siqiang pan / Mbed OS robotcar-team-0928

2

Dependencies:   RemoteIR TextLCD

main.cpp@68:d9ce7c09b127, 2020-09-09 (annotated)

Committer:
tomotsugu
Date:
Wed Sep 09 07:57:59 2020 +0000
Revision:
68:d9ce7c09b127
Parent:
67:0333997269dc
Child:
69:7f305b4e706e
avoidancechange

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 /*
tomotsugu 68:d9ce7c09b127 7 Version 0.11
tomotsugu 68:d9ce7c09b127 8 Date 2020/09/09
tomotsugu 68:d9ce7c09b127 9 Uploader Tomotsugu Ogawa
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;
yangtzuli 3:2ae6218973be 197 int far; // 最も遠い距離
yangtzuli 2:38825726cb1b 198 int houkou; // 進行方向(1:前 2:左 3:右)
nishimura_taku_pet 29:600e4b9b5c5b 199 int t1 = 0;
yangtzuli 2:38825726cb1b 200
nishimura_taku_pet 24:9481c8f56a49 201 /*WiFi用変数*/
nishimura_taku_pet 24:9481c8f56a49 202 Timer time1;
nishimura_taku_pet 24:9481c8f56a49 203 Timer time2;
nishimura_taku_pet 24:9481c8f56a49 204 int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
nishimura_taku_pet 24:9481c8f56a49 205 int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
nishimura_taku_pet 24:9481c8f56a49 206 float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet 24:9481c8f56a49 207 char webcount[8];
nishimura_taku_pet 24:9481c8f56a49 208 char type[16];
nishimura_taku_pet 24:9481c8f56a49 209 char channel[2];
nishimura_taku_pet 24:9481c8f56a49 210 char cmdbuff[32];
nishimura_taku_pet 24:9481c8f56a49 211 char replybuff[1024];
nishimura_taku_pet 24:9481c8f56a49 212 char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet 27:90962c01bfeb 213 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet 61:85daf80c7727 214 char httpbuff[4096];
nishimura_taku_pet 24:9481c8f56a49 215 int port =80; // set server port
nishimura_taku_pet 24:9481c8f56a49 216 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
takuminomura 48:3003ea51c619 217 char ssid[32] = "mbed05"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet 24:9481c8f56a49 218 char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
faker_71 57:65dd71a6ce72 219 bool click_log = false;
faker_71 57:65dd71a6ce72 220 DigitalOut pred(p16);
faker_71 57:65dd71a6ce72 221 DigitalOut pblue(p19);
yangtzuli 3:2ae6218973be 222
yangtzuli 3:2ae6218973be 223 /* プロトタイプ宣言 */
nishimura_taku_pet 33:a6f1090e0174 224 void decodeIR(/*void const *argument*/);
nishimura_taku_pet 33:a6f1090e0174 225 void motor(/*void const *argument*/);
yangtzuli 3:2ae6218973be 226 void changeSpeed();
nishimura_taku_pet 16:ffc732a3cf92 227 void avoidance(/*void const *argument*/);
nishimura_taku_pet 16:ffc732a3cf92 228 void trace(/*void const *argument*/);
nishimura_taku_pet 40:75e1ad7c27e4 229 void watchsurrounding3();
nishimura_taku_pet 40:75e1ad7c27e4 230 void watchsurrounding5();
yangtzuli 2:38825726cb1b 231 int watch();
takuminomura 48:3003ea51c619 232 char battery_ch[8];
yangtzuli 5:3fffb364744b 233 void bChange();
yangtzuli 3:2ae6218973be 234 void display();
yangtzuli 3:2ae6218973be 235 void lcdBacklight(void const *argument);
nishimura_taku_pet 45:76e8c07d76ef 236 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
nishimura_taku_pet 43:243c1455f88a 237 void wifi(/*void const *argument*/);
takuminomura 48:3003ea51c619 238 Thread *deco_thread; // decodeIRをスレッド化 ：+3
nishimura_taku_pet 43:243c1455f88a 239 Thread *wifi_thread;
takuminomura 48:3003ea51c619 240 Thread *motor_thread; // motorをスレッド化 ：+2
takuminomura 48:3003ea51c619 241 RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
takuminomura 48:3003ea51c619 242 Thread *avoi_thread; // avoidanceをスレッド化：+2
takuminomura 48:3003ea51c619 243 Thread *trace_thread; // traceをスレッド化 ：+2
yangtzuli 2:38825726cb1b 244
nishimura_taku_pet 24:9481c8f56a49 245 DigitalOut led1(LED1);
nishimura_taku_pet 24:9481c8f56a49 246 DigitalOut led2(LED2);
nishimura_taku_pet 24:9481c8f56a49 247 DigitalOut led3(LED3);
nishimura_taku_pet 24:9481c8f56a49 248 DigitalOut led4(LED4);
yangtzuli 3:2ae6218973be 249
nishimura_taku_pet 33:a6f1090e0174 250 void setup(){
nishimura_taku_pet 33:a6f1090e0174 251 deco_thread = new Thread(decodeIR);
nishimura_taku_pet 33:a6f1090e0174 252 deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 253 motor_thread = new Thread(motor);
nishimura_taku_pet 33:a6f1090e0174 254 motor_thread -> set_priority(osPriorityHigh);
mori2020 50:ee78382fd399 255 wifi_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 256 display();
nishimura_taku_pet 33:a6f1090e0174 257 }
nishimura_taku_pet 33:a6f1090e0174 258
tomotsugu 8:a47dbf4fa455 259 /* リモコン受信スレッド */
takuminomura 48:3003ea51c619 260 void decodeIR(/*void const *argument*/){
takuminomura 48:3003ea51c619 261 while(1){
yangtzuli 0:0d0037aabe41 262 // 受信待ち
tomotsugu 8:a47dbf4fa455 263 if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli 3:2ae6218973be 264 bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu 8:a47dbf4fa455 265 if(bitcount > 1){ // 受信成功
yangtzuli 1:5bb497a38344 266 code=0;
tomotsugu 15:5eef1955f6c2 267 for(int j = 0; j < 4; j++){
yangtzuli 1:5bb497a38344 268 code+=(buf[j]<<(8*(3-j)));
yangtzuli 1:5bb497a38344 269 }
tomotsugu 8:a47dbf4fa455 270 if(mode != SPEED){ // スピードモード以外なら
takuminomura 48:3003ea51c619 271 beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli 3:2ae6218973be 272 }
yangtzuli 0:0d0037aabe41 273 switch(code){
tomotsugu 8:a47dbf4fa455 274 case 0x40bf27d8: // クイック
takuminomura 48:3003ea51c619 275 mode = SPEED; // スピードモード
tomotsugu 8:a47dbf4fa455 276 changeSpeed(); // 速度変更
tomotsugu 8:a47dbf4fa455 277 display(); // ディスプレイ表示
tomotsugu 8:a47dbf4fa455 278 mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli 1:5bb497a38344 279 break;
tomotsugu 8:a47dbf4fa455 280 case 0x40be34cb: // レグザリンク
nishimura_taku_pet 16:ffc732a3cf92 281 if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 282 delete trace_thread;
nishimura_taku_pet 16:ffc732a3cf92 283 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 284 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 285 }
tomotsugu 8:a47dbf4fa455 286 mode=LINE_TRACE; // ライントレースモード
tomotsugu 8:a47dbf4fa455 287 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 288 break;
tomotsugu 8:a47dbf4fa455 289 case 0x40bf6e91: // 番組表
nishimura_taku_pet 16:ffc732a3cf92 290 if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 291 delete avoi_thread;
nishimura_taku_pet 16:ffc732a3cf92 292 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 293 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 294 }
tomotsugu 18:6cca64c7dbc3 295 flag_a = 0;
tomotsugu 8:a47dbf4fa455 296 mode=AVOIDANCE; // 障害物回避モード
tomotsugu 13:1a7667d0aa78 297 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 298 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 299 break;
takuminomura 48:3003ea51c619 300 case 0x40bf3ec1: // ↑
tomotsugu 8:a47dbf4fa455 301 mode = ADVANCE; // 前進モード
tomotsugu 8:a47dbf4fa455 302 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 303 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 304 break;
takuminomura 48:3003ea51c619 305 case 0x40bf3fc0: // ↓
tomotsugu 8:a47dbf4fa455 306 mode = BACK; // 後退モード
tomotsugu 8:a47dbf4fa455 307 run = BACK; // 後退
tomotsugu 8:a47dbf4fa455 308 display(); // ディスプレイ表示
yangtzuli 0:0d0037aabe41 309 break;
takuminomura 48:3003ea51c619 310 case 0x40bf5fa0: // ←
tomotsugu 8:a47dbf4fa455 311 mode = LEFT; // 左折モード
tomotsugu 8:a47dbf4fa455 312 run = LEFT; // 左折
tomotsugu 8:a47dbf4fa455 313 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 314 break;
takuminomura 48:3003ea51c619 315 case 0x40bf5ba4: // →
tomotsugu 8:a47dbf4fa455 316 mode = RIGHT; // 右折モード
tomotsugu 8:a47dbf4fa455 317 run = RIGHT; // 右折
tomotsugu 8:a47dbf4fa455 318 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 319 break;
takuminomura 48:3003ea51c619 320 case 0x40bf3dc2: // 決定
tomotsugu 8:a47dbf4fa455 321 mode = STOP; // 停止モード
tomotsugu 8:a47dbf4fa455 322 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 323 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 324 break;
yangtzuli 0:0d0037aabe41 325 default:
yangtzuli 0:0d0037aabe41 326 ;
yangtzuli 0:0d0037aabe41 327 }
nishimura_taku_pet 16:ffc732a3cf92 328 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 329 trace_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 330 }
nishimura_taku_pet 16:ffc732a3cf92 331 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 332 avoi_thread->terminate();
nishimura_taku_pet 28:cb51cafca490 333 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 16:ffc732a3cf92 334 }
yangtzuli 0:0d0037aabe41 335 }
yangtzuli 0:0d0037aabe41 336 }
takuminomura 48:3003ea51c619 337 if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
takuminomura 48:3003ea51c619 338 viewTimer.stop(); // タイマーストップ
takuminomura 48:3003ea51c619 339 viewTimer.reset(); // タイマーリセット
takuminomura 48:3003ea51c619 340 display(); // ディスプレイ表示
yangtzuli 4:3f80c0180e2f 341 }
takuminomura 48:3003ea51c619 342 ThisThread::sleep_for(90); // 90ms待つ
takuminomura 48:3003ea51c619 343 }
yangtzuli 2:38825726cb1b 344 }
tomotsugu 8:a47dbf4fa455 345
tomotsugu 8:a47dbf4fa455 346 /* モーター制御スレッド */
nishimura_taku_pet 33:a6f1090e0174 347 void motor(/*void const *argument*/){
tomotsugu 8:a47dbf4fa455 348 while(1){
tomotsugu 8:a47dbf4fa455 349 /* 走行状態の場合分け */
nishimura_taku_pet 51:1baf4407f384 350 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 351 flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet 51:1baf4407f384 352 }
tomotsugu 68:d9ce7c09b127 353 switch(flag_sp){
tomotsugu 68:d9ce7c09b127 354 case 1:
tomotsugu 68:d9ce7c09b127 355 limit = 25;
tomotsugu 68:d9ce7c09b127 356 backlimit = 20;
tomotsugu 68:d9ce7c09b127 357 break;
tomotsugu 68:d9ce7c09b127 358 case 2:
tomotsugu 68:d9ce7c09b127 359 limit = 28;
tomotsugu 68:d9ce7c09b127 360 backlimit = 18;
tomotsugu 68:d9ce7c09b127 361 break;
tomotsugu 68:d9ce7c09b127 362 case 3:
tomotsugu 68:d9ce7c09b127 363 limit = 32;
