siqiang pan / Mbed OS robotcarWifi3-demo-0827

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Dependencies:   RemoteIR TextLCD

main.cpp@35:4cda290bdb87, 2020-08-17 (annotated)

Committer:
molberry
Date:
Mon Aug 17 07:57:25 2020 +0000
Revision:
35:4cda290bdb87
Parent:
34:040474bf6fe0
Child:
36:66d42cf30dac
coment pulas

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 */
yangtzuli 0:0d0037aabe41 5
yangtzuli 0:0d0037aabe41 6 #include "mbed.h"
yangtzuli 0:0d0037aabe41 7 #include "ReceiverIR.h"
yangtzuli 0:0d0037aabe41 8 #include "rtos.h"
yangtzuli 0:0d0037aabe41 9 #include <stdint.h>
yangtzuli 0:0d0037aabe41 10 #include "platform/mbed_thread.h"
yangtzuli 2:38825726cb1b 11 #include "TextLCD.h"
yangtzuli 0:0d0037aabe41 12
nishimura_taku_pet 27:90962c01bfeb 13 RawSerial pc(USBTX, USBRX);
yangtzuli 0:0d0037aabe41 14
yangtzuli 3:2ae6218973be 15 /* マクロ定義、列挙型定義 */
nishimura_taku_pet 27:90962c01bfeb 16 #define MIN_V 2.0 // 電圧の最小値
nishimura_taku_pet 27:90962c01bfeb 17 #define MAX_V 2.67 // 電圧の最大値
nishimura_taku_pet 27:90962c01bfeb 18 #define LOW 0 // モーターOFF
nishimura_taku_pet 27:90962c01bfeb 19 #define HIGH 1 // モーターON
nishimura_taku_pet 27:90962c01bfeb 20 #define NORMAL 0 // 普通
nishimura_taku_pet 27:90962c01bfeb 21 #define FAST 1 // 速い
tomotsugu 8:a47dbf4fa455 22 #define VERYFAST 2 // とても速い
yangtzuli 2:38825726cb1b 23
tomotsugu 8:a47dbf4fa455 24 /* 操作モード定義 */
yangtzuli 3:2ae6218973be 25 enum MODE{
tomotsugu 8:a47dbf4fa455 26 READY = -1, // -1：待ち
tomotsugu 8:a47dbf4fa455 27 ADVANCE = 1, // 1：前進
tomotsugu 8:a47dbf4fa455 28 RIGHT, // 2：右折
tomotsugu 8:a47dbf4fa455 29 LEFT, // 3：左折
tomotsugu 8:a47dbf4fa455 30 BACK, // 4：後退
tomotsugu 8:a47dbf4fa455 31 STOP, // 5：停止
tomotsugu 8:a47dbf4fa455 32 LINE_TRACE, // 6：ライントレース
tomotsugu 8:a47dbf4fa455 33 AVOIDANCE, // 7：障害物回避
tomotsugu 8:a47dbf4fa455 34 SPEED, // 8：スピード制御
yangtzuli 2:38825726cb1b 35 };
yangtzuli 2:38825726cb1b 36
yangtzuli 3:2ae6218973be 37 /* ピン配置 */
yangtzuli 3:2ae6218973be 38 ReceiverIR ir(p5); // リモコン操作
yangtzuli 3:2ae6218973be 39 DigitalOut trig(p6); // 超音波センサtrigger
yangtzuli 5:3fffb364744b 40 DigitalIn echo(p7); // 超音波センサecho
yangtzuli 3:2ae6218973be 41 DigitalIn ss1(p8); // ライントレースセンサ(左)
yangtzuli 3:2ae6218973be 42 DigitalIn ss2(p9); // ライントレースセンサ
yangtzuli 3:2ae6218973be 43 DigitalIn ss3(p10); // ライントレースセンサ
yangtzuli 3:2ae6218973be 44 DigitalIn ss4(p11); // ライントレースセンサ
yangtzuli 3:2ae6218973be 45 DigitalIn ss5(p12); // ライントレースセンサ(右)
nishimura_taku_pet 24:9481c8f56a49 46 RawSerial esp(p13, p14); // Wi-Fiモジュール(tx, rx)
yangtzuli 3:2ae6218973be 47 AnalogIn battery(p15); // 電池残量読み取り(Max 3.3V)
yangtzuli 3:2ae6218973be 48 PwmOut motorR2(p21); // 右モーター後退
yangtzuli 3:2ae6218973be 49 PwmOut motorR1(p22); // 右モーター前進
yangtzuli 3:2ae6218973be 50 PwmOut motorL2(p23); // 左モーター後退
yangtzuli 3:2ae6218973be 51 PwmOut motorL1(p24); // 左モーター前進
yangtzuli 3:2ae6218973be 52 PwmOut servo(p25); // サーボ
yangtzuli 3:2ae6218973be 53 I2C i2c_lcd(p28,p27); // LCD(tx, rx)
yangtzuli 2:38825726cb1b 54
yangtzuli 3:2ae6218973be 55 /* 変数宣言 */
yangtzuli 3:2ae6218973be 56 int mode; // 操作モード
yangtzuli 3:2ae6218973be 57 int run; // 走行状態
tomotsugu 8:a47dbf4fa455 58 int beforeMode; // 前回のモード
tomotsugu 8:a47dbf4fa455 59 int flag_sp = 0; // スピード変化フラグ
tomotsugu 8:a47dbf4fa455 60 Timer viewTimer; // スピ―ド変更時に3秒計測タイマー
tomotsugu 22:c6e2a3b9aa14 61 float motorSpeed[9] = {0.5, 0.8, 0.9, 0.75, 0.85, 0.95, 0.8, 0.9, 1.0};
yangtzuli 3:2ae6218973be 62 // モーター速度設定(後半はライントレース用)
tomotsugu 8:a47dbf4fa455 63
tomotsugu 8:a47dbf4fa455 64 Mutex mutex; // ミューテックス
tomotsugu 8:a47dbf4fa455 65
tomotsugu 8:a47dbf4fa455 66 /* decodeIR用変数 */
yangtzuli 3:2ae6218973be 67 RemoteIR::Format format;
yangtzuli 3:2ae6218973be 68 uint8_t buf[32];
yangtzuli 3:2ae6218973be 69 uint32_t bitcount;
yangtzuli 3:2ae6218973be 70 uint32_t code;
yangtzuli 3:2ae6218973be 71
tomotsugu 8:a47dbf4fa455 72 /* bChange, lcdbacklight用変数 */
yangtzuli 3:2ae6218973be 73 TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780);
tomotsugu 8:a47dbf4fa455 74 int b = 0; // バッテリー残量
tomotsugu 8:a47dbf4fa455 75 int flag_b = 0; // バックライト点滅フラグ
tomotsugu 8:a47dbf4fa455 76 int flag_t = 0; // バックライトタイマーフラグ
yangtzuli 3:2ae6218973be 77
tomotsugu 8:a47dbf4fa455 78 /* trace用変数 */
yangtzuli 23:8c862b55fa1f 79 int sensArray[32] = {8,6,2,4,1,1,2,2, // ライントレースセンサパターン
nishimura_taku_pet 28:cb51cafca490 80 3,1,1,1,3,1,1,2,
nishimura_taku_pet 28:cb51cafca490 81 7,1,1,1,1,1,1,1,
nishimura_taku_pet 28:cb51cafca490 82 5,1,1,1,3,1,3,1};
yangtzuli 0:0d0037aabe41 83
tomotsugu 8:a47dbf4fa455 84 /* avoidance用変数 */
yangtzuli 3:2ae6218973be 85 Timer timer; // 距離計測用タイマ
yangtzuli 3:2ae6218973be 86 int DT; // 距離
yangtzuli 2:38825726cb1b 87 int SC; // 正面
yangtzuli 2:38825726cb1b 88 int SL; // 左
yangtzuli 2:38825726cb1b 89 int SR; // 右
yangtzuli 2:38825726cb1b 90 int SLD; // 左前
yangtzuli 2:38825726cb1b 91 int SRD; // 右前
tomotsugu 8:a47dbf4fa455 92 int flag_a = 0; // 障害物有無のフラグ
yangtzuli 2:38825726cb1b 93 const int limit = 20; // 障害物の距離のリミット(単位：cm)
yangtzuli 3:2ae6218973be 94 int far; // 最も遠い距離
yangtzuli 2:38825726cb1b 95 int houkou; // 進行方向(1:前 2:左 3:右)
yangtzuli 2:38825726cb1b 96 int i; // ループ変数
nishimura_taku_pet 29:600e4b9b5c5b 97 int t1 = 0;
yangtzuli 2:38825726cb1b 98
nishimura_taku_pet 24:9481c8f56a49 99 /*WiFi用変数*/
nishimura_taku_pet 24:9481c8f56a49 100 Timer time1;
nishimura_taku_pet 24:9481c8f56a49 101 Timer time2;
nishimura_taku_pet 24:9481c8f56a49 102 int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
nishimura_taku_pet 24:9481c8f56a49 103 int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
nishimura_taku_pet 24:9481c8f56a49 104 float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet 24:9481c8f56a49 105 char webcount[8];
nishimura_taku_pet 24:9481c8f56a49 106 char type[16];
nishimura_taku_pet 24:9481c8f56a49 107 char channel[2];
nishimura_taku_pet 24:9481c8f56a49 108 char cmdbuff[32];
nishimura_taku_pet 24:9481c8f56a49 109 char replybuff[1024];
nishimura_taku_pet 24:9481c8f56a49 110 char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet 27:90962c01bfeb 111 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet 24:9481c8f56a49 112 int port =80; // set server port
nishimura_taku_pet 24:9481c8f56a49 113 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
nishimura_taku_pet 24:9481c8f56a49 114 char ssid[32] = "mbed02"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet 24:9481c8f56a49 115 char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
yangtzuli 3:2ae6218973be 116
yangtzuli 3:2ae6218973be 117
yangtzuli 3:2ae6218973be 118 /* プロトタイプ宣言 */
nishimura_taku_pet 33:a6f1090e0174 119 void decodeIR(/*void const *argument*/);
nishimura_taku_pet 33:a6f1090e0174 120 void motor(/*void const *argument*/);
