siqiang pan / Mbed OS robotcar-team-0928

2

Dependencies:   RemoteIR TextLCD

main.cpp@72:d389adc0c780, 2020-09-11 (annotated)

Committer:
nishimura_taku_pet
Date:
Fri Sep 11 07:51:34 2020 +0000
Revision:
72:d389adc0c780
Parent:
71:192af47a260d
Child:
73:8ce014cb07f1
v0.14 wif auto add

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 */
takuminomura 58:cdfbedad5df6 5
takuminomura 58:cdfbedad5df6 6 /*
nishimura_taku_pet 72:d389adc0c780 7 Version 0.14
nishimura_taku_pet 72:d389adc0c780 8 Date 2020/09/11
nishimura_taku_pet 72:d389adc0c780 9 Uploader Taku Nishimura
takuminomura 58:cdfbedad5df6 10
takuminomura 58:cdfbedad5df6 11 更新するときにここも変える！
takuminomura 58:cdfbedad5df6 12
takuminomura 58:cdfbedad5df6 13 */
takuminomura 58:cdfbedad5df6 14 // モーター電圧差チェック済み(PWM0.6)
takuminomura 58:cdfbedad5df6 15 // 2号機
takuminomura 58:cdfbedad5df6 16 // 4号機 右前進3.72V 右後退3.72V 左前進3.82V 左後退3.79V
takuminomura 58:cdfbedad5df6 17 // 6号機 右前進3.65V 右後退3.68V 左前進3.64V 左後退3.65V
takuminomura 58:cdfbedad5df6 18 // 9号機 右前進3.59V 右後退3.59V 左前進3.63V 左後退3.64V
yangtzuli 0:0d0037aabe41 19
yangtzuli 0:0d0037aabe41 20 #include "mbed.h"
yangtzuli 0:0d0037aabe41 21 #include "ReceiverIR.h"
yangtzuli 0:0d0037aabe41 22 #include "rtos.h"
yangtzuli 0:0d0037aabe41 23 #include <stdint.h>
yangtzuli 0:0d0037aabe41 24 #include "platform/mbed_thread.h"
yangtzuli 2:38825726cb1b 25 #include "TextLCD.h"
yangtzuli 0:0d0037aabe41 26
nishimura_taku_pet 27:90962c01bfeb 27 RawSerial pc(USBTX, USBRX);
yangtzuli 0:0d0037aabe41 28
yangtzuli 3:2ae6218973be 29 /* マクロ定義、列挙型定義 */
takuminomura 48:3003ea51c619 30 #define MIN_V 2.0 // 電圧の最小値
nishimura_taku_pet 64:c74082c792ed 31 #define MAX_V 2.7 // 電圧の最大値
takuminomura 48:3003ea51c619 32 #define LOW 0 // モーターOFF
takuminomura 48:3003ea51c619 33 #define HIGH 1 // モーターON
takuminomura 48:3003ea51c619 34 #define NORMAL 0 // 普通
takuminomura 48:3003ea51c619 35 #define FAST 1 // 速い
takuminomura 48:3003ea51c619 36 #define VERYFAST 2 // とても速い
takuminomura 48:3003ea51c619 37
takuminomura 49:7224132f4b0e 38
takuminomura 49:7224132f4b0e 39
takuminomura 49:7224132f4b0e 40 /* // 右回り37.21[s]
takuminomura 49:7224132f4b0e 41 #define S 0.9
takuminomura 49:7224132f4b0e 42 #define VF 1.2
takuminomura 48:3003ea51c619 43 #define REVERSE 0.5
takuminomura 48:3003ea51c619 44
takuminomura 58:cdfbedad5df6 45 #define MBED04 0.781 //Mbed04号機の左右のモーター速度比(R:L = 1: 0.781)
takuminomura 58:cdfbedad5df6 46 #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 47 #define MBED07 1
takuminomura 49:7224132f4b0e 48 // MSR = Motor Speed Right
takuminomura 49:7224132f4b0e 49 // MSL = Motor Speed Left
takuminomura 49:7224132f4b0e 50 #define MSR0 0.5 // 基準速度Normal
takuminomura 49:7224132f4b0e 51 #define MSR1 0.6 // 基準速度Fast
takuminomura 49:7224132f4b0e 52 #define MSR2 0.7 // 基準速度VeryFast
takuminomura 49:7224132f4b0e 53 */
takuminomura 49:7224132f4b0e 54
takuminomura 49:7224132f4b0e 55
takuminomura 58:cdfbedad5df6 56 #define S 0.9 //ライントレースの旋回速度を遅くする
takuminomura 58:cdfbedad5df6 57 #define VF 1 //ライントレースの前進速度,旋回速度を速くする
takuminomura 58:cdfbedad5df6 58 #define REVERSE 0.5 //ライントレースの旋回速度(逆転のみ)を遅くする
takuminomura 49:7224132f4b0e 59
takuminomura 58:cdfbedad5df6 60 // 使うロボットカーに合わせる
takuminomura 58:cdfbedad5df6 61 #define MBED01 1
nishimura_taku_pet 51:1baf4407f384 62 #define MBED02 0.719 //Mbed02号機の左右のモーター速度比(R:L = 1: 0.719)
takuminomura 58:cdfbedad5df6 63 #define MBED03 1
takuminomura 49:7224132f4b0e 64 #define MBED04 0.781 //Mbed04号機の左右のモーター速度比(R:L = 1: 0.781)
tomotsugu 68:d9ce7c09b127 65 #define MBED05 0.947 //Mbed05号機の左右のモーター速度比(R:L = 1: 0.953)
takuminomura 58:cdfbedad5df6 66 #define MBED06 1
takuminomura 58:cdfbedad5df6 67 #define MBED07 1 //Mbed07号機の左右のモーター速度比(R:L = 1: 1.000)
takuminomura 58:cdfbedad5df6 68 #define MBED08 1
takuminomura 58:cdfbedad5df6 69 #define MBED09 1
takuminomura 58:cdfbedad5df6 70 #define MBED MBED05 //使うロボットカーの番号にする
takuminomura 49:7224132f4b0e 71 // MSR = Motor Speed Right
takuminomura 49:7224132f4b0e 72 // MSL = Motor Speed Left
takuminomura 58:cdfbedad5df6 73 #define MSR0 0.5 // 基準速度Normal PWM0.50
takuminomura 58:cdfbedad5df6 74 #define MSR1 0.65 // 基準速度Fast PWM0.65
takuminomura 58:cdfbedad5df6 75 #define MSR2 0.8 // 基準速度VeryFast PWM0.80
takuminomura 49:7224132f4b0e 76
takuminomura 49:7224132f4b0e 77 #define MSR3 MSR0*S // 低速旋回(Normalの時)
takuminomura 49:7224132f4b0e 78 #define MSR4 MSR1*S*S // 低速旋回(Fastの時)
takuminomura 58:cdfbedad5df6 79 #define MSR5 MSR2*S*S // 低速旋回(VeryFastの時)
takuminomura 49:7224132f4b0e 80 #define MSR6 MSR0*VF // 高速(Normalの時)
takuminomura 49:7224132f4b0e 81 #define MSR7 MSR1*VF // 高速(Fastの時)
takuminomura 49:7224132f4b0e 82 #define MSR8 MSR2*VF // 高速(VeryFastの時)
takuminomura 58:cdfbedad5df6 83 #define MSL0 MSR0*MBED
takuminomura 58:cdfbedad5df6 84 #define MSL1 MSR1*MBED
takuminomura 58:cdfbedad5df6 85 #define MSL2 MSR2*MBED
takuminomura 58:cdfbedad5df6 86 #define MSL3 MSR3*MBED
takuminomura 58:cdfbedad5df6 87 #define MSL4 MSR4*MBED
takuminomura 58:cdfbedad5df6 88 #define MSL5 MSR5*MBED
takuminomura 58:cdfbedad5df6 89 #define MSL6 MSR6*MBED
takuminomura 58:cdfbedad5df6 90 #define MSL7 MSR7*MBED
takuminomura 58:cdfbedad5df6 91 #define MSL8 MSR8*MBED
yangtzuli 2:38825726cb1b 92
tomotsugu 8:a47dbf4fa455 93 /* 操作モード定義 */
yangtzuli 3:2ae6218973be 94 enum MODE{
tomotsugu 8:a47dbf4fa455 95 READY = -1, // -1：待ち
tomotsugu 8:a47dbf4fa455 96 ADVANCE = 1, // 1：前進
tomotsugu 8:a47dbf4fa455 97 RIGHT, // 2：右折
tomotsugu 8:a47dbf4fa455 98 LEFT, // 3：左折
tomotsugu 8:a47dbf4fa455 99 BACK, // 4：後退
tomotsugu 8:a47dbf4fa455 100 STOP, // 5：停止
tomotsugu 8:a47dbf4fa455 101 LINE_TRACE, // 6：ライントレース
tomotsugu 8:a47dbf4fa455 102 AVOIDANCE, // 7：障害物回避
tomotsugu 8:a47dbf4fa455 103 SPEED, // 8：スピード制御
takuminomura 49:7224132f4b0e 104 LT_R, // 9:低速右折(ライントレース時)
nishimura_taku_pet 56:d02c62149a19 105 LT_L, // 10:低速左折(ライントレース時)
tomotsugu 53:debc8879ba5d 106 A1RIGHT,
tomotsugu 53:debc8879ba5d 107 A1LEFT,
tomotsugu 53:debc8879ba5d 108 A2RIGHT,
tomotsugu 53:debc8879ba5d 109 A2LEFT,
yangtzuli 2:38825726cb1b 110 };
yangtzuli 2:38825726cb1b 111
yangtzuli 3:2ae6218973be 112 /* ピン配置 */
takuminomura 58:cdfbedad5df6 113 ReceiverIR ir(p5); // リモコン操作
takuminomura 58:cdfbedad5df6 114 DigitalOut trig(p6); // 超音波センサtrigger
takuminomura 58:cdfbedad5df6 115 DigitalIn echo(p7); // 超音波センサecho
takuminomura 58:cdfbedad5df6 116 DigitalIn ss1(p8); // ライントレースセンサ(左)
takuminomura 58:cdfbedad5df6 117 DigitalIn ss2(p9); // ライントレースセンサ
takuminomura 58:cdfbedad5df6 118 DigitalIn ss3(p10); // ライントレースセンサ
takuminomura 58:cdfbedad5df6 119 DigitalIn ss4(p11); // ライントレースセンサ
takuminomura 58:cdfbedad5df6 120 DigitalIn ss5(p12); // ライントレースセンサ(右)
takuminomura 58:cdfbedad5df6 121 RawSerial esp(p13, p14); // Wi-Fiモジュール(tx, rx)
takuminomura 58:cdfbedad5df6 122 AnalogIn battery(p15); // 電池残量読み取り(Max 3.3V)
takuminomura 58:cdfbedad5df6 123 PwmOut motorR2(p22); // 右モーター後退
takuminomura 58:cdfbedad5df6 124 PwmOut motorR1(p21); // 右モーター前進
takuminomura 58:cdfbedad5df6 125 PwmOut motorL2(p23); // 左モーター後退
takuminomura 58:cdfbedad5df6 126 PwmOut motorL1(p24); // 左モーター前進
takuminomura 58:cdfbedad5df6 127 PwmOut servo(p25); // サーボ
yangtzuli 3:2ae6218973be 128 I2C i2c_lcd(p28,p27); // LCD(tx, rx)
yangtzuli 2:38825726cb1b 129
yangtzuli 3:2ae6218973be 130 /* 変数宣言 */
takuminomura 58:cdfbedad5df6 131 MODE mode; // 操作モード
takuminomura 58:cdfbedad5df6 132 int run; // 走行状態
takuminomura 58:cdfbedad5df6 133 MODE beforeMode; // 前回のモード
takuminomura 58:cdfbedad5df6 134 int flag_sp = 0; // スピード変化フラグ
tomotsugu 8:a47dbf4fa455 135 Timer viewTimer; // スピ―ド変更時に3秒計測タイマー
takuminomura 48:3003ea51c619 136
takuminomura 48:3003ea51c619 137 float motorSpeedR1[9] = {MSR0, MSR1, MSR2, MSR3 , MSR4 , MSR5 , MSR6 , MSR7 , MSR8 };
takuminomura 48:3003ea51c619 138 //float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3*REVERSE, MSR4*REVERSE, MSR5*REVERSE, MSR6*REVERSE, MSR7*REVERSE, MSR8*REVERSE};
takuminomura 48:3003ea51c619 139 float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3*REVERSE, MSR4*REVERSE, MSR5*REVERSE, MSR6, MSR7, MSR8};
takuminomura 48:3003ea51c619 140 float motorSpeedL1[9] = {MSL0, MSL1, MSL2, MSL3 , MSL4 , MSL5 , MSL6 , MSL7 , MSL8 };
takuminomura 48:3003ea51c619 141 //float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3*REVERSE, MSL4*REVERSE, MSL5*REVERSE, MSL6*REVERSE, MSL7*REVERSE, MSL8*REVERSE};
takuminomura 48:3003ea51c619 142 float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3*REVERSE, MSL4*REVERSE, MSL5*REVERSE, MSL6, MSL7, MSL8};
takuminomura 58:cdfbedad5df6 143 // モーター速度設定(3以降はライントレース用)
takuminomura 48:3003ea51c619 144 // 0,1,2:基準速度
takuminomura 48:3003ea51c619 145 // 3,4,5:低速
takuminomura 48:3003ea51c619 146 // 6,7,8:高速
takuminomura 48:3003ea51c619 147 // R1 : 右前, R2 : 右後, L1 : 左前, L2 : 左後
tomotsugu 8:a47dbf4fa455 148
tomotsugu 8:a47dbf4fa455 149 Mutex mutex; // ミューテックス
takuminomura 48:3003ea51c619 150
tomotsugu 8:a47dbf4fa455 151 /* decodeIR用変数 */
yangtzuli 3:2ae6218973be 152 RemoteIR::Format format;
yangtzuli 3:2ae6218973be 153 uint8_t buf[32];
yangtzuli 3:2ae6218973be 154 uint32_t bitcount;
yangtzuli 3:2ae6218973be 155 uint32_t code;
yangtzuli 3:2ae6218973be 156
tomotsugu 8:a47dbf4fa455 157 /* bChange, lcdbacklight用変数 */
yangtzuli 3:2ae6218973be 158 TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780);
nishimura_taku_pet 64:c74082c792ed 159 int b10[10]; // バッテリー残量
nishimura_taku_pet 65:7657ef347d6d 160 int b = 0;
nishimura_taku_pet 65:7657ef347d6d 161 int k = 0;
tomotsugu 8:a47dbf4fa455 162 int flag_b = 0; // バックライト点滅フラグ
tomotsugu 8:a47dbf4fa455 163 int flag_t = 0; // バックライトタイマーフラグ
yangtzuli 3:2ae6218973be 164
tomotsugu 8:a47dbf4fa455 165 /* trace用変数 */
takuminomura 49:7224132f4b0e 166 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 167 3,4,1,6,3,1,1,6, // 0:前回動作継続
takuminomura 49:7224132f4b0e 168 7,1,5,1,5,1,1,1, // 1:高速前進
takuminomura 48:3003ea51c619 169 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura 48:3003ea51c619 170 // 3:低速左折
takuminomura 48:3003ea51c619 171 // 4:中速右折
takuminomura 48:3003ea51c619 172 // 5:中速左折
takuminomura 48:3003ea51c619 173 // 6:高速右折
takuminomura 48:3003ea51c619 174 // 7:高速左折
takuminomura 48:3003ea51c619 175
takuminomura 48:3003ea51c619 176 //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 177 // 0,6,1,6,1,1,1,6, // 0:前回動作継続
takuminomura 48:3003ea51c619 178 // 7,1,7,1,0,1,1,1, // 1:高速前進
takuminomura 48:3003ea51c619 179 // 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura 48:3003ea51c619 180 // // 3:低速左折
takuminomura 48:3003ea51c619 181 // // 4:中速右折
takuminomura 48:3003ea51c619 182 // // 5:中速左折
takuminomura 48:3003ea51c619 183 // // 6:高速右折
takuminomura 48:3003ea51c619 184 // // 7:高速左折
yangtzuli 0:0d0037aabe41 185
tomotsugu 8:a47dbf4fa455 186 /* avoidance用変数 */
yangtzuli 3:2ae6218973be 187 Timer timer; // 距離計測用タイマ
yangtzuli 3:2ae6218973be 188 int DT; // 距離
takuminomura 48:3003ea51c619 189 int SC; // 正面
yangtzuli 2:38825726cb1b 190 int SL; // 左
yangtzuli 2:38825726cb1b 191 int SR; // 右
yangtzuli 2:38825726cb1b 192 int SLD; // 左前
yangtzuli 2:38825726cb1b 193 int SRD; // 右前