tomotsugu 68:d9ce7c09b127 364 backlimit = 15;
tomotsugu 68:d9ce7c09b127 365 break;
tomotsugu 68:d9ce7c09b127 366 }
yangtzuli 3:2ae6218973be 367 switch(run){
tomotsugu 8:a47dbf4fa455 368 /* 前進 */
yangtzuli 3:2ae6218973be 369 case ADVANCE:
takuminomura 48:3003ea51c619 370 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020 50:ee78382fd399 371 motorR2 = LOW; // 右後退モーターOFF
takuminomura 48:3003ea51c619 372 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020 50:ee78382fd399 373 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 374 break;
tomotsugu 8:a47dbf4fa455 375 /* 右折 */
yangtzuli 3:2ae6218973be 376 case RIGHT:
mori2020 50:ee78382fd399 377 motorR1 = LOW; // 右前進モーターOFF
takuminomura 48:3003ea51c619 378 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
takuminomura 48:3003ea51c619 379 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020 50:ee78382fd399 380 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 381 break;
tomotsugu 8:a47dbf4fa455 382 /* 左折 */
yangtzuli 3:2ae6218973be 383 case LEFT:
takuminomura 48:3003ea51c619 384 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020 50:ee78382fd399 385 motorR2 = LOW; // 右後退モーターOFF
mori2020 50:ee78382fd399 386 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 387 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 388 break;
tomotsugu 8:a47dbf4fa455 389 /* 後退 */
yangtzuli 3:2ae6218973be 390 case BACK:
mori2020 50:ee78382fd399 391 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 52:c868403753e8 392 motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
mori2020 50:ee78382fd399 393 motorL1 = LOW; // 左前進モーターOFF
takuminomura 48:3003ea51c619 394 motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 395 break;
tomotsugu 8:a47dbf4fa455 396 /* 停止 */
yangtzuli 3:2ae6218973be 397 case STOP:
tomotsugu 8:a47dbf4fa455 398 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 399 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 400 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 401 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 402 break;
tomotsugu 52:c868403753e8 403 case A1RIGHT:
mori2020 50:ee78382fd399 404 motorR1 = LOW;
tomotsugu 52:c868403753e8 405 motorR2 = 0.55;
tomotsugu 52:c868403753e8 406 motorL1 = 0.57;
mori2020 50:ee78382fd399 407 motorL2 = LOW;
takuminomura 49:7224132f4b0e 408 break;
tomotsugu 53:debc8879ba5d 409 case A1LEFT:
tomotsugu 52:c868403753e8 410 motorR1 = 0.57;
mori2020 50:ee78382fd399 411 motorR2 = LOW;
mori2020 50:ee78382fd399 412 motorL1 = LOW;
tomotsugu 52:c868403753e8 413 motorL2 = 0.55;
tomotsugu 52:c868403753e8 414 break;
tomotsugu 52:c868403753e8 415 case A2RIGHT:
tomotsugu 52:c868403753e8 416 motorR1 = LOW;
tomotsugu 52:c868403753e8 417 motorR2 = 0.33;
tomotsugu 52:c868403753e8 418 motorL1 = 0.35;
tomotsugu 52:c868403753e8 419 motorL2 = LOW;
tomotsugu 52:c868403753e8 420 break;
tomotsugu 52:c868403753e8 421 case A2LEFT:
tomotsugu 52:c868403753e8 422 motorR1 = 0.35;
tomotsugu 52:c868403753e8 423 motorR2 = LOW;
tomotsugu 52:c868403753e8 424 motorL1 = LOW;
tomotsugu 52:c868403753e8 425 motorL2 = 0.33;
takuminomura 49:7224132f4b0e 426 break;
nishimura_taku_pet 54:f862caf08a7f 427 /* 低速右折 */
nishimura_taku_pet 54:f862caf08a7f 428 case LT_R:
nishimura_taku_pet 54:f862caf08a7f 429 motorR1 = motorSpeedR2[flag_sp]; // 右前進モーターON
nishimura_taku_pet 54:f862caf08a7f 430 motorR2 = LOW; // 右後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 431 motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
nishimura_taku_pet 54:f862caf08a7f 432 motorL2 = LOW; // 左後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 433 break;
nishimura_taku_pet 54:f862caf08a7f 434 /* 低速左折 */
nishimura_taku_pet 54:f862caf08a7f 435 case LT_L:
nishimura_taku_pet 54:f862caf08a7f 436 motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
nishimura_taku_pet 54:f862caf08a7f 437 motorR2 = LOW; // 右後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 438 motorL1 = motorSpeedL2[flag_sp]; // 左前進モーターON
nishimura_taku_pet 54:f862caf08a7f 439 motorL2 = LOW; // 左後退モーターOFF
nishimura_taku_pet 54:f862caf08a7f 440 break;
yangtzuli 3:2ae6218973be 441 }
nishimura_taku_pet 51:1baf4407f384 442 /*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 443 flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet 51:1baf4407f384 444 }*/
takuminomura 48:3003ea51c619 445 ThisThread::sleep_for(3); // 30ms待つ
yangtzuli 2:38825726cb1b 446 }
yangtzuli 2:38825726cb1b 447 }
tomotsugu 8:a47dbf4fa455 448
tomotsugu 8:a47dbf4fa455 449 /* スピード変更関数 */
yangtzuli 3:2ae6218973be 450 void changeSpeed(){
tomotsugu 8:a47dbf4fa455 451 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 452 flag_sp = 0; // スピード変更フラグを0にする
tomotsugu 8:a47dbf4fa455 453 }else{ // それ以外
takuminomura 48:3003ea51c619 454 flag_sp = flag_sp + 1; // スピード変更フラグを+1
takuminomura 48:3003ea51c619 455 }
yangtzuli 3:2ae6218973be 456 }
tomotsugu 8:a47dbf4fa455 457
tomotsugu 8:a47dbf4fa455 458 /* ライントレーススレッド */
takuminomura 49:7224132f4b0e 459 //void trace(){
takuminomura 49:7224132f4b0e 460 // // PID用
takuminomura 49:7224132f4b0e 461 // while(1){
takuminomura 49:7224132f4b0e 462 // ThisThread::sleep_for(3);
takuminomura 49:7224132f4b0e 463 // }
takuminomura 49:7224132f4b0e 464 //}
tomotsugu 20:02bb875a9b13 465 void trace(){
takuminomura 48:3003ea51c619 466 while(1){
takuminomura 48:3003ea51c619 467 /* 各センサー値読み取り */
takuminomura 48:3003ea51c619 468 int sensor1 = ss1;
takuminomura 48:3003ea51c619 469 int sensor2 = ss2;
takuminomura 48:3003ea51c619 470 int sensor3 = ss3;
takuminomura 48:3003ea51c619 471 int sensor4 = ss4;
takuminomura 48:3003ea51c619 472 int sensor5 = ss5;
takuminomura 48:3003ea51c619 473 int sensD = 0;
takuminomura 48:3003ea51c619 474
takuminomura 48:3003ea51c619 475 /* センサー値の決定 */
takuminomura 48:3003ea51c619 476 if(sensor1 > 0) sensD |= 0x10;
takuminomura 48:3003ea51c619 477 if(sensor2 > 0) sensD |= 0x08;
takuminomura 48:3003ea51c619 478 if(sensor3 > 0) sensD |= 0x04;
takuminomura 48:3003ea51c619 479 if(sensor4 > 0) sensD |= 0x02;
takuminomura 48:3003ea51c619 480 if(sensor5 > 0) sensD |= 0x01;
takuminomura 48:3003ea51c619 481
takuminomura 48:3003ea51c619 482 /* センサー値によって場合分け */
takuminomura 48:3003ea51c619 483 switch(sensArray[sensD]){
takuminomura 48:3003ea51c619 484 case 1:
takuminomura 48:3003ea51c619 485 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 486 run = ADVANCE; // 高速で前進
takuminomura 48:3003ea51c619 487 break;
takuminomura 48:3003ea51c619 488 case 2:
takuminomura 48:3003ea51c619 489 flag_sp = flag_sp % 3 + 3;
takuminomura 49:7224132f4b0e 490 // run = RIGHT; // 低速で右折
takuminomura 49:7224132f4b0e 491 run = LT_R; // 低速で右折
takuminomura 48:3003ea51c619 492 break;
takuminomura 48:3003ea51c619 493 case 3:
takuminomura 48:3003ea51c619 494 flag_sp = flag_sp % 3 + 3;
takuminomura 49:7224132f4b0e 495 // run = LEFT; // 低速で左折
takuminomura 49:7224132f4b0e 496 run = LT_L; // 低速で左折
takuminomura 48:3003ea51c619 497 break;
takuminomura 48:3003ea51c619 498 case 4:
takuminomura 48:3003ea51c619 499 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 500 run = RIGHT; // 中速で右折
takuminomura 48:3003ea51c619 501 break;
takuminomura 48:3003ea51c619 502 case 5:
takuminomura 48:3003ea51c619 503 flag_sp = flag_sp % 3;
takuminomura 48:3003ea51c619 504 run = LEFT; // 中速で左折
takuminomura 48:3003ea51c619 505 break;
takuminomura 48:3003ea51c619 506 case 6:
takuminomura 48:3003ea51c619 507 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 508 run = RIGHT; // 高速で右折
takuminomura 48:3003ea51c619 509 break;
takuminomura 48:3003ea51c619 510 case 7:
takuminomura 48:3003ea51c619 511 flag_sp = flag_sp % 3 + 6;
takuminomura 48:3003ea51c619 512 run = LEFT; // 高速で左折
takuminomura 48:3003ea51c619 513 break;
takuminomura 48:3003ea51c619 514 default:
takuminomura 48:3003ea51c619 515 break; // 前回動作を継続
tomotsugu 18:6cca64c7dbc3 516 }
takuminomura 48:3003ea51c619 517 // ThisThread::sleep_for(30); // 30ms待つ
takuminomura 48:3003ea51c619 518 ThisThread::sleep_for(3);
takuminomura 48:3003ea51c619 519 }
yangtzuli 3:2ae6218973be 520 }
yangtzuli 3:2ae6218973be 521
tomotsugu 8:a47dbf4fa455 522 /* 障害物回避走行スレッド */
tomotsugu 20:02bb875a9b13 523 void avoidance(){
yangtzuli 3:2ae6218973be 524 while(1){
nishimura_taku_pet 40:75e1ad7c27e4 525 watchsurrounding3();
tomotsugu 68:d9ce7c09b127 526 if(flag_a == 0){ // 障害物がない場合
tomotsugu 68:d9ce7c09b127 527 run = ADVANCE; // 前進
tomotsugu 68:d9ce7c09b127 528 }else{ // 障害物がある場合
tomotsugu 68:d9ce7c09b127 529 int i = 0;
mori2020 50:ee78382fd399 530 int cnt_kyori;
mori2020 50:ee78382fd399 531 int kyori;
mori2020 50:ee78382fd399 532 if(SC < 15){
tomotsugu 60:8a4869455ee6 533 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 41:3c58a4be1199 534 ThisThread::sleep_for(100); // 100ms待つ
mori2020 50:ee78382fd399 535 run = STOP;
mori2020 50:ee78382fd399 536 ThisThread::sleep_for(80);
mori2020 50:ee78382fd399 537 run = BACK;
mori2020 50:ee78382fd399 538 cnt_kyori = 0;
mori2020 50:ee78382fd399 539 kyori = watch();
tomotsugu 68:d9ce7c09b127 540 while(kyori < backlimit){ // 正面20cm以内に障害物がある間
mori2020 50:ee78382fd399 541 if(kyori == -1){
nishimura_taku_pet 40:75e1ad7c27e4 542 cnt_kyori++;
mori2020 50:ee78382fd399 543 if(cnt_kyori > 15){
mori2020 50:ee78382fd399 544 cnt_kyori = 0;
nishimura_taku_pet 40:75e1ad7c27e4 545 break;
nishimura_taku_pet 40:75e1ad7c27e4 546 }
nishimura_taku_pet 40:75e1ad7c27e4 547 }
nishimura_taku_pet 40:75e1ad7c27e4 548 kyori = watch();
tomotsugu 18:6cca64c7dbc3 549 }
mori2020 50:ee78382fd399 550 run = STOP;
mori2020 50:ee78382fd399 551 }
nishimura_taku_pet 40:75e1ad7c27e4 552 watchsurrounding5();
tomotsugu 68:d9ce7c09b127 553 if(SC < 25 && SLD < 37 && SL < 30 && SRD < 37 && SR < 30){ // 全方向に障害物がある場合
tomotsugu 68:d9ce7c09b127 554 run = A1LEFT; // 左折
tomotsugu 68:d9ce7c09b127 555 cnt_kyori = 0;
tomotsugu 68:d9ce7c09b127 556 kyori = watch();