yangtzuli 3:2ae6218973be 121 void changeSpeed();
nishimura_taku_pet 16:ffc732a3cf92 122 void avoidance(/*void const *argument*/);
nishimura_taku_pet 16:ffc732a3cf92 123 void trace(/*void const *argument*/);
yangtzuli 2:38825726cb1b 124 void watchsurrounding();
yangtzuli 2:38825726cb1b 125 int watch();
yangtzuli 5:3fffb364744b 126 void bChange();
yangtzuli 3:2ae6218973be 127 void display();
yangtzuli 3:2ae6218973be 128 void lcdBacklight(void const *argument);
nishimura_taku_pet 24:9481c8f56a49 129 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck(),touchuan();
nishimura_taku_pet 24:9481c8f56a49 130 void wifi(void const *argument);
nishimura_taku_pet 33:a6f1090e0174 131 Thread *deco_thread; // decodeIRをスレッド化 ：+3
nishimura_taku_pet 33:a6f1090e0174 132 Thread wifi_thread(wifi,NULL,osPriorityRealtime); // wifiをスレッド化
nishimura_taku_pet 33:a6f1090e0174 133 Thread *motor_thread; // motorをスレッド化 ：+2
nishimura_taku_pet 16:ffc732a3cf92 134 //Thread avoi_thread(avoidance, NULL, osPriorityHigh); // avoidanceをスレッド化：+2
nishimura_taku_pet 16:ffc732a3cf92 135 //Thread trace_thread(trace, NULL, osPriorityHigh); // traceをスレッド化 ：+2
nishimura_taku_pet 33:a6f1090e0174 136 RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
nishimura_taku_pet 16:ffc732a3cf92 137 Thread *avoi_thread;
nishimura_taku_pet 16:ffc732a3cf92 138 Thread *trace_thread;
yangtzuli 2:38825726cb1b 139
nishimura_taku_pet 24:9481c8f56a49 140 DigitalOut led1(LED1);
nishimura_taku_pet 24:9481c8f56a49 141 DigitalOut led2(LED2);
nishimura_taku_pet 24:9481c8f56a49 142 DigitalOut led3(LED3);
nishimura_taku_pet 24:9481c8f56a49 143 DigitalOut led4(LED4);
yangtzuli 3:2ae6218973be 144
nishimura_taku_pet 33:a6f1090e0174 145 void setup(){
nishimura_taku_pet 33:a6f1090e0174 146 deco_thread = new Thread(decodeIR);
nishimura_taku_pet 33:a6f1090e0174 147 deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 148 motor_thread = new Thread(motor);
nishimura_taku_pet 33:a6f1090e0174 149 motor_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 33:a6f1090e0174 150 display();
nishimura_taku_pet 33:a6f1090e0174 151 }
nishimura_taku_pet 33:a6f1090e0174 152
tomotsugu 8:a47dbf4fa455 153 /* リモコン受信スレッド */
nishimura_taku_pet 33:a6f1090e0174 154 void decodeIR(/*void const *argument*/){
yangtzuli 5:3fffb364744b 155 while(1){
yangtzuli 0:0d0037aabe41 156 // 受信待ち
tomotsugu 8:a47dbf4fa455 157 if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli 3:2ae6218973be 158 bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu 8:a47dbf4fa455 159 if(bitcount > 1){ // 受信成功
yangtzuli 1:5bb497a38344 160 code=0;
tomotsugu 15:5eef1955f6c2 161 for(int j = 0; j < 4; j++){
yangtzuli 1:5bb497a38344 162 code+=(buf[j]<<(8*(3-j)));
yangtzuli 1:5bb497a38344 163 }
tomotsugu 8:a47dbf4fa455 164 if(mode != SPEED){ // スピードモード以外なら
tomotsugu 8:a47dbf4fa455 165 beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli 3:2ae6218973be 166 }
yangtzuli 0:0d0037aabe41 167 switch(code){
tomotsugu 8:a47dbf4fa455 168 case 0x40bf27d8: // クイック
yangtzuli 17:f7259ab2fe86 169 //pc.printf("mode = SPEED\r\n");
tomotsugu 8:a47dbf4fa455 170 mode = SPEED; // スピードモード
tomotsugu 8:a47dbf4fa455 171 changeSpeed(); // 速度変更
tomotsugu 8:a47dbf4fa455 172 display(); // ディスプレイ表示
tomotsugu 8:a47dbf4fa455 173 mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli 1:5bb497a38344 174 break;
tomotsugu 8:a47dbf4fa455 175 case 0x40be34cb: // レグザリンク
yangtzuli 17:f7259ab2fe86 176 //pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 177 if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 178 delete trace_thread;
nishimura_taku_pet 16:ffc732a3cf92 179 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 180 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 181 }
tomotsugu 8:a47dbf4fa455 182 mode=LINE_TRACE; // ライントレースモード
tomotsugu 8:a47dbf4fa455 183 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 184 break;
tomotsugu 8:a47dbf4fa455 185 case 0x40bf6e91: // 番組表
yangtzuli 17:f7259ab2fe86 186 //pc.printf("mode = AVOIDANCE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 187 if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 188 delete avoi_thread;
nishimura_taku_pet 16:ffc732a3cf92 189 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 190 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 191 }
tomotsugu 18:6cca64c7dbc3 192 flag_a = 0;
tomotsugu 8:a47dbf4fa455 193 mode=AVOIDANCE; // 障害物回避モード
tomotsugu 13:1a7667d0aa78 194 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 195 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 196 break;
tomotsugu 8:a47dbf4fa455 197 case 0x40bf3ec1: // ↑
yangtzuli 17:f7259ab2fe86 198 //pc.printf("mode = ADVANCE\r\n");
tomotsugu 8:a47dbf4fa455 199 mode = ADVANCE; // 前進モード
tomotsugu 8:a47dbf4fa455 200 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 201 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 202 break;
tomotsugu 8:a47dbf4fa455 203 case 0x40bf3fc0: // ↓
yangtzuli 17:f7259ab2fe86 204 //pc.printf("mode = BACK\r\n");
tomotsugu 8:a47dbf4fa455 205 mode = BACK; // 後退モード
tomotsugu 8:a47dbf4fa455 206 run = BACK; // 後退
tomotsugu 8:a47dbf4fa455 207 display(); // ディスプレイ表示
yangtzuli 0:0d0037aabe41 208 break;
tomotsugu 8:a47dbf4fa455 209 case 0x40bf5fa0: // ←
yangtzuli 17:f7259ab2fe86 210 //pc.printf("mode = LEFT\r\n");
tomotsugu 8:a47dbf4fa455 211 mode = LEFT; // 左折モード
tomotsugu 8:a47dbf4fa455 212 run = LEFT; // 左折
tomotsugu 8:a47dbf4fa455 213 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 214 break;
tomotsugu 8:a47dbf4fa455 215 case 0x40bf5ba4: // →
yangtzuli 17:f7259ab2fe86 216 //pc.printf("mode = RIGHT\r\n");
tomotsugu 8:a47dbf4fa455 217 mode = RIGHT; // 右折モード
tomotsugu 8:a47dbf4fa455 218 run = RIGHT; // 右折
tomotsugu 8:a47dbf4fa455 219 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 220 break;
tomotsugu 8:a47dbf4fa455 221 case 0x40bf3dc2: // 決定
yangtzuli 17:f7259ab2fe86 222 //pc.printf("mode = STOP\r\n");
tomotsugu 8:a47dbf4fa455 223 mode = STOP; // 停止モード
tomotsugu 8:a47dbf4fa455 224 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 225 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 226 break;
yangtzuli 0:0d0037aabe41 227 default:
yangtzuli 0:0d0037aabe41 228 ;
yangtzuli 0:0d0037aabe41 229 }
nishimura_taku_pet 16:ffc732a3cf92 230 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 231 trace_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 232 }
nishimura_taku_pet 16:ffc732a3cf92 233 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 234 avoi_thread->terminate();
nishimura_taku_pet 28:cb51cafca490 235 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 16:ffc732a3cf92 236 }
yangtzuli 0:0d0037aabe41 237 }
yangtzuli 0:0d0037aabe41 238 }
tomotsugu 8:a47dbf4fa455 239 if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
