siqiang pan / Mbed OS robotcar-team-0928

2

Dependencies:   RemoteIR TextLCD

Diff: main.cpp

Revision:
64:c74082c792ed
Parent:
63:bddf342bce22
Child:
65:7657ef347d6d
--- a/main.cpp	Tue Sep 08 00:26:36 2020 +0000
+++ b/main.cpp	Tue Sep 08 03:26:32 2020 +0000
@@ -4,9 +4,9 @@
  */
  
  /*
- Version    0.06
+ Version    0.07
  Date       2020/09/08
- Uploader   Tomotsugu Ogawa
+ Uploader   Taku Nishimura
  
  更新するときにここも変える！
  
@@ -28,7 +28,7 @@
 
 /* マクロ定義、列挙型定義 */
 #define     MIN_V       2.0  // 電圧の最小値
-#define     MAX_V       2.67 // 電圧の最大値
+#define     MAX_V       2.7 // 電圧の最大値
 #define     LOW         0    // モーターOFF
 #define     HIGH        1    // モーターON
 #define     NORMAL      0    // 普通
@@ -156,7 +156,9 @@
 
 /* bChange, lcdbacklight用変数 */
 TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780);
-int b = 0;          // バッテリー残量
+int b10[10]; // バッテリー残量
+int b;
+int aaaaa = 0;
 int flag_b = 0;     // バックライト点滅フラグ
 int flag_t = 0;     // バックライトタイマーフラグ
 
@@ -856,14 +858,22 @@
 /* バッテリー残量更新関数 */
 void bChange(){
     //pc.printf("                                                                              bChange1\r\n");
-    if(run == STOP){
-        b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10;
+    b10[aaaaa++] = (int)(((battery.read() * 3.3 - MIN_V)/0.7)*10+0.5)*10;
+    if(aaaaa == 10){
+        aaaaa = 0;
     }
+    b = 0;
+    for(int i=0;i<10;i++){
+        if(b<b10[i] && b10[i]<=100){
+            b = b10[i];
+        }
+    }
+    
     if(b <= 0){                      // バッテリー残量0%なら全ての機能停止
-        b = 0;
-        //lcd.setBacklight(TextLCD::LightOff);
-        //run = STOP;
-        //exit(1);                   // 電池残量が5%未満の時、LCDを消灯し、モーターを停止し、プログラムを終了する。
+        //b = 0;
+        lcd.setBacklight(TextLCD::LightOff);
+        run = STOP;
+        exit(1);                   // 電池残量が5%未満の時、LCDを消灯し、モーターを停止し、プログラムを終了する。
     }
     mutex.lock();                    // ミューテックスロック
     lcd.setAddress(0,0);
@@ -959,139 +969,139 @@
         sprintf(webbuff, "%s%3d", webbuff, b);
     }
     strcat(webbuff, "%</strong>");
-    strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"location.reload()\">RELOAD</button>");
+    strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onmousedown=\"location.reload()\">RELOAD</button>");
     strcat(webbuff, "</td></p>");
     strcat(webbuff, "<br>");
     strcat(webbuff, "<table><tr><td></td><td>");
  