tomotsugu 8:a47dbf4fa455 194 int flag_a = 0; // 障害物有無のフラグ
tomotsugu 68:d9ce7c09b127 195 int limit = 25; // 障害物の距離のリミット(単位：cm)
tomotsugu 68:d9ce7c09b127 196 int backlimit = 20;
tomotsugu 71:192af47a260d 197 int sidelimit = 18;
yangtzuli 3:2ae6218973be 198 int far; // 最も遠い距離
yangtzuli 2:38825726cb1b 199 int houkou; // 進行方向(1:前 2:左 3:右)
nishimura_taku_pet 29:600e4b9b5c5b 200 int t1 = 0;
yangtzuli 2:38825726cb1b 201
nishimura_taku_pet 24:9481c8f56a49 202 /*WiFi用変数*/
nishimura_taku_pet 24:9481c8f56a49 203 Timer time1;
nishimura_taku_pet 24:9481c8f56a49 204 Timer time2;
nishimura_taku_pet 24:9481c8f56a49 205 int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
nishimura_taku_pet 24:9481c8f56a49 206 int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
nishimura_taku_pet 24:9481c8f56a49 207 float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet 24:9481c8f56a49 208 char webcount[8];
nishimura_taku_pet 24:9481c8f56a49 209 char type[16];
nishimura_taku_pet 24:9481c8f56a49 210 char channel[2];
nishimura_taku_pet 24:9481c8f56a49 211 char cmdbuff[32];
nishimura_taku_pet 24:9481c8f56a49 212 char replybuff[1024];
nishimura_taku_pet 24:9481c8f56a49 213 char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet 27:90962c01bfeb 214 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet 61:85daf80c7727 215 char httpbuff[4096];
nishimura_taku_pet 24:9481c8f56a49 216 int port =80; // set server port
nishimura_taku_pet 24:9481c8f56a49 217 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
takuminomura 48:3003ea51c619 218 char ssid[32] = "mbed05"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet 24:9481c8f56a49 219 char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
faker_71 57:65dd71a6ce72 220 bool click_log = false;
faker_71 57:65dd71a6ce72 221 DigitalOut pred(p16);
faker_71 57:65dd71a6ce72 222 DigitalOut pblue(p19);
yangtzuli 3:2ae6218973be 223
yangtzuli 3:2ae6218973be 224 /* プロトタイプ宣言 */
nishimura_taku_pet 33:a6f1090e0174 225 void decodeIR(/*void const *argument*/);
nishimura_taku_pet 33:a6f1090e0174 226 void motor(/*void const *argument*/);
yangtzuli 3:2ae6218973be 227 void changeSpeed();
nishimura_taku_pet 16:ffc732a3cf92 228 void avoidance(/*void const *argument*/);
nishimura_taku_pet 16:ffc732a3cf92 229 void trace(/*void const *argument*/);
nishimura_taku_pet 40:75e1ad7c27e4 230 void watchsurrounding3();
nishimura_taku_pet 40:75e1ad7c27e4 231 void watchsurrounding5();
yangtzuli 2:38825726cb1b 232 int watch();
takuminomura 48:3003ea51c619 233 char battery_ch[8];
yangtzuli 5:3fffb364744b 234 void bChange();
yangtzuli 3:2ae6218973be 235 void display();
yangtzuli 3:2ae6218973be 236 void lcdBacklight(void const *argument);
nishimura_taku_pet 45:76e8c07d76ef 237 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
nishimura_taku_pet 43:243c1455f88a 238 void wifi(/*void const *argument*/);
takuminomura 48:3003ea51c619 239 Thread *deco_thread; // decodeIRをスレッド化 ：+3
nishimura_taku_pet 43:243c1455f88a 240 Thread *wifi_thread;
takuminomura 48:3003ea51c619 241 Thread *motor_thread; // motorをスレッド化 ：+2
takuminomura 48:3003ea51c619 242 RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
takuminomura 48:3003ea51c619 243 Thread *avoi_thread; // avoidanceをスレッド化：+2
takuminomura 48:3003ea51c619 244 Thread *trace_thread; // traceをスレッド化 ：+2
yangtzuli 2:38825726cb1b 245
nishimura_taku_pet 24:9481c8f56a49 246 DigitalOut led1(LED1);
nishimura_taku_pet 24:9481c8f56a49 247 DigitalOut led2(LED2);
nishimura_taku_pet 24:9481c8f56a49 248 DigitalOut led3(LED3);
nishimura_taku_pet 24:9481c8f56a49 249 DigitalOut led4(LED4);
yangtzuli 3:2ae6218973be 250
nishimura_taku_pet 33:a6f1090e0174 251 void setup(){
nishimura_taku_pet 33:a6f1090e0174 252 deco_thread = new Thread(decodeIR);
nishimura_taku_pet 33:a6f1090e0174 253 deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 254 motor_thread = new Thread(motor);
nishimura_taku_pet 33:a6f1090e0174 255 motor_thread -> set_priority(osPriorityHigh);
mori2020 50:ee78382fd399 256 wifi_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 257 display();
nishimura_taku_pet 33:a6f1090e0174 258 }
nishimura_taku_pet 33:a6f1090e0174 259
tomotsugu 8:a47dbf4fa455 260 /* リモコン受信スレッド */
takuminomura 48:3003ea51c619 261 void decodeIR(/*void const *argument*/){
takuminomura 48:3003ea51c619 262 while(1){
yangtzuli 0:0d0037aabe41 263 // 受信待ち
tomotsugu 8:a47dbf4fa455 264 if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli 3:2ae6218973be 265 bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu 8:a47dbf4fa455 266 if(bitcount > 1){ // 受信成功
yangtzuli 1:5bb497a38344 267 code=0;
tomotsugu 15:5eef1955f6c2 268 for(int j = 0; j < 4; j++){
yangtzuli 1:5bb497a38344 269 code+=(buf[j]<<(8*(3-j)));
yangtzuli 1:5bb497a38344 270 }
tomotsugu 8:a47dbf4fa455 271 if(mode != SPEED){ // スピードモード以外なら
takuminomura 48:3003ea51c619 272 beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli 3:2ae6218973be 273 }
yangtzuli 0:0d0037aabe41 274 switch(code){
tomotsugu 8:a47dbf4fa455 275 case 0x40bf27d8: // クイック
takuminomura 48:3003ea51c619 276 mode = SPEED; // スピードモード
tomotsugu 8:a47dbf4fa455 277 changeSpeed(); // 速度変更
tomotsugu 8:a47dbf4fa455 278 display(); // ディスプレイ表示
tomotsugu 8:a47dbf4fa455 279 mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli 1:5bb497a38344 280 break;
tomotsugu 8:a47dbf4fa455 281 case 0x40be34cb: // レグザリンク
nishimura_taku_pet 16:ffc732a3cf92 282 if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 283 delete trace_thread;
nishimura_taku_pet 16:ffc732a3cf92 284 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 285 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 286 }
tomotsugu 8:a47dbf4fa455 287 mode=LINE_TRACE; // ライントレースモード
tomotsugu 8:a47dbf4fa455 288 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 289 break;
tomotsugu 8:a47dbf4fa455 290 case 0x40bf6e91: // 番組表
nishimura_taku_pet 16:ffc732a3cf92 291 if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 292 delete avoi_thread;
nishimura_taku_pet 16:ffc732a3cf92 293 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 294 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 295 }
tomotsugu 18:6cca64c7dbc3 296 flag_a = 0;
tomotsugu 8:a47dbf4fa455 297 mode=AVOIDANCE; // 障害物回避モード
tomotsugu 13:1a7667d0aa78 298 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 299 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 300 break;
takuminomura 48:3003ea51c619 301 case 0x40bf3ec1: // ↑
tomotsugu 8:a47dbf4fa455 302 mode = ADVANCE; // 前進モード
tomotsugu 8:a47dbf4fa455 303 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 304 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 305 break;
takuminomura 48:3003ea51c619 306 case 0x40bf3fc0: // ↓
tomotsugu 8:a47dbf4fa455 307 mode = BACK; // 後退モード
tomotsugu 8:a47dbf4fa455 308 run = BACK; // 後退
tomotsugu 8:a47dbf4fa455 309 display(); // ディスプレイ表示
yangtzuli 0:0d0037aabe41 310 break;
takuminomura 48:3003ea51c619 311 case 0x40bf5fa0: // ←
tomotsugu 8:a47dbf4fa455 312 mode = LEFT; // 左折モード
tomotsugu 8:a47dbf4fa455 313 run = LEFT; // 左折
tomotsugu 8:a47dbf4fa455 314 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 315 break;
takuminomura 48:3003ea51c619 316 case 0x40bf5ba4: // →
tomotsugu 8:a47dbf4fa455 317 mode = RIGHT; // 右折モード
tomotsugu 8:a47dbf4fa455 318 run = RIGHT; // 右折
tomotsugu 8:a47dbf4fa455 319 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 320 break;
takuminomura 48:3003ea51c619 321 case 0x40bf3dc2: // 決定
tomotsugu 8:a47dbf4fa455 322 mode = STOP; // 停止モード
tomotsugu 8:a47dbf4fa455 323 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 324 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 325 break;
yangtzuli 0:0d0037aabe41 326 default:
yangtzuli 0:0d0037aabe41 327 ;
yangtzuli 0:0d0037aabe41 328 }
nishimura_taku_pet 16:ffc732a3cf92 329 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 330 trace_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 331 }
nishimura_taku_pet 16:ffc732a3cf92 332 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 333 avoi_thread->terminate();
nishimura_taku_pet 28:cb51cafca490 334 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 16:ffc732a3cf92 335 }
yangtzuli 0:0d0037aabe41 336 }
yangtzuli 0:0d0037aabe41 337 }
takuminomura 48:3003ea51c619 338 if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
takuminomura 48:3003ea51c619 339 viewTimer.stop(); // タイマーストップ
takuminomura 48:3003ea51c619 340 viewTimer.reset(); // タイマーリセット
takuminomura 48:3003ea51c619 341 display(); // ディスプレイ表示
yangtzuli 4:3f80c0180e2f 342 }
tomotsugu 71:192af47a260d 343 switch(flag_sp){
tomotsugu 71:192af47a260d 344 case 1:
tomotsugu 71:192af47a260d 345 limit = 25;
tomotsugu 71:192af47a260d 346 backlimit = 20;
tomotsugu 71:192af47a260d 347 sidelimit = 18;
tomotsugu 71:192af47a260d 348 break;
tomotsugu 71:192af47a260d 349 case 2:
tomotsugu 71:192af47a260d 350 limit = 30;
tomotsugu 71:192af47a260d 351 backlimit = 18;
tomotsugu 71:192af47a260d 352 sidelimit = 21;
tomotsugu 71:192af47a260d 353 break;
tomotsugu 71:192af47a260d 354 case 3:
tomotsugu 71:192af47a260d 355 limit = 35;
tomotsugu 71:192af47a260d 356 backlimit = 15;
tomotsugu 71:192af47a260d 357 sidelimit = 24;
tomotsugu 71:192af47a260d 358 break;
tomotsugu 71:192af47a260d 359 }
takuminomura 48:3003ea51c619 360 ThisThread::sleep_for(90); // 90ms待つ
takuminomura 48:3003ea51c619 361 }
yangtzuli 2:38825726cb1b 362 }
tomotsugu 8:a47dbf4fa455 363
tomotsugu 8:a47dbf4fa455 364 /* モーター制御スレッド */
nishimura_taku_pet 33:a6f1090e0174 365 void motor(/*void const *argument*/){
tomotsugu 8:a47dbf4fa455 366 while(1){
tomotsugu 8:a47dbf4fa455 367 /* 走行状態の場合分け */
nishimura_taku_pet 51:1baf4407f384 368 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 369 flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet 51:1baf4407f384 370 }
tomotsugu 71:192af47a260d 371 //switch(flag_sp){
tomotsugu 71:192af47a260d 372 // case 1:
tomotsugu 71:192af47a260d 373 // limit = 25;
tomotsugu 71:192af47a260d 374 // backlimit = 20;
tomotsugu 71:192af47a260d 375 // break;
tomotsugu 71:192af47a260d 376 // case 2:
tomotsugu 71:192af47a260d 377 // limit = 30;
tomotsugu 71:192af47a260d 378 // backlimit = 18;
tomotsugu 71:192af47a260d 379 // break;
tomotsugu 71:192af47a260d 380 // case 3:
tomotsugu 71:192af47a260d 381 // limit = 35;
tomotsugu 71:192af47a260d 382 // backlimit = 15;
tomotsugu 71:192af47a260d 383 // break;
tomotsugu 71:192af47a260d 384 // }
yangtzuli 3:2ae6218973be 385 switch(run){
tomotsugu 8:a47dbf4fa455 386 /* 前進 */
yangtzuli 3:2ae6218973be 387 case ADVANCE:
takuminomura 48:3003ea51c619 388 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020 50:ee78382fd399 389 motorR2 = LOW; // 右後退モーターOFF
takuminomura 48:3003ea51c619 390 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020 50:ee78382fd399 391 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 392 break;
tomotsugu 8:a47dbf4fa455 393 /* 右折 */
yangtzuli 3:2ae6218973be 394 case RIGHT:
mori2020 50:ee78382fd399 395 motorR1 = LOW; // 右前進モーターOFF