tomotsugu 8:a47dbf4fa455 240 viewTimer.stop(); // タイマーストップ
tomotsugu 8:a47dbf4fa455 241 viewTimer.reset(); // タイマーリセット
tomotsugu 8:a47dbf4fa455 242 display(); // ディスプレイ表示
yangtzuli 4:3f80c0180e2f 243 }
tomotsugu 18:6cca64c7dbc3 244 ThisThread::sleep_for(90); // 90ms待つ
yangtzuli 4:3f80c0180e2f 245 }
yangtzuli 2:38825726cb1b 246 }
tomotsugu 8:a47dbf4fa455 247
tomotsugu 8:a47dbf4fa455 248 /* モーター制御スレッド */
nishimura_taku_pet 33:a6f1090e0174 249 void motor(/*void const *argument*/){
tomotsugu 8:a47dbf4fa455 250 while(1){
tomotsugu 8:a47dbf4fa455 251 /* 走行状態の場合分け */
yangtzuli 3:2ae6218973be 252 switch(run){
tomotsugu 8:a47dbf4fa455 253 /* 前進 */
yangtzuli 3:2ae6218973be 254 case ADVANCE:
tomotsugu 8:a47dbf4fa455 255 motorR1 = motorSpeed[flag_sp]; // 右前進モーターON
tomotsugu 8:a47dbf4fa455 256 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 257 motorL1 = motorSpeed[flag_sp]; // 左前進モーターON
tomotsugu 8:a47dbf4fa455 258 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 259 break;
tomotsugu 8:a47dbf4fa455 260 /* 右折 */
yangtzuli 3:2ae6218973be 261 case RIGHT:
tomotsugu 8:a47dbf4fa455 262 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 263 motorR2 = motorSpeed[flag_sp]; // 右後退モーターON
tomotsugu 8:a47dbf4fa455 264 motorL1 = motorSpeed[flag_sp]; // 左前進モーターON
tomotsugu 8:a47dbf4fa455 265 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 266 break;
tomotsugu 8:a47dbf4fa455 267 /* 左折 */
yangtzuli 3:2ae6218973be 268 case LEFT:
tomotsugu 8:a47dbf4fa455 269 motorR1 = motorSpeed[flag_sp]; // 右前進モーターON
tomotsugu 8:a47dbf4fa455 270 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 271 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 272 motorL2 = motorSpeed[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 273 break;
tomotsugu 8:a47dbf4fa455 274 /* 後退 */
yangtzuli 3:2ae6218973be 275 case BACK:
tomotsugu 8:a47dbf4fa455 276 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 277 motorR2 = motorSpeed[flag_sp]; // 右後退モーターON
tomotsugu 8:a47dbf4fa455 278 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 279 motorL2 = motorSpeed[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 280 break;
tomotsugu 8:a47dbf4fa455 281 /* 停止 */
yangtzuli 3:2ae6218973be 282 case STOP:
tomotsugu 8:a47dbf4fa455 283 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 284 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 285 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 286 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 287 break;
yangtzuli 3:2ae6218973be 288 }
tomotsugu 8:a47dbf4fa455 289 if(flag_sp > VERYFAST){ // スピード変更フラグが2より大きいなら
tomotsugu 8:a47dbf4fa455 290 flag_sp -= 3 * (flag_sp / 3); // スピード変更フラグ調整
yangtzuli 6:800a745c7f2e 291 }
tomotsugu 8:a47dbf4fa455 292 ThisThread::sleep_for(30); // 30ms待つ
yangtzuli 2:38825726cb1b 293 }
yangtzuli 2:38825726cb1b 294 }
tomotsugu 8:a47dbf4fa455 295
tomotsugu 8:a47dbf4fa455 296 /* スピード変更関数 */
yangtzuli 3:2ae6218973be 297 void changeSpeed(){
tomotsugu 8:a47dbf4fa455 298 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
tomotsugu 8:a47dbf4fa455 299 flag_sp -= 2; // スピード変更フラグを-2
yangtzuli 3:2ae6218973be 300
tomotsugu 8:a47dbf4fa455 301 }else{ // それ以外
tomotsugu 8:a47dbf4fa455 302 flag_sp = flag_sp + 1; // スピード変更フラグを+1
yangtzuli 3:2ae6218973be 303 }
yangtzuli 3:2ae6218973be 304 }
tomotsugu 8:a47dbf4fa455 305
tomotsugu 8:a47dbf4fa455 306 /* ライントレーススレッド */
tomotsugu 20:02bb875a9b13 307 void trace(){
tomotsugu 8:a47dbf4fa455 308 while(1){
tomotsugu 8:a47dbf4fa455 309 /* 各センサー値読み取り */
yangtzuli 3:2ae6218973be 310 int sensor1 = ss1;
yangtzuli 3:2ae6218973be 311 int sensor2 = ss2;
yangtzuli 3:2ae6218973be 312 int sensor3 = ss3;
yangtzuli 3:2ae6218973be 313 int sensor4 = ss4;
yangtzuli 3:2ae6218973be 314 int sensor5 = ss5;
yangtzuli 6:800a745c7f2e 315 pc.printf("%d %d %d %d %d \r\n",sensor1,sensor2,sensor3,sensor4,sensor5);
yangtzuli 3:2ae6218973be 316 int sensD = 0;
tomotsugu 8:a47dbf4fa455 317
tomotsugu 8:a47dbf4fa455 318 /* センサー値の決定 */
yangtzuli 3:2ae6218973be 319 if(sensor1 > 0) sensD |= 0x10;
yangtzuli 3:2ae6218973be 320 if(sensor2 > 0) sensD |= 0x08;
yangtzuli 3:2ae6218973be 321 if(sensor3 > 0) sensD |= 0x04;
yangtzuli 3:2ae6218973be 322 if(sensor4 > 0) sensD |= 0x02;
yangtzuli 3:2ae6218973be 323 if(sensor5 > 0) sensD |= 0x01;
tomotsugu 8:a47dbf4fa455 324
tomotsugu 8:a47dbf4fa455 325 /* センサー値によって場合分け */
nishimura_taku_pet 34:040474bf6fe0 326 switch(sensArray[sensD]){
yangtzuli 3:2ae6218973be 327 case 1:
tomotsugu 18:6cca64c7dbc3 328 run = ADVANCE; // 低速で前進
yangtzuli 3:2ae6218973be 329 break;
yangtzuli 3:2ae6218973be 330 case 2:
yangtzuli 23:8c862b55fa1f 331 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 332 run = RIGHT; // 低速で右折
yangtzuli 3:2ae6218973be 333 break;
yangtzuli 3:2ae6218973be 334 case 3:
yangtzuli 23:8c862b55fa1f 335 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 336 run = LEFT; // 低速で左折
yangtzuli 3:2ae6218973be 337 break;
yangtzuli 3:2ae6218973be 338 case 4:
yangtzuli 23:8c862b55fa1f 339 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 340 run = RIGHT; // 中速で右折
yangtzuli 3:2ae6218973be 341 break;
yangtzuli 3:2ae6218973be 342 case 5:
yangtzuli 23:8c862b55fa1f 343 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 344 run = LEFT; // 中速で左折
yangtzuli 6:800a745c7f2e 345 break;
yangtzuli 6:800a745c7f2e 346 case 6:
tomotsugu 18:6cca64c7dbc3 347 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 348 run = RIGHT; // 高速で右折
yangtzuli 6:800a745c7f2e 349 break;
yangtzuli 6:800a745c7f2e 350 case 7:
tomotsugu 18:6cca64c7dbc3 351 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 352 run = LEFT; // 高速で左折
yangtzuli 3:2ae6218973be 353 break;
yangtzuli 23:8c862b55fa1f 354 case 8:
yangtzuli 23:8c862b55fa1f 355 break;
yangtzuli 3:2ae6218973be 356 }
tomotsugu 8:a47dbf4fa455 357 ThisThread::sleep_for(30); // 30ms待つ
tomotsugu 18:6cca64c7dbc3 358 }
yangtzuli 3:2ae6218973be 359 }
yangtzuli 3:2ae6218973be 360
tomotsugu 8:a47dbf4fa455 361 /* 障害物回避走行スレッド */
tomotsugu 20:02bb875a9b13 362 void avoidance(){
yangtzuli 3:2ae6218973be 363 while(1){
tomotsugu 18:6cca64c7dbc3 364 watchsurrounding();
tomotsugu 18:6cca64c7dbc3 365 pc.printf("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR);
tomotsugu 18:6cca64c7dbc3 366 if(flag_a == 0){ // 障害物がない場合
tomotsugu 18:6cca64c7dbc3 367 run = ADVANCE; // 前進
nishimura_taku_pet 28:cb51cafca490 368 }else{ // 障害物がある場合
tomotsugu 18:6cca64c7dbc3 369 i = 0;
tomotsugu 18:6cca64c7dbc3 370 if(SC < 15){ // 正面15cm以内に障害物が現れた場合
tomotsugu 18:6cca64c7dbc3 371 run = BACK; // 後退
tomotsugu 18:6cca64c7dbc3 372 while(watch() < limit){ // 正面20cm以内に障害物がある間
tomotsugu 18:6cca64c7dbc3 373 }
tomotsugu 18:6cca64c7dbc3 374 run = STOP; // 停止
yangtzuli 3:2ae6218973be 375 }
