mbed_robotcar / Mbed OS saikyo

linetrace saikyou

Dependencies:   RemoteIR TextLCD

main.cpp@52:c868403753e8, 2020-09-02 (annotated)

Committer:
tomotsugu
Date:
Wed Sep 02 06:56:39 2020 +0000
Revision:
52:c868403753e8
Parent:
51:1baf4407f384
Child:
53:debc8879ba5d
saikyo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yangtzuli 0:0d0037aabe41 1 /* mbed Microcontroller Library
yangtzuli 0:0d0037aabe41 2 * Copyright (c) 2019 ARM Limited
yangtzuli 0:0d0037aabe41 3 * SPDX-License-Identifier: Apache-2.0
yangtzuli 0:0d0037aabe41 4 */
yangtzuli 0:0d0037aabe41 5
yangtzuli 0:0d0037aabe41 6 #include "mbed.h"
yangtzuli 0:0d0037aabe41 7 #include "ReceiverIR.h"
yangtzuli 0:0d0037aabe41 8 #include "rtos.h"
yangtzuli 0:0d0037aabe41 9 #include <stdint.h>
yangtzuli 0:0d0037aabe41 10 #include "platform/mbed_thread.h"
yangtzuli 2:38825726cb1b 11 #include "TextLCD.h"
yangtzuli 0:0d0037aabe41 12
nishimura_taku_pet 27:90962c01bfeb 13 RawSerial pc(USBTX, USBRX);
yangtzuli 0:0d0037aabe41 14
yangtzuli 3:2ae6218973be 15 /* マクロ定義、列挙型定義 */
takuminomura 48:3003ea51c619 16 #define MIN_V 2.0 // 電圧の最小値
takuminomura 48:3003ea51c619 17 #define MAX_V 2.67 // 電圧の最大値
takuminomura 48:3003ea51c619 18 #define LOW 0 // モーターOFF
takuminomura 48:3003ea51c619 19 #define HIGH 1 // モーターON
takuminomura 48:3003ea51c619 20 #define NORMAL 0 // 普通
takuminomura 48:3003ea51c619 21 #define FAST 1 // 速い
takuminomura 48:3003ea51c619 22 #define VERYFAST 2 // とても速い
takuminomura 48:3003ea51c619 23
takuminomura 49:7224132f4b0e 24
takuminomura 49:7224132f4b0e 25
takuminomura 49:7224132f4b0e 26 /* // 右回り37.21[s]
takuminomura 49:7224132f4b0e 27 #define S 0.9
takuminomura 49:7224132f4b0e 28 #define VF 1.2
takuminomura 48:3003ea51c619 29 #define REVERSE 0.5
takuminomura 48:3003ea51c619 30
takuminomura 48:3003ea51c619 31 #define MBED04 0.781//Mbed04号機の左右のモーター速度比(R:L = 1: 0.781)
takuminomura 48:3003ea51c619 32 #define MBED05 0.953//Mbed05号機の左右のモーター速度比(R:L = 1: 0.953)
takuminomura 49:7224132f4b0e 33 #define MBED07 1
takuminomura 49:7224132f4b0e 34 // MSR = Motor Speed Right
takuminomura 49:7224132f4b0e 35 // MSL = Motor Speed Left
takuminomura 49:7224132f4b0e 36 #define MSR0 0.5 // 基準速度Normal
takuminomura 49:7224132f4b0e 37 #define MSR1 0.6 // 基準速度Fast
takuminomura 49:7224132f4b0e 38 #define MSR2 0.7 // 基準速度VeryFast
takuminomura 49:7224132f4b0e 39 */
takuminomura 49:7224132f4b0e 40
takuminomura 49:7224132f4b0e 41
takuminomura 49:7224132f4b0e 42
takuminomura 49:7224132f4b0e 43 #define S 0.9
takuminomura 49:7224132f4b0e 44 #define VF 1
takuminomura 49:7224132f4b0e 45 #define REVERSE 0.5
takuminomura 49:7224132f4b0e 46
nishimura_taku_pet 51:1baf4407f384 47 #define MBED02 0.719 //Mbed02号機の左右のモーター速度比(R:L = 1: 0.719)
takuminomura 49:7224132f4b0e 48 #define MBED04 0.781 //Mbed04号機の左右のモーター速度比(R:L = 1: 0.781)
takuminomura 49:7224132f4b0e 49 #define MBED05 0.953 //Mbed05号機の左右のモーター速度比(R:L = 1: 0.953)
takuminomura 49:7224132f4b0e 50 #define MBED07 1
takuminomura 49:7224132f4b0e 51 // MSR = Motor Speed Right
takuminomura 49:7224132f4b0e 52 // MSL = Motor Speed Left
takuminomura 49:7224132f4b0e 53 #define MSR0 0.55 // 基準速度Normal
takuminomura 49:7224132f4b0e 54 #define MSR1 0.6 // 基準速度Fast
takuminomura 49:7224132f4b0e 55 #define MSR2 0.65 // 基準速度VeryFast
takuminomura 49:7224132f4b0e 56
takuminomura 49:7224132f4b0e 57 #define MSR3 MSR0*S // 低速旋回(Normalの時)
takuminomura 49:7224132f4b0e 58 #define MSR4 MSR1*S*S // 低速旋回(Fastの時)
takuminomura 49:7224132f4b0e 59 #define MSR5 MSR2*S*S*S // 低速旋回(VeryFastの時)
takuminomura 49:7224132f4b0e 60 #define MSR6 MSR0*VF // 高速(Normalの時)
takuminomura 49:7224132f4b0e 61 #define MSR7 MSR1*VF // 高速(Fastの時)
takuminomura 49:7224132f4b0e 62 #define MSR8 MSR2*VF // 高速(VeryFastの時)
takuminomura 49:7224132f4b0e 63 #define MSL0 MSR0*MBED07
takuminomura 49:7224132f4b0e 64 #define MSL1 MSR1*MBED07
takuminomura 49:7224132f4b0e 65 #define MSL2 MSR2*MBED07
takuminomura 49:7224132f4b0e 66 #define MSL3 MSR3*MBED07
takuminomura 49:7224132f4b0e 67 #define MSL4 MSR4*MBED07
takuminomura 49:7224132f4b0e 68 #define MSL5 MSR5*MBED07
takuminomura 49:7224132f4b0e 69 #define MSL6 MSR6*MBED07
takuminomura 49:7224132f4b0e 70 #define MSL7 MSR7*MBED07
takuminomura 49:7224132f4b0e 71 #define MSL8 MSR8*MBED07
yangtzuli 2:38825726cb1b 72
tomotsugu 8:a47dbf4fa455 73 /* 操作モード定義 */
yangtzuli 3:2ae6218973be 74 enum MODE{
tomotsugu 8:a47dbf4fa455 75 READY = -1, // -1：待ち
tomotsugu 8:a47dbf4fa455 76 ADVANCE = 1, // 1：前進
tomotsugu 8:a47dbf4fa455 77 RIGHT, // 2：右折
tomotsugu 8:a47dbf4fa455 78 LEFT, // 3：左折
tomotsugu 8:a47dbf4fa455 79 BACK, // 4：後退
tomotsugu 8:a47dbf4fa455 80 STOP, // 5：停止
tomotsugu 8:a47dbf4fa455 81 LINE_TRACE, // 6：ライントレース
tomotsugu 8:a47dbf4fa455 82 AVOIDANCE, // 7：障害物回避
tomotsugu 8:a47dbf4fa455 83 SPEED, // 8：スピード制御
takuminomura 49:7224132f4b0e 84 LT_R, // 9:低速右折(ライントレース時)
mori2020 50:ee78382fd399 85 LT_L, // 10:低速左折(ライントレース時)
mori2020 50:ee78382fd399 86 ARIGHT,
mori2020 50:ee78382fd399 87 ALEFT,
yangtzuli 2:38825726cb1b 88 };
yangtzuli 2:38825726cb1b 89
yangtzuli 3:2ae6218973be 90 /* ピン配置 */
yangtzuli 3:2ae6218973be 91 ReceiverIR ir(p5); // リモコン操作
yangtzuli 3:2ae6218973be 92 DigitalOut trig(p6); // 超音波センサtrigger
yangtzuli 5:3fffb364744b 93 DigitalIn echo(p7); // 超音波センサecho
yangtzuli 3:2ae6218973be 94 DigitalIn ss1(p8); // ライントレースセンサ(左)
yangtzuli 3:2ae6218973be 95 DigitalIn ss2(p9); // ライントレースセンサ
yangtzuli 3:2ae6218973be 96 DigitalIn ss3(p10); // ライントレースセンサ
yangtzuli 3:2ae6218973be 97 DigitalIn ss4(p11); // ライントレースセンサ
yangtzuli 3:2ae6218973be 98 DigitalIn ss5(p12); // ライントレースセンサ(右)
nishimura_taku_pet 24:9481c8f56a49 99 RawSerial esp(p13, p14); // Wi-Fiモジュール(tx, rx)
yangtzuli 3:2ae6218973be 100 AnalogIn battery(p15); // 電池残量読み取り(Max 3.3V)
takuminomura 48:3003ea51c619 101 PwmOut motorR2(p22); // 右モーター後退
takuminomura 48:3003ea51c619 102 PwmOut motorR1(p21); // 右モーター前進
yangtzuli 3:2ae6218973be 103 PwmOut motorL2(p23); // 左モーター後退
yangtzuli 3:2ae6218973be 104 PwmOut motorL1(p24); // 左モーター前進
yangtzuli 3:2ae6218973be 105 PwmOut servo(p25); // サーボ
yangtzuli 3:2ae6218973be 106 I2C i2c_lcd(p28,p27); // LCD(tx, rx)
yangtzuli 2:38825726cb1b 107
yangtzuli 3:2ae6218973be 108 /* 変数宣言 */
nishimura_taku_pet 51:1baf4407f384 109 MODE mode; // 操作モード
yangtzuli 3:2ae6218973be 110 int run; // 走行状態
nishimura_taku_pet 51:1baf4407f384 111 MODE beforeMode; // 前回のモード
tomotsugu 8:a47dbf4fa455 112 int flag_sp = 0; // スピード変化フラグ
tomotsugu 8:a47dbf4fa455 113 Timer viewTimer; // スピ―ド変更時に3秒計測タイマー
takuminomura 48:3003ea51c619 114
takuminomura 48:3003ea51c619 115 float motorSpeedR1[9] = {MSR0, MSR1, MSR2, MSR3 , MSR4 , MSR5 , MSR6 , MSR7 , MSR8 };
takuminomura 48:3003ea51c619 116 //float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3*REVERSE, MSR4*REVERSE, MSR5*REVERSE, MSR6*REVERSE, MSR7*REVERSE, MSR8*REVERSE};
takuminomura 48:3003ea51c619 117 float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3*REVERSE, MSR4*REVERSE, MSR5*REVERSE, MSR6, MSR7, MSR8};
takuminomura 48:3003ea51c619 118 float motorSpeedL1[9] = {MSL0, MSL1, MSL2, MSL3 , MSL4 , MSL5 , MSL6 , MSL7 , MSL8 };
takuminomura 48:3003ea51c619 119 //float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3*REVERSE, MSL4*REVERSE, MSL5*REVERSE, MSL6*REVERSE, MSL7*REVERSE, MSL8*REVERSE};
takuminomura 48:3003ea51c619 120 float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3*REVERSE, MSL4*REVERSE, MSL5*REVERSE, MSL6, MSL7, MSL8};
yangtzuli 3:2ae6218973be 121 // モーター速度設定(後半はライントレース用)
takuminomura 48:3003ea51c619 122 // 0,1,2:基準速度
takuminomura 48:3003ea51c619 123 // 3,4,5:低速
takuminomura 48:3003ea51c619 124 // 6,7,8:高速
takuminomura 48:3003ea51c619 125 // R1 : 右前, R2 : 右後, L1 : 左前, L2 : 左後
tomotsugu 8:a47dbf4fa455 126
tomotsugu 8:a47dbf4fa455 127 Mutex mutex; // ミューテックス
takuminomura 48:3003ea51c619 128
tomotsugu 8:a47dbf4fa455 129 /* decodeIR用変数 */
yangtzuli 3:2ae6218973be 130 RemoteIR::Format format;
yangtzuli 3:2ae6218973be 131 uint8_t buf[32];
yangtzuli 3:2ae6218973be 132 uint32_t bitcount;
yangtzuli 3:2ae6218973be 133 uint32_t code;
yangtzuli 3:2ae6218973be 134
tomotsugu 8:a47dbf4fa455 135 /* bChange, lcdbacklight用変数 */
yangtzuli 3:2ae6218973be 136 TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780);
tomotsugu 8:a47dbf4fa455 137 int b = 0; // バッテリー残量
tomotsugu 8:a47dbf4fa455 138 int flag_b = 0; // バックライト点滅フラグ
tomotsugu 8:a47dbf4fa455 139 int flag_t = 0; // バックライトタイマーフラグ
yangtzuli 3:2ae6218973be 140
tomotsugu 8:a47dbf4fa455 141 /* trace用変数 */
takuminomura 49:7224132f4b0e 142 int sensArray[32] = {0,6,2,4,1,4,2,4, // ライントレースセンサパターン
takuminomura 49:7224132f4b0e 143 3,4,1,6,3,1,1,6, // 0:前回動作継続
takuminomura 49:7224132f4b0e 144 7,1,5,1,5,1,1,1, // 1:高速前進
takuminomura 48:3003ea51c619 145 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura 48:3003ea51c619 146 // 3:低速左折
takuminomura 48:3003ea51c619 147 // 4:中速右折
takuminomura 48:3003ea51c619 148 // 5:中速左折
takuminomura 48:3003ea51c619 149 // 6:高速右折
takuminomura 48:3003ea51c619 150 // 7:高速左折
takuminomura 48:3003ea51c619 151
takuminomura 48:3003ea51c619 152 //int sensArray[32] = {0,6,0,4,1,0,1,4, // ライントレースセンサパターン
takuminomura 48:3003ea51c619 153 // 0,6,1,6,1,1,1,6, // 0:前回動作継続
takuminomura 48:3003ea51c619 154 // 7,1,7,1,0,1,1,1, // 1:高速前進
takuminomura 48:3003ea51c619 155 // 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura 48:3003ea51c619 156 // // 3:低速左折
takuminomura 48:3003ea51c619 157 // // 4:中速右折
takuminomura 48:3003ea51c619 158 // // 5:中速左折
takuminomura 48:3003ea51c619 159 // // 6:高速右折
takuminomura 48:3003ea51c619 160 // // 7:高速左折
yangtzuli 0:0d0037aabe41 161
tomotsugu 8:a47dbf4fa455 162 /* avoidance用変数 */
yangtzuli 3:2ae6218973be 163 Timer timer; // 距離計測用タイマ
yangtzuli 3:2ae6218973be 164 int DT; // 距離
takuminomura 48:3003ea51c619 165 int SC; // 正面
yangtzuli 2:38825726cb1b 166 int SL; // 左
yangtzuli 2:38825726cb1b 167 int SR; // 右
yangtzuli 2:38825726cb1b 168 int SLD; // 左前
yangtzuli 2:38825726cb1b 169 int SRD; // 右前
tomotsugu 8:a47dbf4fa455 170 int flag_a = 0; // 障害物有無のフラグ
yangtzuli 2:38825726cb1b 171 const int limit = 20; // 障害物の距離のリミット(単位：cm)
yangtzuli 3:2ae6218973be 172 int far; // 最も遠い距離
yangtzuli 2:38825726cb1b 173 int houkou; // 進行方向(1:前 2:左 3:右)
