Yutaka Yoshida / Mbed 2 deprecated BLE_WallbotBLE_Challenge_byYUTAKA

Gセンサ制御　実装版

Dependencies:   mbed

Fork of BLE_WallbotBLE_Challenge_byYUTAKA by keisuke Yoshida

main.cpp@10:d443aea353a2, 2018-06-18 (annotated)

Committer:
Dyotty
Date:
Mon Jun 18 06:18:04 2018 +0000
Revision:
10:d443aea353a2
Parent:
9:965bfb378463 
6/18

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:76dfa9657d9d 1 #include "mbed.h"
jksoft 0:76dfa9657d9d 2 #include "BLEDevice.h"
jksoft 0:76dfa9657d9d 3 #include "RCBController.h"
jksoft 0:76dfa9657d9d 4 #include "TB6612.h"
Dyotty 3:f707552ec50a 5 #include "MPU6050.h"
jksoft 0:76dfa9657d9d 6
Dyotty 6:213041054f97 7 #define DBG 1
jksoft 0:76dfa9657d9d 8
jksoft 0:76dfa9657d9d 9 BLEDevice ble;
Dyotty 3:f707552ec50a 10
Dyotty 3:f707552ec50a 11 MPU6050 mpu(I2C_SDA, I2C_SCL);
Dyotty 3:f707552ec50a 12
sibu2 1:a86c84ead24a 13 #if DBG
jksoft 0:76dfa9657d9d 14 Serial pc(USBTX, USBRX);
sibu2 1:a86c84ead24a 15 #endif
jksoft 0:76dfa9657d9d 16 /* LEDs for indication: */
jksoft 0:76dfa9657d9d 17 DigitalOut ModeLed(P0_19);
jksoft 0:76dfa9657d9d 18 DigitalOut ConnectStateLed(P0_18);
jksoft 0:76dfa9657d9d 19 DigitalOut outlow(P0_20);
jksoft 0:76dfa9657d9d 20 //PwmOut ControllerStateLed(LED2);
jksoft 0:76dfa9657d9d 21
jksoft 0:76dfa9657d9d 22 AnalogIn fsen1(P0_2);
jksoft 0:76dfa9657d9d 23 AnalogIn fsen2(P0_3);
jksoft 0:76dfa9657d9d 24 AnalogIn fsen3(P0_4);
jksoft 0:76dfa9657d9d 25 AnalogIn fsen4(P0_5);
Dyotty 3:f707552ec50a 26 #if 1
jksoft 0:76dfa9657d9d 27 TB6612 left(P0_29,P0_23,P0_24);
sibu2 1:a86c84ead24a 28 TB6612 right(P0_28,P0_30,P0_0);
jksoft 0:76dfa9657d9d 29 #else
jksoft 0:76dfa9657d9d 30 TB6612 left(P0_29,P0_24,P0_23);
jksoft 0:76dfa9657d9d 31 TB6612 right(P0_28,P0_0,P0_30);
jksoft 0:76dfa9657d9d 32 #endif
jksoft 0:76dfa9657d9d 33 Ticker ticker;
jksoft 0:76dfa9657d9d 34
jksoft 0:76dfa9657d9d 35 DigitalIn sw1(P0_16);
jksoft 0:76dfa9657d9d 36 DigitalIn sw2(P0_17);
jksoft 0:76dfa9657d9d 37
sibu2 1:a86c84ead24a 38 DigitalIn encl1(P0_6);
sibu2 1:a86c84ead24a 39 DigitalIn encl2(P0_7);
sibu2 1:a86c84ead24a 40 DigitalIn encr1(P0_8);
sibu2 1:a86c84ead24a 41 DigitalIn encr2(P0_10);
jksoft 0:76dfa9657d9d 42
jksoft 0:76dfa9657d9d 43
jksoft 0:76dfa9657d9d 44 int base_fsen[4];
jksoft 0:76dfa9657d9d 45 int line_mode = 0;
jksoft 0:76dfa9657d9d 46 int challenge_mode = 0;
jksoft 0:76dfa9657d9d 47 char bValue = 0;
jksoft 0:76dfa9657d9d 48
Dyotty 5:29f7f535d4b2 49 // Wallbot State
Dyotty 5:29f7f535d4b2 50 int stt_Mode;
Dyotty 5:29f7f535d4b2 51
jksoft 0:76dfa9657d9d 52 int get_line(int num);
jksoft 0:76dfa9657d9d 53
jksoft 0:76dfa9657d9d 54 /* RCBController Service */
jksoft 0:76dfa9657d9d 55 static const uint16_t RCBController_service_uuid = 0xFFF0;
jksoft 0:76dfa9657d9d 56 static const uint16_t RCBController_Characteristic_uuid = 0xFFF1;
jksoft 0:76dfa9657d9d 57 static const uint16_t RCBController_b_Characteristic_uuid = 0xFFF3;
jksoft 0:76dfa9657d9d 58 uint8_t RCBControllerPayload[10] = {0,};
jksoft 0:76dfa9657d9d 59
jksoft 0:76dfa9657d9d 60 GattCharacteristic ControllerChar (RCBController_Characteristic_uuid,RCBControllerPayload,10, 10,
jksoft 0:76dfa9657d9d 61 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE |
jksoft 0:76dfa9657d9d 62 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE_WITHOUT_RESPONSE);
sibu2 1:a86c84ead24a 63 //static uint8_t _bValue = 0x00;
jksoft 0:76dfa9657d9d 64 static uint8_t _mValue[10] = {0,};
jksoft 0:76dfa9657d9d 65 GattCharacteristic b_Char(RCBController_b_Characteristic_uuid, _mValue, sizeof(_mValue), sizeof(_mValue),
jksoft 0:76dfa9657d9d 66 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
jksoft 0:76dfa9657d9d 67
jksoft 0:76dfa9657d9d 68 GattCharacteristic *ControllerChars[] = {&ControllerChar,&b_Char};
jksoft 0:76dfa9657d9d 69 GattService RCBControllerService(RCBController_service_uuid, ControllerChars, sizeof(ControllerChars) / sizeof(GattCharacteristic *));
