siqiang pan
2
Dependencies: RemoteIR TextLCD
Diff: main.cpp
- Revision:
- 68:d9ce7c09b127
- Parent:
- 67:0333997269dc
- Child:
- 69:7f305b4e706e
--- a/main.cpp Wed Sep 09 00:21:38 2020 +0000
+++ b/main.cpp Wed Sep 09 07:57:59 2020 +0000
@@ -4,9 +4,9 @@
*/
/*
- Version 0.10
- Date 2020/09/08
- Uploader Taku Nishimura
+ Version 0.11
+ Date 2020/09/09
+ Uploader Tomotsugu Ogawa
更新するときにここも変える！
@@ -62,7 +62,7 @@
#define MBED02 0.719 //Mbed02号機の左右のモーター速度比(R:L = 1: 0.719)
#define MBED03 1
#define MBED04 0.781 //Mbed04号機の左右のモーター速度比(R:L = 1: 0.781)
-#define MBED05 0.95 //Mbed05号機の左右のモーター速度比(R:L = 1: 0.953)
+#define MBED05 0.947 //Mbed05号機の左右のモーター速度比(R:L = 1: 0.953)
#define MBED06 1
#define MBED07 1 //Mbed07号機の左右のモーター速度比(R:L = 1: 1.000)
#define MBED08 1
@@ -192,7 +192,8 @@
int SLD; // 左前
int SRD; // 右前
int flag_a = 0; // 障害物有無のフラグ
-const int limit = 20; // 障害物の距離のリミット(単位：cm)
+int limit = 25; // 障害物の距離のリミット(単位：cm)
+int backlimit = 20;
int far; // 最も遠い距離
int houkou; // 進行方向(1:前 2:左 3:右)
int t1 = 0;
@@ -271,14 +272,12 @@
}
switch(code){
case 0x40bf27d8: // クイック
- //pc.printf("mode = SPEED\r\n");
mode = SPEED; // スピードモード
changeSpeed(); // 速度変更
display(); // ディスプレイ表示
mode = beforeMode; // 現在のモードに前回のモードを設定
break;
case 0x40be34cb: // レグザリンク
- //pc.printf("mode = LINE_TRACE\r\n");
if(trace_thread->get_state() == Thread::Deleted){
delete trace_thread;
trace_thread = new Thread(trace);
@@ -288,7 +287,6 @@
display(); // ディスプレイ表示
break;
case 0x40bf6e91: // 番組表
- //pc.printf("mode = AVOIDANCE\r\n");
if(avoi_thread->get_state() == Thread::Deleted){
delete avoi_thread;
avoi_thread = new Thread(avoidance);
@@ -300,31 +298,26 @@
display(); // ディスプレイ表示
break;
case 0x40bf3ec1: // ↑
- //pc.printf("mode = ADVANCE\r\n");
mode = ADVANCE; // 前進モード
run = ADVANCE; // 前進
display(); // ディスプレイ表示
break;
case 0x40bf3fc0: // ↓
- //pc.printf("mode = BACK\r\n");
mode = BACK; // 後退モード
run = BACK; // 後退
display(); // ディスプレイ表示
break;
case 0x40bf5fa0: // ←
- //pc.printf("mode = LEFT\r\n");
mode = LEFT; // 左折モード
run = LEFT; // 左折
display(); // ディスプレイ表示
break;
case 0x40bf5ba4: // →
- //pc.printf("mode = RIGHT\r\n");
mode = RIGHT; // 右折モード
run = RIGHT; // 右折
display(); // ディスプレイ表示
break;
case 0x40bf3dc2: // 決定
- //pc.printf("mode = STOP\r\n");
mode = STOP; // 停止モード
run = STOP; // 停止
display(); // ディスプレイ表示
@@ -357,6 +350,20 @@
if(mode != LINE_TRACE){ // スピード変更フラグが2より大きいなら
flag_sp %= 3; // スピード変更フラグ調整
}
+ switch(flag_sp){
+ case 1:
+ limit = 25;
+ backlimit = 20;
+ break;
+ case 2:
+ limit = 28;
+ backlimit = 18;
+ break;
+ case 3:
+ limit = 32;
+ backlimit = 15;
+ break;
+ }
switch(run){
/* 前進 */
case ADVANCE:
@@ -514,22 +521,12 @@
/* 障害物回避走行スレッド */
void avoidance(){
- int i;
while(1){
watchsurrounding3();
- if(flag_a == 0){ // 障害物がない場合
- run = ADVANCE; // 前進
-// if(SLD < 25){ // 正面15cm以内に障害物が現れた場合
-// run = RIGHT; // 右折
-// ThisThread::sleep_for(100); // 100ms待つ
-// run = STOP; // 停止
-// }else if(SRD < 25){
-// run = LEFT; // 左折
-// ThisThread::sleep_for(100); // 100ms待つ
-// run = STOP; // 停止
-// }
- }else{ // 障害物がある場合
- i = 0;
+ if(flag_a == 0){ // 障害物がない場合
+ run = ADVANCE; // 前進
+ }else{ // 障害物がある場合
+ int i = 0;
int cnt_kyori;
int kyori;
if(SC < 15){
@@ -538,22 +535,9 @@
run = STOP;
ThisThread::sleep_for(80);
run = BACK;
-// switch(flag_sp){