nishimura_taku_pet 29:600e4b9b5c5b 174 int t1 = 0;
yangtzuli 2:38825726cb1b 175
nishimura_taku_pet 24:9481c8f56a49 176 /*WiFi用変数*/
nishimura_taku_pet 24:9481c8f56a49 177 Timer time1;
nishimura_taku_pet 24:9481c8f56a49 178 Timer time2;
nishimura_taku_pet 24:9481c8f56a49 179 int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
nishimura_taku_pet 24:9481c8f56a49 180 int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
nishimura_taku_pet 24:9481c8f56a49 181 float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet 24:9481c8f56a49 182 char webcount[8];
nishimura_taku_pet 24:9481c8f56a49 183 char type[16];
nishimura_taku_pet 24:9481c8f56a49 184 char channel[2];
nishimura_taku_pet 24:9481c8f56a49 185 char cmdbuff[32];
nishimura_taku_pet 24:9481c8f56a49 186 char replybuff[1024];
nishimura_taku_pet 24:9481c8f56a49 187 char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet 27:90962c01bfeb 188 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet 24:9481c8f56a49 189 int port =80; // set server port
nishimura_taku_pet 24:9481c8f56a49 190 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
takuminomura 48:3003ea51c619 191 char ssid[32] = "mbed05"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet 24:9481c8f56a49 192 char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
yangtzuli 3:2ae6218973be 193
yangtzuli 3:2ae6218973be 194 /* プロトタイプ宣言 */
nishimura_taku_pet 33:a6f1090e0174 195 void decodeIR(/*void const *argument*/);
nishimura_taku_pet 33:a6f1090e0174 196 void motor(/*void const *argument*/);
yangtzuli 3:2ae6218973be 197 void changeSpeed();
nishimura_taku_pet 16:ffc732a3cf92 198 void avoidance(/*void const *argument*/);
nishimura_taku_pet 16:ffc732a3cf92 199 void trace(/*void const *argument*/);
nishimura_taku_pet 40:75e1ad7c27e4 200 void watchsurrounding3();
nishimura_taku_pet 40:75e1ad7c27e4 201 void watchsurrounding5();
yangtzuli 2:38825726cb1b 202 int watch();
takuminomura 48:3003ea51c619 203 char battery_ch[8];
yangtzuli 5:3fffb364744b 204 void bChange();
yangtzuli 3:2ae6218973be 205 void display();
yangtzuli 3:2ae6218973be 206 void lcdBacklight(void const *argument);
nishimura_taku_pet 45:76e8c07d76ef 207 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
nishimura_taku_pet 43:243c1455f88a 208 void wifi(/*void const *argument*/);
takuminomura 48:3003ea51c619 209 Thread *deco_thread; // decodeIRをスレッド化 ：+3
nishimura_taku_pet 43:243c1455f88a 210 Thread *wifi_thread;
takuminomura 48:3003ea51c619 211 Thread *motor_thread; // motorをスレッド化 ：+2
takuminomura 48:3003ea51c619 212 RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
takuminomura 48:3003ea51c619 213 Thread *avoi_thread; // avoidanceをスレッド化：+2
takuminomura 48:3003ea51c619 214 Thread *trace_thread; // traceをスレッド化 ：+2
yangtzuli 2:38825726cb1b 215
nishimura_taku_pet 24:9481c8f56a49 216 DigitalOut led1(LED1);
nishimura_taku_pet 24:9481c8f56a49 217 DigitalOut led2(LED2);
nishimura_taku_pet 24:9481c8f56a49 218 DigitalOut led3(LED3);
nishimura_taku_pet 24:9481c8f56a49 219 DigitalOut led4(LED4);
yangtzuli 3:2ae6218973be 220
nishimura_taku_pet 33:a6f1090e0174 221 void setup(){
nishimura_taku_pet 33:a6f1090e0174 222 deco_thread = new Thread(decodeIR);
nishimura_taku_pet 33:a6f1090e0174 223 deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 224 motor_thread = new Thread(motor);
nishimura_taku_pet 33:a6f1090e0174 225 motor_thread -> set_priority(osPriorityHigh);
mori2020 50:ee78382fd399 226 wifi_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 227 display();
nishimura_taku_pet 33:a6f1090e0174 228 }
nishimura_taku_pet 33:a6f1090e0174 229
tomotsugu 8:a47dbf4fa455 230 /* リモコン受信スレッド */
takuminomura 48:3003ea51c619 231 void decodeIR(/*void const *argument*/){
takuminomura 48:3003ea51c619 232 while(1){
yangtzuli 0:0d0037aabe41 233 // 受信待ち
tomotsugu 8:a47dbf4fa455 234 if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli 3:2ae6218973be 235 bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu 8:a47dbf4fa455 236 if(bitcount > 1){ // 受信成功
yangtzuli 1:5bb497a38344 237 code=0;
tomotsugu 15:5eef1955f6c2 238 for(int j = 0; j < 4; j++){
yangtzuli 1:5bb497a38344 239 code+=(buf[j]<<(8*(3-j)));
yangtzuli 1:5bb497a38344 240 }
tomotsugu 8:a47dbf4fa455 241 if(mode != SPEED){ // スピードモード以外なら
takuminomura 48:3003ea51c619 242 beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli 3:2ae6218973be 243 }
yangtzuli 0:0d0037aabe41 244 switch(code){
tomotsugu 8:a47dbf4fa455 245 case 0x40bf27d8: // クイック
yangtzuli 17:f7259ab2fe86 246 //pc.printf("mode = SPEED\r\n");
takuminomura 48:3003ea51c619 247 mode = SPEED; // スピードモード
tomotsugu 8:a47dbf4fa455 248 changeSpeed(); // 速度変更
tomotsugu 8:a47dbf4fa455 249 display(); // ディスプレイ表示
tomotsugu 8:a47dbf4fa455 250 mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli 1:5bb497a38344 251 break;
tomotsugu 8:a47dbf4fa455 252 case 0x40be34cb: // レグザリンク
yangtzuli 17:f7259ab2fe86 253 //pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 254 if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 255 delete trace_thread;
nishimura_taku_pet 16:ffc732a3cf92 256 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 257 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 258 }
tomotsugu 8:a47dbf4fa455 259 mode=LINE_TRACE; // ライントレースモード
tomotsugu 8:a47dbf4fa455 260 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 261 break;
tomotsugu 8:a47dbf4fa455 262 case 0x40bf6e91: // 番組表
yangtzuli 17:f7259ab2fe86 263 //pc.printf("mode = AVOIDANCE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 264 if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 265 delete avoi_thread;
nishimura_taku_pet 16:ffc732a3cf92 266 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 267 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 268 }
tomotsugu 18:6cca64c7dbc3 269 flag_a = 0;
tomotsugu 8:a47dbf4fa455 270 mode=AVOIDANCE; // 障害物回避モード
tomotsugu 13:1a7667d0aa78 271 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 272 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 273 break;
takuminomura 48:3003ea51c619 274 case 0x40bf3ec1: // ↑
yangtzuli 17:f7259ab2fe86 275 //pc.printf("mode = ADVANCE\r\n");
tomotsugu 8:a47dbf4fa455 276 mode = ADVANCE; // 前進モード
tomotsugu 8:a47dbf4fa455 277 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 278 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 279 break;
takuminomura 48:3003ea51c619 280 case 0x40bf3fc0: // ↓
yangtzuli 17:f7259ab2fe86 281 //pc.printf("mode = BACK\r\n");
tomotsugu 8:a47dbf4fa455 282 mode = BACK; // 後退モード
tomotsugu 8:a47dbf4fa455 283 run = BACK; // 後退
tomotsugu 8:a47dbf4fa455 284 display(); // ディスプレイ表示
yangtzuli 0:0d0037aabe41 285 break;
takuminomura 48:3003ea51c619 286 case 0x40bf5fa0: // ←
yangtzuli 17:f7259ab2fe86 287 //pc.printf("mode = LEFT\r\n");
tomotsugu 8:a47dbf4fa455 288 mode = LEFT; // 左折モード
tomotsugu 8:a47dbf4fa455 289 run = LEFT; // 左折
tomotsugu 8:a47dbf4fa455 290 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 291 break;
takuminomura 48:3003ea51c619 292 case 0x40bf5ba4: // →
yangtzuli 17:f7259ab2fe86 293 //pc.printf("mode = RIGHT\r\n");
tomotsugu 8:a47dbf4fa455 294 mode = RIGHT; // 右折モード
tomotsugu 8:a47dbf4fa455 295 run = RIGHT; // 右折
tomotsugu 8:a47dbf4fa455 296 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 297 break;
takuminomura 48:3003ea51c619 298 case 0x40bf3dc2: // 決定
yangtzuli 17:f7259ab2fe86 299 //pc.printf("mode = STOP\r\n");
tomotsugu 8:a47dbf4fa455 300 mode = STOP; // 停止モード
tomotsugu 8:a47dbf4fa455 301 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 302 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 303 break;
yangtzuli 0:0d0037aabe41 304 default:
yangtzuli 0:0d0037aabe41 305 ;
yangtzuli 0:0d0037aabe41 306 }
nishimura_taku_pet 16:ffc732a3cf92 307 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 308 trace_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 309 }
nishimura_taku_pet 16:ffc732a3cf92 310 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 311 avoi_thread->terminate();
nishimura_taku_pet 28:cb51cafca490 312 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 16:ffc732a3cf92 313 }
yangtzuli 0:0d0037aabe41 314 }
yangtzuli 0:0d0037aabe41 315 }
takuminomura 48:3003ea51c619 316 if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
takuminomura 48:3003ea51c619 317 viewTimer.stop(); // タイマーストップ
takuminomura 48:3003ea51c619 318 viewTimer.reset(); // タイマーリセット
takuminomura 48:3003ea51c619 319 display(); // ディスプレイ表示
yangtzuli 4:3f80c0180e2f 320 }
takuminomura 48:3003ea51c619 321 ThisThread::sleep_for(90); // 90ms待つ
takuminomura 48:3003ea51c619 322 }
yangtzuli 2:38825726cb1b 323 }
tomotsugu 8:a47dbf4fa455 324
tomotsugu 8:a47dbf4fa455 325 /* モーター制御スレッド */
nishimura_taku_pet 33:a6f1090e0174 326 void motor(/*void const *argument*/){
tomotsugu 8:a47dbf4fa455 327 while(1){
tomotsugu 8:a47dbf4fa455 328 /* 走行状態の場合分け */
nishimura_taku_pet 51:1baf4407f384 329 if(mode != LINE_TRACE){ // スピード変更フラグが2より大きいなら
nishimura_taku_pet 51:1baf4407f384 330 flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet 51:1baf4407f384 331 }
yangtzuli 3:2ae6218973be 332 switch(run){
tomotsugu 8:a47dbf4fa455 333 /* 前進 */
yangtzuli 3:2ae6218973be 334 case ADVANCE:
takuminomura 48:3003ea51c619 335 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020 50:ee78382fd399 336 motorR2 = LOW; // 右後退モーターOFF
takuminomura 48:3003ea51c619 337 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020 50:ee78382fd399 338 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 339 break;
tomotsugu 8:a47dbf4fa455 340 /* 右折 */
yangtzuli 3:2ae6218973be 341 case RIGHT:
mori2020 50:ee78382fd399 342 motorR1 = LOW; // 右前進モーターOFF
takuminomura 48:3003ea51c619 343 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
takuminomura 48:3003ea51c619 344 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020 50:ee78382fd399 345 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 346 break;
tomotsugu 8:a47dbf4fa455 347 /* 左折 */
yangtzuli 3:2ae6218973be 348 case LEFT:
takuminomura 48:3003ea51c619 349 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020 50:ee78382fd399 350 motorR2 = LOW; // 右後退モーターOFF