nishimura_taku_pet 28:cb51cafca490 376 if(SC < limit && SLD < limit && SL < limit && SRD < limit && SR < limit){ // 全方向に障害物がある場合
tomotsugu 18:6cca64c7dbc3 377 run = LEFT; // 左折
nishimura_taku_pet 28:cb51cafca490 378 while(i < 1){ // 進行方向確認
nishimura_taku_pet 28:cb51cafca490 379 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 380 if(watch() > limit){
tomotsugu 18:6cca64c7dbc3 381 i++;
nishimura_taku_pet 28:cb51cafca490 382 }else{
nishimura_taku_pet 28:cb51cafca490 383 i = 0;
yangtzuli 2:38825726cb1b 384 }
yangtzuli 2:38825726cb1b 385 }
nishimura_taku_pet 28:cb51cafca490 386 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 387 }else { // 全方向以外
nishimura_taku_pet 28:cb51cafca490 388 far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 389 houkou = 1; // 進行方向を前に設定
nishimura_taku_pet 28:cb51cafca490 390 if(far < SLD || far < SL){ // 左または左前がより遠い場合
nishimura_taku_pet 28:cb51cafca490 391 if(SL < SLD){ // 左前が左より遠い場合
nishimura_taku_pet 28:cb51cafca490 392 far = SLD; // 左前を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 393 }else{ // 左が左前より遠い場合
nishimura_taku_pet 28:cb51cafca490 394 far = SL; // 左を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 395 }
nishimura_taku_pet 28:cb51cafca490 396 houkou = 2; // 進行方向を左に設定
nishimura_taku_pet 28:cb51cafca490 397 }
nishimura_taku_pet 28:cb51cafca490 398 if(far < SRD || far < SR){ // 右または右前がより遠い場合
nishimura_taku_pet 28:cb51cafca490 399 if(SR < SRD){ // 右前が右より遠い場合
nishimura_taku_pet 28:cb51cafca490 400 far = SRD; // 右前を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 401 }else{ // 右が右前よりも遠い場合
nishimura_taku_pet 28:cb51cafca490 402 far = SR; // 右を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 403 }
nishimura_taku_pet 28:cb51cafca490 404 houkou = 3; // 進行方向を右に設定
nishimura_taku_pet 28:cb51cafca490 405 }
nishimura_taku_pet 28:cb51cafca490 406 switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet 28:cb51cafca490 407 case 1: // 前の場合
nishimura_taku_pet 28:cb51cafca490 408 run = ADVANCE; // 前進
nishimura_taku_pet 28:cb51cafca490 409 ThisThread::sleep_for(1000); // 1秒待つ
nishimura_taku_pet 28:cb51cafca490 410 break;
nishimura_taku_pet 28:cb51cafca490 411 case 2: // 左の場合
nishimura_taku_pet 28:cb51cafca490 412
nishimura_taku_pet 28:cb51cafca490 413 run = LEFT; // 左折
nishimura_taku_pet 28:cb51cafca490 414 while(i < 1){ // 進行方向確認
nishimura_taku_pet 28:cb51cafca490 415 flag_sp = flag_sp % 3 + 6;
nishimura_taku_pet 28:cb51cafca490 416 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)
nishimura_taku_pet 28:cb51cafca490 417 i++; // ループ+
nishimura_taku_pet 28:cb51cafca490 418 }else{
nishimura_taku_pet 28:cb51cafca490 419 i = 0;
nishimura_taku_pet 28:cb51cafca490 420 }
nishimura_taku_pet 28:cb51cafca490 421 }
nishimura_taku_pet 28:cb51cafca490 422 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 423 break;
nishimura_taku_pet 28:cb51cafca490 424 case 3: // 右の場合
nishimura_taku_pet 28:cb51cafca490 425
nishimura_taku_pet 28:cb51cafca490 426 run = RIGHT; // 右折
nishimura_taku_pet 28:cb51cafca490 427 while(i < 1){ // 進行方向確認
nishimura_taku_pet 28:cb51cafca490 428 flag_sp = flag_sp % 3 + 6;
nishimura_taku_pet 28:cb51cafca490 429 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)
nishimura_taku_pet 28:cb51cafca490 430 i++; // ループ+
nishimura_taku_pet 28:cb51cafca490 431 }else{
nishimura_taku_pet 28:cb51cafca490 432 i = 0;
nishimura_taku_pet 28:cb51cafca490 433 }
nishimura_taku_pet 28:cb51cafca490 434 }
nishimura_taku_pet 28:cb51cafca490 435 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 436 break;
nishimura_taku_pet 28:cb51cafca490 437 }
yangtzuli 5:3fffb364744b 438 }
nishimura_taku_pet 28:cb51cafca490 439 }
nishimura_taku_pet 28:cb51cafca490 440 flag_a = 0; // 障害物有無フラグを0にセット
yangtzuli 2:38825726cb1b 441 }
yangtzuli 2:38825726cb1b 442 }
tomotsugu 8:a47dbf4fa455 443
tomotsugu 8:a47dbf4fa455 444 /* 距離計測関数 */
yangtzuli 2:38825726cb1b 445 int watch(){
tomotsugu 21:68d38e8f64b5 446 do{
tomotsugu 21:68d38e8f64b5 447 trig = 0;
tomotsugu 21:68d38e8f64b5 448 ThisThread::sleep_for(5); // 5ms待つ
tomotsugu 21:68d38e8f64b5 449 trig = 1;
tomotsugu 21:68d38e8f64b5 450 ThisThread::sleep_for(15); // 15ms待つ
tomotsugu 21:68d38e8f64b5 451 trig = 0;
tomotsugu 21:68d38e8f64b5 452 timer.start();
yangtzuli 17:f7259ab2fe86 453 t1=timer.read_ms();
nishimura_taku_pet 29:600e4b9b5c5b 454 while(echo.read() == 0 && t1<10){
tomotsugu 21:68d38e8f64b5 455 t1=timer.read_ms();
tomotsugu 21:68d38e8f64b5 456 led1 = 1;
tomotsugu 21:68d38e8f64b5 457 }
tomotsugu 21:68d38e8f64b5 458 timer.stop();
tomotsugu 21:68d38e8f64b5 459 timer.reset();
nishimura_taku_pet 28:cb51cafca490 460 /*if((t1-t2) >= 10){
nishimura_taku_pet 28:cb51cafca490 461 run = STOP;*/
nishimura_taku_pet 29:600e4b9b5c5b 462 }while(t1 >= 10);
tomotsugu 21:68d38e8f64b5 463 timer.start(); // 距離計測タイマースタート
tomotsugu 21:68d38e8f64b5 464 while(echo.read() == 1){
yangtzuli 5:3fffb364744b 465 }
tomotsugu 21:68d38e8f64b5 466 timer.stop(); // 距離計測タイマーストップ
tomotsugu 21:68d38e8f64b5 467 DT = (int)(timer.read_us()*0.01657); // 距離計算
nishimura_taku_pet 28:cb51cafca490 468 if(DT > 1000){
nishimura_taku_pet 28:cb51cafca490 469 DT = -1;
nishimura_taku_pet 28:cb51cafca490 470 }else if(DT > 150){ // 検知範囲外なら100cmに設定
tomotsugu 22:c6e2a3b9aa14 471 DT = 150;
yangtzuli 2:38825726cb1b 472 }
tomotsugu 21:68d38e8f64b5 473 timer.reset(); // 距離計測タイマーリセット
tomotsugu 8:a47dbf4fa455 474 led1 = 0;
yangtzuli 2:38825726cb1b 475 return DT;
yangtzuli 0:0d0037aabe41 476 }
yangtzuli 0:0d0037aabe41 477
tomotsugu 8:a47dbf4fa455 478 /* 障害物検知関数 */
yangtzuli 2:38825726cb1b 479 void watchsurrounding(){
nishimura_taku_pet 28:cb51cafca490 480 //servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 481 //ThisThread::sleep_for(200); // 100ms待つ
yangtzuli 2:38825726cb1b 482 SC = watch();
nishimura_taku_pet 28:cb51cafca490 483 if(SC < limit){ // 正面20cm以内に障害物がある場合
nishimura_taku_pet 28:cb51cafca490 484 if(SC!=-1){
nishimura_taku_pet 28:cb51cafca490 485 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 486 flag_a = 1;
nishimura_taku_pet 28:cb51cafca490 487 }
yangtzuli 2:38825726cb1b 488 }
yangtzuli 2:38825726cb1b 489 servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet 28:cb51cafca490 490 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 491 SLD = watch();
yangtzuli 2:38825726cb1b 492 if(SLD < limit){ // 左前20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 493 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 494 flag_a = 1;
yangtzuli 2:38825726cb1b 495 }
yangtzuli 2:38825726cb1b 496 servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet 28:cb51cafca490 497 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 498 SL = watch();
yangtzuli 2:38825726cb1b 499 if(SL < limit){ // 左20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 500 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 501 flag_a = 1;