     switch(mode) {  //ブラウザ更新時の現在の車の状態からボタンの点灯判定
         case ADVANCE:   //前進
-            strcat(webbuff, "<button id='gobtn' type='button' class=\"light\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"light\"  value=\"GO\"  onmousedown='send_mes(this.value)'>GO");
             strcat(webbuff, "</button></td><td></td></tr><tr><td>");
-            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onmousedown='send_mes(this.value)' >LEFT");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onmousedown='send_mes(this.value)' >STOP");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onmousedown='send_mes(this.value)' >RIGHT");
             strcat(webbuff, "</button></td></tr><td></td><td>");
-            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >BACK");
             strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
             strcat(webbuff, "<strong>Mode</strong>");
-            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onmousedown='send_mes(this.value)' >");
             strcat(webbuff, "AVOIDANCE</button></td><td>");
-            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onmousedown='send_mes(this.value)' >LINE_TRACE");
             break;
         case LEFT:  //左折
-            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onmousedown='send_mes(this.value)'>GO");
             strcat(webbuff, "</button></td><td></td></tr><tr><td>");
-            strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\"  onmousedown='send_mes(this.value)' >LEFT");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onmousedown='send_mes(this.value)' >STOP");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onmousedown='send_mes(this.value)' >RIGHT");
             strcat(webbuff, "</button></td></tr><td></td><td>");
-            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >BACK");
             strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
             strcat(webbuff, "<strong>Mode</strong>");
-            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onmousedown='send_mes(this.value)' >");
             strcat(webbuff, "AVOIDANCE</button></td><td>");
-            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onmousedown='send_mes(this.value)' >LINE_TRACE");
             break;
         case STOP:  //停止
-            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onmousedown='send_mes(this.value)'>GO");
             strcat(webbuff, "</button></td><td></td></tr><tr><td>");
-            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onmousedown='send_mes(this.value)' >LEFT");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\"  onmousedown='send_mes(this.value)' >STOP");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onmousedown='send_mes(this.value)' >RIGHT");
             strcat(webbuff, "</button></td></tr><td></td><td>");
-            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >BACK");
             strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
             strcat(webbuff, "<strong>Mode</strong>");
-            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onmousedown='send_mes(this.value)' >");
             strcat(webbuff, "AVOIDANCE</button></td><td>");
-            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onmousedown='send_mes(this.value)' >LINE_TRACE");
             break;
         case RIGHT: //右折
-            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onmousedown='send_mes(this.value)'>GO");
             strcat(webbuff, "</button></td><td></td></tr><tr><td>");
-            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onmousedown='send_mes(this.value)' >LEFT");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onmousedown='send_mes(this.value)' >STOP");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\"  onmousedown='send_mes(this.value)' >RIGHT");
             strcat(webbuff, "</button></td></tr><td></td><td>");
-            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >BACK");
             strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
             strcat(webbuff, "<strong>Mode</strong>");
-            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onmousedown='send_mes(this.value)' >");
             strcat(webbuff, "AVOIDANCE</button></td><td>");
-            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onmousedown='send_mes(this.value)' >LINE_TRACE");
             break;
         case BACK:  //後進
-            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onmousedown='send_mes(this.value)'>GO");
             strcat(webbuff, "</button></td><td></td></tr><tr><td>");
-            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onmousedown='send_mes(this.value)' >LEFT");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onmousedown='send_mes(this.value)' >STOP");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onmousedown='send_mes(this.value)' >RIGHT");
             strcat(webbuff, "</button></td></tr><td></td><td>");
-            strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onmousedown='send_mes(this.value)' >BACK");
             strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
             strcat(webbuff, "<strong>Mode</strong>");
-            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onmousedown='send_mes(this.value)' >");
             strcat(webbuff, "AVOIDANCE</button></td><td>");
-            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onmousedown='send_mes(this.value)' >LINE_TRACE");
             break;
         case AVOIDANCE:     //障害物回避
-            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onmousedown='send_mes(this.value)'>GO");
             strcat(webbuff, "</button></td><td></td></tr><tr><td>");
-            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onmousedown='send_mes(this.value)' >LEFT");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onmousedown='send_mes(this.value)' >STOP");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onmousedown='send_mes(this.value)' >RIGHT");
             strcat(webbuff, "</button></td></tr><td></td><td>");
-            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >BACK");
             strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
             strcat(webbuff, "<strong>Mode</strong>");
-            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\"  onmousedown='send_mes(this.value)' >");
             strcat(webbuff, "AVOIDANCE</button></td><td>");