tomotsugu 68:d9ce7c09b127 557 while(kyori < 53){
tomotsugu 68:d9ce7c09b127 558 if(kyori == -1){
tomotsugu 68:d9ce7c09b127 559 cnt_kyori++;
tomotsugu 68:d9ce7c09b127 560 if(cnt_kyori > 25){
tomotsugu 68:d9ce7c09b127 561 cnt_kyori = 0;
tomotsugu 68:d9ce7c09b127 562 break;
tomotsugu 68:d9ce7c09b127 563 }
yangtzuli 2:38825726cb1b 564 }
tomotsugu 68:d9ce7c09b127 565 kyori = watch();
tomotsugu 68:d9ce7c09b127 566 }
tomotsugu 68:d9ce7c09b127 567 // while(i < 15){ // 進行方向確認
tomotsugu 68:d9ce7c09b127 568 // if(watch() > limit){
tomotsugu 68:d9ce7c09b127 569 // break;
tomotsugu 68:d9ce7c09b127 570 // }else{
tomotsugu 68:d9ce7c09b127 571 // i++;
tomotsugu 68:d9ce7c09b127 572 // }
tomotsugu 68:d9ce7c09b127 573 // }
nishimura_taku_pet 28:cb51cafca490 574 run = STOP; // 停止
mori2020 50:ee78382fd399 575 }else { // 全方向以外
nishimura_taku_pet 28:cb51cafca490 576 far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 577 houkou = 1; // 進行方向を前に設定
tomotsugu 68:d9ce7c09b127 578 if(SC < 25){
mori2020 50:ee78382fd399 579 if(far < SLD || far < SL){ // 左または左前がより遠い場合
mori2020 50:ee78382fd399 580 if(SL < SLD){ // 左前が左より遠い場合
mori2020 50:ee78382fd399 581 far = SLD; // 左前を最も遠い距離に設定
mori2020 50:ee78382fd399 582 }else{ // 左が左前より遠い場合
mori2020 50:ee78382fd399 583 far = SL; // 左を最も遠い距離に設定
mori2020 50:ee78382fd399 584 }
mori2020 50:ee78382fd399 585 houkou = 2; // 進行方向を左に設定
nishimura_taku_pet 28:cb51cafca490 586 }
mori2020 50:ee78382fd399 587 if(far < SRD || far < SR){ // 右または右前がより遠い場合
mori2020 50:ee78382fd399 588 if(SR < SRD){ // 右前が右より遠い場合
mori2020 50:ee78382fd399 589 far = SRD; // 右前を最も遠い距離に設定
mori2020 50:ee78382fd399 590 }else{ // 右が右前よりも遠い場合
mori2020 50:ee78382fd399 591 far = SR; // 右を最も遠い距離に設定
mori2020 50:ee78382fd399 592 }
mori2020 50:ee78382fd399 593 houkou = 3; // 進行方向を右に設定
nishimura_taku_pet 28:cb51cafca490 594 }
nishimura_taku_pet 28:cb51cafca490 595 }
nishimura_taku_pet 28:cb51cafca490 596 switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet 28:cb51cafca490 597 case 1: // 前の場合
nishimura_taku_pet 28:cb51cafca490 598 run = ADVANCE; // 前進
mori2020 50:ee78382fd399 599 switch(flag_sp){
mori2020 50:ee78382fd399 600 case 0:
tomotsugu 68:d9ce7c09b127 601 ThisThread::sleep_for(300);
mori2020 50:ee78382fd399 602 break;
mori2020 50:ee78382fd399 603 case 1:
mori2020 50:ee78382fd399 604 ThisThread::sleep_for(200);
mori2020 50:ee78382fd399 605 break;
mori2020 50:ee78382fd399 606 case 2:
mori2020 50:ee78382fd399 607 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 608 break;
mori2020 50:ee78382fd399 609 }
nishimura_taku_pet 28:cb51cafca490 610 break;
mori2020 50:ee78382fd399 611 case 2: // 左の場合
tomotsugu 52:c868403753e8 612 run = A1LEFT; // 左折
mori2020 50:ee78382fd399 613 while(i < 15){ // 進行方向確認
nishimura_taku_pet 28:cb51cafca490 614 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 615 break;
nishimura_taku_pet 28:cb51cafca490 616 }else{
nishimura_taku_pet 40:75e1ad7c27e4 617 i++;
nishimura_taku_pet 28:cb51cafca490 618 }
nishimura_taku_pet 28:cb51cafca490 619 }
tomotsugu 68:d9ce7c09b127 620 run = ADVANCE;
nishimura_taku_pet 28:cb51cafca490 621 break;
mori2020 50:ee78382fd399 622 case 3: // 右の場合
tomotsugu 52:c868403753e8 623 run = A1RIGHT; // 右折
mori2020 50:ee78382fd399 624 while(i < 15){ // 進行方向確認
mori2020 50:ee78382fd399 625 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 626 break;
nishimura_taku_pet 28:cb51cafca490 627 }else{
nishimura_taku_pet 40:75e1ad7c27e4 628 i++;
nishimura_taku_pet 28:cb51cafca490 629 }
nishimura_taku_pet 28:cb51cafca490 630 }
tomotsugu 68:d9ce7c09b127 631 run = ADVANCE;
nishimura_taku_pet 28:cb51cafca490 632 break;
nishimura_taku_pet 28:cb51cafca490 633 }
yangtzuli 5:3fffb364744b 634 }
nishimura_taku_pet 28:cb51cafca490 635 }
nishimura_taku_pet 28:cb51cafca490 636 flag_a = 0; // 障害物有無フラグを0にセット
tomotsugu 68:d9ce7c09b127 637 if(SLD < 30 && SRD > 30){
tomotsugu 52:c868403753e8 638 run = A2RIGHT; // 右折
tomotsugu 52:c868403753e8 639 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 640 run = ADVANCE;
mori2020 50:ee78382fd399 641 }else if(SRD < 30 && SLD > 30){
tomotsugu 52:c868403753e8 642 run = A2LEFT; // 左折
tomotsugu 52:c868403753e8 643 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 644 run = ADVANCE;
mori2020 50:ee78382fd399 645 }
mori2020 50:ee78382fd399 646 }
mori2020 50:ee78382fd399 647 }
mori2020 50:ee78382fd399 648
tomotsugu 8:a47dbf4fa455 649 /* 距離計測関数 */
yangtzuli 2:38825726cb1b 650 int watch(){
mori2020 50:ee78382fd399 651 do{
mori2020 50:ee78382fd399 652 do{
mori2020 50:ee78382fd399 653 trig = 0;
mori2020 50:ee78382fd399 654 ThisThread::sleep_for(5); // 5ms待つ
mori2020 50:ee78382fd399 655 trig = 1;
mori2020 50:ee78382fd399 656 ThisThread::sleep_for(15); // 15ms待つ
mori2020 50:ee78382fd399 657 trig = 0;
mori2020 50:ee78382fd399 658 timer.start();
tomotsugu 21:68d38e8f64b5 659 t1=timer.read_ms();
mori2020 50:ee78382fd399 660 while(echo.read() == 0 && t1<10){
mori2020 50:ee78382fd399 661 t1=timer.read_ms();
mori2020 50:ee78382fd399 662 led1 = 1;
mori2020 50:ee78382fd399 663 }
mori2020 50:ee78382fd399 664 timer.stop();
mori2020 50:ee78382fd399 665 timer.reset();
mori2020 50:ee78382fd399 666 }while(t1 >= 10);
mori2020 50:ee78382fd399 667 timer.start(); // 距離計測タイマースタート
mori2020 50:ee78382fd399 668 while(echo.read() == 1){
tomotsugu 21:68d38e8f64b5 669 }
mori2020 50:ee78382fd399 670 timer.stop(); // 距離計測タイマーストップ
mori2020 50:ee78382fd399 671 DT = (int)(timer.read_us()*0.01657); // 距離計算
mori2020 50:ee78382fd399 672 if(timer.read_ms() > 1000){
mori2020 50:ee78382fd399 673 DT = -1;
mori2020 50:ee78382fd399 674 break;
mori2020 50:ee78382fd399 675 }
mori2020 50:ee78382fd399 676 }while(DT > 1000);
mori2020 50:ee78382fd399 677 if(DT > 400){
mori2020 50:ee78382fd399 678 DT = 400;
mori2020 50:ee78382fd399 679 }
tomotsugu 21:68d38e8f64b5 680 timer.reset();
mori2020 50:ee78382fd399 681 led1 = 0;
mori2020 50:ee78382fd399 682 return DT;
yangtzuli 0:0d0037aabe41 683 }
mori2020 50:ee78382fd399 684
tomotsugu 8:a47dbf4fa455 685 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 686 void watchsurrounding3(){
yangtzuli 2:38825726cb1b 687 SC = watch();
nishimura_taku_pet 28:cb51cafca490 688 if(SC < limit){ // 正面20cm以内に障害物がある場合
mori2020 50:ee78382fd399 689 if(SC!=-1){
nishimura_taku_pet 28:cb51cafca490 690 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 691 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 692 return;
nishimura_taku_pet 28:cb51cafca490 693 }
yangtzuli 2:38825726cb1b 694 }
tomotsugu 63:bddf342bce22 695 servo.pulsewidth_us(1930); // サーボを左に40度回転
tomotsugu 68:d9ce7c09b127 696 ThisThread::sleep_for(100);
yangtzuli 2:38825726cb1b 697 SLD = watch();
mori2020 50:ee78382fd399 698 if(SLD < 18){ // 左前20cm以内に障害物がある場合
mori2020 50:ee78382fd399 699 run = STOP;
mori2020 50:ee78382fd399 700 ThisThread::sleep_for(90);
mori2020 50:ee78382fd399 701 run = BACK;
tomotsugu 60:8a4869455ee6 702 switch(flag_sp){
tomotsugu 60:8a4869455ee6 703 case 0:
tomotsugu 60:8a4869455ee6 704 ThisThread::sleep_for(200);
tomotsugu 60:8a4869455ee6 705 break;
tomotsugu 60:8a4869455ee6 706 case 1:
tomotsugu 60:8a4869455ee6 707 ThisThread::sleep_for(170);
tomotsugu 60:8a4869455ee6 708 break;
tomotsugu 60:8a4869455ee6 709 case 2:
tomotsugu 68:d9ce7c09b127 710 ThisThread::sleep_for(140);
tomotsugu 60:8a4869455ee6 711 break;
tomotsugu 60:8a4869455ee6 712 }
tomotsugu 52:c868403753e8 713 run = A2RIGHT;
tomotsugu 60:8a4869455ee6 714 ThisThread::sleep_for(150);
mori2020 50:ee78382fd399 715 return;
yangtzuli 2:38825726cb1b 716 }
tomotsugu 60:8a4869455ee6 717 servo.pulsewidth_us(1450);
mori2020 50:ee78382fd399 718 ThisThread::sleep_for(100);
tomotsugu 19:c6f9f010bd9e 719 SC = watch();
tomotsugu 19:c6f9f010bd9e 720 if(SC < limit){
mori2020 50:ee78382fd399 721 if(SC != -1){
mori2020 50:ee78382fd399 722 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 723 flag_a = 1;
takuminomura 48:3003ea51c619 724 return;
mori2020 50:ee78382fd399 725 }
tomotsugu 19:c6f9f010bd9e 726 }
tomotsugu 63:bddf342bce22 727 servo.pulsewidth_us(920); // サーボを右に40度回転
tomotsugu 68:d9ce7c09b127 728 ThisThread::sleep_for(100);
yangtzuli 2:38825726cb1b 729 SRD = watch();
mori2020 50:ee78382fd399 730 if(SRD < 18){ // 右前20cm以内に障害物がある場合
tomotsugu 68:d9ce7c09b127 731 run = STOP; // 停止
mori2020 50:ee78382fd399 732 ThisThread::sleep_for(90);
mori2020 50:ee78382fd399 733 run = BACK;
tomotsugu 60:8a4869455ee6 734 switch(flag_sp){
tomotsugu 60:8a4869455ee6 735 case 0:
tomotsugu 60:8a4869455ee6 736 ThisThread::sleep_for(200);
tomotsugu 60:8a4869455ee6 737 break;
tomotsugu 60:8a4869455ee6 738 case 1:
tomotsugu 60:8a4869455ee6 739 ThisThread::sleep_for(170);
tomotsugu 60:8a4869455ee6 740 break;
tomotsugu 60:8a4869455ee6 741 case 2:
tomotsugu 68:d9ce7c09b127 742 ThisThread::sleep_for(140);
tomotsugu 60:8a4869455ee6 743 break;
tomotsugu 60:8a4869455ee6 744 }
tomotsugu 52:c868403753e8 745 run = A2LEFT;
tomotsugu 60:8a4869455ee6 746 ThisThread::sleep_for(150);
mori2020 50:ee78382fd399 747 return;
yangtzuli 2:38825726cb1b 748 }
tomotsugu 60:8a4869455ee6 749 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 40:75e1ad7c27e4 750 ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 751 }
mori2020 50:ee78382fd399 752
nishimura_taku_pet 40:75e1ad7c27e4 753 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 754 void watchsurrounding5(){
nishimura_taku_pet 40:75e1ad7c27e4 755 SC = watch();
mori2020 50:ee78382fd399 756 servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 757 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 758 SLD = watch();
nishimura_taku_pet 40:75e1ad7c27e4 759 servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet 40:75e1ad7c27e4 760 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 761 SL = watch();
tomotsugu 60:8a4869455ee6 762 servo.pulsewidth_us(1450);
nishimura_taku_pet 40:75e1ad7c27e4 763 ThisThread::sleep_for(250);