yangtzuli 2:38825726cb1b 502 }
tomotsugu 19:c6f9f010bd9e 503 servo.pulsewidth_us(1450);
nishimura_taku_pet 28:cb51cafca490 504 ThisThread::sleep_for(250);
tomotsugu 19:c6f9f010bd9e 505 SC = watch();
tomotsugu 19:c6f9f010bd9e 506 if(SC < limit){
nishimura_taku_pet 28:cb51cafca490 507 if(SC!=-1){
nishimura_taku_pet 28:cb51cafca490 508 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 509 flag_a = 1;
nishimura_taku_pet 28:cb51cafca490 510 }
tomotsugu 19:c6f9f010bd9e 511 }
yangtzuli 2:38825726cb1b 512 servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet 28:cb51cafca490 513 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 514 SRD = watch();
yangtzuli 2:38825726cb1b 515 if(SRD < limit){ // 右前20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 516 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 517 flag_a = 1;
yangtzuli 2:38825726cb1b 518 }
yangtzuli 2:38825726cb1b 519 servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet 28:cb51cafca490 520 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 521 SR = watch();
yangtzuli 2:38825726cb1b 522 if(SR < limit){ // 右20cm以内に障害物がある場合
nishimura_taku_pet 28:cb51cafca490 523 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 524 flag_a = 1;
yangtzuli 2:38825726cb1b 525 }
yangtzuli 2:38825726cb1b 526 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 527 ThisThread::sleep_for(250); // 100ms待つ
nishimura_taku_pet 28:cb51cafca490 528 /*if(SC < limit || SLD < limit || SL < limit || SRD < limit || SR < limit){ // 20cm以内に障害物を検知した場合
tomotsugu 8:a47dbf4fa455 529 flag_a = 1; // 障害物有無フラグに1をセット
nishimura_taku_pet 28:cb51cafca490 530 }*/
yangtzuli 3:2ae6218973be 531 }
yangtzuli 3:2ae6218973be 532
tomotsugu 8:a47dbf4fa455 533 /* ディスプレイ表示関数 */
yangtzuli 3:2ae6218973be 534 void display(){
tomotsugu 8:a47dbf4fa455 535 mutex.lock(); // ミューテックスロック
yangtzuli 3:2ae6218973be 536 lcd.setAddress(0,1);
tomotsugu 8:a47dbf4fa455 537
tomotsugu 8:a47dbf4fa455 538 /* 操作モードによる場合分け */
yangtzuli 3:2ae6218973be 539 switch(mode){
tomotsugu 8:a47dbf4fa455 540 /* 前進 */
yangtzuli 3:2ae6218973be 541 case ADVANCE:
yangtzuli 3:2ae6218973be 542 lcd.printf("Mode:Advance ");
yangtzuli 3:2ae6218973be 543 break;
tomotsugu 8:a47dbf4fa455 544 /* 右折 */
yangtzuli 3:2ae6218973be 545 case RIGHT:
yangtzuli 5:3fffb364744b 546 lcd.printf("Mode:TurnRight ");
yangtzuli 3:2ae6218973be 547 break;
tomotsugu 8:a47dbf4fa455 548 /* 左折 */
yangtzuli 3:2ae6218973be 549 case LEFT:
yangtzuli 5:3fffb364744b 550 lcd.printf("Mode:TurnLeft ");
yangtzuli 3:2ae6218973be 551 break;
tomotsugu 8:a47dbf4fa455 552 /* 後退 */
yangtzuli 3:2ae6218973be 553 case BACK:
yangtzuli 3:2ae6218973be 554 lcd.printf("Mode:Back ");
yangtzuli 3:2ae6218973be 555 break;
tomotsugu 8:a47dbf4fa455 556 /* 停止 */
yangtzuli 3:2ae6218973be 557 case STOP:
yangtzuli 3:2ae6218973be 558 lcd.printf("Mode:Stop ");
yangtzuli 3:2ae6218973be 559 break;
tomotsugu 8:a47dbf4fa455 560 /* 待ち */
yangtzuli 3:2ae6218973be 561 case READY:
yangtzuli 3:2ae6218973be 562 lcd.printf("Mode:Ready ");
yangtzuli 3:2ae6218973be 563 break;
tomotsugu 8:a47dbf4fa455 564 /* ライントレース */
yangtzuli 3:2ae6218973be 565 case LINE_TRACE:
yangtzuli 3:2ae6218973be 566 lcd.printf("Mode:LineTrace ");
yangtzuli 3:2ae6218973be 567 break;
tomotsugu 8:a47dbf4fa455 568 /* 障害物回避 */
yangtzuli 3:2ae6218973be 569 case AVOIDANCE:
yangtzuli 3:2ae6218973be 570 lcd.printf("Mode:Avoidance ");
yangtzuli 3:2ae6218973be 571 break;
tomotsugu 8:a47dbf4fa455 572 /* スピード制御 */
yangtzuli 3:2ae6218973be 573 case SPEED:
tomotsugu 8:a47dbf4fa455 574 /* スピードの状態で場合分け */
yangtzuli 3:2ae6218973be 575 switch(flag_sp){
tomotsugu 8:a47dbf4fa455 576 /* 普通 */
yangtzuli 3:2ae6218973be 577 case(NORMAL):
yangtzuli 3:2ae6218973be 578 lcd.printf("Speed:Normal ");
yangtzuli 3:2ae6218973be 579 break;
tomotsugu 8:a47dbf4fa455 580 /* 速い */
yangtzuli 3:2ae6218973be 581 case(FAST):
yangtzuli 3:2ae6218973be 582 lcd.printf("Speed:Fast ");
yangtzuli 3:2ae6218973be 583 break;
tomotsugu 8:a47dbf4fa455 584 /* とても速い */
yangtzuli 3:2ae6218973be 585 case(VERYFAST):
yangtzuli 3:2ae6218973be 586 lcd.printf("Speed:VeryFast ");
yangtzuli 3:2ae6218973be 587 break;
yangtzuli 3:2ae6218973be 588 }
tomotsugu 8:a47dbf4fa455 589 viewTimer.reset(); // タイマーリセット
tomotsugu 8:a47dbf4fa455 590 viewTimer.start(); // タイマースタート
yangtzuli 3:2ae6218973be 591 break;
yangtzuli 3:2ae6218973be 592 }
tomotsugu 8:a47dbf4fa455 593 mutex.unlock(); // ミューテックスアンロック
yangtzuli 3:2ae6218973be 594 }
yangtzuli 3:2ae6218973be 595
tomotsugu 8:a47dbf4fa455 596 /* バックライト点滅 */
yangtzuli 3:2ae6218973be 597 void lcdBacklight(void const *argument){
tomotsugu 8:a47dbf4fa455 598 if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu 8:a47dbf4fa455 599 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 8:a47dbf4fa455 600 }else{ // バックライト点滅フラグが0なら
tomotsugu 8:a47dbf4fa455 601 lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli 3:2ae6218973be 602 }
tomotsugu 8:a47dbf4fa455 603 flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli 3:2ae6218973be 604 }
yangtzuli 2:38825726cb1b 605
tomotsugu 8:a47dbf4fa455 606 /* バッテリー残量更新関数 */
yangtzuli 5:3fffb364744b 607 void bChange(){
yangtzuli 17:f7259ab2fe86 608 //pc.printf(" bChange1\r\n");
tomotsugu 10:d193030ce672 609 b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10;
tomotsugu 10:d193030ce672 610 if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu 10:d193030ce672 611 b = 0;
tomotsugu 10:d193030ce672 612 //lcd.setBacklight(TextLCD::LightOff);
tomotsugu 10:d193030ce672 613 //run = STOP;
tomotsugu 10:d193030ce672 614 //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。
tomotsugu 10:d193030ce672 615 }
tomotsugu 10:d193030ce672 616 mutex.lock(); // ミューテックスロック
tomotsugu 10:d193030ce672 617 lcd.setAddress(0,0);
tomotsugu 10:d193030ce672 618 lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
tomotsugu 10:d193030ce672 619 mutex.unlock(); // ミューテックスアンロック
tomotsugu 10:d193030ce672 620 if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu 10:d193030ce672 621 if(flag_t == 0){ // バックライトタイマーフラグが0なら
tomotsugu 10:d193030ce672 622 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 623 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 624 }
tomotsugu 10:d193030ce672 625 }else{
tomotsugu 10:d193030ce672 626 if(flag_t == 1){ // バックライトタイマーフラグが1なら
tomotsugu 10:d193030ce672 627 bTimer.stop(); // バックライトタイマーストップ
tomotsugu 10:d193030ce672 628 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 10:d193030ce672 629 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 630 }
tomotsugu 10:d193030ce672 631 }
yangtzuli 2:38825726cb1b 632 }
tomotsugu 8:a47dbf4fa455 633
nishimura_taku_pet 24:9481c8f56a49 634 // Serial Interrupt read ESP data