jksoft 0:76dfa9657d9d 70
jksoft 0:76dfa9657d9d 71 RCBController controller;
jksoft 0:76dfa9657d9d 72
jksoft 0:76dfa9657d9d 73 void onConnected(Gap::Handle_t handle, const Gap::ConnectionParams_t *params)
jksoft 0:76dfa9657d9d 74 {
jksoft 0:76dfa9657d9d 75 ConnectStateLed = 0;
jksoft 0:76dfa9657d9d 76 #if DBG
jksoft 0:76dfa9657d9d 77 pc.printf("Connected\n\r");
jksoft 0:76dfa9657d9d 78 #endif
jksoft 0:76dfa9657d9d 79 }
jksoft 0:76dfa9657d9d 80
jksoft 0:76dfa9657d9d 81 void onDisconnected(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
jksoft 0:76dfa9657d9d 82 {
sibu2 1:a86c84ead24a 83 left = 0;
sibu2 1:a86c84ead24a 84 right = 0;
sibu2 1:a86c84ead24a 85
jksoft 0:76dfa9657d9d 86 ble.startAdvertising();
jksoft 0:76dfa9657d9d 87 ConnectStateLed = 1;
jksoft 0:76dfa9657d9d 88 #if DBG
jksoft 0:76dfa9657d9d 89 pc.printf("Disconnected\n\r");
jksoft 0:76dfa9657d9d 90 #endif
jksoft 0:76dfa9657d9d 91 }
jksoft 0:76dfa9657d9d 92
jksoft 0:76dfa9657d9d 93 void periodicCallback(void)
jksoft 0:76dfa9657d9d 94 {
jksoft 0:76dfa9657d9d 95 if (!ble.getGapState().connected) {
jksoft 0:76dfa9657d9d 96 return;
jksoft 0:76dfa9657d9d 97 }
jksoft 0:76dfa9657d9d 98 int line = get_line(0) ? 1 : 0;
jksoft 0:76dfa9657d9d 99 line |= get_line(1) ? 2 : 0;
jksoft 0:76dfa9657d9d 100 line |= get_line(2) ? 4 : 0;
jksoft 0:76dfa9657d9d 101 line |= get_line(3) ? 8 : 0;
jksoft 0:76dfa9657d9d 102 if( (bValue == 0)&&(line != 0) )
jksoft 0:76dfa9657d9d 103 {
jksoft 0:76dfa9657d9d 104 // game over
jksoft 0:76dfa9657d9d 105 left = 0.0;
jksoft 0:76dfa9657d9d 106 right = 0.0;
jksoft 0:76dfa9657d9d 107 bValue = 10;
jksoft 0:76dfa9657d9d 108 }
jksoft 0:76dfa9657d9d 109 if( bValue > 0 )
jksoft 0:76dfa9657d9d 110 {
jksoft 0:76dfa9657d9d 111 memcpy( _mValue , "GAME OVER",10);
jksoft 0:76dfa9657d9d 112 ble.updateCharacteristicValue(b_Char.getValueAttribute().getHandle(), (uint8_t *)_mValue, sizeof(_mValue));
jksoft 0:76dfa9657d9d 113 ModeLed = !ModeLed;
jksoft 0:76dfa9657d9d 114 bValue--;
jksoft 0:76dfa9657d9d 115 if( bValue == 0 )
jksoft 0:76dfa9657d9d 116 {
jksoft 0:76dfa9657d9d 117 ModeLed = 1;
jksoft 0:76dfa9657d9d 118 challenge_mode = 0;
jksoft 0:76dfa9657d9d 119 ticker.detach();
jksoft 0:76dfa9657d9d 120 }
jksoft 0:76dfa9657d9d 121 }
jksoft 0:76dfa9657d9d 122 }
jksoft 0:76dfa9657d9d 123
jksoft 0:76dfa9657d9d 124
jksoft 0:76dfa9657d9d 125 // GattEvent
jksoft 0:76dfa9657d9d 126 void onDataWritten(const GattCharacteristicWriteCBParams *params)
jksoft 0:76dfa9657d9d 127 {
jksoft 0:76dfa9657d9d 128 if( (params->charHandle == ControllerChar.getValueAttribute().getHandle()) && (line_mode == 0))
jksoft 0:76dfa9657d9d 129 {
jksoft 0:76dfa9657d9d 130 memcpy( &controller.data[0], params->data , params->len );
jksoft 0:76dfa9657d9d 131 //memcpy( &controller.data[0], RCBControllerPayload, sizeof(controller));
jksoft 0:76dfa9657d9d 132 #if DBG
jksoft 0:76dfa9657d9d 133
jksoft 0:76dfa9657d9d 134 pc.printf("DATA:%02X %02X %d %d %d %d %d %d %d %02X\n\r",controller.data[0],controller.data[1],controller.data[2],controller.data[3],controller.data[4],
jksoft 0:76dfa9657d9d 135 controller.data[5],controller.data[6],controller.data[7],controller.data[8],controller.data[9]);
jksoft 0:76dfa9657d9d 136 #endif
jksoft 0:76dfa9657d9d 137 float right_factor;
jksoft 0:76dfa9657d9d 138 float left_factor;
jksoft 0:76dfa9657d9d 139
jksoft 0:76dfa9657d9d 140 left_factor = ((float)((int)controller.status.LeftAnalogUD -128) / 128.0);
jksoft 0:76dfa9657d9d 141 right_factor = ((float)((int)controller.status.RightAnalogUD -128) / 128.0);
jksoft 0:76dfa9657d9d 142
jksoft 0:76dfa9657d9d 143 if(challenge_mode == 1)
jksoft 0:76dfa9657d9d 144 {
jksoft 0:76dfa9657d9d 145 if( bValue == 0 )
jksoft 0:76dfa9657d9d 146 {
jksoft 0:76dfa9657d9d 147 float factor = ((float)((int)controller.status.AcceleX -128) / 128.0);
jksoft 0:76dfa9657d9d 148