takuminomura 48:3003ea51c619 396 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
takuminomura 48:3003ea51c619 397 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020 50:ee78382fd399 398 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 399 break;
tomotsugu 8:a47dbf4fa455 400 /* 左折 */
yangtzuli 3:2ae6218973be 401 case LEFT:
takuminomura 48:3003ea51c619 402 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020 50:ee78382fd399 403 motorR2 = LOW; // 右後退モーターOFF
mori2020 50:ee78382fd399 404 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 405 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 406 break;
tomotsugu 8:a47dbf4fa455 407 /* 後退 */
yangtzuli 3:2ae6218973be 408 case BACK:
mori2020 50:ee78382fd399 409 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 52:c868403753e8 410 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
mori2020 50:ee78382fd399 411 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 412 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 413 break;
tomotsugu 8:a47dbf4fa455 414 /* 停止 */
yangtzuli 3:2ae6218973be 415 case STOP:
tomotsugu 8:a47dbf4fa455 416 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 417 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 418 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 419 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 420 break;
tomotsugu 52:c868403753e8 421 case A1RIGHT:
mori2020 50:ee78382fd399 422 motorR1 = LOW;
tomotsugu 52:c868403753e8 423 motorR2 = 0.55;
tomotsugu 52:c868403753e8 424 motorL1 = 0.57;
mori2020 50:ee78382fd399 425 motorL2 = LOW;
takuminomura 49:7224132f4b0e 426 break;
tomotsugu 53:debc8879ba5d 427 case A1LEFT:
tomotsugu 52:c868403753e8 428 motorR1 = 0.57;
mori2020 50:ee78382fd399 429 motorR2 = LOW;
mori2020 50:ee78382fd399 430 motorL1 = LOW;
tomotsugu 52:c868403753e8 431 motorL2 = 0.55;
tomotsugu 52:c868403753e8 432 break;
tomotsugu 52:c868403753e8 433 case A2RIGHT:
tomotsugu 52:c868403753e8 434 motorR1 = LOW;
tomotsugu 52:c868403753e8 435 motorR2 = 0.33;
tomotsugu 52:c868403753e8 436 motorL1 = 0.35;
tomotsugu 52:c868403753e8 437 motorL2 = LOW;
tomotsugu 52:c868403753e8 438 break;
tomotsugu 52:c868403753e8 439 case A2LEFT:
tomotsugu 52:c868403753e8 440 motorR1 = 0.35;
tomotsugu 52:c868403753e8 441 motorR2 = LOW;
tomotsugu 52:c868403753e8 442 motorL1 = LOW;
tomotsugu 52:c868403753e8 443 motorL2 = 0.33;
takuminomura 49:7224132f4b0e 444 break;
nishimura_taku_pet 54:f862caf08a7f 445 /* 低速右折 */
nishimura_taku_pet 54:f862caf08a7f 446 case LT_R:
nishimura_taku_pet 54:f862caf08a7f 447 motorR1 = motorSpeedR2[flag_sp]; // 右前進モーターON
nishimura_taku_pet 54:f862caf08a7f 448 motorR2 = LOW; // 右後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 449 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
nishimura_taku_pet 54:f862caf08a7f 450 motorL2 = LOW; // 左後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 451 break;
nishimura_taku_pet 54:f862caf08a7f 452 /* 低速左折 */
nishimura_taku_pet 54:f862caf08a7f 453 case LT_L:
nishimura_taku_pet 54:f862caf08a7f 454 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
nishimura_taku_pet 54:f862caf08a7f 455 motorR2 = LOW; // 右後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 456 motorL1 = motorSpeedL2[flag_sp]; // 左前進モーターON
nishimura_taku_pet 54:f862caf08a7f 457 motorL2 = LOW; // 左後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 458 break;
yangtzuli 3:2ae6218973be 459 }
nishimura_taku_pet 51:1baf4407f384 460 /*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 461 flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet 51:1baf4407f384 462 }*/
takuminomura 48:3003ea51c619 463 ThisThread::sleep_for(3); // 30ms待つ
yangtzuli 2:38825726cb1b 464 }
yangtzuli 2:38825726cb1b 465 }
tomotsugu 8:a47dbf4fa455 466
tomotsugu 8:a47dbf4fa455 467 /* スピード変更関数 */
yangtzuli 3:2ae6218973be 468 void changeSpeed(){
tomotsugu 8:a47dbf4fa455 469 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 470 flag_sp = 0; // スピード変更フラグを0にする
tomotsugu 8:a47dbf4fa455 471 }else{ // それ以外
takuminomura 48:3003ea51c619 472 flag_sp = flag_sp + 1; // スピード変更フラグを+1
takuminomura 48:3003ea51c619 473 }
yangtzuli 3:2ae6218973be 474 }
tomotsugu 8:a47dbf4fa455 475
tomotsugu 8:a47dbf4fa455 476 /* ライントレーススレッド */
takuminomura 49:7224132f4b0e 477 //void trace(){
takuminomura 49:7224132f4b0e 478 // // PID用
takuminomura 49:7224132f4b0e 479 // while(1){
takuminomura 49:7224132f4b0e 480 // ThisThread::sleep_for(3);
takuminomura 49:7224132f4b0e 481 // }
takuminomura 49:7224132f4b0e 482 //}
tomotsugu 20:02bb875a9b13 483 void trace(){
takuminomura 48:3003ea51c619 484 while(1){
takuminomura 48:3003ea51c619 485 /* 各センサー値読み取り */
takuminomura 48:3003ea51c619 486 int sensor1 = ss1;
takuminomura 48:3003ea51c619 487 int sensor2 = ss2;
takuminomura 48:3003ea51c619 488 int sensor3 = ss3;
takuminomura 48:3003ea51c619 489 int sensor4 = ss4;
takuminomura 48:3003ea51c619 490 int sensor5 = ss5;
takuminomura 48:3003ea51c619 491 int sensD = 0;
takuminomura 48:3003ea51c619 492
takuminomura 48:3003ea51c619 493 /* センサー値の決定 */
takuminomura 48:3003ea51c619 494 if(sensor1 > 0) sensD |= 0x10;
takuminomura 48:3003ea51c619 495 if(sensor2 > 0) sensD |= 0x08;
takuminomura 48:3003ea51c619 496 if(sensor3 > 0) sensD |= 0x04;
takuminomura 48:3003ea51c619 497 if(sensor4 > 0) sensD |= 0x02;
takuminomura 48:3003ea51c619 498 if(sensor5 > 0) sensD |= 0x01;
takuminomura 48:3003ea51c619 499
takuminomura 48:3003ea51c619 500 /* センサー値によって場合分け */
takuminomura 48:3003ea51c619 501 switch(sensArray[sensD]){
takuminomura 48:3003ea51c619 502 case 1:
takuminomura 48:3003ea51c619 503 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 504 run = ADVANCE; // 高速で前進
takuminomura 48:3003ea51c619 505 break;
takuminomura 48:3003ea51c619 506 case 2:
takuminomura 48:3003ea51c619 507 flag_sp = flag_sp % 3 + 3;
takuminomura 49:7224132f4b0e 508 // run = RIGHT; // 低速で右折
takuminomura 49:7224132f4b0e 509 run = LT_R; // 低速で右折
takuminomura 48:3003ea51c619 510 break;
takuminomura 48:3003ea51c619 511 case 3:
takuminomura 48:3003ea51c619 512 flag_sp = flag_sp % 3 + 3;
takuminomura 49:7224132f4b0e 513 // run = LEFT; // 低速で左折
takuminomura 49:7224132f4b0e 514 run = LT_L; // 低速で左折
takuminomura 48:3003ea51c619 515 break;
takuminomura 48:3003ea51c619 516 case 4:
takuminomura 48:3003ea51c619 517 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 518 run = RIGHT; // 中速で右折
takuminomura 48:3003ea51c619 519 break;
takuminomura 48:3003ea51c619 520 case 5:
takuminomura 48:3003ea51c619 521 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 522 run = LEFT; // 中速で左折
takuminomura 48:3003ea51c619 523 break;
takuminomura 48:3003ea51c619 524 case 6:
takuminomura 48:3003ea51c619 525 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 526 run = RIGHT; // 高速で右折
takuminomura 48:3003ea51c619 527 break;
takuminomura 48:3003ea51c619 528 case 7:
takuminomura 48:3003ea51c619 529 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 530 run = LEFT; // 高速で左折
takuminomura 48:3003ea51c619 531 break;
takuminomura 48:3003ea51c619 532 default:
takuminomura 48:3003ea51c619 533 break; // 前回動作を継続
tomotsugu 18:6cca64c7dbc3 534 }
takuminomura 48:3003ea51c619 535 // ThisThread::sleep_for(30); // 30ms待つ
takuminomura 48:3003ea51c619 536 ThisThread::sleep_for(3);
takuminomura 48:3003ea51c619 537 }
yangtzuli 3:2ae6218973be 538 }
yangtzuli 3:2ae6218973be 539
tomotsugu 8:a47dbf4fa455 540 /* 障害物回避走行スレッド */
tomotsugu 20:02bb875a9b13 541 void avoidance(){
yangtzuli 3:2ae6218973be 542 while(1){
nishimura_taku_pet 40:75e1ad7c27e4 543 watchsurrounding3();
tomotsugu 68:d9ce7c09b127 544 if(flag_a == 0){ // 障害物がない場合
tomotsugu 68:d9ce7c09b127 545 run = ADVANCE; // 前進
tomotsugu 68:d9ce7c09b127 546 }else{ // 障害物がある場合
tomotsugu 68:d9ce7c09b127 547 int i = 0;
mori2020 50:ee78382fd399 548 int cnt_kyori;
mori2020 50:ee78382fd399 549 int kyori;
mori2020 50:ee78382fd399 550 if(SC < 15){
tomotsugu 60:8a4869455ee6 551 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 41:3c58a4be1199 552 ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 553 run = STOP;
mori2020 50:ee78382fd399 554 ThisThread::sleep_for(80);
mori2020 50:ee78382fd399 555 run = BACK;
mori2020 50:ee78382fd399 556 cnt_kyori = 0;
mori2020 50:ee78382fd399 557 kyori = watch();
tomotsugu 68:d9ce7c09b127 558 while(kyori < backlimit){ // 正面20cm以内に障害物がある間
mori2020 50:ee78382fd399 559 if(kyori == -1){
nishimura_taku_pet 40:75e1ad7c27e4 560 cnt_kyori++;
mori2020 50:ee78382fd399 561 if(cnt_kyori > 15){
mori2020 50:ee78382fd399 562 cnt_kyori = 0;
nishimura_taku_pet 40:75e1ad7c27e4 563 break;
nishimura_taku_pet 40:75e1ad7c27e4 564 }
nishimura_taku_pet 40:75e1ad7c27e4 565 }
nishimura_taku_pet 40:75e1ad7c27e4 566 kyori = watch();
tomotsugu 18:6cca64c7dbc3 567 }
mori2020 50:ee78382fd399 568 run = STOP;
mori2020 50:ee78382fd399 569 }
nishimura_taku_pet 40:75e1ad7c27e4 570 watchsurrounding5();
tomotsugu 71:192af47a260d 571 if(SC < 27 && SLD < 38 && SL < 31 && SRD < 38 && SR < 31){ // 全方向に障害物がある場合
tomotsugu 68:d9ce7c09b127 572 run = A1LEFT; // 左折
tomotsugu 68:d9ce7c09b127 573 cnt_kyori = 0;
tomotsugu 68:d9ce7c09b127 574 kyori = watch();
tomotsugu 68:d9ce7c09b127 575 while(kyori < 53){
tomotsugu 68:d9ce7c09b127 576 if(kyori == -1){
tomotsugu 68:d9ce7c09b127 577 cnt_kyori++;
tomotsugu 68:d9ce7c09b127 578 if(cnt_kyori > 25){
tomotsugu 68:d9ce7c09b127 579 cnt_kyori = 0;
tomotsugu 68:d9ce7c09b127 580 break;
tomotsugu 68:d9ce7c09b127 581 }
yangtzuli 2:38825726cb1b 582 }
tomotsugu 68:d9ce7c09b127 583 kyori = watch();
tomotsugu 68:d9ce7c09b127 584 }
tomotsugu 68:d9ce7c09b127 585 // while(i < 15){ // 進行方向確認
tomotsugu 68:d9ce7c09b127 586 // if(watch() > limit){
tomotsugu 68:d9ce7c09b127 587 // break;
tomotsugu 68:d9ce7c09b127 588 // }else{
tomotsugu 68:d9ce7c09b127 589 // i++;
tomotsugu 68:d9ce7c09b127 590 // }
tomotsugu 68:d9ce7c09b127 591 // }
nishimura_taku_pet 28:cb51cafca490 592 run = STOP; // 停止
mori2020 50:ee78382fd399 593 }else { // 全方向以外
nishimura_taku_pet 28:cb51cafca490 594 far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 595 houkou = 1; // 進行方向を前に設定
tomotsugu 68:d9ce7c09b127 596 if(SC < 25){
mori2020 50:ee78382fd399 597 if(far < SLD || far < SL){ // 左または左前がより遠い場合
mori2020 50:ee78382fd399 598 if(SL < SLD){ // 左前が左より遠い場合
mori2020 50:ee78382fd399 599 far = SLD; // 左前を最も遠い距離に設定
mori2020 50:ee78382fd399 600 }else{ // 左が左前より遠い場合
mori2020 50:ee78382fd399 601 far = SL; // 左を最も遠い距離に設定
mori2020 50:ee78382fd399 602 }
mori2020 50:ee78382fd399 603 houkou = 2; // 進行方向を左に設定
nishimura_taku_pet 28:cb51cafca490 604 }
mori2020 50:ee78382fd399 605 if(far < SRD || far < SR){ // 右または右前がより遠い場合
mori2020 50:ee78382fd399 606 if(SR < SRD){ // 右前が右より遠い場合
mori2020 50:ee78382fd399 607 far = SRD; // 右前を最も遠い距離に設定
mori2020 50:ee78382fd399 608 }else{ // 右が右前よりも遠い場合
mori2020 50:ee78382fd399 609 far = SR; // 右を最も遠い距離に設定
mori2020 50:ee78382fd399 610 }
mori2020 50:ee78382fd399 611 houkou = 3; // 進行方向を右に設定
nishimura_taku_pet 28:cb51cafca490 612 }
nishimura_taku_pet 28:cb51cafca490 613 }