mori2020 50:ee78382fd399 351 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 352 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 353 break;
tomotsugu 8:a47dbf4fa455 354 /* 後退 */
yangtzuli 3:2ae6218973be 355 case BACK:
mori2020 50:ee78382fd399 356 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 52:c868403753e8 357 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
mori2020 50:ee78382fd399 358 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 359 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 360 break;
tomotsugu 8:a47dbf4fa455 361 /* 停止 */
yangtzuli 3:2ae6218973be 362 case STOP:
tomotsugu 8:a47dbf4fa455 363 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 364 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 365 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 366 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 367 break;
tomotsugu 52:c868403753e8 368 case A1RIGHT:
mori2020 50:ee78382fd399 369 motorR1 = LOW;
tomotsugu 52:c868403753e8 370 motorR2 = 0.55;
tomotsugu 52:c868403753e8 371 motorL1 = 0.57;
mori2020 50:ee78382fd399 372 motorL2 = LOW;
takuminomura 49:7224132f4b0e 373 break;
tomotsugu 52:c868403753e8 374 case A2LEFT:
tomotsugu 52:c868403753e8 375 motorR1 = 0.57;
mori2020 50:ee78382fd399 376 motorR2 = LOW;
mori2020 50:ee78382fd399 377 motorL1 = LOW;
tomotsugu 52:c868403753e8 378 motorL2 = 0.55;
tomotsugu 52:c868403753e8 379 break;
tomotsugu 52:c868403753e8 380 case A2RIGHT:
tomotsugu 52:c868403753e8 381 motorR1 = LOW;
tomotsugu 52:c868403753e8 382 motorR2 = 0.33;
tomotsugu 52:c868403753e8 383 motorL1 = 0.35;
tomotsugu 52:c868403753e8 384 motorL2 = LOW;
tomotsugu 52:c868403753e8 385 break;
tomotsugu 52:c868403753e8 386 case A2LEFT:
tomotsugu 52:c868403753e8 387 motorR1 = 0.35;
tomotsugu 52:c868403753e8 388 motorR2 = LOW;
tomotsugu 52:c868403753e8 389 motorL1 = LOW;
tomotsugu 52:c868403753e8 390 motorL2 = 0.33;
takuminomura 49:7224132f4b0e 391 break;
yangtzuli 3:2ae6218973be 392 }
nishimura_taku_pet 51:1baf4407f384 393 /*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 394 flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet 51:1baf4407f384 395 }*/
takuminomura 48:3003ea51c619 396 ThisThread::sleep_for(3); // 30ms待つ
yangtzuli 2:38825726cb1b 397 }
yangtzuli 2:38825726cb1b 398 }
tomotsugu 8:a47dbf4fa455 399
tomotsugu 8:a47dbf4fa455 400 /* スピード変更関数 */
yangtzuli 3:2ae6218973be 401 void changeSpeed(){
tomotsugu 8:a47dbf4fa455 402 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 403 flag_sp = 0; // スピード変更フラグを0にする
tomotsugu 8:a47dbf4fa455 404 }else{ // それ以外
takuminomura 48:3003ea51c619 405 flag_sp = flag_sp + 1; // スピード変更フラグを+1
takuminomura 48:3003ea51c619 406 }
yangtzuli 3:2ae6218973be 407 }
tomotsugu 8:a47dbf4fa455 408
tomotsugu 8:a47dbf4fa455 409 /* ライントレーススレッド */
takuminomura 49:7224132f4b0e 410 //void trace(){
takuminomura 49:7224132f4b0e 411 // // PID用
takuminomura 49:7224132f4b0e 412 // while(1){
takuminomura 49:7224132f4b0e 413 // ThisThread::sleep_for(3);
takuminomura 49:7224132f4b0e 414 // }
takuminomura 49:7224132f4b0e 415 //}
tomotsugu 20:02bb875a9b13 416 void trace(){
takuminomura 48:3003ea51c619 417 while(1){
takuminomura 48:3003ea51c619 418 /* 各センサー値読み取り */
takuminomura 48:3003ea51c619 419 int sensor1 = ss1;
takuminomura 48:3003ea51c619 420 int sensor2 = ss2;
takuminomura 48:3003ea51c619 421 int sensor3 = ss3;
takuminomura 48:3003ea51c619 422 int sensor4 = ss4;
takuminomura 48:3003ea51c619 423 int sensor5 = ss5;
takuminomura 48:3003ea51c619 424 int sensD = 0;
takuminomura 48:3003ea51c619 425
takuminomura 48:3003ea51c619 426 /* センサー値の決定 */
takuminomura 48:3003ea51c619 427 if(sensor1 > 0) sensD |= 0x10;
takuminomura 48:3003ea51c619 428 if(sensor2 > 0) sensD |= 0x08;
takuminomura 48:3003ea51c619 429 if(sensor3 > 0) sensD |= 0x04;
takuminomura 48:3003ea51c619 430 if(sensor4 > 0) sensD |= 0x02;
takuminomura 48:3003ea51c619 431 if(sensor5 > 0) sensD |= 0x01;
takuminomura 48:3003ea51c619 432
takuminomura 48:3003ea51c619 433 /* センサー値によって場合分け */
takuminomura 48:3003ea51c619 434 switch(sensArray[sensD]){
takuminomura 48:3003ea51c619 435 case 1:
takuminomura 48:3003ea51c619 436 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 437 run = ADVANCE; // 高速で前進
takuminomura 48:3003ea51c619 438 break;
takuminomura 48:3003ea51c619 439 case 2:
takuminomura 48:3003ea51c619 440 flag_sp = flag_sp % 3 + 3;
takuminomura 49:7224132f4b0e 441 // run = RIGHT; // 低速で右折
takuminomura 49:7224132f4b0e 442 run = LT_R; // 低速で右折
takuminomura 48:3003ea51c619 443 break;
takuminomura 48:3003ea51c619 444 case 3:
takuminomura 48:3003ea51c619 445 flag_sp = flag_sp % 3 + 3;
takuminomura 49:7224132f4b0e 446 // run = LEFT; // 低速で左折
takuminomura 49:7224132f4b0e 447 run = LT_L; // 低速で左折
takuminomura 48:3003ea51c619 448 break;
takuminomura 48:3003ea51c619 449 case 4:
takuminomura 48:3003ea51c619 450 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 451 run = RIGHT; // 中速で右折
takuminomura 48:3003ea51c619 452 break;
takuminomura 48:3003ea51c619 453 case 5:
takuminomura 48:3003ea51c619 454 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 455 run = LEFT; // 中速で左折
takuminomura 48:3003ea51c619 456 break;
takuminomura 48:3003ea51c619 457 case 6:
takuminomura 48:3003ea51c619 458 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 459 run = RIGHT; // 高速で右折
takuminomura 48:3003ea51c619 460 break;
takuminomura 48:3003ea51c619 461 case 7:
takuminomura 48:3003ea51c619 462 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 463 run = LEFT; // 高速で左折
takuminomura 48:3003ea51c619 464 break;
takuminomura 48:3003ea51c619 465 default:
takuminomura 48:3003ea51c619 466 break; // 前回動作を継続
tomotsugu 18:6cca64c7dbc3 467 }
takuminomura 48:3003ea51c619 468 // ThisThread::sleep_for(30); // 30ms待つ
takuminomura 48:3003ea51c619 469 ThisThread::sleep_for(3);
takuminomura 48:3003ea51c619 470 }
yangtzuli 3:2ae6218973be 471 }
yangtzuli 3:2ae6218973be 472
tomotsugu 8:a47dbf4fa455 473 /* 障害物回避走行スレッド */
tomotsugu 20:02bb875a9b13 474 void avoidance(){
nishimura_taku_pet 46:c6deb699160b 475 int i;
yangtzuli 3:2ae6218973be 476 while(1){
nishimura_taku_pet 40:75e1ad7c27e4 477 watchsurrounding3();
mori2020 50:ee78382fd399 478 if(flag_a == 0){ // 障害物がない場合
mori2020 50:ee78382fd399 479 run = ADVANCE; // 前進
mori2020 50:ee78382fd399 480 // if(SLD < 25){ // 正面15cm以内に障害物が現れた場合
mori2020 50:ee78382fd399 481 // run = RIGHT; // 右折
mori2020 50:ee78382fd399 482 // ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 483 // run = STOP; // 停止
mori2020 50:ee78382fd399 484 // }else if(SRD < 25){
mori2020 50:ee78382fd399 485 // run = LEFT; // 左折
mori2020 50:ee78382fd399 486 // ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 487 // run = STOP; // 停止
mori2020 50:ee78382fd399 488 // }
mori2020 50:ee78382fd399 489 }else{ // 障害物がある場合
tomotsugu 18:6cca64c7dbc3 490 i = 0;
mori2020 50:ee78382fd399 491 int cnt_kyori;
mori2020 50:ee78382fd399 492 int kyori;
mori2020 50:ee78382fd399 493 if(SC < 15){
mori2020 50:ee78382fd399 494 servo.pulsewidth_us(1425); // サーボを中央位置に戻す
nishimura_taku_pet 41:3c58a4be1199 495 ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 496 run = STOP;
mori2020 50:ee78382fd399 497 ThisThread::sleep_for(80);
mori2020 50:ee78382fd399 498 run = BACK;
mori2020 50:ee78382fd399 499 // switch(flag_sp){
mori2020 50:ee78382fd399 500 // case 0:
mori2020 50:ee78382fd399 501 // ThisThread::sleep_for(200);
mori2020 50:ee78382fd399 502 // break;
mori2020 50:ee78382fd399 503 // case 1:
mori2020 50:ee78382fd399 504 // ThisThread::sleep_for(150);
mori2020 50:ee78382fd399 505 // break;
mori2020 50:ee78382fd399 506 // case 2:
mori2020 50:ee78382fd399 507 // ThisThread::sleep_for(120);
mori2020 50:ee78382fd399 508 // break;
mori2020 50:ee78382fd399 509 // default:
mori2020 50:ee78382fd399 510 // break;
mori2020 50:ee78382fd399 511 // }
mori2020 50:ee78382fd399 512 cnt_kyori = 0;
mori2020 50:ee78382fd399 513 kyori = watch();
mori2020 50:ee78382fd399 514 while(kyori < limit){ // 正面20cm以内に障害物がある間
mori2020 50:ee78382fd399 515 if(kyori == -1){
nishimura_taku_pet 40:75e1ad7c27e4 516 cnt_kyori++;
mori2020 50:ee78382fd399 517 if(cnt_kyori > 15){
mori2020 50:ee78382fd399 518 cnt_kyori = 0;
nishimura_taku_pet 40:75e1ad7c27e4 519 break;
nishimura_taku_pet 40:75e1ad7c27e4 520 }
nishimura_taku_pet 40:75e1ad7c27e4 521 }
nishimura_taku_pet 40:75e1ad7c27e4 522 kyori = watch();
tomotsugu 18:6cca64c7dbc3 523 }
mori2020 50:ee78382fd399 524 run = STOP;
mori2020 50:ee78382fd399 525 }
nishimura_taku_pet 40:75e1ad7c27e4 526 watchsurrounding5();
takuminomura 48:3003ea51c619 527 if(SC < limit && SLD < limit && SL < limit && SRD < limit && SR < limit){ // 全方向に障害物がある場合
tomotsugu 52:c868403753e8 528 run = A1LEFT; // 左折
tomotsugu 52:c868403753e8 529 while(i < 15){ // 進行方向確認
tomotsugu 18:6cca64c7dbc3 530 if(watch() > limit){
mori2020 50:ee78382fd399 531 break;
nishimura_taku_pet 28:cb51cafca490 532 }else{
mori2020 50:ee78382fd399 533 i++;
yangtzuli 2:38825726cb1b 534 }
yangtzuli 2:38825726cb1b 535 }
nishimura_taku_pet 28:cb51cafca490 536 run = STOP; // 停止
mori2020 50:ee78382fd399 537 }else { // 全方向以外
nishimura_taku_pet 28:cb51cafca490 538 far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 539 houkou = 1; // 進行方向を前に設定
mori2020 50:ee78382fd399 540 if(SC < limit){
mori2020 50:ee78382fd399 541 if(far < SLD || far < SL){ // 左または左前がより遠い場合
mori2020 50:ee78382fd399 542 if(SL < SLD){ // 左前が左より遠い場合
mori2020 50:ee78382fd399 543 far = SLD; // 左前を最も遠い距離に設定
mori2020 50:ee78382fd399 544 }else{ // 左が左前より遠い場合
mori2020 50:ee78382fd399 545 far = SL; // 左を最も遠い距離に設定
mori2020 50:ee78382fd399 546 }
mori2020 50:ee78382fd399 547 houkou = 2; // 進行方向を左に設定
nishimura_taku_pet 28:cb51cafca490 548 }
mori2020 50:ee78382fd399 549 if(far < SRD || far < SR){ // 右または右前がより遠い場合
mori2020 50:ee78382fd399 550 if(SR < SRD){ // 右前が右より遠い場合
mori2020 50:ee78382fd399 551 far = SRD; // 右前を最も遠い距離に設定
mori2020 50:ee78382fd399 552 }else{ // 右が右前よりも遠い場合
mori2020 50:ee78382fd399 553 far = SR; // 右を最も遠い距離に設定
mori2020 50:ee78382fd399 554 }
mori2020 50:ee78382fd399 555 houkou = 3; // 進行方向を右に設定
nishimura_taku_pet 28:cb51cafca490 556 }