jksoft 0:76dfa9657d9d 149 float right_factor = ((factor <= 0.0) ? 1.0 : 1.0 - (factor*2));
jksoft 0:76dfa9657d9d 150 float left_factor = ((factor >= 0.0) ? 1.0 : 1.0 - (-factor*2));
jksoft 0:76dfa9657d9d 151
jksoft 0:76dfa9657d9d 152 if( controller.status.B == 1 )
jksoft 0:76dfa9657d9d 153 {
jksoft 0:76dfa9657d9d 154 left = left_factor;
jksoft 0:76dfa9657d9d 155 right = right_factor;
jksoft 0:76dfa9657d9d 156 }
jksoft 0:76dfa9657d9d 157 else if( controller.status.A == 1 )
jksoft 0:76dfa9657d9d 158 {
jksoft 0:76dfa9657d9d 159 left = -right_factor;
jksoft 0:76dfa9657d9d 160 right = -left_factor;
jksoft 0:76dfa9657d9d 161 }
jksoft 0:76dfa9657d9d 162 else
jksoft 0:76dfa9657d9d 163 {
jksoft 0:76dfa9657d9d 164 left = 0;
jksoft 0:76dfa9657d9d 165 right = 0;
jksoft 0:76dfa9657d9d 166 }
jksoft 0:76dfa9657d9d 167 }
jksoft 0:76dfa9657d9d 168 }
jksoft 0:76dfa9657d9d 169 else if( (left_factor != 0.0)||(right_factor != 0.0) )
jksoft 0:76dfa9657d9d 170 {
jksoft 0:76dfa9657d9d 171 left = left_factor;
jksoft 0:76dfa9657d9d 172 right = right_factor;
jksoft 0:76dfa9657d9d 173 }
jksoft 0:76dfa9657d9d 174 else
jksoft 0:76dfa9657d9d 175 {
jksoft 0:76dfa9657d9d 176 float factor = ((float)((int)controller.status.AcceleX -128) / 128.0);
jksoft 0:76dfa9657d9d 177
jksoft 0:76dfa9657d9d 178 float right_factor = ((factor <= 0.0) ? 1.0 : 1.0 - (factor*2));
jksoft 0:76dfa9657d9d 179 float left_factor = ((factor >= 0.0) ? 1.0 : 1.0 - (-factor*2));
jksoft 0:76dfa9657d9d 180
jksoft 0:76dfa9657d9d 181 if( controller.status.B == 1 )
jksoft 0:76dfa9657d9d 182 {
jksoft 0:76dfa9657d9d 183 left = left_factor;
jksoft 0:76dfa9657d9d 184 right = right_factor;
jksoft 0:76dfa9657d9d 185 }
jksoft 0:76dfa9657d9d 186 else if( controller.status.A == 1 )
jksoft 0:76dfa9657d9d 187 {
jksoft 0:76dfa9657d9d 188 left = -right_factor;
jksoft 0:76dfa9657d9d 189 right = -left_factor;
jksoft 0:76dfa9657d9d 190 }
jksoft 0:76dfa9657d9d 191 else if( controller.status.UP == 1 )
jksoft 0:76dfa9657d9d 192 {
jksoft 0:76dfa9657d9d 193 left = 1.0;
jksoft 0:76dfa9657d9d 194 right = 1.0;
jksoft 0:76dfa9657d9d 195 }
jksoft 0:76dfa9657d9d 196 else if( controller.status.DOWN == 1 )
jksoft 0:76dfa9657d9d 197 {
jksoft 0:76dfa9657d9d 198 left = -1.0;
jksoft 0:76dfa9657d9d 199 right = -1.0;
jksoft 0:76dfa9657d9d 200 }
jksoft 0:76dfa9657d9d 201 else if( controller.status.RIGHT == 1 )
jksoft 0:76dfa9657d9d 202 {
jksoft 0:76dfa9657d9d 203 left = 1.0;
jksoft 0:76dfa9657d9d 204 right = -1.0;
jksoft 0:76dfa9657d9d 205 }
jksoft 0:76dfa9657d9d 206 else if( controller.status.LEFT == 1 )
jksoft 0:76dfa9657d9d 207 {
jksoft 0:76dfa9657d9d 208 left = -1.0;
jksoft 0:76dfa9657d9d 209 right = 1.0;
jksoft 0:76dfa9657d9d 210 }
jksoft 0:76dfa9657d9d 211 else
jksoft 0:76dfa9657d9d 212 {
jksoft 0:76dfa9657d9d 213 left = 0.0;
jksoft 0:76dfa9657d9d 214 right = 0.0;
jksoft 0:76dfa9657d9d 215 }
jksoft 0:76dfa9657d9d 216 if((controller.status.UP == 1)&&(controller.status.DOWN == 1))
jksoft 0:76dfa9657d9d 217 {
jksoft 0:76dfa9657d9d 218 left = 0.0;
jksoft 0:76dfa9657d9d 219 right = 0.0;
jksoft 0:76dfa9657d9d 220 ModeLed = 0;
jksoft 0:76dfa9657d9d 221 challenge_mode = 1;
jksoft 0:76dfa9657d9d 222 ticker.attach(periodicCallback, 0.1);
jksoft 0:76dfa9657d9d 223
jksoft 0:76dfa9657d9d 224 }
jksoft 0:76dfa9657d9d 225 }
jksoft 0:76dfa9657d9d 226 //ControllerStateLed = (float)controller.status.LeftAnalogLR / 255.0;
jksoft 0:76dfa9657d9d 227 }
jksoft 0:76dfa9657d9d 228 }
jksoft 0:76dfa9657d9d 229
jksoft 0:76dfa9657d9d 230 int get_fsen(int num)
jksoft 0:76dfa9657d9d 231 {
jksoft 0:76dfa9657d9d 232 switch(num)
jksoft 0:76dfa9657d9d 233 {
jksoft 0:76dfa9657d9d 234 case 0:
jksoft 0:76dfa9657d9d 235 return((int)fsen1.read_u16());
jksoft 0:76dfa9657d9d 236 case 1:
jksoft 0:76dfa9657d9d 237 return((int)fsen2.read_u16());
jksoft 0:76dfa9657d9d 238 case 2:
jksoft 0:76dfa9657d9d 239 return((int)fsen3.read_u16());