-            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onmousedown='send_mes(this.value)' >LINE_TRACE");
             break;
         case LINE_TRACE:    //ライントレース
-            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onmousedown='send_mes(this.value)'>GO");
             strcat(webbuff, "</button></td><td></td></tr><tr><td>");
-            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onmousedown='send_mes(this.value)' >LEFT");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onmousedown='send_mes(this.value)' >STOP");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onmousedown='send_mes(this.value)' >RIGHT");
             strcat(webbuff, "</button></td></tr><td></td><td>");
-            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >BACK");
             strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
             strcat(webbuff, "<strong>Mode</strong>");
-            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onmousedown='send_mes(this.value)' >");
             strcat(webbuff, "AVOIDANCE</button></td><td>");
-            strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\"  onmousedown='send_mes(this.value)' >LINE_TRACE");
             break;
         default:    //その他
-            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onClick='send_mes(this.value)'>GO");
+            strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\"  value=\"GO\"  onmousedown='send_mes(this.value)'>GO");
             strcat(webbuff, "</button></td><td></td></tr><tr><td>");
-            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onClick='send_mes(this.value)' >LEFT");
+            strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\"  onmousedown='send_mes(this.value)' >LEFT");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onClick='send_mes(this.value)' >STOP");
+            strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\"  onmousedown='send_mes(this.value)' >STOP");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onClick='send_mes(this.value)' >RIGHT");
+            strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\"  onmousedown='send_mes(this.value)' >RIGHT");
             strcat(webbuff, "</button></td></tr><td></td><td>");
-            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
+            strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onmousedown='send_mes(this.value)' >BACK");
             strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
             strcat(webbuff, "<strong>Mode</strong>");
-            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onClick='send_mes(this.value)' >");
+            strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\"  onmousedown='send_mes(this.value)' >");
             strcat(webbuff, "AVOIDANCE</button></td><td>");
-            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onClick='send_mes(this.value)' >LINE_TRACE");
+            strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\"  onmousedown='send_mes(this.value)' >LINE_TRACE");
             break;
     }
     strcat(webbuff, "</button></td></tr></table>");
@@ -1100,32 +1110,32 @@
     //ready示速度だけ点灯
     switch (flag_sp) {  //現在の速度のボタン表示
         case 0:         //ノーマル
-            strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\"  onClick='send_mes_spe(this.value)' >Normal");
+            strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\"  onmousedown='send_mes_spe(this.value)' >Normal");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\"  onClick='send_mes_spe(this.value)' >Fast");
+            strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\"  onmousedown='send_mes_spe(this.value)' >Fast");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\"  onClick='send_mes_spe(this.value)' >VeryFast");
+            strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\"  onmousedown='send_mes_spe(this.value)' >VeryFast");
             break;
         case 1:         //ファスト
-            strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\"  onClick='send_mes_spe(this.value)' >Normal");
+            strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\"  onmousedown='send_mes_spe(this.value)' >Normal");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\"  onClick='send_mes_spe(this.value)' >Fast");
+            strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\"  onmousedown='send_mes_spe(this.value)' >Fast");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\"  onClick='send_mes_spe(this.value)' >VeryFast");
+            strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\"  onmousedown='send_mes_spe(this.value)' >VeryFast");
             break;
         case 2:         //ベリーファスト
-            strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\"  onClick='send_mes_spe(this.value)' >Normal");
+            strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\"  onmousedown='send_mes_spe(this.value)' >Normal");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\"  onClick='send_mes_spe(this.value)' >Fast");
+            strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\"  onmousedown='send_mes_spe(this.value)' >Fast");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\"  onClick='send_mes_spe(this.value)' >VeryFast");
+            strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\"  onmousedown='send_mes_spe(this.value)' >VeryFast");
             break;
         default:        //その他
-            strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\"  onClick='send_mes_spe(this.value)' >Normal");
+            strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\"  onmousedown='send_mes_spe(this.value)' >Normal");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\"  onClick='send_mes_spe(this.value)' >Fast");
+            strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\"  onmousedown='send_mes_spe(this.value)' >Fast");
             strcat(webbuff, "</button></td><td>");
-            strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\"  onClick='send_mes_spe(this.value)' >VeryFast");
+            strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\"  onmousedown='send_mes_spe(this.value)' >VeryFast");
             break;
     }
     strcat(webbuff, "</button></td></tr></table>");
@@ -1505,6 +1515,9 @@
 /* mainスレッド */
 int main() {
     /* 初期設定 */
+    for(int i=0;i<10;i++){
+        b10[i] = (int)(((battery.read() * 3.3 - MIN_V)/0.7)*10+0.5)*10;
+    };
     wifi_thread = new Thread(wifi);
     wifi_thread -> set_priority(osPriorityHigh);
 //    setup();