nishimura_taku_pet 40:75e1ad7c27e4 764 SC = watch();
mori2020 50:ee78382fd399 765 servo.pulsewidth_us(923); // サーボを右に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 766 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 767 SRD = watch();
yangtzuli 2:38825726cb1b 768 servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet 28:cb51cafca490 769 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 770 SR = watch();
tomotsugu 60:8a4869455ee6 771 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 772 ThisThread::sleep_for(250); // 100ms待つ
yangtzuli 3:2ae6218973be 773 }
yangtzuli 3:2ae6218973be 774
tomotsugu 8:a47dbf4fa455 775 /* ディスプレイ表示関数 */
yangtzuli 3:2ae6218973be 776 void display(){
faker_71 57:65dd71a6ce72 777 // pblue=!pblue;
tomotsugu 8:a47dbf4fa455 778 mutex.lock(); // ミューテックスロック
yangtzuli 3:2ae6218973be 779 lcd.setAddress(0,1);
tomotsugu 8:a47dbf4fa455 780
tomotsugu 8:a47dbf4fa455 781 /* 操作モードによる場合分け */
yangtzuli 3:2ae6218973be 782 switch(mode){
tomotsugu 8:a47dbf4fa455 783 /* 前進 */
yangtzuli 3:2ae6218973be 784 case ADVANCE:
yangtzuli 3:2ae6218973be 785 lcd.printf("Mode:Advance ");
yangtzuli 3:2ae6218973be 786 break;
tomotsugu 8:a47dbf4fa455 787 /* 右折 */
yangtzuli 3:2ae6218973be 788 case RIGHT:
yangtzuli 5:3fffb364744b 789 lcd.printf("Mode:TurnRight ");
yangtzuli 3:2ae6218973be 790 break;
tomotsugu 8:a47dbf4fa455 791 /* 左折 */
yangtzuli 3:2ae6218973be 792 case LEFT:
yangtzuli 5:3fffb364744b 793 lcd.printf("Mode:TurnLeft ");
yangtzuli 3:2ae6218973be 794 break;
tomotsugu 8:a47dbf4fa455 795 /* 後退 */
yangtzuli 3:2ae6218973be 796 case BACK:
yangtzuli 3:2ae6218973be 797 lcd.printf("Mode:Back ");
yangtzuli 3:2ae6218973be 798 break;
tomotsugu 8:a47dbf4fa455 799 /* 停止 */
yangtzuli 3:2ae6218973be 800 case STOP:
yangtzuli 3:2ae6218973be 801 lcd.printf("Mode:Stop ");
yangtzuli 3:2ae6218973be 802 break;
tomotsugu 8:a47dbf4fa455 803 /* 待ち */
yangtzuli 3:2ae6218973be 804 case READY:
yangtzuli 3:2ae6218973be 805 lcd.printf("Mode:Ready ");
yangtzuli 3:2ae6218973be 806 break;
tomotsugu 8:a47dbf4fa455 807 /* ライントレース */
yangtzuli 3:2ae6218973be 808 case LINE_TRACE:
yangtzuli 3:2ae6218973be 809 lcd.printf("Mode:LineTrace ");
yangtzuli 3:2ae6218973be 810 break;
tomotsugu 8:a47dbf4fa455 811 /* 障害物回避 */
yangtzuli 3:2ae6218973be 812 case AVOIDANCE:
yangtzuli 3:2ae6218973be 813 lcd.printf("Mode:Avoidance ");
yangtzuli 3:2ae6218973be 814 break;
tomotsugu 8:a47dbf4fa455 815 /* スピード制御 */
yangtzuli 3:2ae6218973be 816 case SPEED:
tomotsugu 8:a47dbf4fa455 817 /* スピードの状態で場合分け */
takuminomura 48:3003ea51c619 818 switch(flag_sp % 3){
tomotsugu 8:a47dbf4fa455 819 /* 普通 */
yangtzuli 3:2ae6218973be 820 case(NORMAL):
yangtzuli 3:2ae6218973be 821 lcd.printf("Speed:Normal ");
yangtzuli 3:2ae6218973be 822 break;
tomotsugu 8:a47dbf4fa455 823 /* 速い */
yangtzuli 3:2ae6218973be 824 case(FAST):
yangtzuli 3:2ae6218973be 825 lcd.printf("Speed:Fast ");
yangtzuli 3:2ae6218973be 826 break;
tomotsugu 8:a47dbf4fa455 827 /* とても速い */
yangtzuli 3:2ae6218973be 828 case(VERYFAST):
yangtzuli 3:2ae6218973be 829 lcd.printf("Speed:VeryFast ");
yangtzuli 3:2ae6218973be 830 break;
yangtzuli 3:2ae6218973be 831 }
tomotsugu 8:a47dbf4fa455 832 viewTimer.reset(); // タイマーリセット
tomotsugu 8:a47dbf4fa455 833 viewTimer.start(); // タイマースタート
takuminomura 48:3003ea51c619 834 break;
nishimura_taku_pet 56:d02c62149a19 835 default:
nishimura_taku_pet 56:d02c62149a19 836 lcd.printf("Mode:ModeError ");
nishimura_taku_pet 56:d02c62149a19 837 break;
yangtzuli 3:2ae6218973be 838 }
tomotsugu 8:a47dbf4fa455 839 mutex.unlock(); // ミューテックスアンロック
faker_71 57:65dd71a6ce72 840 // pblue=!pblue;
faker_71 57:65dd71a6ce72 841
yangtzuli 3:2ae6218973be 842 }
yangtzuli 3:2ae6218973be 843
tomotsugu 8:a47dbf4fa455 844 /* バックライト点滅 */
yangtzuli 3:2ae6218973be 845 void lcdBacklight(void const *argument){
tomotsugu 8:a47dbf4fa455 846 if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu 8:a47dbf4fa455 847 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 8:a47dbf4fa455 848 }else{ // バックライト点滅フラグが0なら
tomotsugu 8:a47dbf4fa455 849 lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli 3:2ae6218973be 850 }
tomotsugu 8:a47dbf4fa455 851 flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli 3:2ae6218973be 852 }
yangtzuli 2:38825726cb1b 853
tomotsugu 8:a47dbf4fa455 854 /* バッテリー残量更新関数 */
yangtzuli 5:3fffb364744b 855 void bChange(){
yangtzuli 17:f7259ab2fe86 856 //pc.printf(" bChange1\r\n");
nishimura_taku_pet 65:7657ef347d6d 857 b10[k++] = (int)(((battery.read() * 3.3 - MIN_V)/0.7)*10+0.5)*10;
nishimura_taku_pet 65:7657ef347d6d 858 if(k == 10){
nishimura_taku_pet 65:7657ef347d6d 859 k = 0;
nishimura_taku_pet 51:1baf4407f384 860 }
nishimura_taku_pet 64:c74082c792ed 861 b = 0;
nishimura_taku_pet 64:c74082c792ed 862 for(int i=0;i<10;i++){
nishimura_taku_pet 64:c74082c792ed 863 if(b<b10[i] && b10[i]<=100){
nishimura_taku_pet 64:c74082c792ed 864 b = b10[i];
nishimura_taku_pet 64:c74082c792ed 865 }
nishimura_taku_pet 64:c74082c792ed 866 }
nishimura_taku_pet 64:c74082c792ed 867
tomotsugu 10:d193030ce672 868 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 869 if(flag_t == 1){
nishimura_taku_pet 66:2e2091dc7932 870 bTimer.stop();
nishimura_taku_pet 66:2e2091dc7932 871 }
nishimura_taku_pet 66:2e2091dc7932 872 lcd.cls();
nishimura_taku_pet 66:2e2091dc7932 873 if(trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 66:2e2091dc7932 874 trace_thread->terminate();
nishimura_taku_pet 66:2e2091dc7932 875 }
nishimura_taku_pet 66:2e2091dc7932 876 if(avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 66:2e2091dc7932 877 avoi_thread->terminate();
nishimura_taku_pet 66:2e2091dc7932 878 }
nishimura_taku_pet 66:2e2091dc7932 879 if(wifi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 66:2e2091dc7932 880 wifi_thread->terminate();
nishimura_taku_pet 66:2e2091dc7932 881 }
nishimura_taku_pet 66:2e2091dc7932 882 if(deco_thread != NULL){
nishimura_taku_pet 66:2e2091dc7932 883 deco_thread->terminate();
nishimura_taku_pet 66:2e2091dc7932 884 }
nishimura_taku_pet 64:c74082c792ed 885 run = STOP;
nishimura_taku_pet 66:2e2091dc7932 886 ThisThread::sleep_for(10);
nishimura_taku_pet 66:2e2091dc7932 887 if(motor_thread != NULL){
nishimura_taku_pet 66:2e2091dc7932 888 motor_thread -> terminate();
nishimura_taku_pet 66:2e2091dc7932 889 }
nishimura_taku_pet 66:2e2091dc7932 890 led1 = 0;
nishimura_taku_pet 66:2e2091dc7932 891 led2 = 0;
nishimura_taku_pet 66:2e2091dc7932 892 led3 = 0;
nishimura_taku_pet 66:2e2091dc7932 893 led4 = 0;
nishimura_taku_pet 66:2e2091dc7932 894 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 895 }
tomotsugu 10:d193030ce672 896 mutex.lock(); // ミューテックスロック
tomotsugu 10:d193030ce672 897 lcd.setAddress(0,0);
tomotsugu 10:d193030ce672 898 lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
takuminomura 48:3003ea51c619 899 mutex.unlock(); // ミューテックスアンロック
tomotsugu 10:d193030ce672 900 if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu 10:d193030ce672 901 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 902 //bTimer.attach(lcdBacklight,0.5);
tomotsugu 10:d193030ce672 903 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 904 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 905 }
tomotsugu 10:d193030ce672 906 }else{
tomotsugu 10:d193030ce672 907 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 908 //bTimer.detach();
tomotsugu 10:d193030ce672 909 bTimer.stop(); // バックライトタイマーストップ
tomotsugu 10:d193030ce672 910 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 10:d193030ce672 911 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 912 }
tomotsugu 10:d193030ce672 913 }
yangtzuli 2:38825726cb1b 914 }
mori2020 50:ee78382fd399 915
mori2020 50:ee78382fd399 916
nishimura_taku_pet 24:9481c8f56a49 917 // Serial Interrupt read ESP data
nishimura_taku_pet 24:9481c8f56a49 918 void callback()
nishimura_taku_pet 24:9481c8f56a49 919 {
mori2020 50:ee78382fd399 920 ////*-*-*-5("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 921 led3=1;
nishimura_taku_pet 24:9481c8f56a49 922 while (esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 923 webbuff[ount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 924 ount++;
nishimura_taku_pet 24:9481c8f56a49 925 }
nishimura_taku_pet 24:9481c8f56a49 926 if(strlen(webbuff)>bufflen) {
mori2020 50:ee78382fd399 927 // //*-*-*-5("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 928 DataRX=1;
nishimura_taku_pet 24:9481c8f56a49 929 led3=0;
nishimura_taku_pet 24:9481c8f56a49 930 }
nishimura_taku_pet 24:9481c8f56a49 931 }
mori2020 50:ee78382fd399 932
nishimura_taku_pet 43:243c1455f88a 933 void wifi(/*void const *argument*/)
nishimura_taku_pet 24:9481c8f56a49 934 {
mori2020 50:ee78382fd399 935 //*-*-*-5("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet 33:a6f1090e0174 936 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 937 led1=1,led2=0,led3=0;
nishimura_taku_pet 24:9481c8f56a49 938 timeout=6000;
nishimura_taku_pet 24:9481c8f56a49 939 getcount=500;
nishimura_taku_pet 24:9481c8f56a49 940 getreply();
nishimura_taku_pet 24:9481c8f56a49 941 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet 24:9481c8f56a49 942 startserver();
mori2020 50:ee78382fd399 943
nishimura_taku_pet 24:9481c8f56a49 944 while(1) {
nishimura_taku_pet 24:9481c8f56a49 945 if(DataRX==1) {
mori2020 50:ee78382fd399 946 //*-*-*-5("\f\n\r------------ main while > if --------------\n\r");
faker_71 57:65dd71a6ce72 947 // click_flag = 1;
faker_71 57:65dd71a6ce72 948 click_log=false;
nishimura_taku_pet 24:9481c8f56a49 949 ReadWebData();
mori2020 50:ee78382fd399 950 //*-*-*-5("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
mori2020 50:ee78382fd399 951 //if ((servreq == 1 && weberror == 0) && click_flag == 1) {
faker_71 57:65dd71a6ce72 952 if (servreq == 1 && weberror == 0 && click_log == false) {