nishimura_taku_pet 28:cb51cafca490 614 switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet 28:cb51cafca490 615 case 1: // 前の場合
nishimura_taku_pet 28:cb51cafca490 616 run = ADVANCE; // 前進
mori2020 50:ee78382fd399 617 switch(flag_sp){
mori2020 50:ee78382fd399 618 case 0:
tomotsugu 68:d9ce7c09b127 619 ThisThread::sleep_for(300);
mori2020 50:ee78382fd399 620 break;
mori2020 50:ee78382fd399 621 case 1:
mori2020 50:ee78382fd399 622 ThisThread::sleep_for(200);
mori2020 50:ee78382fd399 623 break;
mori2020 50:ee78382fd399 624 case 2:
mori2020 50:ee78382fd399 625 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 626 break;
mori2020 50:ee78382fd399 627 }
nishimura_taku_pet 28:cb51cafca490 628 break;
mori2020 50:ee78382fd399 629 case 2: // 左の場合
tomotsugu 52:c868403753e8 630 run = A1LEFT; // 左折
mori2020 50:ee78382fd399 631 while(i < 15){ // 進行方向確認
nishimura_taku_pet 28:cb51cafca490 632 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)
tomotsugu 68:d9ce7c09b127 633 break;
nishimura_taku_pet 28:cb51cafca490 634 }else{
nishimura_taku_pet 40:75e1ad7c27e4 635 i++;
nishimura_taku_pet 28:cb51cafca490 636 }
nishimura_taku_pet 28:cb51cafca490 637 }
tomotsugu 68:d9ce7c09b127 638 run = ADVANCE;
nishimura_taku_pet 28:cb51cafca490 639 break;
mori2020 50:ee78382fd399 640 case 3: // 右の場合
tomotsugu 52:c868403753e8 641 run = A1RIGHT; // 右折
mori2020 50:ee78382fd399 642 while(i < 15){ // 進行方向確認
mori2020 50:ee78382fd399 643 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)
tomotsugu 68:d9ce7c09b127 644 break;
nishimura_taku_pet 28:cb51cafca490 645 }else{
nishimura_taku_pet 40:75e1ad7c27e4 646 i++;
nishimura_taku_pet 28:cb51cafca490 647 }
nishimura_taku_pet 28:cb51cafca490 648 }
tomotsugu 68:d9ce7c09b127 649 run = ADVANCE;
nishimura_taku_pet 28:cb51cafca490 650 break;
nishimura_taku_pet 28:cb51cafca490 651 }
yangtzuli 5:3fffb364744b 652 }
nishimura_taku_pet 28:cb51cafca490 653 }
nishimura_taku_pet 28:cb51cafca490 654 flag_a = 0; // 障害物有無フラグを0にセット
tomotsugu 68:d9ce7c09b127 655 if(SLD < 30 && SRD > 30){
tomotsugu 52:c868403753e8 656 run = A2RIGHT; // 右折
tomotsugu 52:c868403753e8 657 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 658 run = ADVANCE;
mori2020 50:ee78382fd399 659 }else if(SRD < 30 && SLD > 30){
tomotsugu 52:c868403753e8 660 run = A2LEFT; // 左折
tomotsugu 52:c868403753e8 661 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 662 run = ADVANCE;
mori2020 50:ee78382fd399 663 }
mori2020 50:ee78382fd399 664 }
mori2020 50:ee78382fd399 665 }
mori2020 50:ee78382fd399 666
tomotsugu 8:a47dbf4fa455 667 /* 距離計測関数 */
yangtzuli 2:38825726cb1b 668 int watch(){
mori2020 50:ee78382fd399 669 do{
mori2020 50:ee78382fd399 670 do{
mori2020 50:ee78382fd399 671 trig = 0;
mori2020 50:ee78382fd399 672 ThisThread::sleep_for(5); // 5ms待つ
mori2020 50:ee78382fd399 673 trig = 1;
mori2020 50:ee78382fd399 674 ThisThread::sleep_for(15); // 15ms待つ
mori2020 50:ee78382fd399 675 trig = 0;
mori2020 50:ee78382fd399 676 timer.start();
tomotsugu 21:68d38e8f64b5 677 t1=timer.read_ms();
mori2020 50:ee78382fd399 678 while(echo.read() == 0 && t1<10){
mori2020 50:ee78382fd399 679 t1=timer.read_ms();
mori2020 50:ee78382fd399 680 led1 = 1;
mori2020 50:ee78382fd399 681 }
mori2020 50:ee78382fd399 682 timer.stop();
mori2020 50:ee78382fd399 683 timer.reset();
mori2020 50:ee78382fd399 684 }while(t1 >= 10);
mori2020 50:ee78382fd399 685 timer.start(); // 距離計測タイマースタート
mori2020 50:ee78382fd399 686 while(echo.read() == 1){
tomotsugu 21:68d38e8f64b5 687 }
mori2020 50:ee78382fd399 688 timer.stop(); // 距離計測タイマーストップ
mori2020 50:ee78382fd399 689 DT = (int)(timer.read_us()*0.01657); // 距離計算
mori2020 50:ee78382fd399 690 if(timer.read_ms() > 1000){
mori2020 50:ee78382fd399 691 DT = -1;
mori2020 50:ee78382fd399 692 break;
mori2020 50:ee78382fd399 693 }
mori2020 50:ee78382fd399 694 }while(DT > 1000);
mori2020 50:ee78382fd399 695 if(DT > 400){
mori2020 50:ee78382fd399 696 DT = 400;
mori2020 50:ee78382fd399 697 }
tomotsugu 21:68d38e8f64b5 698 timer.reset();
mori2020 50:ee78382fd399 699 led1 = 0;
mori2020 50:ee78382fd399 700 return DT;
yangtzuli 0:0d0037aabe41 701 }
mori2020 50:ee78382fd399 702
tomotsugu 8:a47dbf4fa455 703 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 704 void watchsurrounding3(){
yangtzuli 2:38825726cb1b 705 SC = watch();
nishimura_taku_pet 28:cb51cafca490 706 if(SC < limit){ // 正面20cm以内に障害物がある場合
mori2020 50:ee78382fd399 707 if(SC!=-1){
nishimura_taku_pet 28:cb51cafca490 708 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 709 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 710 return;
nishimura_taku_pet 28:cb51cafca490 711 }
yangtzuli 2:38825726cb1b 712 }
tomotsugu 63:bddf342bce22 713 servo.pulsewidth_us(1930); // サーボを左に40度回転
tomotsugu 68:d9ce7c09b127 714 ThisThread::sleep_for(100);
yangtzuli 2:38825726cb1b 715 SLD = watch();
tomotsugu 71:192af47a260d 716 if(SLD < sidelimit){ // 左前20cm以内に障害物がある場合
mori2020 50:ee78382fd399 717 run = STOP;
mori2020 50:ee78382fd399 718 ThisThread::sleep_for(90);
mori2020 50:ee78382fd399 719 run = BACK;
tomotsugu 60:8a4869455ee6 720 switch(flag_sp){
tomotsugu 60:8a4869455ee6 721 case 0:
tomotsugu 60:8a4869455ee6 722 ThisThread::sleep_for(200);
tomotsugu 60:8a4869455ee6 723 break;
tomotsugu 60:8a4869455ee6 724 case 1:
tomotsugu 60:8a4869455ee6 725 ThisThread::sleep_for(170);
tomotsugu 60:8a4869455ee6 726 break;
tomotsugu 60:8a4869455ee6 727 case 2:
tomotsugu 68:d9ce7c09b127 728 ThisThread::sleep_for(140);
tomotsugu 60:8a4869455ee6 729 break;
tomotsugu 60:8a4869455ee6 730 }
tomotsugu 52:c868403753e8 731 run = A2RIGHT;
tomotsugu 60:8a4869455ee6 732 ThisThread::sleep_for(150);
mori2020 50:ee78382fd399 733 return;
yangtzuli 2:38825726cb1b 734 }
tomotsugu 60:8a4869455ee6 735 servo.pulsewidth_us(1450);
mori2020 50:ee78382fd399 736 ThisThread::sleep_for(100);
tomotsugu 19:c6f9f010bd9e 737 SC = watch();
tomotsugu 19:c6f9f010bd9e 738 if(SC < limit){
mori2020 50:ee78382fd399 739 if(SC != -1){
mori2020 50:ee78382fd399 740 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 741 flag_a = 1;
takuminomura 48:3003ea51c619 742 return;
mori2020 50:ee78382fd399 743 }
tomotsugu 19:c6f9f010bd9e 744 }
tomotsugu 63:bddf342bce22 745 servo.pulsewidth_us(920); // サーボを右に40度回転
tomotsugu 68:d9ce7c09b127 746 ThisThread::sleep_for(100);
yangtzuli 2:38825726cb1b 747 SRD = watch();
tomotsugu 71:192af47a260d 748 if(SRD < sidelimit){ // 右前20cm以内に障害物がある場合
tomotsugu 68:d9ce7c09b127 749 run = STOP; // 停止
mori2020 50:ee78382fd399 750 ThisThread::sleep_for(90);
mori2020 50:ee78382fd399 751 run = BACK;
tomotsugu 60:8a4869455ee6 752 switch(flag_sp){
tomotsugu 60:8a4869455ee6 753 case 0:
tomotsugu 60:8a4869455ee6 754 ThisThread::sleep_for(200);
tomotsugu 60:8a4869455ee6 755 break;
tomotsugu 60:8a4869455ee6 756 case 1:
tomotsugu 60:8a4869455ee6 757 ThisThread::sleep_for(170);
tomotsugu 60:8a4869455ee6 758 break;
tomotsugu 60:8a4869455ee6 759 case 2:
tomotsugu 68:d9ce7c09b127 760 ThisThread::sleep_for(140);
tomotsugu 60:8a4869455ee6 761 break;
tomotsugu 60:8a4869455ee6 762 }
tomotsugu 52:c868403753e8 763 run = A2LEFT;
tomotsugu 60:8a4869455ee6 764 ThisThread::sleep_for(150);
mori2020 50:ee78382fd399 765 return;
yangtzuli 2:38825726cb1b 766 }
tomotsugu 60:8a4869455ee6 767 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 40:75e1ad7c27e4 768 ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 769 }
mori2020 50:ee78382fd399 770
nishimura_taku_pet 40:75e1ad7c27e4 771 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 772 void watchsurrounding5(){
nishimura_taku_pet 40:75e1ad7c27e4 773 SC = watch();
mori2020 50:ee78382fd399 774 servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 775 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 776 SLD = watch();
nishimura_taku_pet 40:75e1ad7c27e4 777 servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet 40:75e1ad7c27e4 778 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 779 SL = watch();
tomotsugu 60:8a4869455ee6 780 servo.pulsewidth_us(1450);
nishimura_taku_pet 40:75e1ad7c27e4 781 ThisThread::sleep_for(250);
nishimura_taku_pet 40:75e1ad7c27e4 782 SC = watch();
mori2020 50:ee78382fd399 783 servo.pulsewidth_us(923); // サーボを右に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 784 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 785 SRD = watch();
yangtzuli 2:38825726cb1b 786 servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet 28:cb51cafca490 787 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 788 SR = watch();
tomotsugu 60:8a4869455ee6 789 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 790 ThisThread::sleep_for(250); // 100ms待つ
yangtzuli 3:2ae6218973be 791 }
yangtzuli 3:2ae6218973be 792
tomotsugu 8:a47dbf4fa455 793 /* ディスプレイ表示関数 */
yangtzuli 3:2ae6218973be 794 void display(){
faker_71 57:65dd71a6ce72 795 // pblue=!pblue;
tomotsugu 8:a47dbf4fa455 796 mutex.lock(); // ミューテックスロック
yangtzuli 3:2ae6218973be 797 lcd.setAddress(0,1);
tomotsugu 8:a47dbf4fa455 798
tomotsugu 8:a47dbf4fa455 799 /* 操作モードによる場合分け */
yangtzuli 3:2ae6218973be 800 switch(mode){
tomotsugu 8:a47dbf4fa455 801 /* 前進 */
yangtzuli 3:2ae6218973be 802 case ADVANCE:
yangtzuli 3:2ae6218973be 803 lcd.printf("Mode:Advance ");
yangtzuli 3:2ae6218973be 804 break;
tomotsugu 8:a47dbf4fa455 805 /* 右折 */
yangtzuli 3:2ae6218973be 806 case RIGHT:
yangtzuli 5:3fffb364744b 807 lcd.printf("Mode:TurnRight ");
yangtzuli 3:2ae6218973be 808 break;
tomotsugu 8:a47dbf4fa455 809 /* 左折 */
yangtzuli 3:2ae6218973be 810 case LEFT:
yangtzuli 5:3fffb364744b 811 lcd.printf("Mode:TurnLeft ");
yangtzuli 3:2ae6218973be 812 break;
tomotsugu 8:a47dbf4fa455 813 /* 後退 */
yangtzuli 3:2ae6218973be 814 case BACK:
yangtzuli 3:2ae6218973be 815 lcd.printf("Mode:Back ");
yangtzuli 3:2ae6218973be 816 break;
tomotsugu 8:a47dbf4fa455 817 /* 停止 */
yangtzuli 3:2ae6218973be 818 case STOP:
yangtzuli 3:2ae6218973be 819 lcd.printf("Mode:Stop ");
yangtzuli 3:2ae6218973be 820 break;
tomotsugu 8:a47dbf4fa455 821 /* 待ち */
yangtzuli 3:2ae6218973be 822 case READY:
yangtzuli 3:2ae6218973be 823 lcd.printf("Mode:Ready ");
yangtzuli 3:2ae6218973be 824 break;
tomotsugu 8:a47dbf4fa455 825 /* ライントレース */
yangtzuli 3:2ae6218973be 826 case LINE_TRACE:
yangtzuli 3:2ae6218973be 827 lcd.printf("Mode:LineTrace ");
yangtzuli 3:2ae6218973be 828 break;
tomotsugu 8:a47dbf4fa455 829 /* 障害物回避 */
yangtzuli 3:2ae6218973be 830 case AVOIDANCE:
yangtzuli 3:2ae6218973be 831 lcd.printf("Mode:Avoidance ");
yangtzuli 3:2ae6218973be 832 break;
tomotsugu 8:a47dbf4fa455 833 /* スピード制御 */
yangtzuli 3:2ae6218973be 834 case SPEED:
tomotsugu 8:a47dbf4fa455 835 /* スピードの状態で場合分け */
takuminomura 48:3003ea51c619 836 switch(flag_sp % 3){
tomotsugu 8:a47dbf4fa455 837 /* 普通 */
yangtzuli 3:2ae6218973be 838 case(NORMAL):
yangtzuli 3:2ae6218973be 839 lcd.printf("Speed:Normal ");
yangtzuli 3:2ae6218973be 840 break;
tomotsugu 8:a47dbf4fa455 841 /* 速い */
yangtzuli 3:2ae6218973be 842 case(FAST):
yangtzuli 3:2ae6218973be 843 lcd.printf("Speed:Fast ");
yangtzuli 3:2ae6218973be 844 break;
tomotsugu 8:a47dbf4fa455 845 /* とても速い */
yangtzuli 3:2ae6218973be 846 case(VERYFAST):