jksoft 0:76dfa9657d9d 240 case 3:
jksoft 0:76dfa9657d9d 241 return((int)fsen4.read_u16());
jksoft 0:76dfa9657d9d 242 }
jksoft 0:76dfa9657d9d 243 return(0);
jksoft 0:76dfa9657d9d 244 }
jksoft 0:76dfa9657d9d 245
jksoft 0:76dfa9657d9d 246 void base()
jksoft 0:76dfa9657d9d 247 {
jksoft 0:76dfa9657d9d 248 wait(0.5);
jksoft 0:76dfa9657d9d 249
jksoft 0:76dfa9657d9d 250 for(int i=0;i<4;i++)
jksoft 0:76dfa9657d9d 251 {
jksoft 0:76dfa9657d9d 252 base_fsen[i] = 0;
jksoft 0:76dfa9657d9d 253 }
jksoft 0:76dfa9657d9d 254
jksoft 0:76dfa9657d9d 255 for(int j=0;j<10;j++)
jksoft 0:76dfa9657d9d 256 {
jksoft 0:76dfa9657d9d 257 for(int i=0;i<4;i++)
jksoft 0:76dfa9657d9d 258 {
jksoft 0:76dfa9657d9d 259 base_fsen[i] += get_fsen(i);
jksoft 0:76dfa9657d9d 260 }
jksoft 0:76dfa9657d9d 261 wait_ms(50);
jksoft 0:76dfa9657d9d 262 }
jksoft 0:76dfa9657d9d 263 for(int i=0;i<4;i++)
jksoft 0:76dfa9657d9d 264 {
jksoft 0:76dfa9657d9d 265 base_fsen[i] = base_fsen[i] / 10;
jksoft 0:76dfa9657d9d 266 }
sibu2 1:a86c84ead24a 267 #if DBG
jksoft 0:76dfa9657d9d 268 pc.printf("[0]:%05d[1]:%05d[2]:%05d[3]:%05d\n\r",base_fsen[0],base_fsen[1],base_fsen[2],base_fsen[3]);
sibu2 1:a86c84ead24a 269 #endif
jksoft 0:76dfa9657d9d 270 }
jksoft 0:76dfa9657d9d 271
jksoft 0:76dfa9657d9d 272 int get_line(int num)
jksoft 0:76dfa9657d9d 273 {
jksoft 0:76dfa9657d9d 274 int in = get_fsen(num);
jksoft 0:76dfa9657d9d 275 int ret = 0;
jksoft 0:76dfa9657d9d 276
jksoft 0:76dfa9657d9d 277 #if 1
jksoft 0:76dfa9657d9d 278 if(in > 700)
jksoft 0:76dfa9657d9d 279 #else
jksoft 0:76dfa9657d9d 280 if( (in > (base_fsen[num] + 200))||(in < (base_fsen[num] - 200)))
jksoft 0:76dfa9657d9d 281 #endif
jksoft 0:76dfa9657d9d 282 {
jksoft 0:76dfa9657d9d 283 ret = 1;
jksoft 0:76dfa9657d9d 284 }
jksoft 0:76dfa9657d9d 285 return(ret);
jksoft 0:76dfa9657d9d 286 }
jksoft 0:76dfa9657d9d 287
Keisuke_Yoshida 4:951fabc31ba6 288 //ライントレース関数
jksoft 0:76dfa9657d9d 289 void line(void)
jksoft 0:76dfa9657d9d 290 {
jksoft 0:76dfa9657d9d 291 ModeLed = 0;
jksoft 0:76dfa9657d9d 292 wait(1);
jksoft 0:76dfa9657d9d 293 while(sw1 != 0)
jksoft 0:76dfa9657d9d 294 {
jksoft 0:76dfa9657d9d 295 #if 0
jksoft 0:76dfa9657d9d 296 int line = get_line(0) ? 0 : 1;
jksoft 0:76dfa9657d9d 297 line |= get_line(1) ? 0 : 2;
jksoft 0:76dfa9657d9d 298 line |= get_line(2) ? 0 : 4;
jksoft 0:76dfa9657d9d 299 line |= get_line(3) ? 0 : 8;
jksoft 0:76dfa9657d9d 300 #else
jksoft 0:76dfa9657d9d 301 int line = get_line(0) ? 1 : 0;
jksoft 0:76dfa9657d9d 302 line |= get_line(1) ? 2 : 0;
jksoft 0:76dfa9657d9d 303 line |= get_line(2) ? 4 : 0;
jksoft 0:76dfa9657d9d 304 line |= get_line(3) ? 8 : 0;
jksoft 0:76dfa9657d9d 305 #endif
sibu2 1:a86c84ead24a 306
sibu2 1:a86c84ead24a 307 #if DBG
sibu2 1:a86c84ead24a 308 pc.printf("line=%02x %04x %04x %04x %04x\n\r",line,base_fsen[0],base_fsen[1],base_fsen[2],base_fsen[3]);
sibu2 1:a86c84ead24a 309 #endif
Keisuke_Yoshida 4:951fabc31ba6 310
sibu2 1:a86c84ead24a 311 #if 1
jksoft 0:76dfa9657d9d 312 switch(line)
jksoft 0:76dfa9657d9d 313 {
jksoft 0:76dfa9657d9d 314 case 1: // ○○○●
jksoft 0:76dfa9657d9d 315 left = 1.0;
jksoft 0:76dfa9657d9d 316 right = -1.0;
jksoft 0:76dfa9657d9d 317 break;
jksoft 0:76dfa9657d9d 318 case 3: // ○○●●
jksoft 0:76dfa9657d9d 319 left = 1.0;
jksoft 0:76dfa9657d9d 320 right = -0.5;
jksoft 0:76dfa9657d9d 321 break;
jksoft 0:76dfa9657d9d 322 case 2: // ○○●○
jksoft 0:76dfa9657d9d 323 left = 1.0;
jksoft 0:76dfa9657d9d 324 right = 0.5;
jksoft 0:76dfa9657d9d 325 break;
jksoft 0:76dfa9657d9d 326 case 6: // ○●●○
jksoft 0:76dfa9657d9d 327 left = 1.0;
jksoft 0:76dfa9657d9d 328 right = 1.0;
jksoft 0:76dfa9657d9d 329 break;
jksoft 0:76dfa9657d9d 330 case 4: // ○●○○
jksoft 0:76dfa9657d9d 331 left = 0.5;
jksoft 0:76dfa9657d9d 332 right = 1.0;
jksoft 0:76dfa9657d9d 333 break;
jksoft 0:76dfa9657d9d 334 case 12: // ●●○○
jksoft 0:76dfa9657d9d 335 left = -0.5;
