nishimura_taku_pet 24:9481c8f56a49 1089 bufl = strlen(webbuff); // get total page buffer length
nishimura_taku_pet 24:9481c8f56a49 1090
nishimura_taku_pet 24:9481c8f56a49 1091 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 1092 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1093 getcount=40;
nishimura_taku_pet 24:9481c8f56a49 1094 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1095 getreply();
nishimura_taku_pet 24:9481c8f56a49 1096 //pastthrough mode
nishimura_taku_pet 24:9481c8f56a49 1097 SendWEB(); // send web page
nishimura_taku_pet 24:9481c8f56a49 1098 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1099 sendcheck();
nishimura_taku_pet 24:9481c8f56a49 1100 }
nishimura_taku_pet 24:9481c8f56a49 1101
nishimura_taku_pet 24:9481c8f56a49 1102 // Large WEB buffer data send
nishimura_taku_pet 24:9481c8f56a49 1103 void SendWEB()
nishimura_taku_pet 24:9481c8f56a49 1104 {
nishimura_taku_pet 24:9481c8f56a49 1105 int i=0;
nishimura_taku_pet 24:9481c8f56a49 1106 if(esp.writeable()) {
nishimura_taku_pet 24:9481c8f56a49 1107 while(webbuff[i]!='\0') {
nishimura_taku_pet 24:9481c8f56a49 1108 esp.putc(webbuff[i]);
nishimura_taku_pet 24:9481c8f56a49 1109 //****
nishimura_taku_pet 24:9481c8f56a49 1110 //output at command when 2000
nishimura_taku_pet 24:9481c8f56a49 1111 if(((i%2047)==0) && (i>0)) {
takuminomura 48:3003ea51c619 1112 ThisThread::sleep_for(100);
takuminomura 48:3003ea51c619 1113 sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048*(i/2047))>2048?2048:(bufl-2048*(i/2047))); // send IPD link channel and buffer character length.
nishimura_taku_pet 24:9481c8f56a49 1114 timeout=600;
nishimura_taku_pet 24:9481c8f56a49 1115 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1116 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1117 getreply();
nishimura_taku_pet 24:9481c8f56a49 1118 }
nishimura_taku_pet 24:9481c8f56a49 1119 //****
nishimura_taku_pet 24:9481c8f56a49 1120 i++;
nishimura_taku_pet 24:9481c8f56a49 1121 }
nishimura_taku_pet 24:9481c8f56a49 1122 }
nishimura_taku_pet 24:9481c8f56a49 1123 }
nishimura_taku_pet 24:9481c8f56a49 1124
nishimura_taku_pet 24:9481c8f56a49 1125
takuminomura 48:3003ea51c619 1126 void sendpage2()
takuminomura 48:3003ea51c619 1127 {
takuminomura 48:3003ea51c619 1128 // WEB page data
takuminomura 48:3003ea51c619 1129 sprintf(battery_ch,"%d",b);
takuminomura 48:3003ea51c619 1130 strcpy(webbuff, battery_ch);
takuminomura 48:3003ea51c619 1131 // end of WEB page data
takuminomura 48:3003ea51c619 1132 bufl = strlen(webbuff); // get total page buffer length
takuminomura 48:3003ea51c619 1133
takuminomura 48:3003ea51c619 1134 sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl>2048?2048:bufl)); // send IPD link channel and buffer character length.