mori2020 50:ee78382fd399 953 //*-*-*-5("\f\n\r------------ befor send page --------------\n\r");
faker_71 57:65dd71a6ce72 954 sendpage(); }
mori2020 50:ee78382fd399 955 //*-*-*-5("\f\n\r------------ send_check begin --------------\n\r");
mori2020 50:ee78382fd399 956
mori2020 50:ee78382fd399 957 //sendcheck();
mori2020 50:ee78382fd399 958 //*-*-*-5("\f\n\r------------ ssend_check end--------------\n\r");
faker_71 57:65dd71a6ce72 959 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 960 esp.attach(&callback);
mori2020 50:ee78382fd399 961 //*-*-*-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 962 //*-*-*-5("\n\n HTTP Packet: \n\n%s\n", webdata);
mori2020 50:ee78382fd399 963 //*-*-*-5(" Web Characters sent : %d\n\n", bufl);
mori2020 50:ee78382fd399 964 //*-*-*-5(" -------------------------------------\n\n");
nishimura_taku_pet 24:9481c8f56a49 965 servreq=0;
nishimura_taku_pet 24:9481c8f56a49 966 }
nishimura_taku_pet 24:9481c8f56a49 967 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 968 }
nishimura_taku_pet 24:9481c8f56a49 969 }
nishimura_taku_pet 24:9481c8f56a49 970 // Static WEB page
nishimura_taku_pet 24:9481c8f56a49 971 void sendpage()
nishimura_taku_pet 24:9481c8f56a49 972 {
nishimura_taku_pet 24:9481c8f56a49 973 // WEB page data
mori2020 50:ee78382fd399 974
nishimura_taku_pet 61:85daf80c7727 975 //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 976 strcpy(webbuff, "<!DOCTYPE html>");
tomotsugu 68:d9ce7c09b127 977 strcat(webbuff, "<html><head><title>RobotCarControl</title><meta name='viewport' content='width=device-width'/>");
mori2020 50:ee78382fd399 978 //strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >");
nishimura_taku_pet 62:5b4e62edaac4 979 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 980 strcat(webbuff, "</head><body><center><p><strong>RobotCarControl");
tomotsugu 68:d9ce7c09b127 981 strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery");
nishimura_taku_pet 62:5b4e62edaac4 982 if(b<=30){ //30%より下の場合残電量を赤文字
mori2020 50:ee78382fd399 983 strcat(webbuff, "<font color=\"red\">");
mori2020 50:ee78382fd399 984 sprintf(webbuff, "%s%3d", webbuff, b);
mori2020 50:ee78382fd399 985 strcat(webbuff, "</font>");
nishimura_taku_pet 62:5b4e62edaac4 986 }else{
nishimura_taku_pet 62:5b4e62edaac4 987 sprintf(webbuff, "%s%3d", webbuff, b);
mori2020 50:ee78382fd399 988 }
mori2020 50:ee78382fd399 989 strcat(webbuff, "%</strong>");
tomotsugu 68:d9ce7c09b127 990 strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onmousedown=\"location.reload()\">Reload</button>");
nishimura_taku_pet 24:9481c8f56a49 991 strcat(webbuff, "</td></p>");
nishimura_taku_pet 24:9481c8f56a49 992 strcat(webbuff, "<br>");
nishimura_taku_pet 24:9481c8f56a49 993 strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 994
molberry 35:4cda290bdb87 995 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 996 case ADVANCE: //前進
tomotsugu 68:d9ce7c09b127 997 strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 998 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 999 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1000 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1001 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1002 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1003 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1004 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1005 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 24:9481c8f56a49 1006 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1007 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1008 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1009 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1010 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1011 break;
molberry 35:4cda290bdb87 1012 case LEFT: //左折
tomotsugu 68:d9ce7c09b127 1013 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 1014 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 1015 strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1016 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1017 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1018 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1019 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1020 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1021 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 24:9481c8f56a49 1022 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1023 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1024 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1025 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1026 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1027 break;
molberry 35:4cda290bdb87 1028 case STOP: //停止
tomotsugu 68:d9ce7c09b127 1029 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 1030 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 1031 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1032 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1033 strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1034 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1035 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1036 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1037 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 24:9481c8f56a49 1038 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1039 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1040 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1041 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1042 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1043 break;
molberry 35:4cda290bdb87 1044 case RIGHT: //右折
tomotsugu 68:d9ce7c09b127 1045 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 1046 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 1047 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1048 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1049 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1050 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1051 strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1052 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1053 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 24:9481c8f56a49 1054 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1055 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1056 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1057 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1058 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1059 break;
molberry 35:4cda290bdb87 1060 case BACK: //後進
tomotsugu 68:d9ce7c09b127 1061 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 1062 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 1063 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1064 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1065 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1066 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1067 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1068 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1069 strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 67:0333997269dc 1070 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1071 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1072 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1073 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1074 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1075 break;
molberry 35:4cda290bdb87 1076 case AVOIDANCE: //障害物回避
tomotsugu 68:d9ce7c09b127 1077 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 1078 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 1079 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1080 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1081 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1082 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1083 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1084 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1085 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 24:9481c8f56a49 1086 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1087 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1088 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1089 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1090 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1091 break;
molberry 35:4cda290bdb87 1092 case LINE_TRACE: //ライントレース
tomotsugu 68:d9ce7c09b127 1093 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 1094 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 1095 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1096 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1097 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1098 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1099 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1100 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1101 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 24:9481c8f56a49 1102 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1103 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1104 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1105 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1106 strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1107 break;
molberry 35:4cda290bdb87 1108 default: //その他
tomotsugu 68:d9ce7c09b127 1109 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='send_mes(this.value)'>Go");
nishimura_taku_pet 24:9481c8f56a49 1110 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
tomotsugu 68:d9ce7c09b127 1111 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onmousedown='send_mes(this.value)' >Left");
nishimura_taku_pet 24:9481c8f56a49 1112 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1113 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onmousedown='send_mes(this.value)' >Stop");