yangtzuli 3:2ae6218973be 847 lcd.printf("Speed:VeryFast ");
yangtzuli 3:2ae6218973be 848 break;
yangtzuli 3:2ae6218973be 849 }
tomotsugu 8:a47dbf4fa455 850 viewTimer.reset(); // タイマーリセット
tomotsugu 8:a47dbf4fa455 851 viewTimer.start(); // タイマースタート
takuminomura 48:3003ea51c619 852 break;
nishimura_taku_pet 56:d02c62149a19 853 default:
nishimura_taku_pet 56:d02c62149a19 854 lcd.printf("Mode:ModeError ");
nishimura_taku_pet 56:d02c62149a19 855 break;
yangtzuli 3:2ae6218973be 856 }
tomotsugu 8:a47dbf4fa455 857 mutex.unlock(); // ミューテックスアンロック
faker_71 57:65dd71a6ce72 858 // pblue=!pblue;
faker_71 57:65dd71a6ce72 859
yangtzuli 3:2ae6218973be 860 }
yangtzuli 3:2ae6218973be 861
tomotsugu 8:a47dbf4fa455 862 /* バックライト点滅 */
yangtzuli 3:2ae6218973be 863 void lcdBacklight(void const *argument){
tomotsugu 8:a47dbf4fa455 864 if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu 8:a47dbf4fa455 865 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 8:a47dbf4fa455 866 }else{ // バックライト点滅フラグが0なら
tomotsugu 8:a47dbf4fa455 867 lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli 3:2ae6218973be 868 }
tomotsugu 8:a47dbf4fa455 869 flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli 3:2ae6218973be 870 }
yangtzuli 2:38825726cb1b 871
tomotsugu 8:a47dbf4fa455 872 /* バッテリー残量更新関数 */
yangtzuli 5:3fffb364744b 873 void bChange(){
yangtzuli 17:f7259ab2fe86 874 //pc.printf(" bChange1\r\n");
tomotsugu 71:192af47a260d 875 b10[k++] = (int)(((battery.read() * 3.3 - MIN_V)/0.8)*10+0.5)*10;
nishimura_taku_pet 65:7657ef347d6d 876 if(k == 10){
nishimura_taku_pet 65:7657ef347d6d 877 k = 0;
nishimura_taku_pet 51:1baf4407f384 878 }
nishimura_taku_pet 64:c74082c792ed 879 b = 0;
nishimura_taku_pet 64:c74082c792ed 880 for(int i=0;i<10;i++){
nishimura_taku_pet 64:c74082c792ed 881 if(b<b10[i] && b10[i]<=100){
nishimura_taku_pet 64:c74082c792ed 882 b = b10[i];
nishimura_taku_pet 64:c74082c792ed 883 }
tomotsugu 71:192af47a260d 884 else if(b10[i] > 100){
tomotsugu 71:192af47a260d 885 b = 100;
tomotsugu 71:192af47a260d 886 }
nishimura_taku_pet 64:c74082c792ed 887 }
nishimura_taku_pet 64:c74082c792ed 888
tomotsugu 10:d193030ce672 889 if(b <= 0){ // バッテリー残量0%なら全ての機能停止
nishimura_taku_pet 66:2e2091dc7932 890 if(flag_t == 1){
nishimura_taku_pet 66:2e2091dc7932 891 bTimer.stop();
nishimura_taku_pet 66:2e2091dc7932 892 }
nishimura_taku_pet 66:2e2091dc7932 893 lcd.cls();
nishimura_taku_pet 66:2e2091dc7932 894 if(trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 66:2e2091dc7932 895 trace_thread->terminate();
nishimura_taku_pet 66:2e2091dc7932 896 }
nishimura_taku_pet 66:2e2091dc7932 897 if(avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 66:2e2091dc7932 898 avoi_thread->terminate();
nishimura_taku_pet 66:2e2091dc7932 899 }
nishimura_taku_pet 66:2e2091dc7932 900 if(wifi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 66:2e2091dc7932 901 wifi_thread->terminate();
nishimura_taku_pet 66:2e2091dc7932 902 }
nishimura_taku_pet 66:2e2091dc7932 903 if(deco_thread != NULL){
nishimura_taku_pet 66:2e2091dc7932 904 deco_thread->terminate();
nishimura_taku_pet 66:2e2091dc7932 905 }
nishimura_taku_pet 64:c74082c792ed 906 run = STOP;
nishimura_taku_pet 66:2e2091dc7932 907 ThisThread::sleep_for(10);
nishimura_taku_pet 66:2e2091dc7932 908 if(motor_thread != NULL){
nishimura_taku_pet 66:2e2091dc7932 909 motor_thread -> terminate();
nishimura_taku_pet 66:2e2091dc7932 910 }
nishimura_taku_pet 66:2e2091dc7932 911 led1 = 0;
nishimura_taku_pet 66:2e2091dc7932 912 led2 = 0;
nishimura_taku_pet 66:2e2091dc7932 913 led3 = 0;
nishimura_taku_pet 66:2e2091dc7932 914 led4 = 0;
nishimura_taku_pet 66:2e2091dc7932 915 exit(0); // 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 916 }
tomotsugu 10:d193030ce672 917 mutex.lock(); // ミューテックスロック
tomotsugu 10:d193030ce672 918 lcd.setAddress(0,0);
tomotsugu 10:d193030ce672 919 lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
takuminomura 48:3003ea51c619 920 mutex.unlock(); // ミューテックスアンロック
tomotsugu 10:d193030ce672 921 if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu 10:d193030ce672 922 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 923 //bTimer.attach(lcdBacklight,0.5);
tomotsugu 10:d193030ce672 924 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 925 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 926 }
tomotsugu 10:d193030ce672 927 }else{
tomotsugu 10:d193030ce672 928 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 929 //bTimer.detach();
tomotsugu 10:d193030ce672 930 bTimer.stop(); // バックライトタイマーストップ
tomotsugu 10:d193030ce672 931 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 10:d193030ce672 932 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 933 }
tomotsugu 10:d193030ce672 934 }
yangtzuli 2:38825726cb1b 935 }
mori2020 50:ee78382fd399 936
mori2020 50:ee78382fd399 937
nishimura_taku_pet 24:9481c8f56a49 938 // Serial Interrupt read ESP data
nishimura_taku_pet 24:9481c8f56a49 939 void callback()
nishimura_taku_pet 24:9481c8f56a49 940 {
mori2020 50:ee78382fd399 941 ////*-*-*-5("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 942 led3=1;
nishimura_taku_pet 24:9481c8f56a49 943 while (esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 944 webbuff[ount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 945 ount++;
nishimura_taku_pet 24:9481c8f56a49 946 }
nishimura_taku_pet 24:9481c8f56a49 947 if(strlen(webbuff)>bufflen) {
mori2020 50:ee78382fd399 948 // //*-*-*-5("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 949 DataRX=1;
nishimura_taku_pet 24:9481c8f56a49 950 led3=0;
nishimura_taku_pet 24:9481c8f56a49 951 }
nishimura_taku_pet 24:9481c8f56a49 952 }
mori2020 50:ee78382fd399 953
nishimura_taku_pet 43:243c1455f88a 954 void wifi(/*void const *argument*/)
nishimura_taku_pet 24:9481c8f56a49 955 {
mori2020 50:ee78382fd399 956 //*-*-*-5("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet 33:a6f1090e0174 957 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 958 led1=1,led2=0,led3=0;
nishimura_taku_pet 24:9481c8f56a49 959 timeout=6000;
nishimura_taku_pet 24:9481c8f56a49 960 getcount=500;
nishimura_taku_pet 24:9481c8f56a49 961 getreply();
nishimura_taku_pet 24:9481c8f56a49 962 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet 24:9481c8f56a49 963 startserver();
mori2020 50:ee78382fd399 964
nishimura_taku_pet 24:9481c8f56a49 965 while(1) {
nishimura_taku_pet 24:9481c8f56a49 966 if(DataRX==1) {
mori2020 50:ee78382fd399 967 //*-*-*-5("\f\n\r------------ main while > if --------------\n\r");
faker_71 57:65dd71a6ce72 968 // click_flag = 1;
faker_71 57:65dd71a6ce72 969 click_log=false;
nishimura_taku_pet 24:9481c8f56a49 970 ReadWebData();
mori2020 50:ee78382fd399 971 //*-*-*-5("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
mori2020 50:ee78382fd399 972 //if ((servreq == 1 && weberror == 0) && click_flag == 1) {
faker_71 57:65dd71a6ce72 973 if (servreq == 1 && weberror == 0 && click_log == false) {
mori2020 50:ee78382fd399 974 //*-*-*-5("\f\n\r------------ befor send page --------------\n\r");
faker_71 57:65dd71a6ce72 975 sendpage(); }
mori2020 50:ee78382fd399 976 //*-*-*-5("\f\n\r------------ send_check begin --------------\n\r");
mori2020 50:ee78382fd399 977
mori2020 50:ee78382fd399 978 //sendcheck();
mori2020 50:ee78382fd399 979 //*-*-*-5("\f\n\r------------ ssend_check end--------------\n\r");
faker_71 57:65dd71a6ce72 980 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 981 esp.attach(&callback);
mori2020 50:ee78382fd399 982 //*-*-*-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 983 //*-*-*-5("\n\n HTTP Packet: \n\n%s\n", webdata);
mori2020 50:ee78382fd399 984 //*-*-*-5(" Web Characters sent : %d\n\n", bufl);
mori2020 50:ee78382fd399 985 //*-*-*-5(" -------------------------------------\n\n");
nishimura_taku_pet 24:9481c8f56a49 986 servreq=0;
nishimura_taku_pet 24:9481c8f56a49 987 }
nishimura_taku_pet 24:9481c8f56a49 988 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 989 }
nishimura_taku_pet 24:9481c8f56a49 990 }
nishimura_taku_pet 24:9481c8f56a49 991 // Static WEB page
nishimura_taku_pet 24:9481c8f56a49 992 void sendpage()
nishimura_taku_pet 24:9481c8f56a49 993 {
nishimura_taku_pet 24:9481c8f56a49 994 // WEB page data
mori2020 50:ee78382fd399 995
nishimura_taku_pet 61:85daf80c7727 996 //strcpy(webbuff, "HTTP/1.1 200 OK\nDate: Thu, 03 Sep 2020 07:43:28 GMT\nContent-Type: text/html\nContent-Length: 2843\nConnection: keep-alive\n\n");
nishimura_taku_pet 61:85daf80c7727 997 strcpy(webbuff, "<!DOCTYPE html>");
tomotsugu 68:d9ce7c09b127 998 strcat(webbuff, "<html><head><title>RobotCarControl</title><meta name='viewport' content='width=device-width'/>");
nishimura_taku_pet 72:d389adc0c780 999 strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"10\"; >");
nishimura_taku_pet 62:5b4e62edaac4 1000 strcat(webbuff, "<style type=\"text/css\">.noselect{ width:100px;height:60px;border-radius: 25px;outline:0;}.light{ width:100px;height:60px;background-color:#00ff66;border-radius: 25px;outline:0;}.load{ width: 50px; height: 30px;font-size:10px}</style>");
tomotsugu 68:d9ce7c09b127 1001 strcat(webbuff, "</head><body><center><p><strong>RobotCarControl");
tomotsugu 70:04798984630c 1002 strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery :");
nishimura_taku_pet 62:5b4e62edaac4 1003 if(b<=30){ //30%より下の場合残電量を赤文字
mori2020 50:ee78382fd399 1004 strcat(webbuff, "<font color=\"red\">");
mori2020 50:ee78382fd399 1005 sprintf(webbuff, "%s%3d", webbuff, b);
mori2020 50:ee78382fd399 1006 strcat(webbuff, "</font>");
nishimura_taku_pet 62:5b4e62edaac4 1007 }else{
nishimura_taku_pet 62:5b4e62edaac4 1008 sprintf(webbuff, "%s%3d", webbuff, b);
mori2020 50:ee78382fd399 1009 }
tomotsugu 70:04798984630c 1010 strcat(webbuff, " %</strong>");
tomotsugu 68:d9ce7c09b127 1011 strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onmousedown=\"location.reload()\">Reload</button>");
nishimura_taku_pet 24:9481c8f56a49 1012 strcat(webbuff, "</td></p>");
nishimura_taku_pet 24:9481c8f56a49 1013 strcat(webbuff, "<br>");
nishimura_taku_pet 24:9481c8f56a49 1014 strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 1015
molberry 35:4cda290bdb87 1016 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 1017 case ADVANCE: //前進
tomotsugu 68:d9ce7c09b127 1018 strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 1019 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 1020 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1021 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1022 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1023 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1024 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1025 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1026 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 24:9481c8f56a49 1027 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1028 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1029 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1030 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1031 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1032 break;