takuminomura 48:3003ea51c619 1135 timeout=500;
takuminomura 48:3003ea51c619 1136 getcount=40;
takuminomura 48:3003ea51c619 1137 SendCMD();
takuminomura 48:3003ea51c619 1138 getreply();
takuminomura 48:3003ea51c619 1139 //pastthrough mode
takuminomura 48:3003ea51c619 1140 SendWEB(); // send web page
takuminomura 48:3003ea51c619 1141 memset(webbuff, '\0', sizeof(webbuff));
takuminomura 48:3003ea51c619 1142 sendcheck();
takuminomura 48:3003ea51c619 1143 }
takuminomura 48:3003ea51c619 1144
nishimura_taku_pet 24:9481c8f56a49 1145 void sendcheck()
nishimura_taku_pet 24:9481c8f56a49 1146 {
nishimura_taku_pet 24:9481c8f56a49 1147 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1148 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1149 getcount=24;
nishimura_taku_pet 24:9481c8f56a49 1150 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1151 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1152
nishimura_taku_pet 24:9481c8f56a49 1153 if(weberror==1) { // restart connection
nishimura_taku_pet 24:9481c8f56a49 1154 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet 24:9481c8f56a49 1155 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1156 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1157 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1158 getreply();
nishimura_taku_pet 24:9481c8f56a49 1159 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1160 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1161 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1162 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1163 getreply();
nishimura_taku_pet 24:9481c8f56a49 1164 } else {
nishimura_taku_pet 24:9481c8f56a49 1165 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet 24:9481c8f56a49 1166 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1167 getreply();
nishimura_taku_pet 24:9481c8f56a49 1168 }
nishimura_taku_pet 24:9481c8f56a49 1169 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1170 }
nishimura_taku_pet 24:9481c8f56a49 1171
nishimura_taku_pet 24:9481c8f56a49 1172 // Reads and processes GET and POST web data
nishimura_taku_pet 24:9481c8f56a49 1173 void ReadWebData()
nishimura_taku_pet 24:9481c8f56a49 1174 {
nishimura_taku_pet 30:c80da0ecc260 1175 ThisThread::sleep_for(200);
nishimura_taku_pet 24:9481c8f56a49 1176 esp.attach(NULL);
nishimura_taku_pet 24:9481c8f56a49 1177 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1178 DataRX=0;
nishimura_taku_pet 24:9481c8f56a49 1179 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1180 memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet 24:9481c8f56a49 1181 int x = strcspn (webbuff,"+");
nishimura_taku_pet 24:9481c8f56a49 1182 if(x) {
nishimura_taku_pet 24:9481c8f56a49 1183 strcpy(webdata, webbuff + x);
nishimura_taku_pet 24:9481c8f56a49 1184 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1185 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
takuminomura 48:3003ea51c619 1186 if( strstr(webdata, "responseBattery") != NULL ) {
takuminomura 48:3003ea51c619 1187 click_flag = 0;
takuminomura 48:3003ea51c619 1188 led4=!led4;
takuminomura 48:3003ea51c619 1189 sendpage2();
takuminomura 48:3003ea51c619 1190 }
nishimura_taku_pet 43:243c1455f88a 1191 if( strstr(webdata, "Normal") != NULL ) {
nishimura_taku_pet 43:243c1455f88a 1192 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1193 flag_sp = 0;
nishimura_taku_pet 43:243c1455f88a 1194 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1195 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1196 }else if( strstr(webdata, "VeryFast") != NULL ) {
nishimura_taku_pet 43:243c1455f88a 1197 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1198 flag_sp = 2;
nishimura_taku_pet 43:243c1455f88a 1199 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1200 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1201 }else if( strstr(webdata, "Fast") != NULL ) {
nishimura_taku_pet 43:243c1455f88a 1202 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1203 flag_sp = 1;
nishimura_taku_pet 43:243c1455f88a 1204 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1205 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1206 }else{
nishimura_taku_pet 43:243c1455f88a 1207 beforeMode = mode;
nishimura_taku_pet 43:243c1455f88a 1208 }
nishimura_taku_pet 24:9481c8f56a49 1209 if( strstr(webdata, "GO") != NULL ) {
yangtzuli 37:0cde453dce7d 1210 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1211 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1212 run = ADVANCE; // 前進
molberry 35:4cda290bdb87 1213 mode = ADVANCE; // モード変更
molberry 35:4cda290bdb87 1214 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1215 }
takuminomura 48:3003ea51c619 1216
nishimura_taku_pet 24:9481c8f56a49 1217 if( strstr(webdata, "LEFT") != NULL ) {
yangtzuli 37:0cde453dce7d 1218 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1219 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1220 run = LEFT; // 左折
molberry 35:4cda290bdb87 1221 mode = LEFT; // モード変更
molberry 35:4cda290bdb87 1222 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1223 }
nishimura_taku_pet 24:9481c8f56a49 1224