jksoft 0:76dfa9657d9d 336 right = 1.0;
jksoft 0:76dfa9657d9d 337 break;
jksoft 0:76dfa9657d9d 338 case 8: // ●○○○
jksoft 0:76dfa9657d9d 339 left = -1.0;
jksoft 0:76dfa9657d9d 340 right = 1.0;
jksoft 0:76dfa9657d9d 341 break;
jksoft 0:76dfa9657d9d 342 default:
jksoft 0:76dfa9657d9d 343 left = 1.0;
jksoft 0:76dfa9657d9d 344 right = 1.0;
jksoft 0:76dfa9657d9d 345 break;
jksoft 0:76dfa9657d9d 346 }
sibu2 1:a86c84ead24a 347 #endif
Keisuke_Yoshida 4:951fabc31ba6 348
Keisuke_Yoshida 4:951fabc31ba6 349 }
Keisuke_Yoshida 4:951fabc31ba6 350 ModeLed = 1;
Keisuke_Yoshida 4:951fabc31ba6 351 left = 0.0;
Keisuke_Yoshida 4:951fabc31ba6 352 right = 0.0;
Keisuke_Yoshida 4:951fabc31ba6 353 wait(1);
Keisuke_Yoshida 4:951fabc31ba6 354 }
Keisuke_Yoshida 4:951fabc31ba6 355
Keisuke_Yoshida 4:951fabc31ba6 356 //動作パターン関数（工事中）
Keisuke_Yoshida 4:951fabc31ba6 357 void wb_control(void)
Keisuke_Yoshida 4:951fabc31ba6 358 {
Keisuke_Yoshida 4:951fabc31ba6 359 ModeLed = 0;
Dyotty 6:213041054f97 360 wait(1);
Dyotty 5:29f7f535d4b2 361
Dyotty 6:213041054f97 362 // Wallbot State Initialize
Dyotty 6:213041054f97 363 // Up Straight : 1
Dyotty 6:213041054f97 364 // Up Back : 2
Dyotty 6:213041054f97 365 // Up Rotate : 3
Dyotty 6:213041054f97 366 // Down Straight : 4
Dyotty 6:213041054f97 367 // Down Back : 5
Dyotty 6:213041054f97 368 // Down Rotate : 6
Dyotty 6:213041054f97 369 stt_Mode = 1;
Dyotty 6:213041054f97 370
Dyotty 6:213041054f97 371 // 値を格納する用の配列、変数
Dyotty 6:213041054f97 372 float acData[3];
Dyotty 6:213041054f97 373 float gyData[3];
Dyotty 6:213041054f97 374 float ax = 0;
Dyotty 6:213041054f97 375 float ay = 0;
Dyotty 7:897b9ded86e2 376 float buf_ax[10];
Dyotty 9:965bfb378463 377 float mean_ax = 0;
Dyotty 9:965bfb378463 378 float sum_ax = 0;
Dyotty 9:965bfb378463 379 // float log_ax[30];
Dyotty 5:29f7f535d4b2 380 int cnt_loop = 0;
Dyotty 7:897b9ded86e2 381 int cnt_back = 0;
Dyotty 9:965bfb378463 382 int cnt_straight = 0;
Dyotty 7:897b9ded86e2 383 float thre_bump = 2.0;
Dyotty 9:965bfb378463 384 bool enable_ChangeMode = false;
Dyotty 9:965bfb378463 385
Dyotty 9:965bfb378463 386 for(int i = 0; i < 10; i++)
Dyotty 9:965bfb378463 387 {
Dyotty 9:965bfb378463 388 buf_ax[i] = 0;
Dyotty 9:965bfb378463 389 }
Dyotty 5:29f7f535d4b2 390
Keisuke_Yoshida 4:951fabc31ba6 391 while(sw1 != 0)
Keisuke_Yoshida 4:951fabc31ba6 392 {
Dyotty 6:213041054f97 393 // Wait(0.1);
Dyotty 5:29f7f535d4b2 394
Dyotty 6:213041054f97 395 // Get value
Dyotty 6:213041054f97 396 //加速度を取得
Dyotty 6:213041054f97 397 Timer acTimer;
Dyotty 6:213041054f97 398 acTimer.start();
Dyotty 6:213041054f97 399 mpu.getAccelero(acData); //加速度を取得 acDataに格納
Dyotty 6:213041054f97 400 acTimer.stop();
Dyotty 6:213041054f97 401 // at = acTimer.read_ms();
Dyotty 6:213041054f97 402 acTimer.reset();
Dyotty 6:213041054f97 403
Dyotty 6:213041054f97 404 //ジャイロを取得
Dyotty 6:213041054f97 405 Timer gyTimer;
Dyotty 6:213041054f97 406 gyTimer.start();
Dyotty 6:213041054f97 407 mpu.getGyro(gyData); //ジャイロの値（角加速度）を取得 gyDataに格納
Dyotty 6:213041054f97 408 gyTimer.stop();
Dyotty 6:213041054f97 409 // gt = gyTimer.read_ms();
Dyotty 6:213041054f97 410 gyTimer.reset();
Dyotty 6:213041054f97 411
Dyotty 6:213041054f97 412 //floatの値を合計5桁、小数点以下3桁の形でPCへ送信
Dyotty 10:d443aea353a2 413 pc.printf("%5.3f:%5.3f:%5.3f:%5.3f:%5.3f:%5.3f \n", acData[0], acData[1], acData[2],gyData[0],gyData[1],gyData[2]);
Dyotty 6:213041054f97 414
Dyotty 6:213041054f97 415 ax = acData[0];
Dyotty 6:213041054f97 416 ay = acData[1];
Dyotty 5:29f7f535d4b2 417
Dyotty 9:965bfb378463 418 // if(!enble_ChangeMode)
Dyotty 9:965bfb378463 419 // {
Dyotty 9:965bfb378463 420 // if(cnt_loop > 20)
Dyotty 9:965bfb378463 421 // {
Dyotty 9:965bfb378463 422 // enble_ChangeMode = true;
Dyotty 9:965bfb378463 423 // }
Dyotty 9:965bfb378463 424 // }
Dyotty 5:29f7f535d4b2 425
Dyotty 7:897b9ded86e2 426 // ax Buffer Store
Dyotty 7:897b9ded86e2 427 for(int i = 9; i > 0; i--)