nishimura_taku_pet 24:9481c8f56a49 635 void callback()
nishimura_taku_pet 24:9481c8f56a49 636 {
nishimura_taku_pet 24:9481c8f56a49 637 //pc.printf("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 638 led3=1;
nishimura_taku_pet 24:9481c8f56a49 639 while (esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 640 webbuff[ount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 641 ount++;
nishimura_taku_pet 24:9481c8f56a49 642 }
nishimura_taku_pet 24:9481c8f56a49 643 if(strlen(webbuff)>bufflen) {
nishimura_taku_pet 24:9481c8f56a49 644 pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 645 DataRX=1;
nishimura_taku_pet 24:9481c8f56a49 646 led3=0;
nishimura_taku_pet 24:9481c8f56a49 647 }
nishimura_taku_pet 24:9481c8f56a49 648 }
nishimura_taku_pet 24:9481c8f56a49 649
nishimura_taku_pet 24:9481c8f56a49 650 void wifi(void const *argument)
nishimura_taku_pet 24:9481c8f56a49 651 {
nishimura_taku_pet 24:9481c8f56a49 652 pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet 33:a6f1090e0174 653 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 654 led1=1,led2=0,led3=0;
nishimura_taku_pet 24:9481c8f56a49 655 timeout=6000;
nishimura_taku_pet 24:9481c8f56a49 656 getcount=500;
nishimura_taku_pet 24:9481c8f56a49 657 getreply();
nishimura_taku_pet 24:9481c8f56a49 658 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet 24:9481c8f56a49 659 startserver();
nishimura_taku_pet 24:9481c8f56a49 660
nishimura_taku_pet 24:9481c8f56a49 661 while(1) {
nishimura_taku_pet 24:9481c8f56a49 662 if(DataRX==1) {
nishimura_taku_pet 24:9481c8f56a49 663 pc.printf("\f\n\r------------ main while > if --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 664 click_flag = 1;
nishimura_taku_pet 24:9481c8f56a49 665 ReadWebData();
nishimura_taku_pet 24:9481c8f56a49 666 pc.printf("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
nishimura_taku_pet 24:9481c8f56a49 667 //if ((servreq == 1 && weberror == 0) && click_flag == 1) {
nishimura_taku_pet 24:9481c8f56a49 668 if (servreq == 1 && weberror == 0) {
nishimura_taku_pet 24:9481c8f56a49 669 pc.printf("\f\n\r------------ befor send page --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 670 sendpage();
nishimura_taku_pet 24:9481c8f56a49 671 }
nishimura_taku_pet 24:9481c8f56a49 672 pc.printf("\f\n\r------------ send_check begin --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 673
nishimura_taku_pet 24:9481c8f56a49 674 //sendcheck();
nishimura_taku_pet 24:9481c8f56a49 675 pc.printf("\f\n\r------------ ssend_check end--------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 676
nishimura_taku_pet 24:9481c8f56a49 677 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 678 pc.printf(" IPD Data:\r\n\n Link ID = %d,\r\n IPD Header Length = %d \r\n IPD Type = %s\r\n", linkID, ipdLen, type);
nishimura_taku_pet 24:9481c8f56a49 679 pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
nishimura_taku_pet 24:9481c8f56a49 680 pc.printf(" Web Characters sent : %d\n\n", bufl);
nishimura_taku_pet 24:9481c8f56a49 681 pc.printf(" -------------------------------------\n\n");
nishimura_taku_pet 24:9481c8f56a49 682 servreq=0;
nishimura_taku_pet 24:9481c8f56a49 683 }
nishimura_taku_pet 24:9481c8f56a49 684 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 685 }
nishimura_taku_pet 24:9481c8f56a49 686 }
nishimura_taku_pet 24:9481c8f56a49 687 // Static WEB page
nishimura_taku_pet 24:9481c8f56a49 688 void sendpage()
nishimura_taku_pet 24:9481c8f56a49 689 {
nishimura_taku_pet 24:9481c8f56a49 690 // WEB page data
nishimura_taku_pet 24:9481c8f56a49 691
nishimura_taku_pet 24:9481c8f56a49 692 strcpy(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet 24:9481c8f56a49 693 strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
nishimura_taku_pet 24:9481c8f56a49 694 strcat(webbuff, "<style type=\"text/css\">.noselect{ width:100px;height:60px;}.light{ width:100px;height:60px;background-color:#00ff66;}</style>");
nishimura_taku_pet 24:9481c8f56a49 695 strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet 24:9481c8f56a49 696 strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
molberry 35:4cda290bdb87 697 if(b > 30) { //残電量表示
nishimura_taku_pet 33:a6f1090e0174 698 sprintf(webbuff, "%s%3d", webbuff, b);
molberry 35:4cda290bdb87 699 } else { //30%より下の場合残電量を赤文字
nishimura_taku_pet 33:a6f1090e0174 700 strcat(webbuff, "<font color=\"red\">");
nishimura_taku_pet 33:a6f1090e0174 701 sprintf(webbuff, "%s%3d", webbuff, b);
nishimura_taku_pet 33:a6f1090e0174 702 strcat(webbuff, "<\font>");
nishimura_taku_pet 33:a6f1090e0174 703 }
nishimura_taku_pet 33:a6f1090e0174 704 strcat(webbuff, "%</strong>");
nishimura_taku_pet 24:9481c8f56a49 705 strcat(webbuff, "</td></p>");
nishimura_taku_pet 24:9481c8f56a49 706 strcat(webbuff, "<br>");
nishimura_taku_pet 24:9481c8f56a49 707 strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 708
molberry 35:4cda290bdb87 709 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 710 case ADVANCE: //前進
nishimura_taku_pet 24:9481c8f56a49 711 strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 712 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 713 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 714 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 715 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 716 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 717 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 718 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 719 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 720 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 721 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 722 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 723 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 724 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 725 break;
molberry 35:4cda290bdb87 726 case LEFT: //左折
nishimura_taku_pet 24:9481c8f56a49 727 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 728 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 729 strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 730 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 731 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 732 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 733 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 734 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 735 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 736 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 737 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 738 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 739 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 740 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 741 break;