nishimura_taku_pet 24:9481c8f56a49 1225 if( strstr(webdata, "STOP") != NULL ) {
yangtzuli 37:0cde453dce7d 1226 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1227 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1228 run = STOP; // 停止
molberry 35:4cda290bdb87 1229 mode = STOP; // モード変更
molberry 35:4cda290bdb87 1230 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1231 }
nishimura_taku_pet 24:9481c8f56a49 1232
nishimura_taku_pet 24:9481c8f56a49 1233 if( strstr(webdata, "RIGHT") != NULL ) {
yangtzuli 37:0cde453dce7d 1234 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1235 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1236 run = RIGHT; // 右折
molberry 35:4cda290bdb87 1237 mode = RIGHT; // モード変更
molberry 35:4cda290bdb87 1238 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1239 }
nishimura_taku_pet 24:9481c8f56a49 1240
nishimura_taku_pet 24:9481c8f56a49 1241 if( strstr(webdata, "BACK") != NULL ) {
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 = BACK; // 後進
molberry 35:4cda290bdb87 1245 mode = BACK; // モード変更
molberry 35:4cda290bdb87 1246 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1247 }
nishimura_taku_pet 24:9481c8f56a49 1248
nishimura_taku_pet 24:9481c8f56a49 1249 if( strstr(webdata, "AVOIDANCE") != NULL ) {
nishimura_taku_pet 26:0badbc9f9cb3 1250 if(avoi_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1251 delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1252 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 26:0badbc9f9cb3 1253 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1254 }
nishimura_taku_pet 24:9481c8f56a49 1255 mode=AVOIDANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1256 run = ADVANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1257 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1258 }
nishimura_taku_pet 24:9481c8f56a49 1259 if( strstr(webdata, "LINE_TRACE") != NULL ) {
nishimura_taku_pet 26:0badbc9f9cb3 1260 if(trace_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1261 delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1262 trace_thread = new Thread(trace);
nishimura_taku_pet 26:0badbc9f9cb3 1263 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1264 }
nishimura_taku_pet 24:9481c8f56a49 1265 mode=LINE_TRACE;
nishimura_taku_pet 26:0badbc9f9cb3 1266 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1267 }
nishimura_taku_pet 26:0badbc9f9cb3 1268 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1269 trace_thread->terminate();
nishimura_taku_pet 26:0badbc9f9cb3 1270 }
nishimura_taku_pet 26:0badbc9f9cb3 1271 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1272 avoi_thread->terminate();
nishimura_taku_pet 31:3665282561d6 1273 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 26:0badbc9f9cb3 1274 }
nishimura_taku_pet 24:9481c8f56a49 1275 sprintf(channel, "%d",linkID);
nishimura_taku_pet 24:9481c8f56a49 1276 if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1277 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1278 }
nishimura_taku_pet 24:9481c8f56a49 1279 if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1280 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1281 }
nishimura_taku_pet 24:9481c8f56a49 1282 webcounter++;
nishimura_taku_pet 24:9481c8f56a49 1283 sprintf(webcount, "%d",webcounter);
nishimura_taku_pet 24:9481c8f56a49 1284 } else {
nishimura_taku_pet 24:9481c8f56a49 1285 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1286 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1287 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1288 }
nishimura_taku_pet 24:9481c8f56a49 1289 }
nishimura_taku_pet 24:9481c8f56a49 1290 // Starts and restarts webserver if errors detected.
nishimura_taku_pet 24:9481c8f56a49 1291 void startserver()
nishimura_taku_pet 24:9481c8f56a49 1292 {
nishimura_taku_pet 24:9481c8f56a49 1293 pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1294 strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet 24:9481c8f56a49 1295 timeout=8000;
nishimura_taku_pet 24:9481c8f56a49 1296 getcount=1000;
nishimura_taku_pet 24:9481c8f56a49 1297 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1298 getreply();
nishimura_taku_pet 24:9481c8f56a49 1299 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1300 pc.printf("%d",ount);
nishimura_taku_pet 24:9481c8f56a49 1301 if (strstr(replybuff, "OK") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1302 pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1303 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet 24:9481c8f56a49 1304 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1305 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1306 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1307 getreply();
nishimura_taku_pet 24:9481c8f56a49 1308 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1309 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1310 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1311 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1312 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1313 getreply();
nishimura_taku_pet 24:9481c8f56a49 1314 pc.printf(replybuff);
nishimura_taku_pet 33:a6f1090e0174 1315 ThisThread::sleep_for(500);