nishimura_taku_pet 28:cb51cafca490 557 }
nishimura_taku_pet 28:cb51cafca490 558 switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet 28:cb51cafca490 559 case 1: // 前の場合
nishimura_taku_pet 28:cb51cafca490 560 run = ADVANCE; // 前進
mori2020 50:ee78382fd399 561 switch(flag_sp){
mori2020 50:ee78382fd399 562 case 0:
mori2020 50:ee78382fd399 563 ThisThread::sleep_for(300); // 0.5秒待つ
mori2020 50:ee78382fd399 564 break;
mori2020 50:ee78382fd399 565 case 1:
mori2020 50:ee78382fd399 566 ThisThread::sleep_for(200);
mori2020 50:ee78382fd399 567 break;
mori2020 50:ee78382fd399 568 case 2:
mori2020 50:ee78382fd399 569 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 570 break;
mori2020 50:ee78382fd399 571 }
nishimura_taku_pet 28:cb51cafca490 572 break;
mori2020 50:ee78382fd399 573 case 2: // 左の場合
tomotsugu 52:c868403753e8 574 run = A1LEFT; // 左折
mori2020 50:ee78382fd399 575 while(i < 15){ // 進行方向確認
nishimura_taku_pet 28:cb51cafca490 576 if(watch() > (far - 2)){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
mori2020 50:ee78382fd399 577 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 578 }else{
nishimura_taku_pet 40:75e1ad7c27e4 579 i++;
nishimura_taku_pet 28:cb51cafca490 580 }
nishimura_taku_pet 28:cb51cafca490 581 }
mori2020 50:ee78382fd399 582 run = ADVANCE; // 停止
nishimura_taku_pet 28:cb51cafca490 583 break;
mori2020 50:ee78382fd399 584 case 3: // 右の場合
tomotsugu 52:c868403753e8 585 run = A1RIGHT; // 右折
mori2020 50:ee78382fd399 586 while(i < 15){ // 進行方向確認
mori2020 50:ee78382fd399 587 if(watch() > (far - 2)){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
nishimura_taku_pet 40:75e1ad7c27e4 588 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 589 }else{
nishimura_taku_pet 40:75e1ad7c27e4 590 i++;
nishimura_taku_pet 28:cb51cafca490 591 }
nishimura_taku_pet 28:cb51cafca490 592 }
mori2020 50:ee78382fd399 593 run = ADVANCE; // 停止
nishimura_taku_pet 28:cb51cafca490 594 break;
nishimura_taku_pet 28:cb51cafca490 595 }
yangtzuli 5:3fffb364744b 596 }
nishimura_taku_pet 28:cb51cafca490 597 }
nishimura_taku_pet 28:cb51cafca490 598 flag_a = 0; // 障害物有無フラグを0にセット
mori2020 50:ee78382fd399 599 if(SLD < 30 && SRD > 30){ // 正面15cm以内に障害物が現れた場合
tomotsugu 52:c868403753e8 600 run = A2RIGHT; // 右折
tomotsugu 52:c868403753e8 601 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 602 run = ADVANCE;
mori2020 50:ee78382fd399 603 }else if(SRD < 30 && SLD > 30){
tomotsugu 52:c868403753e8 604 run = A2LEFT; // 左折
tomotsugu 52:c868403753e8 605 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 606 run = ADVANCE;
mori2020 50:ee78382fd399 607 }
mori2020 50:ee78382fd399 608 }
mori2020 50:ee78382fd399 609 }
mori2020 50:ee78382fd399 610
tomotsugu 8:a47dbf4fa455 611 /* 距離計測関数 */
yangtzuli 2:38825726cb1b 612 int watch(){
mori2020 50:ee78382fd399 613 do{
mori2020 50:ee78382fd399 614 do{
mori2020 50:ee78382fd399 615 trig = 0;
mori2020 50:ee78382fd399 616 ThisThread::sleep_for(5); // 5ms待つ
mori2020 50:ee78382fd399 617 trig = 1;
mori2020 50:ee78382fd399 618 ThisThread::sleep_for(15); // 15ms待つ
mori2020 50:ee78382fd399 619 trig = 0;
mori2020 50:ee78382fd399 620 timer.start();
tomotsugu 21:68d38e8f64b5 621 t1=timer.read_ms();
mori2020 50:ee78382fd399 622 while(echo.read() == 0 && t1<10){
mori2020 50:ee78382fd399 623 t1=timer.read_ms();
mori2020 50:ee78382fd399 624 led1 = 1;
mori2020 50:ee78382fd399 625 }
mori2020 50:ee78382fd399 626 timer.stop();
mori2020 50:ee78382fd399 627 timer.reset();
mori2020 50:ee78382fd399 628 }while(t1 >= 10);
mori2020 50:ee78382fd399 629 timer.start(); // 距離計測タイマースタート
mori2020 50:ee78382fd399 630 while(echo.read() == 1){
tomotsugu 21:68d38e8f64b5 631 }
mori2020 50:ee78382fd399 632 timer.stop(); // 距離計測タイマーストップ
mori2020 50:ee78382fd399 633 DT = (int)(timer.read_us()*0.01657); // 距離計算
mori2020 50:ee78382fd399 634 if(timer.read_ms() > 1000){
mori2020 50:ee78382fd399 635 DT = -1;
mori2020 50:ee78382fd399 636 break;
mori2020 50:ee78382fd399 637 }
mori2020 50:ee78382fd399 638 }while(DT > 1000);
mori2020 50:ee78382fd399 639 if(DT > 400){
mori2020 50:ee78382fd399 640 DT = 400;
mori2020 50:ee78382fd399 641 }
tomotsugu 21:68d38e8f64b5 642 timer.reset();
mori2020 50:ee78382fd399 643 led1 = 0;
mori2020 50:ee78382fd399 644 return DT;
yangtzuli 0:0d0037aabe41 645 }
mori2020 50:ee78382fd399 646
tomotsugu 8:a47dbf4fa455 647 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 648 void watchsurrounding3(){
yangtzuli 2:38825726cb1b 649 SC = watch();
nishimura_taku_pet 28:cb51cafca490 650 if(SC < limit){ // 正面20cm以内に障害物がある場合
mori2020 50:ee78382fd399 651 if(SC!=-1){
nishimura_taku_pet 28:cb51cafca490 652 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 653 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 654 return;
nishimura_taku_pet 28:cb51cafca490 655 }
yangtzuli 2:38825726cb1b 656 }
mori2020 50:ee78382fd399 657 servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet 28:cb51cafca490 658 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 659 SLD = watch();
mori2020 50:ee78382fd399 660 if(SLD < 18){ // 左前20cm以内に障害物がある場合
mori2020 50:ee78382fd399 661 run = STOP;
mori2020 50:ee78382fd399 662 ThisThread::sleep_for(90);
mori2020 50:ee78382fd399 663 run = BACK;
mori2020 50:ee78382fd399 664 ThisThread::sleep_for(150);
tomotsugu 52:c868403753e8 665 run = A2RIGHT;
tomotsugu 52:c868403753e8 666 ThisThread::sleep_for(130);
mori2020 50:ee78382fd399 667 return;
yangtzuli 2:38825726cb1b 668 }
mori2020 50:ee78382fd399 669 servo.pulsewidth_us(1425);
mori2020 50:ee78382fd399 670 ThisThread::sleep_for(100);
tomotsugu 19:c6f9f010bd9e 671 SC = watch();
tomotsugu 19:c6f9f010bd9e 672 if(SC < limit){
mori2020 50:ee78382fd399 673 if(SC != -1){
mori2020 50:ee78382fd399 674 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 675 flag_a = 1;
takuminomura 48:3003ea51c619 676 return;
mori2020 50:ee78382fd399 677 }
tomotsugu 19:c6f9f010bd9e 678 }
mori2020 50:ee78382fd399 679 servo.pulsewidth_us(923); // サーボを右に40度回転
nishimura_taku_pet 28:cb51cafca490 680 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 681 SRD = watch();
mori2020 50:ee78382fd399 682 if(SRD < 18){ // 右前20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 683 run = STOP; // 停止
mori2020 50:ee78382fd399 684 ThisThread::sleep_for(90);
mori2020 50:ee78382fd399 685 run = BACK;
mori2020 50:ee78382fd399 686 ThisThread::sleep_for(150);
tomotsugu 52:c868403753e8 687 run = A2LEFT;
tomotsugu 52:c868403753e8 688 ThisThread::sleep_for(130);
mori2020 50:ee78382fd399 689 return;
yangtzuli 2:38825726cb1b 690 }
mori2020 50:ee78382fd399 691 servo.pulsewidth_us(1425); // サーボを中央位置に戻す
nishimura_taku_pet 40:75e1ad7c27e4 692 ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 693 }
mori2020 50:ee78382fd399 694
nishimura_taku_pet 40:75e1ad7c27e4 695 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 696 void watchsurrounding5(){
nishimura_taku_pet 40:75e1ad7c27e4 697 SC = watch();
mori2020 50:ee78382fd399 698 servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 699 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 700 SLD = watch();
nishimura_taku_pet 40:75e1ad7c27e4 701 servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet 40:75e1ad7c27e4 702 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 703 SL = watch();
mori2020 50:ee78382fd399 704 servo.pulsewidth_us(1425);
nishimura_taku_pet 40:75e1ad7c27e4 705 ThisThread::sleep_for(250);
nishimura_taku_pet 40:75e1ad7c27e4 706 SC = watch();
mori2020 50:ee78382fd399 707 servo.pulsewidth_us(923); // サーボを右に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 708 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 709 SRD = watch();
yangtzuli 2:38825726cb1b 710 servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet 28:cb51cafca490 711 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 712 SR = watch();
mori2020 50:ee78382fd399 713 servo.pulsewidth_us(1425); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 714 ThisThread::sleep_for(250); // 100ms待つ
yangtzuli 3:2ae6218973be 715 }
yangtzuli 3:2ae6218973be 716
tomotsugu 8:a47dbf4fa455 717 /* ディスプレイ表示関数 */
yangtzuli 3:2ae6218973be 718 void display(){
tomotsugu 8:a47dbf4fa455 719 mutex.lock(); // ミューテックスロック
yangtzuli 3:2ae6218973be 720 lcd.setAddress(0,1);
tomotsugu 8:a47dbf4fa455 721
tomotsugu 8:a47dbf4fa455 722 /* 操作モードによる場合分け */
yangtzuli 3:2ae6218973be 723 switch(mode){
tomotsugu 8:a47dbf4fa455 724 /* 前進 */
yangtzuli 3:2ae6218973be 725 case ADVANCE:
yangtzuli 3:2ae6218973be 726 lcd.printf("Mode:Advance ");
yangtzuli 3:2ae6218973be 727 break;
tomotsugu 8:a47dbf4fa455 728 /* 右折 */
yangtzuli 3:2ae6218973be 729 case RIGHT:
yangtzuli 5:3fffb364744b 730 lcd.printf("Mode:TurnRight ");
yangtzuli 3:2ae6218973be 731 break;
tomotsugu 8:a47dbf4fa455 732 /* 左折 */
yangtzuli 3:2ae6218973be 733 case LEFT:
yangtzuli 5:3fffb364744b 734 lcd.printf("Mode:TurnLeft ");
yangtzuli 3:2ae6218973be 735 break;
tomotsugu 8:a47dbf4fa455 736 /* 後退 */
yangtzuli 3:2ae6218973be 737 case BACK:
yangtzuli 3:2ae6218973be 738 lcd.printf("Mode:Back ");
yangtzuli 3:2ae6218973be 739 break;
tomotsugu 8:a47dbf4fa455 740 /* 停止 */
yangtzuli 3:2ae6218973be 741 case STOP:
yangtzuli 3:2ae6218973be 742 lcd.printf("Mode:Stop ");
yangtzuli 3:2ae6218973be 743 break;
tomotsugu 8:a47dbf4fa455 744 /* 待ち */
yangtzuli 3:2ae6218973be 745 case READY:
yangtzuli 3:2ae6218973be 746 lcd.printf("Mode:Ready ");
yangtzuli 3:2ae6218973be 747 break;
tomotsugu 8:a47dbf4fa455 748 /* ライントレース */
yangtzuli 3:2ae6218973be 749 case LINE_TRACE:
yangtzuli 3:2ae6218973be 750 lcd.printf("Mode:LineTrace ");
yangtzuli 3:2ae6218973be 751 break;
tomotsugu 8:a47dbf4fa455 752 /* 障害物回避 */
yangtzuli 3:2ae6218973be 753 case AVOIDANCE:
yangtzuli 3:2ae6218973be 754 lcd.printf("Mode:Avoidance ");
yangtzuli 3:2ae6218973be 755 break;
tomotsugu 8:a47dbf4fa455 756 /* スピード制御 */
yangtzuli 3:2ae6218973be 757 case SPEED:
tomotsugu 8:a47dbf4fa455 758 /* スピードの状態で場合分け */
takuminomura 48:3003ea51c619 759 switch(flag_sp % 3){
tomotsugu 8:a47dbf4fa455 760 /* 普通 */
yangtzuli 3:2ae6218973be 761 case(NORMAL):
yangtzuli 3:2ae6218973be 762 lcd.printf("Speed:Normal ");
yangtzuli 3:2ae6218973be 763 break;
tomotsugu 8:a47dbf4fa455 764 /* 速い */