Dyotty 7:897b9ded86e2 428 {
Dyotty 7:897b9ded86e2 429 buf_ax[i] = buf_ax[i - 1];
Dyotty 7:897b9ded86e2 430 }
Dyotty 7:897b9ded86e2 431 buf_ax[0] = ax;
Dyotty 9:965bfb378463 432 sum_ax += buf_ax[1];
Dyotty 9:965bfb378463 433 sum_ax -= buf_ax[9];
Dyotty 9:965bfb378463 434 mean_ax = sum_ax / 9;
Dyotty 7:897b9ded86e2 435
Dyotty 9:965bfb378463 436 // for(int i = 29; i > 0; i--)
Dyotty 9:965bfb378463 437 // {
Dyotty 9:965bfb378463 438 // log_ax[i] = log_ax[i - 1];
Dyotty 9:965bfb378463 439 // }
Dyotty 9:965bfb378463 440 // log_ax[0] = ax;
Dyotty 9:965bfb378463 441
Dyotty 9:965bfb378463 442 // if(cnt_loop % 100 == 0)
Dyotty 9:965bfb378463 443 // {
Dyotty 9:965bfb378463 444 // pc.printf("loop : %d\n", cnt_loop);
Dyotty 9:965bfb378463 445 // pc.printf("loop : %d\n", cnt_loop);
Dyotty 9:965bfb378463 446 // pc.printf("loop : %d\n", cnt_loop);
Dyotty 9:965bfb378463 447 // pc.printf("loop : %d\n", cnt_loop);
Dyotty 9:965bfb378463 448 // pc.printf("loop : %d\n", cnt_loop);
Dyotty 9:965bfb378463 449 // }
Dyotty 5:29f7f535d4b2 450
Keisuke_Yoshida 4:951fabc31ba6 451 #if 1
Dyotty 5:29f7f535d4b2 452 switch(stt_Mode)
Keisuke_Yoshida 4:951fabc31ba6 453 {
Dyotty 6:213041054f97 454 case 1: // Up Straight
Dyotty 10:d443aea353a2 455 // pc.printf("Mode 1 \n");
Dyotty 5:29f7f535d4b2 456
Dyotty 9:965bfb378463 457 // for(int i = 0; i < 30; i++)
Dyotty 9:965bfb378463 458 // {
Dyotty 9:965bfb378463 459 // pc.printf("%5.3f, ", log_ax[i]);
Dyotty 9:965bfb378463 460 // }
Dyotty 9:965bfb378463 461 // pc.printf("\n");
Dyotty 9:965bfb378463 462 // pc.printf("\n");
Dyotty 9:965bfb378463 463 // pc.printf("\n");
Dyotty 9:965bfb378463 464
Dyotty 9:965bfb378463 465 if(ay > 0.5){
Dyotty 9:965bfb378463 466 left = 0.9;
Dyotty 5:29f7f535d4b2 467 right = 1.0;
Dyotty 9:965bfb378463 468 // pc.printf("Lean Right");
Keisuke_Yoshida 4:951fabc31ba6 469 }
Dyotty 9:965bfb378463 470 else if(ay < -0.5){
Dyotty 5:29f7f535d4b2 471 left = 1.0;
Dyotty 9:965bfb378463 472 right = 0.9;
Dyotty 9:965bfb378463 473 // pc.printf("Lean Left");
Dyotty 5:29f7f535d4b2 474 }
Dyotty 5:29f7f535d4b2 475 else
Dyotty 5:29f7f535d4b2 476 {
Keisuke_Yoshida 4:951fabc31ba6 477 left = 1.0;
Keisuke_Yoshida 4:951fabc31ba6 478 right = 1.0;
Keisuke_Yoshida 4:951fabc31ba6 479 }
Dyotty 5:29f7f535d4b2 480
Dyotty 5:29f7f535d4b2 481 // Judge Bump
Dyotty 9:965bfb378463 482 if(enable_ChangeMode)
Dyotty 9:965bfb378463 483 {
Dyotty 9:965bfb378463 484 if(ax - mean_ax > thre_bump)
Dyotty 7:897b9ded86e2 485 {
Dyotty 7:897b9ded86e2 486 stt_Mode = 2;
Dyotty 7:897b9ded86e2 487 pc.printf("Mode 1 -> 2 \n");
Dyotty 9:965bfb378463 488
Dyotty 9:965bfb378463 489 enable_ChangeMode = false;
Dyotty 7:897b9ded86e2 490 }
Dyotty 9:965bfb378463 491 }else
Dyotty 9:965bfb378463 492 {
Dyotty 9:965bfb378463 493 cnt_straight++;
Dyotty 9:965bfb378463 494 if(cnt_straight > 100)
Dyotty 9:965bfb378463 495 {
Dyotty 9:965bfb378463 496 enable_ChangeMode = true;
Dyotty 9:965bfb378463 497 cnt_straight = 0;
Dyotty 9:965bfb378463 498 }
Dyotty 9:965bfb378463 499 }
Dyotty 5:29f7f535d4b2 500
Dyotty 5:29f7f535d4b2 501 break;
Dyotty 6:213041054f97 502 case 2: // Up Back
Dyotty 7:897b9ded86e2 503 pc.printf("Mode 2 \n");
Dyotty 7:897b9ded86e2 504 if(cnt_back < 30)
Dyotty 5:29f7f535d4b2 505 {
Dyotty 9:965bfb378463 506 left = 0;//-1.0;
Dyotty 9:965bfb378463 507 right = 0;//-1.0;
Dyotty 9:965bfb378463 508 //cnt_back++;
Dyotty 5:29f7f535d4b2 509 }
Dyotty 5:29f7f535d4b2 510 else{
Dyotty 7:897b9ded86e2 511 cnt_back = 0;
Dyotty 5:29f7f535d4b2 512 stt_Mode = 3;
Dyotty 7:897b9ded86e2 513 pc.printf("Mode 2 -> 3 \n");
Dyotty 5:29f7f535d4b2 514 }
Keisuke_Yoshida 4:951fabc31ba6 515
Keisuke_Yoshida 4:951fabc31ba6 516 break;
Dyotty 6:213041054f97 517 case 3: // Up Rotate
Dyotty 7:897b9ded86e2 518 pc.printf("Mode 3 \n");
Dyotty 9:965bfb378463 519 if(!(ax < -9.7/* && ay < 0.5 && ay >= -0.3*/)) // Change Using Gyro??