molberry 35:4cda290bdb87 1033 case LEFT: //左折
tomotsugu 68:d9ce7c09b127 1034 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 1035 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 1036 strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1037 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1038 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1039 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1040 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1041 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1042 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 24:9481c8f56a49 1043 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1044 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1045 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1046 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1047 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1048 break;
molberry 35:4cda290bdb87 1049 case STOP: //停止
tomotsugu 68:d9ce7c09b127 1050 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 1051 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 1052 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1053 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1054 strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1055 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1056 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1057 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1058 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 24:9481c8f56a49 1059 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1060 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1061 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1062 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1063 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1064 break;
molberry 35:4cda290bdb87 1065 case RIGHT: //右折
tomotsugu 68:d9ce7c09b127 1066 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 1067 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 1068 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1069 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1070 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1071 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1072 strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1073 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1074 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 24:9481c8f56a49 1075 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1076 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1077 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1078 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1079 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1080 break;
molberry 35:4cda290bdb87 1081 case BACK: //後進
tomotsugu 68:d9ce7c09b127 1082 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 1083 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 1084 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1085 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1086 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1087 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1088 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1089 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1090 strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 67:0333997269dc 1091 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1092 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1093 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1094 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1095 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1096 break;
molberry 35:4cda290bdb87 1097 case AVOIDANCE: //障害物回避
tomotsugu 68:d9ce7c09b127 1098 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 1099 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 1100 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1101 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1102 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1103 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1104 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1105 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1106 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 24:9481c8f56a49 1107 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1108 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1109 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1110 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1111 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1112 break;
molberry 35:4cda290bdb87 1113 case LINE_TRACE: //ライントレース
tomotsugu 68:d9ce7c09b127 1114 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 1115 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 1116 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1117 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1118 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1119 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1120 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1121 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1122 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 24:9481c8f56a49 1123 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1124 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1125 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1126 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1127 strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1128 break;
molberry 35:4cda290bdb87 1129 default: //その他
tomotsugu 68:d9ce7c09b127 1130 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 1131 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 1132 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1133 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1134 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1135 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1136 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1137 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1138 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 24:9481c8f56a49 1139 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1140 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1141 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1142 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1143 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1144 break;
nishimura_taku_pet 24:9481c8f56a49 1145 }
nishimura_taku_pet 24:9481c8f56a49 1146 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1147 strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet 24:9481c8f56a49 1148 strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 1149 //ready示速度だけ点灯
nishimura_taku_pet 72:d389adc0c780 1150 switch (flag_sp%3) { //現在の速度のボタン表示
molberry 35:4cda290bdb87 1151 case 0: //ノーマル
nishimura_taku_pet 64:c74082c792ed 1152 strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onmousedown='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1153 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 64:c74082c792ed 1154 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onmousedown='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1155 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 64:c74082c792ed 1156 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onmousedown='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1157 break;
molberry 35:4cda290bdb87 1158 case 1: //ファスト
nishimura_taku_pet 64:c74082c792ed 1159 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onmousedown='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1160 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 64:c74082c792ed 1161 strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onmousedown='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1162 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 64:c74082c792ed 1163 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onmousedown='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1164 break;
molberry 35:4cda290bdb87 1165 case 2: //ベリーファスト
nishimura_taku_pet 64:c74082c792ed 1166 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onmousedown='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1167 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 64:c74082c792ed 1168 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onmousedown='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1169 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 64:c74082c792ed 1170 strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onmousedown='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1171 break;
molberry 35:4cda290bdb87 1172 default: //その他
nishimura_taku_pet 64:c74082c792ed 1173 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onmousedown='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1174 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 64:c74082c792ed 1175 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onmousedown='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1176 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 64:c74082c792ed 1177 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onmousedown='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1178 break;
nishimura_taku_pet 24:9481c8f56a49 1179 }
nishimura_taku_pet 24:9481c8f56a49 1180 strcat(webbuff, "</button></td></tr></table>");
mori2020 50:ee78382fd399 1181
nishimura_taku_pet 24:9481c8f56a49 1182 strcat(webbuff, "</center>");
nishimura_taku_pet 24:9481c8f56a49 1183 strcat(webbuff, "</body>");
nishimura_taku_pet 24:9481c8f56a49 1184 strcat(webbuff, "</html>");
mori2020 50:ee78382fd399 1185
molberry 35:4cda290bdb87 1186 strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
faker_71 57:65dd71a6ce72 1187
mori2020 50:ee78382fd399 1188 //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
faker_71 57:65dd71a6ce72 1189 strcat(webbuff, "function htmlacs(url) {");
faker_71 57:65dd71a6ce72 1190 strcat(webbuff, "var xhr = new XMLHttpRequest();");
faker_71 57:65dd71a6ce72 1191 strcat(webbuff, "xhr.open(\"GET\", url, true);");
faker_71 57:65dd71a6ce72 1192 strcat(webbuff, "xhr.send();");
faker_71 57:65dd71a6ce72 1193 strcat(webbuff, "setTimeout(function(){xhr.abort();},100);");
nishimura_taku_pet 24:9481c8f56a49 1194 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1195
mori2020 50:ee78382fd399 1196 //mode変更ボタン入力時動作 //sendmes
mori2020 50:ee78382fd399 1197 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 1198 strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet 24:9481c8f56a49 1199 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1200 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1201 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1202 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1203 strcat(webbuff, "for(var i=1;i<8;i++){");