-// case 0:
-// ThisThread::sleep_for(200);
-// break;
-// case 1:
-// ThisThread::sleep_for(150);
-// break;
-// case 2:
-// ThisThread::sleep_for(120);
-// break;
-// default:
-// break;
-// }
cnt_kyori = 0;
kyori = watch();
- while(kyori < limit){ // 正面20cm以内に障害物がある間
+ while(kyori < backlimit){ // 正面20cm以内に障害物がある間
if(kyori == -1){
cnt_kyori++;
if(cnt_kyori > 15){
@@ -566,20 +550,32 @@
run = STOP;
}
watchsurrounding5();
- if(SC < limit && SLD < limit && SL < limit && SRD < limit && SR < limit){ // 全方向に障害物がある場合
- run = A1LEFT; // 左折
- while(i < 15){ // 進行方向確認
- if(watch() > limit){
- break;
- }else{
- i++;
+ if(SC < 25 && SLD < 37 && SL < 30 && SRD < 37 && SR < 30){ // 全方向に障害物がある場合
+ run = A1LEFT; // 左折
+ cnt_kyori = 0;
+ kyori = watch();
+ while(kyori < 53){
+ if(kyori == -1){
+ cnt_kyori++;
+ if(cnt_kyori > 25){
+ cnt_kyori = 0;
+ break;
+ }
}
- }
+ kyori = watch();
+ }
+ // while(i < 15){ // 進行方向確認
+// if(watch() > limit){
+// break;
+// }else{
+// i++;
+// }
+// }
run = STOP; // 停止
}else { // 全方向以外
far = SC; // 正面を最も遠い距離に設定
houkou = 1; // 進行方向を前に設定
- if(SC < limit + 5){
+ if(SC < 25){
if(far < SLD || far < SL){ // 左または左前がより遠い場合
if(SL < SLD){ // 左前が左より遠い場合
far = SLD; // 左前を最も遠い距離に設定
@@ -602,7 +598,7 @@
run = ADVANCE; // 前進
switch(flag_sp){
case 0:
- ThisThread::sleep_for(300); // 0.5秒待つ
+ ThisThread::sleep_for(300);
break;
case 1:
ThisThread::sleep_for(200);
@@ -616,29 +612,29 @@
run = A1LEFT; // 左折
while(i < 15){ // 進行方向確認
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)
- break; // ループ+
+ break;
}else{
i++;
}
}
- run = ADVANCE; // 停止
+ run = ADVANCE;
break;
case 3: // 右の場合
run = A1RIGHT; // 右折
while(i < 15){ // 進行方向確認
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)
- break; // ループ+
+ break;
}else{
i++;
}
}
- run = ADVANCE; // 停止
+ run = ADVANCE;
break;
}
}
}
flag_a = 0; // 障害物有無フラグを0にセット
- if(SLD < 30 && SRD > 30){ // 正面15cm以内に障害物が現れた場合
+ if(SLD < 30 && SRD > 30){
run = A2RIGHT; // 右折
ThisThread::sleep_for(100);
run = ADVANCE;
@@ -697,7 +693,7 @@
}
}
servo.pulsewidth_us(1930); // サーボを左に40度回転
- ThisThread::sleep_for(100); // 250ms待つ
+ ThisThread::sleep_for(100);
SLD = watch();
if(SLD < 18){ // 左前20cm以内に障害物がある場合
run = STOP;
@@ -711,7 +707,7 @@
ThisThread::sleep_for(170);
break;
case 2:
- ThisThread::sleep_for(150);
+ ThisThread::sleep_for(140);
break;
}
run = A2RIGHT;
@@ -729,10 +725,10 @@
}
}
servo.pulsewidth_us(920); // サーボを右に40度回転
- ThisThread::sleep_for(100); // 250ms待つ
+ ThisThread::sleep_for(100);
SRD = watch();
if(SRD < 18){ // 右前20cm以内に障害物がある場合
- run = STOP; // 停止
+ run = STOP; // 停止
ThisThread::sleep_for(90);
run = BACK;
switch(flag_sp){
@@ -743,7 +739,7 @@
ThisThread::sleep_for(170);
break;
case 2:
- ThisThread::sleep_for(150);
+ ThisThread::sleep_for(140);
break;
}
run = A2LEFT;
@@ -978,11 +974,11 @@
//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");
strcpy(webbuff, "<!DOCTYPE html>");
- strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
+ strcat(webbuff, "<html><head><title>RobotCarControl</title><meta name='viewport' content='width=device-width'/>");
//strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >");
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>");
- strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
- strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
+ strcat(webbuff, "</head><body><center><p><strong>RobotCarControl");
+ strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery");
if(b<=30){ //30%より下の場合残電量を赤文字
strcat(webbuff, "<font color=\"red\">");
sprintf(webbuff, "%s%3d", webbuff, b);
@@ -991,139 +987,139 @@
sprintf(webbuff, "%s%3d", webbuff, b);
}
strcat(webbuff, "%</strong>");
- strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onmousedown=\"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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='send_mes(this.value)' >");
- strcat(webbuff, "AVOIDANCE</button></td><td>");
- strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LINE_TRACE");
+ strcat(webbuff, "Avoidance</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
break;
case LEFT: //左折
- strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='send_mes(this.value)' >");
- strcat(webbuff, "AVOIDANCE</button></td><td>");
- strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LINE_TRACE");
+ strcat(webbuff, "Avoidance</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
break;
case STOP: //停止
- strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='send_mes(this.value)' >");
- strcat(webbuff, "AVOIDANCE</button></td><td>");
- strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LINE_TRACE");
+ strcat(webbuff, "Avoidance</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
break;
case RIGHT: //右折
- strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='send_mes(this.value)' >");
- strcat(webbuff, "AVOIDANCE</button></td><td>");
- strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LINE_TRACE");
+ strcat(webbuff, "Avoidance</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
break;
case BACK: //後進
- strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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></table>");
strcat(webbuff, "<strong>Mode</strong>");
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\" onmousedown='send_mes(this.value)' >LINE_TRACE");
+ strcat(webbuff, "Avoidance</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
break;
case AVOIDANCE: //障害物回避
- strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='send_mes(this.value)' >");
- strcat(webbuff, "AVOIDANCE</button></td><td>");
- strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LINE_TRACE");
+ strcat(webbuff, "Avoidance</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
break;
case LINE_TRACE: //ライントレース
- strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='send_mes(this.value)' >");
- strcat(webbuff, "AVOIDANCE</button></td><td>");
- strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LINE_TRACE");
+ strcat(webbuff, "Avoidance</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
break;
default: //その他
- strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='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\" onmousedown='send_mes(this.value)' >");
- strcat(webbuff, "AVOIDANCE</button></td><td>");
- strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LINE_TRACE");
+ strcat(webbuff, "Avoidance</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onmousedown='send_mes(this.value)' >LineTrace");
break;
}
strcat(webbuff, "</button></td></tr></table>");