molberry 35:4cda290bdb87 742 case STOP: //停止
nishimura_taku_pet 24:9481c8f56a49 743 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 744 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 745 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 746 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 747 strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 748 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 749 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 750 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 751 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 752 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 753 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 754 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 755 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 756 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 757 break;
molberry 35:4cda290bdb87 758 case RIGHT: //右折
nishimura_taku_pet 24:9481c8f56a49 759 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 760 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 761 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 762 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 763 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 764 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 765 strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 766 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 767 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 768 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 769 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 770 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 771 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 772 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 773 break;
molberry 35:4cda290bdb87 774 case BACK: //後進
nishimura_taku_pet 24:9481c8f56a49 775 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 776 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 777 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 778 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 779 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 780 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 781 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 782 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 783 strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 784 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet 24:9481c8f56a49 785 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 786 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 787 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 788 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 789 break;
molberry 35:4cda290bdb87 790 case AVOIDANCE: //障害物回避
nishimura_taku_pet 24:9481c8f56a49 791 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 792 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 793 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 794 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 795 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 796 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 797 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 798 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 799 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 800 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 801 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 802 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 803 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 804 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 805 break;
molberry 35:4cda290bdb87 806 case LINE_TRACE: //ライントレース
nishimura_taku_pet 24:9481c8f56a49 807 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 808 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 809 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 810 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 811 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 812 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 813 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 814 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 815 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 816 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 817 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 818 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 819 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 820 strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 821 break;
molberry 35:4cda290bdb87 822 default: //その他
nishimura_taku_pet 24:9481c8f56a49 823 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 824 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 825 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 826 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 827 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 828 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 829 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 830 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 831 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 832 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 833 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 834 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 835 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 836 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 837 break;
nishimura_taku_pet 24:9481c8f56a49 838 }
nishimura_taku_pet 24:9481c8f56a49 839 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 840 strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet 24:9481c8f56a49 841 strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 842 //ready示速度だけ点灯
molberry 35:4cda290bdb87 843 switch (flag_sp) { //現在の速度のボタン表示
molberry 35:4cda290bdb87 844 case 0: //ノーマル
nishimura_taku_pet 24:9481c8f56a49 845 strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 846 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 847 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 848 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 849 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 850 break;
molberry 35:4cda290bdb87 851 case 1: //ファスト
nishimura_taku_pet 24:9481c8f56a49 852 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 853 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 854 strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 855 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 856 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 857 break;
molberry 35:4cda290bdb87 858 case 2: //ベリーファスト