nishimura_taku_pet 24:9481c8f56a49 1204 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1205 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1206 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1207 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1208 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1209 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1210 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1211
mori2020 50:ee78382fd399 1212 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 1213 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1214 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1215 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1216 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1217 strcat(webbuff, "for(var i=8;i<11;i++){");
nishimura_taku_pet 24:9481c8f56a49 1218 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1219 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1220 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1221 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1222 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1223 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1224 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1225 strcat(webbuff, "</script>");
mori2020 50:ee78382fd399 1226
nishimura_taku_pet 61:85daf80c7727 1227 bufl = strlen(webbuff); // get total page buffer length
nishimura_taku_pet 61:85daf80c7727 1228
nishimura_taku_pet 61:85daf80c7727 1229 sprintf(httpbuff, "%s",webbuff);
nishimura_taku_pet 61:85daf80c7727 1230 sprintf(webbuff, "HTTP/1.1 200 OK\nDate: Thu, 03 Sep 2020 07:43:28 GMT\nContent-Type: text/html\nContent-Length: %d\nConnection: keep-alive\n\n%s",bufl,httpbuff);
nishimura_taku_pet 61:85daf80c7727 1231 //pc.printf("\r\n*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-\r\n%s\r\n",webbuff);
mori2020 50:ee78382fd399 1232
nishimura_taku_pet 24:9481c8f56a49 1233 // end of WEB page data
nishimura_taku_pet 24:9481c8f56a49 1234 bufl = strlen(webbuff); // get total page buffer length
mori2020 50:ee78382fd399 1235 //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet 24:9481c8f56a49 1236
nishimura_taku_pet 24:9481c8f56a49 1237 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 1238 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1239 getcount=40;
nishimura_taku_pet 24:9481c8f56a49 1240 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1241 getreply();
mori2020 50:ee78382fd399 1242 //*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1243 ////*-*-*-5("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
mori2020 50:ee78382fd399 1244
mori2020 50:ee78382fd399 1245 //*-*-*-5("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
mori2020 50:ee78382fd399 1246
nishimura_taku_pet 24:9481c8f56a49 1247 //pastthrough mode
nishimura_taku_pet 24:9481c8f56a49 1248 SendWEB(); // send web page
mori2020 50:ee78382fd399 1249 //*-*-*-5("\n++++++++++ webbuff clear ++++++++++\r\n");
mori2020 50:ee78382fd399 1250
nishimura_taku_pet 24:9481c8f56a49 1251 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1252 sendcheck();
nishimura_taku_pet 24:9481c8f56a49 1253 }
nishimura_taku_pet 24:9481c8f56a49 1254
nishimura_taku_pet 24:9481c8f56a49 1255 // Large WEB buffer data send
nishimura_taku_pet 24:9481c8f56a49 1256 void SendWEB()
nishimura_taku_pet 24:9481c8f56a49 1257 {
nishimura_taku_pet 24:9481c8f56a49 1258 int i=0;
nishimura_taku_pet 24:9481c8f56a49 1259 if(esp.writeable()) {
nishimura_taku_pet 24:9481c8f56a49 1260 while(webbuff[i]!='\0') {
nishimura_taku_pet 24:9481c8f56a49 1261 esp.putc(webbuff[i]);
mori2020 50:ee78382fd399 1262
nishimura_taku_pet 24:9481c8f56a49 1263 //****
nishimura_taku_pet 24:9481c8f56a49 1264 //output at command when 2000
nishimura_taku_pet 24:9481c8f56a49 1265 if(((i%2047)==0) && (i>0)) {
mori2020 50:ee78382fd399 1266 //wait_ms(10);
takuminomura 48:3003ea51c619 1267 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 1268 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 1269 ////*-*-*-5("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet 24:9481c8f56a49 1270 timeout=600;
nishimura_taku_pet 24:9481c8f56a49 1271 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1272 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1273 getreply();
mori2020 50:ee78382fd399 1274 ////*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1275 ////*-*-*-5("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1276 }
nishimura_taku_pet 24:9481c8f56a49 1277 //****
nishimura_taku_pet 24:9481c8f56a49 1278 i++;
mori2020 50:ee78382fd399 1279 ////*-*-*-5("%c",webbuff[i]);
nishimura_taku_pet 24:9481c8f56a49 1280 }
nishimura_taku_pet 24:9481c8f56a49 1281 }
mori2020 50:ee78382fd399 1282 //*-*-*-5("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet 24:9481c8f56a49 1283 }
nishimura_taku_pet 24:9481c8f56a49 1284
nishimura_taku_pet 24:9481c8f56a49 1285
nishimura_taku_pet 24:9481c8f56a49 1286 void sendcheck()
nishimura_taku_pet 24:9481c8f56a49 1287 {
nishimura_taku_pet 24:9481c8f56a49 1288 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1289 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1290 getcount=24;
nishimura_taku_pet 24:9481c8f56a49 1291 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1292 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1293
mori2020 50:ee78382fd399 1294 /*
mori2020 50:ee78382fd399 1295 while(weberror==1 && time2.read() <5) {
mori2020 50:ee78382fd399 1296 getreply();
mori2020 50:ee78382fd399 1297 if (strstr(replybuff, "SEND OK") != NULL) {
mori2020 50:ee78382fd399 1298 weberror=0; // wait for valid SEND OK
mori2020 50:ee78382fd399 1299 }
mori2020 50:ee78382fd399 1300 }
mori2020 50:ee78382fd399 1301 */
nishimura_taku_pet 24:9481c8f56a49 1302 if(weberror==1) { // restart connection
nishimura_taku_pet 24:9481c8f56a49 1303 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet 24:9481c8f56a49 1304 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1305 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1306 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1307 getreply();
mori2020 50:ee78382fd399 1308 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1309 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1310 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1311 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1312 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1313 getreply();
mori2020 50:ee78382fd399 1314 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1315 } else {
nishimura_taku_pet 24:9481c8f56a49 1316 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet 24:9481c8f56a49 1317 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1318 getreply();
mori2020 50:ee78382fd399 1319 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1320 }
nishimura_taku_pet 24:9481c8f56a49 1321 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1322 }
nishimura_taku_pet 24:9481c8f56a49 1323
nishimura_taku_pet 24:9481c8f56a49 1324 // Reads and processes GET and POST web data
nishimura_taku_pet 24:9481c8f56a49 1325 void ReadWebData()
nishimura_taku_pet 24:9481c8f56a49 1326 {
mori2020 50:ee78382fd399 1327 //*-*-*-5("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet 30:c80da0ecc260 1328 ThisThread::sleep_for(200);
nishimura_taku_pet 24:9481c8f56a49 1329 esp.attach(NULL);
nishimura_taku_pet 24:9481c8f56a49 1330 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1331 DataRX=0;
nishimura_taku_pet 24:9481c8f56a49 1332 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1333 memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet 24:9481c8f56a49 1334 int x = strcspn (webbuff,"+");
nishimura_taku_pet 24:9481c8f56a49 1335 if(x) {
nishimura_taku_pet 24:9481c8f56a49 1336 strcpy(webdata, webbuff + x);
nishimura_taku_pet 24:9481c8f56a49 1337 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1338 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
mori2020 50:ee78382fd399 1339 //int i=0;
mori2020 50:ee78382fd399 1340 //*-*-*-5("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
mori2020 50:ee78382fd399 1341 //*-*-*-5("%s",webdata);
mori2020 50:ee78382fd399 1342 //*-*-*-5("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet 51:1baf4407f384 1343 beforeMode = mode;
nishimura_taku_pet 43:243c1455f88a 1344 if( strstr(webdata, "Normal") != NULL ) {
faker_71 57:65dd71a6ce72 1345 click_log=true;
mori2020 50:ee78382fd399 1346 //*-*-*-5("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1347 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1348 flag_sp = 0;
nishimura_taku_pet 43:243c1455f88a 1349 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1350 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1351 }else if( strstr(webdata, "VeryFast") != NULL ) {
faker_71 57:65dd71a6ce72 1352 click_log=true;
mori2020 50:ee78382fd399 1353 //*-*-*-5("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1354 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1355 flag_sp = 2;
nishimura_taku_pet 43:243c1455f88a 1356 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1357 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1358 }else if( strstr(webdata, "Fast") != NULL ) {
faker_71 57:65dd71a6ce72 1359 click_log=true;
mori2020 50:ee78382fd399 1360 //*-*-*-5("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1361 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1362 flag_sp = 1;
nishimura_taku_pet 43:243c1455f88a 1363 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1364 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1365 }
nishimura_taku_pet 24:9481c8f56a49 1366 if( strstr(webdata, "GO") != NULL ) {
faker_71 57:65dd71a6ce72 1367 pred=!pred;
faker_71 57:65dd71a6ce72 1368 click_log=true;
mori2020 50:ee78382fd399 1369 //*-*-*-5("+++++++++++++++++前進+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1370 run = ADVANCE; // 前進
molberry 35:4cda290bdb87 1371 mode = ADVANCE; // モード変更
molberry 35:4cda290bdb87 1372 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1373 }
takuminomura 48:3003ea51c619 1374
nishimura_taku_pet 24:9481c8f56a49 1375 if( strstr(webdata, "LEFT") != NULL ) {
faker_71 57:65dd71a6ce72 1376 click_log=true;
mori2020 50:ee78382fd399 1377 //*-*-*-5("+++++++++++++++++左折+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1378 run = LEFT; // 左折
molberry 35:4cda290bdb87 1379 mode = LEFT; // モード変更
molberry 35:4cda290bdb87 1380 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1381 }
nishimura_taku_pet 24:9481c8f56a49 1382
nishimura_taku_pet 24:9481c8f56a49 1383 if( strstr(webdata, "STOP") != NULL ) {
faker_71 57:65dd71a6ce72 1384 click_log=true;
mori2020 50:ee78382fd399 1385 //*-*-*-5("+++++++++++++++++停止+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1386 run = STOP; // 停止
molberry 35:4cda290bdb87 1387 mode = STOP; // モード変更
molberry 35:4cda290bdb87 1388 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1389 }
nishimura_taku_pet 24:9481c8f56a49 1390