Dyotty 5:29f7f535d4b2 520 {
Dyotty 5:29f7f535d4b2 521 left = 1.0;
Dyotty 5:29f7f535d4b2 522 right = 0;
Dyotty 5:29f7f535d4b2 523 }
Dyotty 5:29f7f535d4b2 524 else
Dyotty 5:29f7f535d4b2 525 {
Dyotty 5:29f7f535d4b2 526 stt_Mode = 4;
Dyotty 7:897b9ded86e2 527 pc.printf("Mode 3 - > 4 \n");
Dyotty 7:897b9ded86e2 528
Dyotty 5:29f7f535d4b2 529 }
Dyotty 5:29f7f535d4b2 530
Keisuke_Yoshida 4:951fabc31ba6 531 break;
Dyotty 5:29f7f535d4b2 532
Dyotty 6:213041054f97 533 case 4: // Down Straight
Dyotty 7:897b9ded86e2 534 pc.printf("Mode 4 \n");
Dyotty 9:965bfb378463 535 if(ay > 0.5){
Dyotty 5:29f7f535d4b2 536 left = 1.0;
Dyotty 9:965bfb378463 537 right = 0.9;
Dyotty 5:29f7f535d4b2 538 }
Dyotty 9:965bfb378463 539 else if(ay < -0.5){
Dyotty 9:965bfb378463 540 left = 0.9;
Dyotty 5:29f7f535d4b2 541 right = 1.0;
Dyotty 5:29f7f535d4b2 542 }
Dyotty 5:29f7f535d4b2 543 else
Dyotty 5:29f7f535d4b2 544 {
Dyotty 5:29f7f535d4b2 545 left = 1.0;
Dyotty 5:29f7f535d4b2 546 right = 1.0;
Dyotty 5:29f7f535d4b2 547 }
Dyotty 5:29f7f535d4b2 548
Dyotty 5:29f7f535d4b2 549 // Judge Bump
Dyotty 9:965bfb378463 550 if(enable_ChangeMode)
Dyotty 5:29f7f535d4b2 551 {
Dyotty 9:965bfb378463 552 if(ax - buf_ax[1] > thre_bump /*&& (ax - buf_ax[2] > thre_bump)*/)
Dyotty 9:965bfb378463 553 {
Dyotty 9:965bfb378463 554 stt_Mode = 5;
Dyotty 9:965bfb378463 555 pc.printf("Mode 4 -> 5 \n");
Dyotty 9:965bfb378463 556
Dyotty 9:965bfb378463 557 enable_ChangeMode = false;
Dyotty 9:965bfb378463 558 }
Dyotty 9:965bfb378463 559 }else
Dyotty 9:965bfb378463 560 {
Dyotty 9:965bfb378463 561 cnt_straight++;
Dyotty 9:965bfb378463 562 if(cnt_straight > 10)
Dyotty 9:965bfb378463 563 {
Dyotty 9:965bfb378463 564 enable_ChangeMode = true;
Dyotty 9:965bfb378463 565 cnt_straight = 0;
Dyotty 9:965bfb378463 566 }
Dyotty 5:29f7f535d4b2 567 }
Dyotty 5:29f7f535d4b2 568
Keisuke_Yoshida 4:951fabc31ba6 569 break;
Dyotty 5:29f7f535d4b2 570 case 5:
Dyotty 7:897b9ded86e2 571 pc.printf("Mode 5 \n");
Dyotty 7:897b9ded86e2 572 if(cnt_back < 30)
Dyotty 5:29f7f535d4b2 573 {
Dyotty 5:29f7f535d4b2 574 left = -1.0;
Dyotty 5:29f7f535d4b2 575 right = -1.0;
Dyotty 7:897b9ded86e2 576 cnt_back++;
Dyotty 5:29f7f535d4b2 577 }
Dyotty 5:29f7f535d4b2 578 else{
Dyotty 7:897b9ded86e2 579 cnt_back = 0;
Dyotty 5:29f7f535d4b2 580 stt_Mode = 6;
Dyotty 5:29f7f535d4b2 581 pc.printf(" 5 -> 6 \n");
Dyotty 5:29f7f535d4b2 582 }
Dyotty 5:29f7f535d4b2 583
Keisuke_Yoshida 4:951fabc31ba6 584 break;
Dyotty 5:29f7f535d4b2 585 case 6: //
Dyotty 7:897b9ded86e2 586 pc.printf("Mode 6 \n");
Dyotty 9:965bfb378463 587 if(!(ax > 9.7 /*&& ay < 0.5 && ay >= 0*/)) // Change Using Gyro??
Dyotty 5:29f7f535d4b2 588 {
Dyotty 5:29f7f535d4b2 589 left = 0;
Dyotty 5:29f7f535d4b2 590 right = 1.0;
Dyotty 5:29f7f535d4b2 591 }
Dyotty 5:29f7f535d4b2 592 else
Dyotty 5:29f7f535d4b2 593 {
Dyotty 5:29f7f535d4b2 594 stt_Mode = 1;
Dyotty 5:29f7f535d4b2 595 pc.printf(" 6 -> 1 \n");
Dyotty 9:965bfb378463 596 //
Dyotty 9:965bfb378463 597 // for(int i = 0; i < 3; i++)
Dyotty 9:965bfb378463 598 // {
Dyotty 9:965bfb378463 599 // buf_ax[i] = ax;
Dyotty 9:965bfb378463 600 // }
Dyotty 9:965bfb378463 601 }
Dyotty 8:102c19510dce 602
Dyotty 5:29f7f535d4b2 603
Keisuke_Yoshida 4:951fabc31ba6 604 break;
Keisuke_Yoshida 4:951fabc31ba6 605 default:
Keisuke_Yoshida 4:951fabc31ba6 606 break;
Keisuke_Yoshida 4:951fabc31ba6 607 }
Keisuke_Yoshida 4:951fabc31ba6 608 #endif
Keisuke_Yoshida 4:951fabc31ba6 609
Dyotty 7:897b9ded86e2 610 cnt_loop++;
Dyotty 7:897b9ded86e2 611
Dyotty 7:897b9ded86e2 612 if(cnt_loop > 2000)
Dyotty 7:897b9ded86e2 613 {
Dyotty 7:897b9ded86e2 614 cnt_loop = 0;
Dyotty 7:897b9ded86e2 615 }
jksoft 0:76dfa9657d9d 616 }
jksoft 0:76dfa9657d9d 617 ModeLed = 1;
jksoft 0:76dfa9657d9d 618 left = 0.0;
jksoft 0:76dfa9657d9d 619 right = 0.0;
jksoft 0:76dfa9657d9d 620 wait(1);
jksoft 0:76dfa9657d9d 621 }
sibu2 1:a86c84ead24a 622
sibu2 1:a86c84ead24a 623 #if 0
jksoft 0:76dfa9657d9d 624 int counter1 = 0;
jksoft 0:76dfa9657d9d 625 void p1_rise()
jksoft 0:76dfa9657d9d 626 {
jksoft 0:76dfa9657d9d 627 if( pin2 == 1 )
jksoft 0:76dfa9657d9d 628 {
jksoft 0:76dfa9657d9d 629 counter1++;
jksoft 0:76dfa9657d9d 630 }
jksoft 0:76dfa9657d9d 631 else
jksoft 0:76dfa9657d9d 632 {
jksoft 0:76dfa9657d9d 633 counter1--;
jksoft 0:76dfa9657d9d 634 }
jksoft 0:76dfa9657d9d 635 }
sibu2 1:a86c84ead24a 636 #endif
sibu2 1:a86c84ead24a 637
jksoft 0:76dfa9657d9d 638 /**************************************************************************/
jksoft 0:76dfa9657d9d 639 /*!