yangtzuli 3:2ae6218973be 765 case(FAST):
yangtzuli 3:2ae6218973be 766 lcd.printf("Speed:Fast ");
yangtzuli 3:2ae6218973be 767 break;
tomotsugu 8:a47dbf4fa455 768 /* とても速い */
yangtzuli 3:2ae6218973be 769 case(VERYFAST):
yangtzuli 3:2ae6218973be 770 lcd.printf("Speed:VeryFast ");
yangtzuli 3:2ae6218973be 771 break;
yangtzuli 3:2ae6218973be 772 }
tomotsugu 8:a47dbf4fa455 773 viewTimer.reset(); // タイマーリセット
tomotsugu 8:a47dbf4fa455 774 viewTimer.start(); // タイマースタート
takuminomura 48:3003ea51c619 775 break;
yangtzuli 3:2ae6218973be 776 }
tomotsugu 8:a47dbf4fa455 777 mutex.unlock(); // ミューテックスアンロック
yangtzuli 3:2ae6218973be 778 }
yangtzuli 3:2ae6218973be 779
tomotsugu 8:a47dbf4fa455 780 /* バックライト点滅 */
yangtzuli 3:2ae6218973be 781 void lcdBacklight(void const *argument){
tomotsugu 8:a47dbf4fa455 782 if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu 8:a47dbf4fa455 783 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 8:a47dbf4fa455 784 }else{ // バックライト点滅フラグが0なら
tomotsugu 8:a47dbf4fa455 785 lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli 3:2ae6218973be 786 }
tomotsugu 8:a47dbf4fa455 787 flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli 3:2ae6218973be 788 }
yangtzuli 2:38825726cb1b 789
tomotsugu 8:a47dbf4fa455 790 /* バッテリー残量更新関数 */
yangtzuli 5:3fffb364744b 791 void bChange(){
yangtzuli 17:f7259ab2fe86 792 //pc.printf(" bChange1\r\n");
nishimura_taku_pet 51:1baf4407f384 793 if(run == STOP){
nishimura_taku_pet 51:1baf4407f384 794 b = (int)((((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10);
nishimura_taku_pet 51:1baf4407f384 795 }
tomotsugu 10:d193030ce672 796 if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu 10:d193030ce672 797 b = 0;
tomotsugu 10:d193030ce672 798 //lcd.setBacklight(TextLCD::LightOff);
tomotsugu 10:d193030ce672 799 //run = STOP;
tomotsugu 10:d193030ce672 800 //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 801 }
tomotsugu 10:d193030ce672 802 mutex.lock(); // ミューテックスロック
tomotsugu 10:d193030ce672 803 lcd.setAddress(0,0);
tomotsugu 10:d193030ce672 804 lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
takuminomura 48:3003ea51c619 805 mutex.unlock(); // ミューテックスアンロック
tomotsugu 10:d193030ce672 806 if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu 10:d193030ce672 807 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 808 //bTimer.attach(lcdBacklight,0.5);
tomotsugu 10:d193030ce672 809 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 810 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 811 }
tomotsugu 10:d193030ce672 812 }else{
tomotsugu 10:d193030ce672 813 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 814 //bTimer.detach();
tomotsugu 10:d193030ce672 815 bTimer.stop(); // バックライトタイマーストップ
tomotsugu 10:d193030ce672 816 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 10:d193030ce672 817 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 818 }
tomotsugu 10:d193030ce672 819 }
yangtzuli 2:38825726cb1b 820 }
mori2020 50:ee78382fd399 821
mori2020 50:ee78382fd399 822
nishimura_taku_pet 24:9481c8f56a49 823 // Serial Interrupt read ESP data
nishimura_taku_pet 24:9481c8f56a49 824 void callback()
nishimura_taku_pet 24:9481c8f56a49 825 {
mori2020 50:ee78382fd399 826 ////*-*-*-5("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 827 led3=1;
nishimura_taku_pet 24:9481c8f56a49 828 while (esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 829 webbuff[ount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 830 ount++;
nishimura_taku_pet 24:9481c8f56a49 831 }
nishimura_taku_pet 24:9481c8f56a49 832 if(strlen(webbuff)>bufflen) {
mori2020 50:ee78382fd399 833 // //*-*-*-5("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 834 DataRX=1;
nishimura_taku_pet 24:9481c8f56a49 835 led3=0;
nishimura_taku_pet 24:9481c8f56a49 836 }
nishimura_taku_pet 24:9481c8f56a49 837 }
mori2020 50:ee78382fd399 838
nishimura_taku_pet 43:243c1455f88a 839 void wifi(/*void const *argument*/)
nishimura_taku_pet 24:9481c8f56a49 840 {
mori2020 50:ee78382fd399 841 //*-*-*-5("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet 33:a6f1090e0174 842 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 843 led1=1,led2=0,led3=0;
nishimura_taku_pet 24:9481c8f56a49 844 timeout=6000;
nishimura_taku_pet 24:9481c8f56a49 845 getcount=500;
nishimura_taku_pet 24:9481c8f56a49 846 getreply();
nishimura_taku_pet 24:9481c8f56a49 847 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet 24:9481c8f56a49 848 startserver();
mori2020 50:ee78382fd399 849
nishimura_taku_pet 24:9481c8f56a49 850 while(1) {
nishimura_taku_pet 24:9481c8f56a49 851 if(DataRX==1) {
mori2020 50:ee78382fd399 852 //*-*-*-5("\f\n\r------------ main while > if --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 853 click_flag = 1;
nishimura_taku_pet 24:9481c8f56a49 854 ReadWebData();
mori2020 50:ee78382fd399 855 //*-*-*-5("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
mori2020 50:ee78382fd399 856 //if ((servreq == 1 && weberror == 0) && click_flag == 1) {
mori2020 50:ee78382fd399 857 if (servreq == 1 && weberror == 0) {
mori2020 50:ee78382fd399 858 //*-*-*-5("\f\n\r------------ befor send page --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 859 sendpage();
nishimura_taku_pet 24:9481c8f56a49 860 }
mori2020 50:ee78382fd399 861 //*-*-*-5("\f\n\r------------ send_check begin --------------\n\r");
mori2020 50:ee78382fd399 862
mori2020 50:ee78382fd399 863 //sendcheck();
mori2020 50:ee78382fd399 864 //*-*-*-5("\f\n\r------------ ssend_check end--------------\n\r");
mori2020 50:ee78382fd399 865
nishimura_taku_pet 24:9481c8f56a49 866 esp.attach(&callback);
mori2020 50:ee78382fd399 867 //*-*-*-5(" IPD Data:\r\n\n Link ID = %d,\r\n IPD Header Length = %d \r\n IPD Type = %s\r\n", linkID, ipdLen, type);
mori2020 50:ee78382fd399 868 //*-*-*-5("\n\n HTTP Packet: \n\n%s\n", webdata);
mori2020 50:ee78382fd399 869 //*-*-*-5(" Web Characters sent : %d\n\n", bufl);
mori2020 50:ee78382fd399 870 //*-*-*-5(" -------------------------------------\n\n");
nishimura_taku_pet 24:9481c8f56a49 871 servreq=0;
nishimura_taku_pet 24:9481c8f56a49 872 }
nishimura_taku_pet 24:9481c8f56a49 873 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 874 }
nishimura_taku_pet 24:9481c8f56a49 875 }
nishimura_taku_pet 24:9481c8f56a49 876 // Static WEB page
nishimura_taku_pet 24:9481c8f56a49 877 void sendpage()
nishimura_taku_pet 24:9481c8f56a49 878 {
nishimura_taku_pet 24:9481c8f56a49 879 // WEB page data
mori2020 50:ee78382fd399 880
nishimura_taku_pet 24:9481c8f56a49 881 strcpy(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet 24:9481c8f56a49 882 strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
mori2020 50:ee78382fd399 883 //strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >");
molberry 38:39db3f7450c2 884 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 885 strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet 24:9481c8f56a49 886 strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
mori2020 50:ee78382fd399 887 if(b > 30) { //残電量表示
mori2020 50:ee78382fd399 888 sprintf(webbuff, "%s%3d", webbuff, b);
mori2020 50:ee78382fd399 889 } else { //30%より下の場合残電量を赤文字
mori2020 50:ee78382fd399 890 strcat(webbuff, "<font color=\"red\">");
mori2020 50:ee78382fd399 891 sprintf(webbuff, "%s%3d", webbuff, b);
mori2020 50:ee78382fd399 892 strcat(webbuff, "</font>");
mori2020 50:ee78382fd399 893 }
mori2020 50:ee78382fd399 894 strcat(webbuff, "%</strong>");
mori2020 50:ee78382fd399 895 strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"location.reload()\">RELOAD</button>");
nishimura_taku_pet 24:9481c8f56a49 896 strcat(webbuff, "</td></p>");
nishimura_taku_pet 24:9481c8f56a49 897 strcat(webbuff, "<br>");
nishimura_taku_pet 24:9481c8f56a49 898 strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 899
molberry 35:4cda290bdb87 900 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 901 case ADVANCE: //前進
mori2020 50:ee78382fd399 902 strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 903 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 904 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 905 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 906 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 907 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 908 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 909 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 910 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 911 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 912 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 913 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 914 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 915 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 916 break;
molberry 35:4cda290bdb87 917 case LEFT: //左折
mori2020 50:ee78382fd399 918 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 919 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 920 strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 921 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 922 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 923 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 924 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 925 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 926 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 927 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 928 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 929 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 930 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 931 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 932 break;
molberry 35:4cda290bdb87 933 case STOP: //停止