nishimura_taku_pet 24:9481c8f56a49 1316 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet 24:9481c8f56a49 1317 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1318 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1319 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1320 getreply();
nishimura_taku_pet 24:9481c8f56a49 1321 pc.printf(replybuff);
nishimura_taku_pet 25:8ed98982faa7 1322 ThisThread::sleep_for(5000);
nishimura_taku_pet 24:9481c8f56a49 1323 pc.printf("\n Getting Server IP \r\n");
nishimura_taku_pet 24:9481c8f56a49 1324 strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet 24:9481c8f56a49 1325 timeout=2500;
nishimura_taku_pet 24:9481c8f56a49 1326 getcount=200;
nishimura_taku_pet 24:9481c8f56a49 1327 while(weberror==0) {
nishimura_taku_pet 24:9481c8f56a49 1328 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1329 getreply();
nishimura_taku_pet 24:9481c8f56a49 1330 if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet 24:9481c8f56a49 1331 weberror=1; // wait for valid IP
nishimura_taku_pet 24:9481c8f56a49 1332 }
nishimura_taku_pet 24:9481c8f56a49 1333 }
nishimura_taku_pet 24:9481c8f56a49 1334 pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1335 pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1336 replybuff[strlen(replybuff)-1] = '\0';
nishimura_taku_pet 24:9481c8f56a49 1337 sprintf(webdata,"%s", replybuff);
nishimura_taku_pet 24:9481c8f56a49 1338 pc.printf(webdata);
nishimura_taku_pet 24:9481c8f56a49 1339 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1340 bufflen=200;
nishimura_taku_pet 24:9481c8f56a49 1341 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1342 pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet 33:a6f1090e0174 1343 setup();
nishimura_taku_pet 24:9481c8f56a49 1344 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1345 } else {
nishimura_taku_pet 24:9481c8f56a49 1346 pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1347 led1=1;
nishimura_taku_pet 24:9481c8f56a49 1348 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1349 led3=1;
nishimura_taku_pet 24:9481c8f56a49 1350 led4=1;
nishimura_taku_pet 24:9481c8f56a49 1351 while(1) {
nishimura_taku_pet 24:9481c8f56a49 1352 led1=!led1;
nishimura_taku_pet 24:9481c8f56a49 1353 led2=!led2;
nishimura_taku_pet 24:9481c8f56a49 1354 led3=!led3;
nishimura_taku_pet 24:9481c8f56a49 1355 led4=!led4;
nishimura_taku_pet 25:8ed98982faa7 1356 ThisThread::sleep_for(1000);
nishimura_taku_pet 24:9481c8f56a49 1357 }
nishimura_taku_pet 24:9481c8f56a49 1358 }
nishimura_taku_pet 24:9481c8f56a49 1359 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1360 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1361 }
nishimura_taku_pet 24:9481c8f56a49 1362 // ESP Command data send
nishimura_taku_pet 24:9481c8f56a49 1363 void SendCMD()
nishimura_taku_pet 24:9481c8f56a49 1364 {
nishimura_taku_pet 24:9481c8f56a49 1365 esp.printf("%s", cmdbuff);
nishimura_taku_pet 24:9481c8f56a49 1366 }
nishimura_taku_pet 24:9481c8f56a49 1367 // Get Command and ESP status replies
nishimura_taku_pet 24:9481c8f56a49 1368 void getreply()
nishimura_taku_pet 24:9481c8f56a49 1369 {
nishimura_taku_pet 24:9481c8f56a49 1370 memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet 24:9481c8f56a49 1371 time1.reset();
nishimura_taku_pet 24:9481c8f56a49 1372 time1.start();
nishimura_taku_pet 24:9481c8f56a49 1373 replycount=0;
nishimura_taku_pet 24:9481c8f56a49 1374 while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet 24:9481c8f56a49 1375 if(esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 1376 replybuff[replycount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 1377 replycount++;
nishimura_taku_pet 24:9481c8f56a49 1378 }
nishimura_taku_pet 24:9481c8f56a49 1379 }
nishimura_taku_pet 24:9481c8f56a49 1380 time1.stop();
nishimura_taku_pet 24:9481c8f56a49 1381 }
takuminomura 48:3003ea51c619 1382
tomotsugu 8:a47dbf4fa455 1383 /* mainスレッド */
yangtzuli 0:0d0037aabe41 1384 int main() {
tomotsugu 8:a47dbf4fa455 1385 /* 初期設定 */
takuminomura 48:3003ea51c619 1386 // wifi_thread = new Thread(wifi);
takuminomura 48:3003ea51c619 1387 // wifi_thread -> set_priority(osPriorityHigh);
takuminomura 48:3003ea51c619 1388 setup();
nishimura_taku_pet 16:ffc732a3cf92 1389 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 1390 avoi_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 1391 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 1392 trace_thread->terminate();
tomotsugu 8:a47dbf4fa455 1393 mode = READY; // 現在待ちモード
tomotsugu 8:a47dbf4fa455 1394 beforeMode = READY; // 前回待ちモード
tomotsugu 8:a47dbf4fa455 1395 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 1396 flag_sp = NORMAL; // スピード(普通)
tomotsugu 10:d193030ce672 1397 lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet 33:a6f1090e0174 1398 lcd.setAddress(0,1);
nishimura_taku_pet 33:a6f1090e0174 1399 lcd.printf("Mode:SetUp");
takuminomura 48:3003ea51c619 1400 display(); // ディスプレイ表示
yangtzuli 2:38825726cb1b 1401
yangtzuli 0:0d0037aabe41 1402 while(1){
tomotsugu 8:a47dbf4fa455 1403 bChange(); // バッテリー残量更新
yangtzuli 0:0d0037aabe41 1404 }
yangtzuli 0:0d0037aabe41 1405 }