nishimura_taku_pet 24:9481c8f56a49 1391 if( strstr(webdata, "RIGHT") != NULL ) {
faker_71 57:65dd71a6ce72 1392 click_log=true;
mori2020 50:ee78382fd399 1393 //*-*-*-5("+++++++++++++++++右折+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1394 run = RIGHT; // 右折
molberry 35:4cda290bdb87 1395 mode = RIGHT; // モード変更
molberry 35:4cda290bdb87 1396 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1397 }
nishimura_taku_pet 24:9481c8f56a49 1398
nishimura_taku_pet 24:9481c8f56a49 1399 if( strstr(webdata, "BACK") != NULL ) {
faker_71 57:65dd71a6ce72 1400 click_log=true;
mori2020 50:ee78382fd399 1401 //*-*-*-5("+++++++++++++++++後進+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1402 run = BACK; // 後進
molberry 35:4cda290bdb87 1403 mode = BACK; // モード変更
molberry 35:4cda290bdb87 1404 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1405 }
mori2020 50:ee78382fd399 1406 //*-*-*-5("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1407
nishimura_taku_pet 24:9481c8f56a49 1408 if( strstr(webdata, "AVOIDANCE") != NULL ) {
faker_71 57:65dd71a6ce72 1409 click_log=true;
mori2020 50:ee78382fd399 1410 //*-*-*-5("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet 26:0badbc9f9cb3 1411 if(avoi_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1412 delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1413 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 26:0badbc9f9cb3 1414 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1415 }
nishimura_taku_pet 24:9481c8f56a49 1416 mode=AVOIDANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1417 run = ADVANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1418 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1419 }
nishimura_taku_pet 24:9481c8f56a49 1420 if( strstr(webdata, "LINE_TRACE") != NULL ) {
faker_71 57:65dd71a6ce72 1421 click_log=true;
mori2020 50:ee78382fd399 1422 //*-*-*-5("+++++++++++++++++LINET RACE+++++++++++++++++++++");
mori2020 50:ee78382fd399 1423 //*-*-*-5("mode = LINE_TRACE\r\n");
nishimura_taku_pet 26:0badbc9f9cb3 1424 if(trace_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1425 delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1426 trace_thread = new Thread(trace);
nishimura_taku_pet 26:0badbc9f9cb3 1427 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1428 }
nishimura_taku_pet 24:9481c8f56a49 1429 mode=LINE_TRACE;
nishimura_taku_pet 26:0badbc9f9cb3 1430 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1431 }
nishimura_taku_pet 26:0badbc9f9cb3 1432 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1433 trace_thread->terminate();
nishimura_taku_pet 26:0badbc9f9cb3 1434 }
nishimura_taku_pet 26:0badbc9f9cb3 1435 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1436 avoi_thread->terminate();
nishimura_taku_pet 31:3665282561d6 1437 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 26:0badbc9f9cb3 1438 }
nishimura_taku_pet 24:9481c8f56a49 1439 sprintf(channel, "%d",linkID);
nishimura_taku_pet 24:9481c8f56a49 1440 if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1441 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1442 }
nishimura_taku_pet 24:9481c8f56a49 1443 if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1444 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1445 }
nishimura_taku_pet 24:9481c8f56a49 1446 webcounter++;
nishimura_taku_pet 24:9481c8f56a49 1447 sprintf(webcount, "%d",webcounter);
nishimura_taku_pet 24:9481c8f56a49 1448 } else {
nishimura_taku_pet 24:9481c8f56a49 1449 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1450 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1451 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1452 }
nishimura_taku_pet 24:9481c8f56a49 1453 }
nishimura_taku_pet 24:9481c8f56a49 1454 // Starts and restarts webserver if errors detected.
nishimura_taku_pet 24:9481c8f56a49 1455 void startserver()
nishimura_taku_pet 24:9481c8f56a49 1456 {
mori2020 50:ee78382fd399 1457 //*-*-*-5("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1458 strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet 24:9481c8f56a49 1459 timeout=8000;
nishimura_taku_pet 24:9481c8f56a49 1460 getcount=1000;
nishimura_taku_pet 24:9481c8f56a49 1461 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1462 getreply();
mori2020 50:ee78382fd399 1463 //*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1464 //*-*-*-5("%d",ount);
nishimura_taku_pet 24:9481c8f56a49 1465 if (strstr(replybuff, "OK") != NULL) {
mori2020 50:ee78382fd399 1466 //*-*-*-5("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1467 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet 24:9481c8f56a49 1468 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1469 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1470 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1471 getreply();
mori2020 50:ee78382fd399 1472 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1473 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1474 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1475 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1476 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1477 getreply();
mori2020 50:ee78382fd399 1478 //*-*-*-5(replybuff);
nishimura_taku_pet 33:a6f1090e0174 1479 ThisThread::sleep_for(500);
nishimura_taku_pet 24:9481c8f56a49 1480 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet 24:9481c8f56a49 1481 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1482 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1483 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1484 getreply();
mori2020 50:ee78382fd399 1485 //*-*-*-5(replybuff);
nishimura_taku_pet 25:8ed98982faa7 1486 ThisThread::sleep_for(5000);
mori2020 50:ee78382fd399 1487 //*-*-*-5("\n Getting Server IP \r\n");
nishimura_taku_pet 24:9481c8f56a49 1488 strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet 24:9481c8f56a49 1489 timeout=2500;
nishimura_taku_pet 24:9481c8f56a49 1490 getcount=200;
nishimura_taku_pet 24:9481c8f56a49 1491 while(weberror==0) {
nishimura_taku_pet 24:9481c8f56a49 1492 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1493 getreply();
nishimura_taku_pet 24:9481c8f56a49 1494 if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet 24:9481c8f56a49 1495 weberror=1; // wait for valid IP
nishimura_taku_pet 24:9481c8f56a49 1496 }
nishimura_taku_pet 24:9481c8f56a49 1497 }
mori2020 50:ee78382fd399 1498 //*-*-*-5("\n Enter WEB address (IP) found below in your browser \r\n\n");
mori2020 50:ee78382fd399 1499 //*-*-*-5("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1500 replybuff[strlen(replybuff)-1] = '\0';
mori2020 50:ee78382fd399 1501 //char* IP = replybuff + 5;
nishimura_taku_pet 24:9481c8f56a49 1502 sprintf(webdata,"%s", replybuff);
mori2020 50:ee78382fd399 1503 //*-*-*-5(webdata);
nishimura_taku_pet 24:9481c8f56a49 1504 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1505 bufflen=200;
mori2020 50:ee78382fd399 1506 //bufflen=100;
nishimura_taku_pet 24:9481c8f56a49 1507 ount=0;
mori2020 50:ee78382fd399 1508 //*-*-*-5("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet 33:a6f1090e0174 1509 setup();
nishimura_taku_pet 24:9481c8f56a49 1510 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1511 } else {
mori2020 50:ee78382fd399 1512 //*-*-*-5("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1513 led1=1;
nishimura_taku_pet 24:9481c8f56a49 1514 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1515 led3=1;
nishimura_taku_pet 24:9481c8f56a49 1516 led4=1;
nishimura_taku_pet 24:9481c8f56a49 1517 while(1) {
nishimura_taku_pet 24:9481c8f56a49 1518 led1=!led1;
nishimura_taku_pet 24:9481c8f56a49 1519 led2=!led2;
nishimura_taku_pet 24:9481c8f56a49 1520 led3=!led3;
nishimura_taku_pet 24:9481c8f56a49 1521 led4=!led4;
nishimura_taku_pet 56:d02c62149a19 1522 mutex.lock(); // ミューテックスロック
nishimura_taku_pet 56:d02c62149a19 1523 lcd.setAddress(0,1);
nishimura_taku_pet 56:d02c62149a19 1524 lcd.printf("Mode:WiFiError ");
nishimura_taku_pet 56:d02c62149a19 1525 mutex.unlock();
nishimura_taku_pet 25:8ed98982faa7 1526 ThisThread::sleep_for(1000);
nishimura_taku_pet 24:9481c8f56a49 1527 }
nishimura_taku_pet 24:9481c8f56a49 1528 }
nishimura_taku_pet 24:9481c8f56a49 1529 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1530 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1531 }
mori2020 50:ee78382fd399 1532
nishimura_taku_pet 24:9481c8f56a49 1533 // ESP Command data send
nishimura_taku_pet 24:9481c8f56a49 1534 void SendCMD()
nishimura_taku_pet 24:9481c8f56a49 1535 {
nishimura_taku_pet 24:9481c8f56a49 1536 esp.printf("%s", cmdbuff);
nishimura_taku_pet 24:9481c8f56a49 1537 }
nishimura_taku_pet 24:9481c8f56a49 1538 // Get Command and ESP status replies
nishimura_taku_pet 24:9481c8f56a49 1539 void getreply()
nishimura_taku_pet 24:9481c8f56a49 1540 {
nishimura_taku_pet 24:9481c8f56a49 1541 memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet 24:9481c8f56a49 1542 time1.reset();
nishimura_taku_pet 24:9481c8f56a49 1543 time1.start();
nishimura_taku_pet 24:9481c8f56a49 1544 replycount=0;
nishimura_taku_pet 24:9481c8f56a49 1545 while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet 24:9481c8f56a49 1546 if(esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 1547 replybuff[replycount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 1548 replycount++;
nishimura_taku_pet 24:9481c8f56a49 1549 }
nishimura_taku_pet 24:9481c8f56a49 1550 }
nishimura_taku_pet 24:9481c8f56a49 1551 time1.stop();
nishimura_taku_pet 24:9481c8f56a49 1552 }
takuminomura 48:3003ea51c619 1553
tomotsugu 8:a47dbf4fa455 1554 /* mainスレッド */
yangtzuli 0:0d0037aabe41 1555 int main() {
tomotsugu 8:a47dbf4fa455 1556 /* 初期設定 */
nishimura_taku_pet 64:c74082c792ed 1557 for(int i=0;i<10;i++){
nishimura_taku_pet 64:c74082c792ed 1558 b10[i] = (int)(((battery.read() * 3.3 - MIN_V)/0.7)*10+0.5)*10;
nishimura_taku_pet 64:c74082c792ed 1559 };
mori2020 50:ee78382fd399 1560 wifi_thread = new Thread(wifi);
mori2020 50:ee78382fd399 1561 wifi_thread -> set_priority(osPriorityHigh);
mori2020 50:ee78382fd399 1562 // setup();
nishimura_taku_pet 16:ffc732a3cf92 1563 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 1564 avoi_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 1565 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 1566 trace_thread->terminate();
tomotsugu 8:a47dbf4fa455 1567 mode = READY; // 現在待ちモード
tomotsugu 8:a47dbf4fa455 1568 beforeMode = READY; // 前回待ちモード
tomotsugu 8:a47dbf4fa455 1569 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 1570 flag_sp = NORMAL; // スピード(普通)
tomotsugu 10:d193030ce672 1571 lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet 33:a6f1090e0174 1572 lcd.setAddress(0,1);
nishimura_taku_pet 33:a6f1090e0174 1573 lcd.printf("Mode:SetUp");
nishimura_taku_pet 51:1baf4407f384 1574 //display(); // ディスプレイ表示
yangtzuli 2:38825726cb1b 1575
yangtzuli 0:0d0037aabe41 1576 while(1){
tomotsugu 8:a47dbf4fa455 1577 bChange(); // バッテリー残量更新
yangtzuli 0:0d0037aabe41 1578 }
yangtzuli 0:0d0037aabe41 1579 }