mori2020 50:ee78382fd399 934 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 935 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 936 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 937 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 938 strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 939 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 940 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 941 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 942 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 943 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 944 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 945 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 946 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 947 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 948 break;
molberry 35:4cda290bdb87 949 case RIGHT: //右折
mori2020 50:ee78382fd399 950 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 951 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 952 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 953 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 954 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 955 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 956 strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 957 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 958 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 959 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 960 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 961 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 962 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 963 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 964 break;
molberry 35:4cda290bdb87 965 case BACK: //後進
mori2020 50:ee78382fd399 966 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 967 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 968 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 969 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 970 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 971 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 972 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 973 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 974 strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 975 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet 24:9481c8f56a49 976 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 977 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 978 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 979 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 980 break;
molberry 35:4cda290bdb87 981 case AVOIDANCE: //障害物回避
mori2020 50:ee78382fd399 982 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 983 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 984 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 985 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 986 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 987 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 988 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 989 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 990 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 991 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 992 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 993 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 994 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 995 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 996 break;
molberry 35:4cda290bdb87 997 case LINE_TRACE: //ライントレース
mori2020 50:ee78382fd399 998 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 999 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 1000 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 1001 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1002 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 1003 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1004 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 1005 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 1006 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 1007 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1008 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 1009 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 1010 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 1011 strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1012 break;
molberry 35:4cda290bdb87 1013 default: //その他
mori2020 50:ee78382fd399 1014 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 1015 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020 50:ee78382fd399 1016 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 1017 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1018 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 1019 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1020 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 1021 strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020 50:ee78382fd399 1022 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 1023 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1024 strcat(webbuff, "<strong>Mode</strong>");
mori2020 50:ee78382fd399 1025 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 1026 strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020 50:ee78382fd399 1027 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 1028 break;
nishimura_taku_pet 24:9481c8f56a49 1029 }
nishimura_taku_pet 24:9481c8f56a49 1030 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1031 strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet 24:9481c8f56a49 1032 strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 1033 //ready示速度だけ点灯
molberry 35:4cda290bdb87 1034 switch (flag_sp) { //現在の速度のボタン表示
molberry 35:4cda290bdb87 1035 case 0: //ノーマル
mori2020 50:ee78382fd399 1036 strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1037 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1038 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1039 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1040 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1041 break;
molberry 35:4cda290bdb87 1042 case 1: //ファスト
mori2020 50:ee78382fd399 1043 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1044 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1045 strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1046 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1047 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1048 break;
molberry 35:4cda290bdb87 1049 case 2: //ベリーファスト
mori2020 50:ee78382fd399 1050 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1051 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1052 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1053 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1054 strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1055 break;
molberry 35:4cda290bdb87 1056 default: //その他
mori2020 50:ee78382fd399 1057 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1058 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1059 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1060 strcat(webbuff, "</button></td><td>");
mori2020 50:ee78382fd399 1061 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1062 break;
nishimura_taku_pet 24:9481c8f56a49 1063 }
nishimura_taku_pet 24:9481c8f56a49 1064 strcat(webbuff, "</button></td></tr></table>");
mori2020 50:ee78382fd399 1065
nishimura_taku_pet 24:9481c8f56a49 1066 strcat(webbuff, "</center>");
nishimura_taku_pet 24:9481c8f56a49 1067 strcat(webbuff, "</body>");
nishimura_taku_pet 24:9481c8f56a49 1068 strcat(webbuff, "</html>");
mori2020 50:ee78382fd399 1069
molberry 35:4cda290bdb87 1070 strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
mori2020 50:ee78382fd399 1071
mori2020 50:ee78382fd399 1072 strcat(webbuff, "var button_9 = document.getElementsByTagName(\"button\");");
mori2020 50:ee78382fd399 1073
mori2020 50:ee78382fd399 1074 //ボタン入力時それぞれの関数から呼び出されサーバーとの通信を行う
nishimura_taku_pet 24:9481c8f56a49 1075 strcat(webbuff, "function htmlacs(url) {");
mori2020 50:ee78382fd399 1076 strcat(webbuff, "for(var m=0;m<11;m++){button_9[m].disabled=true;}");
mori2020 50:ee78382fd399 1077 strcat(webbuff, "var xhr = new XMLHttpRequest();");
mori2020 50:ee78382fd399 1078 strcat(webbuff, "xhr.open(\"GET\", url);");
mori2020 50:ee78382fd399 1079 strcat(webbuff, "xhr.onreadystatechange = function(){");
mori2020 50:ee78382fd399 1080 strcat(webbuff, "if(this.readyState == 4 || this.status == 200){");
mori2020 50:ee78382fd399 1081 strcat(webbuff, "for(var m=0;m<11;m++){button_9[m].disabled=false;}");
mori2020 50:ee78382fd399 1082 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1083 strcat(webbuff, "};");
mori2020 50:ee78382fd399 1084 strcat(webbuff, "xhr.send(\"\");");
nishimura_taku_pet 24:9481c8f56a49 1085 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1086
mori2020 50:ee78382fd399 1087 //mode変更ボタン入力時動作 //sendmes
mori2020 50:ee78382fd399 1088 strcat(webbuff, "function send_mes(btnval){"); //mode変更ボタン入力時の点灯消灯判定
nishimura_taku_pet 24:9481c8f56a49 1089 strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet 24:9481c8f56a49 1090 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1091 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1092 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1093 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1094 strcat(webbuff, "for(var i=1;i<8;i++){");
nishimura_taku_pet 24:9481c8f56a49 1095 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1096 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1097 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1098 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1099 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1100 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1101 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1102
mori2020 50:ee78382fd399 1103 strcat(webbuff, "function send_mes_spe(btnval){"); //speed変更ボタン入力時の点灯消灯判定
nishimura_taku_pet 24:9481c8f56a49 1104 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1105 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1106 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1107 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1108 strcat(webbuff, "for(var i=8;i<11;i++){");