jksoft 0:76dfa9657d9d 640 @brief Program entry point
jksoft 0:76dfa9657d9d 641 */
jksoft 0:76dfa9657d9d 642 /**************************************************************************/
jksoft 0:76dfa9657d9d 643 int main(void)
jksoft 0:76dfa9657d9d 644 {
jksoft 0:76dfa9657d9d 645 sw1.mode(PullUp);
jksoft 0:76dfa9657d9d 646 sw2.mode(PullUp);
sibu2 1:a86c84ead24a 647
sibu2 1:a86c84ead24a 648 encl1.mode(PullNone);
sibu2 1:a86c84ead24a 649 encl2.mode(PullNone);
sibu2 1:a86c84ead24a 650 encr1.mode(PullNone);
sibu2 1:a86c84ead24a 651 encr2.mode(PullNone);
sibu2 1:a86c84ead24a 652
jksoft 0:76dfa9657d9d 653 ModeLed = 1;
jksoft 0:76dfa9657d9d 654 ConnectStateLed = 1;
jksoft 0:76dfa9657d9d 655 #if DBG
jksoft 0:76dfa9657d9d 656 //pc.baud(921600);
jksoft 0:76dfa9657d9d 657 pc.baud(9600);
jksoft 0:76dfa9657d9d 658 pc.printf("Start\n\r");
jksoft 0:76dfa9657d9d 659 #endif
jksoft 0:76dfa9657d9d 660 outlow = 0;
jksoft 0:76dfa9657d9d 661
jksoft 0:76dfa9657d9d 662 if(sw2 == 0)
jksoft 0:76dfa9657d9d 663 {
sibu2 1:a86c84ead24a 664 // pin1.mode(PullDown);
jksoft 0:76dfa9657d9d 665 // pin1.rise(&p1_rise);
jksoft 0:76dfa9657d9d 666 while(1)
jksoft 0:76dfa9657d9d 667 {
jksoft 0:76dfa9657d9d 668 //int in1 = pin1;
jksoft 0:76dfa9657d9d 669 //int in2 = pin2;
jksoft 0:76dfa9657d9d 670 //ModeLed = pin1;
jksoft 0:76dfa9657d9d 671 //pc.printf("dat = %d %d\r\n",in1,in2);
jksoft 0:76dfa9657d9d 672 base();
jksoft 0:76dfa9657d9d 673 #if 0
jksoft 0:76dfa9657d9d 674 left = 1.0;
jksoft 0:76dfa9657d9d 675 right = 1.0;
jksoft 0:76dfa9657d9d 676 wait(5);
jksoft 0:76dfa9657d9d 677 left = -1.0;
jksoft 0:76dfa9657d9d 678 right = -1.0;
jksoft 0:76dfa9657d9d 679 wait(5);
jksoft 0:76dfa9657d9d 680 #endif
jksoft 0:76dfa9657d9d 681 }
jksoft 0:76dfa9657d9d 682 }
jksoft 0:76dfa9657d9d 683
Dyotty 6:213041054f97 684 // // MPU6050 Initialize
Dyotty 6:213041054f97 685 // mpu.initialize();
Dyotty 6:213041054f97 686 // mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_8G);
Dyotty 6:213041054f97 687 // mpu.setGyroRange(MPU6050_GYRO_RANGE_1000);
Dyotty 6:213041054f97 688
Dyotty 6:213041054f97 689 ///180601 MPU6050センサの初期化処理
Dyotty 3:f707552ec50a 690 mpu.initialize();
Dyotty 6:213041054f97 691 // mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_8G); //加速度センサ 計測レンジ設定（今回は2Gか4Gがよさそう）
Dyotty 6:213041054f97 692 mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_2G);
Dyotty 6:213041054f97 693 // mpu.setGyroRange(MPU6050_GYRO_RANGE_1000); //ジャイロセンサ 計測レンジ設定（ここも250か500がよさそう（そんなに早く回転しないので））
Dyotty 6:213041054f97 694 mpu.setGyroRange(MPU6050_GYRO_RANGE_250);
Dyotty 6:213041054f97 695 ///180601
Dyotty 3:f707552ec50a 696
jksoft 0:76dfa9657d9d 697 ble.init();
jksoft 0:76dfa9657d9d 698 ble.onConnection(onConnected);
jksoft 0:76dfa9657d9d 699 ble.onDisconnection(onDisconnected);
jksoft 0:76dfa9657d9d 700 ble.onDataWritten(onDataWritten);
jksoft 0:76dfa9657d9d 701
jksoft 0:76dfa9657d9d 702 /* setup advertising */
jksoft 0:76dfa9657d9d 703 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
jksoft 0:76dfa9657d9d 704 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
jksoft 0:76dfa9657d9d 705 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
jksoft 0:76dfa9657d9d 706 (const uint8_t *)"mbed WallbotBLE", sizeof("mbed WallbotBLE") - 1);
jksoft 0:76dfa9657d9d 707 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
jksoft 0:76dfa9657d9d 708 (const uint8_t *)RCBController_service_uuid, sizeof(RCBController_service_uuid));
jksoft 0:76dfa9657d9d 709
jksoft 0:76dfa9657d9d 710 ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
jksoft 0:76dfa9657d9d 711 ble.startAdvertising();
jksoft 0:76dfa9657d9d 712
jksoft 0:76dfa9657d9d 713 ble.addService(RCBControllerService);
jksoft 0:76dfa9657d9d 714
Dyotty 5:29f7f535d4b2 715
jksoft 0:76dfa9657d9d 716 while (true) {
jksoft 0:76dfa9657d9d 717 if(sw1 == 0)
jksoft 0:76dfa9657d9d 718 {
jksoft 0:76dfa9657d9d 719 bValue = 1;
jksoft 0:76dfa9657d9d 720 line_mode = 1;
Keisuke_Yoshida 4:951fabc31ba6 721 //line();
Keisuke_Yoshida 4:951fabc31ba6 722 wb_control(); //動作モード関数
jksoft 0:76dfa9657d9d 723 line_mode = 0;
jksoft 0:76dfa9657d9d 724 bValue = 0;
jksoft 0:76dfa9657d9d 725 }
jksoft 0:76dfa9657d9d 726 ble.waitForEvent();
jksoft 0:76dfa9657d9d 727 }
jksoft 0:76dfa9657d9d 728 }
jksoft 0:76dfa9657d9d 729