nishimura_taku_pet 24:9481c8f56a49 1114 strcat(webbuff, "</button></td><td>");
tomotsugu 68:d9ce7c09b127 1115 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onmousedown='send_mes(this.value)' >Right");
nishimura_taku_pet 24:9481c8f56a49 1116 strcat(webbuff, "</button></td></tr><td></td><td>");
tomotsugu 68:d9ce7c09b127 1117 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >Back");
nishimura_taku_pet 24:9481c8f56a49 1118 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1119 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 64:c74082c792ed 1120 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onmousedown='send_mes(this.value)' >");
tomotsugu 68:d9ce7c09b127 1121 strcat(webbuff, "Avoidance</button></td><td>");
tomotsugu 68:d9ce7c09b127 1122 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
nishimura_taku_pet 24:9481c8f56a49 1123 break;
nishimura_taku_pet 24:9481c8f56a49 1124 }
nishimura_taku_pet 24:9481c8f56a49 1125 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 1126 strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet 24:9481c8f56a49 1127 strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 1128 //ready示速度だけ点灯
molberry 35:4cda290bdb87 1129 switch (flag_sp) { //現在の速度のボタン表示
molberry 35:4cda290bdb87 1130 case 0: //ノーマル
nishimura_taku_pet 64:c74082c792ed 1131 strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onmousedown='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1132 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 64:c74082c792ed 1133 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onmousedown='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1134 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 64:c74082c792ed 1135 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onmousedown='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1136 break;
molberry 35:4cda290bdb87 1137 case 1: //ファスト
nishimura_taku_pet 64:c74082c792ed 1138 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onmousedown='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1139 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 64:c74082c792ed 1140 strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onmousedown='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1141 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 64:c74082c792ed 1142 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onmousedown='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1143 break;
molberry 35:4cda290bdb87 1144 case 2: //ベリーファスト
nishimura_taku_pet 64:c74082c792ed 1145 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onmousedown='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 1146 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 64:c74082c792ed 1147 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onmousedown='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 1148 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 64:c74082c792ed 1149 strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onmousedown='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 1150 break;
molberry 35:4cda290bdb87 1151 default: //その他
nishimura_taku_pet 64:c74082c792ed 1152 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" 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;
nishimura_taku_pet 24:9481c8f56a49 1158 }
nishimura_taku_pet 24:9481c8f56a49 1159 strcat(webbuff, "</button></td></tr></table>");
mori2020 50:ee78382fd399 1160
nishimura_taku_pet 24:9481c8f56a49 1161 strcat(webbuff, "</center>");
nishimura_taku_pet 24:9481c8f56a49 1162 strcat(webbuff, "</body>");
nishimura_taku_pet 24:9481c8f56a49 1163 strcat(webbuff, "</html>");
mori2020 50:ee78382fd399 1164
molberry 35:4cda290bdb87 1165 strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
faker_71 57:65dd71a6ce72 1166
mori2020 50:ee78382fd399 1167 //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 1168 strcat(webbuff, "function htmlacs(url) {");
faker_71 57:65dd71a6ce72 1169 strcat(webbuff, "var xhr = new XMLHttpRequest();");
faker_71 57:65dd71a6ce72 1170 strcat(webbuff, "xhr.open(\"GET\", url, true);");
faker_71 57:65dd71a6ce72 1171 strcat(webbuff, "xhr.send();");
faker_71 57:65dd71a6ce72 1172 strcat(webbuff, "setTimeout(function(){xhr.abort();},100);");
nishimura_taku_pet 24:9481c8f56a49 1173 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1174
mori2020 50:ee78382fd399 1175 //mode変更ボタン入力時動作 //sendmes
mori2020 50:ee78382fd399 1176 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 1177 strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet 24:9481c8f56a49 1178 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1179 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1180 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1181 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1182 strcat(webbuff, "for(var i=1;i<8;i++){");
nishimura_taku_pet 24:9481c8f56a49 1183 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1184 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1185 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1186 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1187 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1188 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1189 strcat(webbuff, "}");
mori2020 50:ee78382fd399 1190
mori2020 50:ee78382fd399 1191 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 1192 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 1193 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 1194 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 1195 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 43:243c1455f88a 1196 strcat(webbuff, "for(var i=8;i<11;i++){");
nishimura_taku_pet 24:9481c8f56a49 1197 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 1198 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 1199 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 1200 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 1201 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1202 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1203 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 1204 strcat(webbuff, "</script>");
mori2020 50:ee78382fd399 1205
nishimura_taku_pet 61:85daf80c7727 1206 bufl = strlen(webbuff); // get total page buffer length
nishimura_taku_pet 61:85daf80c7727 1207
nishimura_taku_pet 61:85daf80c7727 1208 sprintf(httpbuff, "%s",webbuff);
nishimura_taku_pet 61:85daf80c7727 1209 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 1210 //pc.printf("\r\n*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-\r\n%s\r\n",webbuff);
mori2020 50:ee78382fd399 1211
nishimura_taku_pet 24:9481c8f56a49 1212 // end of WEB page data
nishimura_taku_pet 24:9481c8f56a49 1213 bufl = strlen(webbuff); // get total page buffer length
mori2020 50:ee78382fd399 1214 //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet 24:9481c8f56a49 1215
nishimura_taku_pet 24:9481c8f56a49 1216 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 1217 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1218 getcount=40;
nishimura_taku_pet 24:9481c8f56a49 1219 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1220 getreply();
mori2020 50:ee78382fd399 1221 //*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1222 ////*-*-*-5("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
mori2020 50:ee78382fd399 1223
mori2020 50:ee78382fd399 1224 //*-*-*-5("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
mori2020 50:ee78382fd399 1225
nishimura_taku_pet 24:9481c8f56a49 1226 //pastthrough mode
nishimura_taku_pet 24:9481c8f56a49 1227 SendWEB(); // send web page
mori2020 50:ee78382fd399 1228 //*-*-*-5("\n++++++++++ webbuff clear ++++++++++\r\n");
mori2020 50:ee78382fd399 1229
nishimura_taku_pet 24:9481c8f56a49 1230 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1231 sendcheck();
nishimura_taku_pet 24:9481c8f56a49 1232 }
nishimura_taku_pet 24:9481c8f56a49 1233
nishimura_taku_pet 24:9481c8f56a49 1234 // Large WEB buffer data send
nishimura_taku_pet 24:9481c8f56a49 1235 void SendWEB()
nishimura_taku_pet 24:9481c8f56a49 1236 {
nishimura_taku_pet 24:9481c8f56a49 1237 int i=0;
nishimura_taku_pet 24:9481c8f56a49 1238 if(esp.writeable()) {
nishimura_taku_pet 24:9481c8f56a49 1239 while(webbuff[i]!='\0') {
nishimura_taku_pet 24:9481c8f56a49 1240 esp.putc(webbuff[i]);
mori2020 50:ee78382fd399 1241
nishimura_taku_pet 24:9481c8f56a49 1242 //****
nishimura_taku_pet 24:9481c8f56a49 1243 //output at command when 2000
nishimura_taku_pet 24:9481c8f56a49 1244 if(((i%2047)==0) && (i>0)) {
mori2020 50:ee78382fd399 1245 //wait_ms(10);
takuminomura 48:3003ea51c619 1246 ThisThread::sleep_for(100);
mori2020 50:ee78382fd399 1247 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 1248 ////*-*-*-5("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet 24:9481c8f56a49 1249 timeout=600;
nishimura_taku_pet 24:9481c8f56a49 1250 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1251 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1252 getreply();
mori2020 50:ee78382fd399 1253 ////*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1254 ////*-*-*-5("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1255 }
nishimura_taku_pet 24:9481c8f56a49 1256 //****
nishimura_taku_pet 24:9481c8f56a49 1257 i++;
mori2020 50:ee78382fd399 1258 ////*-*-*-5("%c",webbuff[i]);
nishimura_taku_pet 24:9481c8f56a49 1259 }
nishimura_taku_pet 24:9481c8f56a49 1260 }
mori2020 50:ee78382fd399 1261 //*-*-*-5("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet 24:9481c8f56a49 1262 }
nishimura_taku_pet 24:9481c8f56a49 1263
nishimura_taku_pet 24:9481c8f56a49 1264
nishimura_taku_pet 24:9481c8f56a49 1265 void sendcheck()
nishimura_taku_pet 24:9481c8f56a49 1266 {