nishimura_taku_pet 24:9481c8f56a49 1109 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1110 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1111 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1112 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1113 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1114 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1115 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1116 strcat(webbuff, "</script>");
mori2020 50:ee78382fd399 1117
mori2020 50:ee78382fd399 1118
nishimura_taku_pet 24:9481c8f56a49 1119 // end of WEB page data
nishimura_taku_pet 24:9481c8f56a49 1120 bufl = strlen(webbuff); // get total page buffer length
mori2020 50:ee78382fd399 1121 //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet 24:9481c8f56a49 1122
nishimura_taku_pet 24:9481c8f56a49 1123 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 1124 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1125 getcount=40;
nishimura_taku_pet 24:9481c8f56a49 1126 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1127 getreply();
mori2020 50:ee78382fd399 1128 //*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1129 ////*-*-*-5("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
mori2020 50:ee78382fd399 1130
mori2020 50:ee78382fd399 1131 //*-*-*-5("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
mori2020 50:ee78382fd399 1132
nishimura_taku_pet 24:9481c8f56a49 1133 //pastthrough mode
nishimura_taku_pet 24:9481c8f56a49 1134 SendWEB(); // send web page
mori2020 50:ee78382fd399 1135 //*-*-*-5("\n++++++++++ webbuff clear ++++++++++\r\n");
mori2020 50:ee78382fd399 1136
nishimura_taku_pet 24:9481c8f56a49 1137 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1138 sendcheck();
nishimura_taku_pet 24:9481c8f56a49 1139 }
nishimura_taku_pet 24:9481c8f56a49 1140
nishimura_taku_pet 24:9481c8f56a49 1141 // Large WEB buffer data send
nishimura_taku_pet 24:9481c8f56a49 1142 void SendWEB()
nishimura_taku_pet 24:9481c8f56a49 1143 {
nishimura_taku_pet 24:9481c8f56a49 1144 int i=0;
nishimura_taku_pet 24:9481c8f56a49 1145 if(esp.writeable()) {
nishimura_taku_pet 24:9481c8f56a49 1146 while(webbuff[i]!='\0') {
nishimura_taku_pet 24:9481c8f56a49 1147 esp.putc(webbuff[i]);
mori2020 50:ee78382fd399 1148
nishimura_taku_pet 24:9481c8f56a49 1149 //****
nishimura_taku_pet 24:9481c8f56a49 1150 //output at command when 2000
nishimura_taku_pet 24:9481c8f56a49 1151 if(((i%2047)==0) && (i>0)) {
mori2020 50:ee78382fd399 1152 //wait_ms(10);
takuminomura 48:3003ea51c619 1153 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 1154 sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); // send IPD link channel and buffer character length.
mori2020 50:ee78382fd399 1155 ////*-*-*-5("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet 24:9481c8f56a49 1156 timeout=600;
nishimura_taku_pet 24:9481c8f56a49 1157 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1158 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1159 getreply();
mori2020 50:ee78382fd399 1160 ////*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1161 ////*-*-*-5("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1162 }
nishimura_taku_pet 24:9481c8f56a49 1163 //****
nishimura_taku_pet 24:9481c8f56a49 1164 i++;
mori2020 50:ee78382fd399 1165 ////*-*-*-5("%c",webbuff[i]);
nishimura_taku_pet 24:9481c8f56a49 1166 }
nishimura_taku_pet 24:9481c8f56a49 1167 }
mori2020 50:ee78382fd399 1168 //*-*-*-5("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet 24:9481c8f56a49 1169 }
nishimura_taku_pet 24:9481c8f56a49 1170
nishimura_taku_pet 24:9481c8f56a49 1171
nishimura_taku_pet 24:9481c8f56a49 1172 void sendcheck()
nishimura_taku_pet 24:9481c8f56a49 1173 {
nishimura_taku_pet 24:9481c8f56a49 1174 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1175 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1176 getcount=24;
nishimura_taku_pet 24:9481c8f56a49 1177 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1178 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1179
mori2020 50:ee78382fd399 1180 /*
mori2020 50:ee78382fd399 1181 while(weberror==1 && time2.read() <5) {
mori2020 50:ee78382fd399 1182 getreply();
mori2020 50:ee78382fd399 1183 if (strstr(replybuff, "SEND OK") != NULL) {
mori2020 50:ee78382fd399 1184 weberror=0; // wait for valid SEND OK
mori2020 50:ee78382fd399 1185 }
mori2020 50:ee78382fd399 1186 }
mori2020 50:ee78382fd399 1187 */
nishimura_taku_pet 24:9481c8f56a49 1188 if(weberror==1) { // restart connection
nishimura_taku_pet 24:9481c8f56a49 1189 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet 24:9481c8f56a49 1190 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1191 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1192 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1193 getreply();
mori2020 50:ee78382fd399 1194 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1195 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1196 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1197 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1198 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1199 getreply();
mori2020 50:ee78382fd399 1200 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1201 } else {
nishimura_taku_pet 24:9481c8f56a49 1202 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet 24:9481c8f56a49 1203 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1204 getreply();
mori2020 50:ee78382fd399 1205 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1206 }
nishimura_taku_pet 24:9481c8f56a49 1207 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1208 }
nishimura_taku_pet 24:9481c8f56a49 1209
nishimura_taku_pet 24:9481c8f56a49 1210 // Reads and processes GET and POST web data
nishimura_taku_pet 24:9481c8f56a49 1211 void ReadWebData()
nishimura_taku_pet 24:9481c8f56a49 1212 {
mori2020 50:ee78382fd399 1213 //*-*-*-5("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet 30:c80da0ecc260 1214 ThisThread::sleep_for(200);
nishimura_taku_pet 24:9481c8f56a49 1215 esp.attach(NULL);
nishimura_taku_pet 24:9481c8f56a49 1216 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1217 DataRX=0;
nishimura_taku_pet 24:9481c8f56a49 1218 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1219 memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet 24:9481c8f56a49 1220 int x = strcspn (webbuff,"+");
nishimura_taku_pet 24:9481c8f56a49 1221 if(x) {
nishimura_taku_pet 24:9481c8f56a49 1222 strcpy(webdata, webbuff + x);
nishimura_taku_pet 24:9481c8f56a49 1223 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1224 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
mori2020 50:ee78382fd399 1225 //int i=0;
mori2020 50:ee78382fd399 1226 //*-*-*-5("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
mori2020 50:ee78382fd399 1227 //*-*-*-5("%s",webdata);
mori2020 50:ee78382fd399 1228 //*-*-*-5("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet 51:1baf4407f384 1229 beforeMode = mode;
nishimura_taku_pet 43:243c1455f88a 1230 if( strstr(webdata, "Normal") != NULL ) {
mori2020 50:ee78382fd399 1231 //*-*-*-5("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1232 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1233 flag_sp = 0;
nishimura_taku_pet 43:243c1455f88a 1234 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1235 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1236 }else if( strstr(webdata, "VeryFast") != NULL ) {
mori2020 50:ee78382fd399 1237 //*-*-*-5("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1238 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1239 flag_sp = 2;
nishimura_taku_pet 43:243c1455f88a 1240 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1241 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1242 }else if( strstr(webdata, "Fast") != NULL ) {
mori2020 50:ee78382fd399 1243 //*-*-*-5("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1244 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1245 flag_sp = 1;
nishimura_taku_pet 43:243c1455f88a 1246 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1247 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1248 }
nishimura_taku_pet 24:9481c8f56a49 1249 if( strstr(webdata, "GO") != NULL ) {
mori2020 50:ee78382fd399 1250 //*-*-*-5("+++++++++++++++++前進+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1251 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1252 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1253 run = ADVANCE; // 前進
molberry 35:4cda290bdb87 1254 mode = ADVANCE; // モード変更
molberry 35:4cda290bdb87 1255 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1256 }
takuminomura 48:3003ea51c619 1257
nishimura_taku_pet 24:9481c8f56a49 1258 if( strstr(webdata, "LEFT") != NULL ) {
mori2020 50:ee78382fd399 1259 //*-*-*-5("+++++++++++++++++左折+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1260 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1261 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1262 run = LEFT; // 左折
molberry 35:4cda290bdb87 1263 mode = LEFT; // モード変更
molberry 35:4cda290bdb87 1264 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1265 }
nishimura_taku_pet 24:9481c8f56a49 1266
nishimura_taku_pet 24:9481c8f56a49 1267 if( strstr(webdata, "STOP") != NULL ) {
mori2020 50:ee78382fd399 1268 //*-*-*-5("+++++++++++++++++停止+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1269 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1270 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1271 run = STOP; // 停止
molberry 35:4cda290bdb87 1272 mode = STOP; // モード変更
molberry 35:4cda290bdb87 1273 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1274 }
nishimura_taku_pet 24:9481c8f56a49 1275
nishimura_taku_pet 24:9481c8f56a49 1276 if( strstr(webdata, "RIGHT") != NULL ) {
mori2020 50:ee78382fd399 1277 //*-*-*-5("+++++++++++++++++右折+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1278 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1279 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1280 run = RIGHT; // 右折
molberry 35:4cda290bdb87 1281 mode = RIGHT; // モード変更
molberry 35:4cda290bdb87 1282 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1283 }
