mbed_robotcar
/
saikyo
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Dependencies: RemoteIR TextLCD
Revision 35:4cda290bdb87, committed 2020-08-17
- Comitter:
- molberry
- Date:
- Mon Aug 17 07:57:25 2020 +0000
- Parent:
- 34:040474bf6fe0
- Child:
- 36:66d42cf30dac
- Commit message:
- coment pulas
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Aug 17 02:53:18 2020 +0000
+++ b/main.cpp Mon Aug 17 07:57:25 2020 +0000
@@ -694,9 +694,9 @@
strcat(webbuff, "<style type=\"text/css\">.noselect{ width:100px;height:60px;}.light{ width:100px;height:60px;background-color:#00ff66;}</style>");
strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
- if(b > 30) {
+ if(b > 30) { //残電量表示
sprintf(webbuff, "%s%3d", webbuff, b);
- } else {
+ } else { //30%より下の場合残電量を赤文字
strcat(webbuff, "<font color=\"red\">");
sprintf(webbuff, "%s%3d", webbuff, b);
strcat(webbuff, "<\font>");
@@ -706,8 +706,8 @@
strcat(webbuff, "<br>");
strcat(webbuff, "<table><tr><td></td><td>");
- switch(mode) {
- case ADVANCE:
+ 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
+ case ADVANCE: //前進
strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
@@ -723,7 +723,7 @@
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
break;
- case LEFT:
+ case LEFT: //左折
strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
@@ -739,7 +739,7 @@
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
break;
- case STOP:
+ case STOP: //停止
strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
@@ -755,7 +755,7 @@
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
break;
- case RIGHT:
+ case RIGHT: //右折
strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
@@ -771,7 +771,7 @@
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
break;
- case BACK:
+ case BACK: //後進
strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
@@ -787,7 +787,7 @@
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
break;
- case AVOIDANCE:
+ case AVOIDANCE: //障害物回避
strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
@@ -803,7 +803,7 @@
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
break;
- case LINE_TRACE:
+ case LINE_TRACE: //ライントレース
strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
@@ -819,7 +819,7 @@
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
break;
- default:
+ default: //その他
strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
@@ -840,29 +840,29 @@
strcat(webbuff, "<strong>Speed</strong>");
strcat(webbuff, "<table><tr><td>");
//ready示速度だけ点灯
- switch (flag_sp) {
- case 0:
+ switch (flag_sp) { //現在の速度のボタン表示
+ case 0: //ノーマル
strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
break;
- case 1:
+ case 1: //ファスト
strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
break;
- case 2:
+ case 2: //ベリーファスト
strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
break;
- default:
+ default: //その他
strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
@@ -875,7 +875,7 @@
strcat(webbuff, "</center>");
strcat(webbuff, "</body>");
strcat(webbuff, "</html>");
- strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");
+ strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
strcat(webbuff, "function htmlacs(url) {");
strcat(webbuff, "var xhr = new XMLHttpRequest();");
@@ -883,7 +883,7 @@
strcat(webbuff, "xhr.send(\"\");");
strcat(webbuff, "}");
- strcat(webbuff, "function send_mes(btnmes,btnval){");
+ strcat(webbuff, "function send_mes(btnmes,btnval){"); //mode変更ボタン入力時の点灯消灯判定
strcat(webbuff, "console.log(btnval);");
strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
@@ -899,7 +899,7 @@
strcat(webbuff, "}");
strcat(webbuff, "}");
- strcat(webbuff, "function send_mes_spe(btnmes,btnval){");
+ strcat(webbuff, "function send_mes_spe(btnmes,btnval){"); //speed変更ボタン入力時の点灯消灯判定
strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
strcat(webbuff, "htmlacs(url);");
strcat(webbuff, "console.log(url);");
@@ -966,7 +966,6 @@
}
-
void sendcheck()
{
weberror=1;
@@ -1026,44 +1025,54 @@
pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
if( strstr(webdata, "GO") != NULL ) {
pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n");
- run = ADVANCE; // 前進
- mode = ADVANCE; // モード変更
- display(); // ディスプレイ表示
+ delete avoi_thread; //障害物回避スレッド停止
+ delete trace_thread; //ライントレーススレッド停止
+ run = ADVANCE; // 前進
+ mode = ADVANCE; // モード変更
+ display(); // ディスプレイ表示
}
if( strstr(webdata, "LEFT") != NULL ) {
pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n");
- run = LEFT;
- mode = LEFT;
- display(); // ディスプレイ表示
+ delete avoi_thread; //障害物回避スレッド停止
+ delete trace_thread; //ライントレーススレッド停止
+ run = LEFT; // 左折
+ mode = LEFT; // モード変更
+ display(); // ディスプレイ表示
}
if( strstr(webdata, "STOP") != NULL ) {
pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n");
- run = STOP;
- mode = STOP;
- display(); // ディスプレイ表示
+ delete avoi_thread; //障害物回避スレッド停止
+ delete trace_thread; //ライントレーススレッド停止
+ run = STOP; // 停止
+ mode = STOP; // モード変更
+ display(); // ディスプレイ表示
}
if( strstr(webdata, "RIGHT") != NULL ) {
pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n");
- run = RIGHT;
- mode = RIGHT;
- display(); // ディスプレイ表示
+ delete avoi_thread; //障害物回避スレッド停止
+ delete trace_thread; //ライントレーススレッド停止
+ run = RIGHT; // 右折
+ mode = RIGHT; // モード変更
+ display(); // ディスプレイ表示
}
if( strstr(webdata, "BACK") != NULL ) {
pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n");
- run = BACK;
- mode = BACK;
- display(); // ディスプレイ表示
+ delete avoi_thread; //障害物回避スレッド停止
+ delete trace_thread; //ライントレーススレッド停止
+ run = BACK; // 後進
+ mode = BACK; // モード変更
+ display(); // ディスプレイ表示
}
pc.printf("+++++++++++++++++succed+++++++++++++++++++++");
if( strstr(webdata, "AVOIDANCE") != NULL ) {
pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
if(avoi_thread->get_state() == Thread::Deleted) {
- delete avoi_thread;
+ delete avoi_thread; //障害物回避スレッド停止
avoi_thread = new Thread(avoidance);
avoi_thread -> set_priority(osPriorityHigh);
}
@@ -1075,7 +1084,7 @@
pc.printf("+++++++++++++++++LINET RACE+++++++++++++++++++++");
pc.printf("mode = LINE_TRACE\r\n");
if(trace_thread->get_state() == Thread::Deleted) {
- delete trace_thread;
+ delete trace_thread; //ライントレーススレッド停止
trace_thread = new Thread(trace);
trace_thread -> set_priority(osPriorityHigh);
}