nishimura_taku_pet 24:9481c8f56a49 1267 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1268 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1269 getcount=24;
nishimura_taku_pet 24:9481c8f56a49 1270 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1271 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1272
mori2020 50:ee78382fd399 1273 /*
mori2020 50:ee78382fd399 1274 while(weberror==1 && time2.read() <5) {
mori2020 50:ee78382fd399 1275 getreply();
mori2020 50:ee78382fd399 1276 if (strstr(replybuff, "SEND OK") != NULL) {
mori2020 50:ee78382fd399 1277 weberror=0; // wait for valid SEND OK
mori2020 50:ee78382fd399 1278 }
mori2020 50:ee78382fd399 1279 }
mori2020 50:ee78382fd399 1280 */
nishimura_taku_pet 24:9481c8f56a49 1281 if(weberror==1) { // restart connection
nishimura_taku_pet 24:9481c8f56a49 1282 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet 24:9481c8f56a49 1283 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1284 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1285 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1286 getreply();
mori2020 50:ee78382fd399 1287 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1288 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1289 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1290 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1291 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1292 getreply();
mori2020 50:ee78382fd399 1293 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1294 } else {
nishimura_taku_pet 24:9481c8f56a49 1295 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet 24:9481c8f56a49 1296 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1297 getreply();
mori2020 50:ee78382fd399 1298 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1299 }
nishimura_taku_pet 24:9481c8f56a49 1300 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1301 }
nishimura_taku_pet 24:9481c8f56a49 1302
nishimura_taku_pet 24:9481c8f56a49 1303 // Reads and processes GET and POST web data
nishimura_taku_pet 24:9481c8f56a49 1304 void ReadWebData()
nishimura_taku_pet 24:9481c8f56a49 1305 {
mori2020 50:ee78382fd399 1306 //*-*-*-5("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet 30:c80da0ecc260 1307 ThisThread::sleep_for(200);
nishimura_taku_pet 24:9481c8f56a49 1308 esp.attach(NULL);
nishimura_taku_pet 24:9481c8f56a49 1309 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1310 DataRX=0;
nishimura_taku_pet 24:9481c8f56a49 1311 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1312 memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet 24:9481c8f56a49 1313 int x = strcspn (webbuff,"+");
nishimura_taku_pet 24:9481c8f56a49 1314 if(x) {
nishimura_taku_pet 24:9481c8f56a49 1315 strcpy(webdata, webbuff + x);
nishimura_taku_pet 24:9481c8f56a49 1316 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1317 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
mori2020 50:ee78382fd399 1318 //int i=0;
mori2020 50:ee78382fd399 1319 //*-*-*-5("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
mori2020 50:ee78382fd399 1320 //*-*-*-5("%s",webdata);
mori2020 50:ee78382fd399 1321 //*-*-*-5("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet 51:1baf4407f384 1322 beforeMode = mode;
nishimura_taku_pet 43:243c1455f88a 1323 if( strstr(webdata, "Normal") != NULL ) {
faker_71 57:65dd71a6ce72 1324 click_log=true;
mori2020 50:ee78382fd399 1325 //*-*-*-5("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1326 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1327 flag_sp = 0;
nishimura_taku_pet 43:243c1455f88a 1328 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1329 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1330 }else if( strstr(webdata, "VeryFast") != NULL ) {
faker_71 57:65dd71a6ce72 1331 click_log=true;
mori2020 50:ee78382fd399 1332 //*-*-*-5("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1333 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1334 flag_sp = 2;
nishimura_taku_pet 43:243c1455f88a 1335 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1336 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1337 }else if( strstr(webdata, "Fast") != NULL ) {
faker_71 57:65dd71a6ce72 1338 click_log=true;
mori2020 50:ee78382fd399 1339 //*-*-*-5("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet 43:243c1455f88a 1340 mode = SPEED; // スピードモード
nishimura_taku_pet 43:243c1455f88a 1341 flag_sp = 1;
nishimura_taku_pet 43:243c1455f88a 1342 display(); // ディスプレイ表示
nishimura_taku_pet 43:243c1455f88a 1343 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 43:243c1455f88a 1344 }
nishimura_taku_pet 24:9481c8f56a49 1345 if( strstr(webdata, "GO") != NULL ) {
faker_71 57:65dd71a6ce72 1346 pred=!pred;
faker_71 57:65dd71a6ce72 1347 click_log=true;
mori2020 50:ee78382fd399 1348 //*-*-*-5("+++++++++++++++++前進+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1349 run = ADVANCE; // 前進
molberry 35:4cda290bdb87 1350 mode = ADVANCE; // モード変更
molberry 35:4cda290bdb87 1351 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1352 }
takuminomura 48:3003ea51c619 1353
nishimura_taku_pet 24:9481c8f56a49 1354 if( strstr(webdata, "LEFT") != NULL ) {
faker_71 57:65dd71a6ce72 1355 click_log=true;
mori2020 50:ee78382fd399 1356 //*-*-*-5("+++++++++++++++++左折+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1357 run = LEFT; // 左折
molberry 35:4cda290bdb87 1358 mode = LEFT; // モード変更
molberry 35:4cda290bdb87 1359 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1360 }
nishimura_taku_pet 24:9481c8f56a49 1361
nishimura_taku_pet 24:9481c8f56a49 1362 if( strstr(webdata, "STOP") != NULL ) {
faker_71 57:65dd71a6ce72 1363 click_log=true;
mori2020 50:ee78382fd399 1364 //*-*-*-5("+++++++++++++++++停止+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1365 run = STOP; // 停止
molberry 35:4cda290bdb87 1366 mode = STOP; // モード変更
molberry 35:4cda290bdb87 1367 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1368 }
nishimura_taku_pet 24:9481c8f56a49 1369
nishimura_taku_pet 24:9481c8f56a49 1370 if( strstr(webdata, "RIGHT") != NULL ) {
faker_71 57:65dd71a6ce72 1371 click_log=true;
mori2020 50:ee78382fd399 1372 //*-*-*-5("+++++++++++++++++右折+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1373 run = RIGHT; // 右折
molberry 35:4cda290bdb87 1374 mode = RIGHT; // モード変更
molberry 35:4cda290bdb87 1375 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1376 }
nishimura_taku_pet 24:9481c8f56a49 1377
nishimura_taku_pet 24:9481c8f56a49 1378 if( strstr(webdata, "BACK") != NULL ) {
faker_71 57:65dd71a6ce72 1379 click_log=true;
mori2020 50:ee78382fd399 1380 //*-*-*-5("+++++++++++++++++後進+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1381 run = BACK; // 後進
molberry 35:4cda290bdb87 1382 mode = BACK; // モード変更
molberry 35:4cda290bdb87 1383 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1384 }
mori2020 50:ee78382fd399 1385 //*-*-*-5("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1386
nishimura_taku_pet 24:9481c8f56a49 1387 if( strstr(webdata, "AVOIDANCE") != NULL ) {
faker_71 57:65dd71a6ce72 1388 click_log=true;
mori2020 50:ee78382fd399 1389 //*-*-*-5("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet 26:0badbc9f9cb3 1390 if(avoi_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1391 delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1392 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 26:0badbc9f9cb3 1393 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1394 }
nishimura_taku_pet 24:9481c8f56a49 1395 mode=AVOIDANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1396 run = ADVANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1397 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1398 }
nishimura_taku_pet 24:9481c8f56a49 1399 if( strstr(webdata, "LINE_TRACE") != NULL ) {
faker_71 57:65dd71a6ce72 1400 click_log=true;
mori2020 50:ee78382fd399 1401 //*-*-*-5("+++++++++++++++++LINET RACE+++++++++++++++++++++");
mori2020 50:ee78382fd399 1402 //*-*-*-5("mode = LINE_TRACE\r\n");
nishimura_taku_pet 26:0badbc9f9cb3 1403 if(trace_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1404 delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1405 trace_thread = new Thread(trace);
nishimura_taku_pet 26:0badbc9f9cb3 1406 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1407 }
nishimura_taku_pet 24:9481c8f56a49 1408 mode=LINE_TRACE;
nishimura_taku_pet 26:0badbc9f9cb3 1409 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1410 }
nishimura_taku_pet 26:0badbc9f9cb3 1411 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1412 trace_thread->terminate();
nishimura_taku_pet 26:0badbc9f9cb3 1413 }
nishimura_taku_pet 26:0badbc9f9cb3 1414 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1415 avoi_thread->terminate();
nishimura_taku_pet 31:3665282561d6 1416 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 26:0badbc9f9cb3 1417 }
nishimura_taku_pet 24:9481c8f56a49 1418 sprintf(channel, "%d",linkID);
nishimura_taku_pet 24:9481c8f56a49 1419 if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1420 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1421 }
nishimura_taku_pet 24:9481c8f56a49 1422 if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1423 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1424 }
nishimura_taku_pet 24:9481c8f56a49 1425 webcounter++;
nishimura_taku_pet 24:9481c8f56a49 1426 sprintf(webcount, "%d",webcounter);
nishimura_taku_pet 24:9481c8f56a49 1427 } else {
nishimura_taku_pet 24:9481c8f56a49 1428 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1429 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1430 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1431 }
nishimura_taku_pet 24:9481c8f56a49 1432 }
nishimura_taku_pet 24:9481c8f56a49 1433 // Starts and restarts webserver if errors detected.