nishimura_taku_pet 24:9481c8f56a49 1284
nishimura_taku_pet 24:9481c8f56a49 1285 if( strstr(webdata, "BACK") != NULL ) {
mori2020 50:ee78382fd399 1286 //*-*-*-5("+++++++++++++++++後進+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1287 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1288 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1289 run = BACK; // 後進
molberry 35:4cda290bdb87 1290 mode = BACK; // モード変更
molberry 35:4cda290bdb87 1291 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1292 }
mori2020 50:ee78382fd399 1293 //*-*-*-5("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1294
nishimura_taku_pet 24:9481c8f56a49 1295 if( strstr(webdata, "AVOIDANCE") != NULL ) {
mori2020 50:ee78382fd399 1296 //*-*-*-5("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet 26:0badbc9f9cb3 1297 if(avoi_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1298 delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1299 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 26:0badbc9f9cb3 1300 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1301 }
nishimura_taku_pet 24:9481c8f56a49 1302 mode=AVOIDANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1303 run = ADVANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1304 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1305 }
nishimura_taku_pet 24:9481c8f56a49 1306 if( strstr(webdata, "LINE_TRACE") != NULL ) {
mori2020 50:ee78382fd399 1307 //*-*-*-5("+++++++++++++++++LINET RACE+++++++++++++++++++++");
mori2020 50:ee78382fd399 1308 //*-*-*-5("mode = LINE_TRACE\r\n");
nishimura_taku_pet 26:0badbc9f9cb3 1309 if(trace_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1310 delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1311 trace_thread = new Thread(trace);
nishimura_taku_pet 26:0badbc9f9cb3 1312 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1313 }
nishimura_taku_pet 24:9481c8f56a49 1314 mode=LINE_TRACE;
nishimura_taku_pet 26:0badbc9f9cb3 1315 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1316 }
nishimura_taku_pet 26:0badbc9f9cb3 1317 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1318 trace_thread->terminate();
nishimura_taku_pet 26:0badbc9f9cb3 1319 }
nishimura_taku_pet 26:0badbc9f9cb3 1320 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1321 avoi_thread->terminate();
nishimura_taku_pet 31:3665282561d6 1322 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 26:0badbc9f9cb3 1323 }
nishimura_taku_pet 24:9481c8f56a49 1324 sprintf(channel, "%d",linkID);
nishimura_taku_pet 24:9481c8f56a49 1325 if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1326 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1327 }
nishimura_taku_pet 24:9481c8f56a49 1328 if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1329 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1330 }
nishimura_taku_pet 24:9481c8f56a49 1331 webcounter++;
nishimura_taku_pet 24:9481c8f56a49 1332 sprintf(webcount, "%d",webcounter);
nishimura_taku_pet 24:9481c8f56a49 1333 } else {
nishimura_taku_pet 24:9481c8f56a49 1334 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1335 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1336 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1337 }
nishimura_taku_pet 24:9481c8f56a49 1338 }
nishimura_taku_pet 24:9481c8f56a49 1339 // Starts and restarts webserver if errors detected.
nishimura_taku_pet 24:9481c8f56a49 1340 void startserver()
nishimura_taku_pet 24:9481c8f56a49 1341 {
mori2020 50:ee78382fd399 1342 //*-*-*-5("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1343 strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet 24:9481c8f56a49 1344 timeout=8000;
nishimura_taku_pet 24:9481c8f56a49 1345 getcount=1000;
nishimura_taku_pet 24:9481c8f56a49 1346 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1347 getreply();
mori2020 50:ee78382fd399 1348 //*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1349 //*-*-*-5("%d",ount);
nishimura_taku_pet 24:9481c8f56a49 1350 if (strstr(replybuff, "OK") != NULL) {
mori2020 50:ee78382fd399 1351 //*-*-*-5("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1352 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet 24:9481c8f56a49 1353 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1354 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1355 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1356 getreply();
mori2020 50:ee78382fd399 1357 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1358 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1359 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1360 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1361 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1362 getreply();
mori2020 50:ee78382fd399 1363 //*-*-*-5(replybuff);
nishimura_taku_pet 33:a6f1090e0174 1364 ThisThread::sleep_for(500);
nishimura_taku_pet 24:9481c8f56a49 1365 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet 24:9481c8f56a49 1366 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1367 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1368 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1369 getreply();
mori2020 50:ee78382fd399 1370 //*-*-*-5(replybuff);
nishimura_taku_pet 25:8ed98982faa7 1371 ThisThread::sleep_for(5000);
mori2020 50:ee78382fd399 1372 //*-*-*-5("\n Getting Server IP \r\n");
nishimura_taku_pet 24:9481c8f56a49 1373 strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet 24:9481c8f56a49 1374 timeout=2500;
nishimura_taku_pet 24:9481c8f56a49 1375 getcount=200;
nishimura_taku_pet 24:9481c8f56a49 1376 while(weberror==0) {
nishimura_taku_pet 24:9481c8f56a49 1377 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1378 getreply();
nishimura_taku_pet 24:9481c8f56a49 1379 if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet 24:9481c8f56a49 1380 weberror=1; // wait for valid IP
nishimura_taku_pet 24:9481c8f56a49 1381 }
nishimura_taku_pet 24:9481c8f56a49 1382 }
mori2020 50:ee78382fd399 1383 //*-*-*-5("\n Enter WEB address (IP) found below in your browser \r\n\n");
mori2020 50:ee78382fd399 1384 //*-*-*-5("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1385 replybuff[strlen(replybuff)-1] = '\0';
mori2020 50:ee78382fd399 1386 //char* IP = replybuff + 5;
nishimura_taku_pet 24:9481c8f56a49 1387 sprintf(webdata,"%s", replybuff);
mori2020 50:ee78382fd399 1388 //*-*-*-5(webdata);
nishimura_taku_pet 24:9481c8f56a49 1389 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1390 bufflen=200;
mori2020 50:ee78382fd399 1391 //bufflen=100;
nishimura_taku_pet 24:9481c8f56a49 1392 ount=0;
mori2020 50:ee78382fd399 1393 //*-*-*-5("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet 33:a6f1090e0174 1394 setup();
nishimura_taku_pet 24:9481c8f56a49 1395 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1396 } else {
mori2020 50:ee78382fd399 1397 //*-*-*-5("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1398 led1=1;
nishimura_taku_pet 24:9481c8f56a49 1399 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1400 led3=1;
nishimura_taku_pet 24:9481c8f56a49 1401 led4=1;
nishimura_taku_pet 24:9481c8f56a49 1402 while(1) {
nishimura_taku_pet 24:9481c8f56a49 1403 led1=!led1;
nishimura_taku_pet 24:9481c8f56a49 1404 led2=!led2;
nishimura_taku_pet 24:9481c8f56a49 1405 led3=!led3;
nishimura_taku_pet 24:9481c8f56a49 1406 led4=!led4;
nishimura_taku_pet 25:8ed98982faa7 1407 ThisThread::sleep_for(1000);
nishimura_taku_pet 24:9481c8f56a49 1408 }
nishimura_taku_pet 24:9481c8f56a49 1409 }
nishimura_taku_pet 24:9481c8f56a49 1410 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1411 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1412 }
mori2020 50:ee78382fd399 1413
nishimura_taku_pet 24:9481c8f56a49 1414 // ESP Command data send
nishimura_taku_pet 24:9481c8f56a49 1415 void SendCMD()
nishimura_taku_pet 24:9481c8f56a49 1416 {
nishimura_taku_pet 24:9481c8f56a49 1417 esp.printf("%s", cmdbuff);
nishimura_taku_pet 24:9481c8f56a49 1418 }
nishimura_taku_pet 24:9481c8f56a49 1419 // Get Command and ESP status replies
nishimura_taku_pet 24:9481c8f56a49 1420 void getreply()
nishimura_taku_pet 24:9481c8f56a49 1421 {
nishimura_taku_pet 24:9481c8f56a49 1422 memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet 24:9481c8f56a49 1423 time1.reset();
nishimura_taku_pet 24:9481c8f56a49 1424 time1.start();
nishimura_taku_pet 24:9481c8f56a49 1425 replycount=0;
nishimura_taku_pet 24:9481c8f56a49 1426 while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet 24:9481c8f56a49 1427 if(esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 1428 replybuff[replycount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 1429 replycount++;
nishimura_taku_pet 24:9481c8f56a49 1430 }
nishimura_taku_pet 24:9481c8f56a49 1431 }
nishimura_taku_pet 24:9481c8f56a49 1432 time1.stop();
nishimura_taku_pet 24:9481c8f56a49 1433 }
takuminomura 48:3003ea51c619 1434
tomotsugu 8:a47dbf4fa455 1435 /* mainスレッド */
yangtzuli 0:0d0037aabe41 1436 int main() {
tomotsugu 8:a47dbf4fa455 1437 /* 初期設定 */
mori2020 50:ee78382fd399 1438 wifi_thread = new Thread(wifi);
mori2020 50:ee78382fd399 1439 wifi_thread -> set_priority(osPriorityHigh);
mori2020 50:ee78382fd399 1440 // setup();
nishimura_taku_pet 16:ffc732a3cf92 1441 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 1442 avoi_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 1443 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 1444 trace_thread->terminate();
tomotsugu 8:a47dbf4fa455 1445 mode = READY; // 現在待ちモード
tomotsugu 8:a47dbf4fa455 1446 beforeMode = READY; // 前回待ちモード
tomotsugu 8:a47dbf4fa455 1447 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 1448 flag_sp = NORMAL; // スピード(普通)
tomotsugu 10:d193030ce672 1449 lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet 33:a6f1090e0174 1450 lcd.setAddress(0,1);
nishimura_taku_pet 33:a6f1090e0174 1451 lcd.printf("Mode:SetUp");
nishimura_taku_pet 51:1baf4407f384 1452 //display(); // ディスプレイ表示
yangtzuli 2:38825726cb1b 1453
yangtzuli 0:0d0037aabe41 1454 while(1){
tomotsugu 8:a47dbf4fa455 1455 bChange(); // バッテリー残量更新
yangtzuli 0:0d0037aabe41 1456 }
yangtzuli 0:0d0037aabe41 1457 }