nishimura_taku_pet 24:9481c8f56a49 1434 void startserver()
nishimura_taku_pet 24:9481c8f56a49 1435 {
mori2020 50:ee78382fd399 1436 //*-*-*-5("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1437 strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet 24:9481c8f56a49 1438 timeout=8000;
nishimura_taku_pet 24:9481c8f56a49 1439 getcount=1000;
nishimura_taku_pet 24:9481c8f56a49 1440 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1441 getreply();
mori2020 50:ee78382fd399 1442 //*-*-*-5(replybuff);
mori2020 50:ee78382fd399 1443 //*-*-*-5("%d",ount);
nishimura_taku_pet 24:9481c8f56a49 1444 if (strstr(replybuff, "OK") != NULL) {
mori2020 50:ee78382fd399 1445 //*-*-*-5("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1446 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet 24:9481c8f56a49 1447 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1448 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1449 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1450 getreply();
mori2020 50:ee78382fd399 1451 //*-*-*-5(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1452 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1453 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1454 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1455 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1456 getreply();
mori2020 50:ee78382fd399 1457 //*-*-*-5(replybuff);
nishimura_taku_pet 33:a6f1090e0174 1458 ThisThread::sleep_for(500);
nishimura_taku_pet 24:9481c8f56a49 1459 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet 24:9481c8f56a49 1460 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1461 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1462 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1463 getreply();
mori2020 50:ee78382fd399 1464 //*-*-*-5(replybuff);
nishimura_taku_pet 25:8ed98982faa7 1465 ThisThread::sleep_for(5000);
mori2020 50:ee78382fd399 1466 //*-*-*-5("\n Getting Server IP \r\n");
nishimura_taku_pet 24:9481c8f56a49 1467 strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet 24:9481c8f56a49 1468 timeout=2500;
nishimura_taku_pet 24:9481c8f56a49 1469 getcount=200;
nishimura_taku_pet 24:9481c8f56a49 1470 while(weberror==0) {
nishimura_taku_pet 24:9481c8f56a49 1471 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1472 getreply();
nishimura_taku_pet 24:9481c8f56a49 1473 if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet 24:9481c8f56a49 1474 weberror=1; // wait for valid IP
nishimura_taku_pet 24:9481c8f56a49 1475 }
nishimura_taku_pet 24:9481c8f56a49 1476 }
mori2020 50:ee78382fd399 1477 //*-*-*-5("\n Enter WEB address (IP) found below in your browser \r\n\n");
mori2020 50:ee78382fd399 1478 //*-*-*-5("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1479 replybuff[strlen(replybuff)-1] = '\0';
mori2020 50:ee78382fd399 1480 //char* IP = replybuff + 5;
nishimura_taku_pet 24:9481c8f56a49 1481 sprintf(webdata,"%s", replybuff);
mori2020 50:ee78382fd399 1482 //*-*-*-5(webdata);
nishimura_taku_pet 24:9481c8f56a49 1483 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1484 bufflen=200;
mori2020 50:ee78382fd399 1485 //bufflen=100;
nishimura_taku_pet 24:9481c8f56a49 1486 ount=0;
mori2020 50:ee78382fd399 1487 //*-*-*-5("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet 33:a6f1090e0174 1488 setup();
nishimura_taku_pet 24:9481c8f56a49 1489 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1490 } else {
mori2020 50:ee78382fd399 1491 //*-*-*-5("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1492 led1=1;
nishimura_taku_pet 24:9481c8f56a49 1493 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1494 led3=1;
nishimura_taku_pet 24:9481c8f56a49 1495 led4=1;
nishimura_taku_pet 24:9481c8f56a49 1496 while(1) {
nishimura_taku_pet 24:9481c8f56a49 1497 led1=!led1;
nishimura_taku_pet 24:9481c8f56a49 1498 led2=!led2;
nishimura_taku_pet 24:9481c8f56a49 1499 led3=!led3;
nishimura_taku_pet 24:9481c8f56a49 1500 led4=!led4;
nishimura_taku_pet 56:d02c62149a19 1501 mutex.lock(); // ミューテックスロック
nishimura_taku_pet 56:d02c62149a19 1502 lcd.setAddress(0,1);
nishimura_taku_pet 56:d02c62149a19 1503 lcd.printf("Mode:WiFiError ");
nishimura_taku_pet 56:d02c62149a19 1504 mutex.unlock();
nishimura_taku_pet 25:8ed98982faa7 1505 ThisThread::sleep_for(1000);
nishimura_taku_pet 24:9481c8f56a49 1506 }
nishimura_taku_pet 24:9481c8f56a49 1507 }
nishimura_taku_pet 24:9481c8f56a49 1508 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1509 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1510 }
mori2020 50:ee78382fd399 1511
nishimura_taku_pet 24:9481c8f56a49 1512 // ESP Command data send
nishimura_taku_pet 24:9481c8f56a49 1513 void SendCMD()
nishimura_taku_pet 24:9481c8f56a49 1514 {
nishimura_taku_pet 24:9481c8f56a49 1515 esp.printf("%s", cmdbuff);
nishimura_taku_pet 24:9481c8f56a49 1516 }
nishimura_taku_pet 24:9481c8f56a49 1517 // Get Command and ESP status replies
nishimura_taku_pet 24:9481c8f56a49 1518 void getreply()
nishimura_taku_pet 24:9481c8f56a49 1519 {
nishimura_taku_pet 24:9481c8f56a49 1520 memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet 24:9481c8f56a49 1521 time1.reset();
nishimura_taku_pet 24:9481c8f56a49 1522 time1.start();
nishimura_taku_pet 24:9481c8f56a49 1523 replycount=0;
nishimura_taku_pet 24:9481c8f56a49 1524 while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet 24:9481c8f56a49 1525 if(esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 1526 replybuff[replycount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 1527 replycount++;
nishimura_taku_pet 24:9481c8f56a49 1528 }
nishimura_taku_pet 24:9481c8f56a49 1529 }
nishimura_taku_pet 24:9481c8f56a49 1530 time1.stop();
nishimura_taku_pet 24:9481c8f56a49 1531 }
takuminomura 48:3003ea51c619 1532
tomotsugu 8:a47dbf4fa455 1533 /* mainスレッド */
yangtzuli 0:0d0037aabe41 1534 int main() {
tomotsugu 8:a47dbf4fa455 1535 /* 初期設定 */
nishimura_taku_pet 64:c74082c792ed 1536 for(int i=0;i<10;i++){
nishimura_taku_pet 64:c74082c792ed 1537 b10[i] = (int)(((battery.read() * 3.3 - MIN_V)/0.7)*10+0.5)*10;
nishimura_taku_pet 64:c74082c792ed 1538 };
mori2020 50:ee78382fd399 1539 wifi_thread = new Thread(wifi);
mori2020 50:ee78382fd399 1540 wifi_thread -> set_priority(osPriorityHigh);
mori2020 50:ee78382fd399 1541 // setup();
nishimura_taku_pet 16:ffc732a3cf92 1542 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 1543 avoi_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 1544 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 1545 trace_thread->terminate();
tomotsugu 8:a47dbf4fa455 1546 mode = READY; // 現在待ちモード
tomotsugu 8:a47dbf4fa455 1547 beforeMode = READY; // 前回待ちモード
tomotsugu 8:a47dbf4fa455 1548 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 1549 flag_sp = NORMAL; // スピード(普通)
tomotsugu 10:d193030ce672 1550 lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet 33:a6f1090e0174 1551 lcd.setAddress(0,1);
nishimura_taku_pet 33:a6f1090e0174 1552 lcd.printf("Mode:SetUp");
nishimura_taku_pet 51:1baf4407f384 1553 //display(); // ディスプレイ表示
yangtzuli 2:38825726cb1b 1554
yangtzuli 0:0d0037aabe41 1555 while(1){
tomotsugu 8:a47dbf4fa455 1556 bChange(); // バッテリー残量更新
yangtzuli 0:0d0037aabe41 1557 }
yangtzuli 0:0d0037aabe41 1558 }