nishimura_taku_pet 24:9481c8f56a49 859 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 860 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 861 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 862 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 863 strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 864 break;
molberry 35:4cda290bdb87 865 default: //その他
nishimura_taku_pet 24:9481c8f56a49 866 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 867 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 868 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 869 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 870 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 871 break;
nishimura_taku_pet 24:9481c8f56a49 872 }
nishimura_taku_pet 24:9481c8f56a49 873 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 874
nishimura_taku_pet 24:9481c8f56a49 875 strcat(webbuff, "</center>");
nishimura_taku_pet 24:9481c8f56a49 876 strcat(webbuff, "</body>");
nishimura_taku_pet 24:9481c8f56a49 877 strcat(webbuff, "</html>");
molberry 35:4cda290bdb87 878 strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
nishimura_taku_pet 24:9481c8f56a49 879
nishimura_taku_pet 24:9481c8f56a49 880 strcat(webbuff, "function htmlacs(url) {");
nishimura_taku_pet 24:9481c8f56a49 881 strcat(webbuff, "var xhr = new XMLHttpRequest();");
nishimura_taku_pet 24:9481c8f56a49 882 strcat(webbuff, "xhr.open(\"GET\", url);");
nishimura_taku_pet 24:9481c8f56a49 883 strcat(webbuff, "xhr.send(\"\");");
nishimura_taku_pet 24:9481c8f56a49 884 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 885
molberry 35:4cda290bdb87 886 strcat(webbuff, "function send_mes(btnmes,btnval){"); //mode変更ボタン入力時の点灯消灯判定
nishimura_taku_pet 24:9481c8f56a49 887 strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet 24:9481c8f56a49 888
nishimura_taku_pet 24:9481c8f56a49 889 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 890 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 891 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 892 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 24:9481c8f56a49 893 strcat(webbuff, "for(var i=0;i<7;i++){");
nishimura_taku_pet 24:9481c8f56a49 894 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 895 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 896 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 897 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 898 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 899 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 900 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 901
molberry 35:4cda290bdb87 902 strcat(webbuff, "function send_mes_spe(btnmes,btnval){"); //speed変更ボタン入力時の点灯消灯判定
nishimura_taku_pet 24:9481c8f56a49 903 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 904 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 905 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 906 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 24:9481c8f56a49 907 strcat(webbuff, "for(var i=7;i<10;i++){");
nishimura_taku_pet 24:9481c8f56a49 908 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 909 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 910 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 911 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 912 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 913 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 914 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 915 strcat(webbuff, "</script>");
nishimura_taku_pet 24:9481c8f56a49 916 // end of WEB page data
nishimura_taku_pet 24:9481c8f56a49 917 bufl = strlen(webbuff); // get total page buffer length
nishimura_taku_pet 24:9481c8f56a49 918 //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet 24:9481c8f56a49 919
nishimura_taku_pet 24:9481c8f56a49 920 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 921 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 922 getcount=40;
nishimura_taku_pet 24:9481c8f56a49 923 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 924 getreply();
nishimura_taku_pet 24:9481c8f56a49 925 pc.printf(replybuff);
nishimura_taku_pet 32:049d9ba081d4 926 //pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
nishimura_taku_pet 24:9481c8f56a49 927
nishimura_taku_pet 24:9481c8f56a49 928 pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
nishimura_taku_pet 24:9481c8f56a49 929
nishimura_taku_pet 24:9481c8f56a49 930 //pastthrough mode
nishimura_taku_pet 24:9481c8f56a49 931 SendWEB(); // send web page
nishimura_taku_pet 24:9481c8f56a49 932 pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 933
nishimura_taku_pet 24:9481c8f56a49 934 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 935 sendcheck();
nishimura_taku_pet 24:9481c8f56a49 936 }
nishimura_taku_pet 24:9481c8f56a49 937
nishimura_taku_pet 24:9481c8f56a49 938 // Large WEB buffer data send
nishimura_taku_pet 24:9481c8f56a49 939 void SendWEB()
nishimura_taku_pet 24:9481c8f56a49 940 {
nishimura_taku_pet 24:9481c8f56a49 941 int i=0;
nishimura_taku_pet 24:9481c8f56a49 942 if(esp.writeable()) {
nishimura_taku_pet 24:9481c8f56a49 943 while(webbuff[i]!='\0') {
nishimura_taku_pet 24:9481c8f56a49 944 esp.putc(webbuff[i]);
nishimura_taku_pet 24:9481c8f56a49 945
nishimura_taku_pet 24:9481c8f56a49 946 //****
nishimura_taku_pet 24:9481c8f56a49 947 //output at command when 2000
nishimura_taku_pet 24:9481c8f56a49 948 if(((i%2047)==0) && (i>0)) {
nishimura_taku_pet 24:9481c8f56a49 949 //wait_ms(10);
nishimura_taku_pet 32:049d9ba081d4 950 ThisThread::sleep_for(10);
nishimura_taku_pet 24:9481c8f56a49 951 sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); // send IPD link channel and buffer character length.
nishimura_taku_pet 32:049d9ba081d4 952 //pc.printf("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet 24:9481c8f56a49 953 timeout=600;
nishimura_taku_pet 24:9481c8f56a49 954 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 955 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 956 getreply();
nishimura_taku_pet 32:049d9ba081d4 957 //pc.printf(replybuff);
nishimura_taku_pet 32:049d9ba081d4 958 //pc.printf("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 959 }
nishimura_taku_pet 24:9481c8f56a49 960 //****
nishimura_taku_pet 24:9481c8f56a49 961 i++;
nishimura_taku_pet 32:049d9ba081d4 962 //pc.printf("%c",webbuff[i]);
nishimura_taku_pet 24:9481c8f56a49 963 }
nishimura_taku_pet 24:9481c8f56a49 964 }
nishimura_taku_pet 24:9481c8f56a49 965 pc.printf("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet 24:9481c8f56a49 966 }
nishimura_taku_pet 24:9481c8f56a49 967
nishimura_taku_pet 24:9481c8f56a49 968
nishimura_taku_pet 24:9481c8f56a49 969 void sendcheck()
nishimura_taku_pet 24:9481c8f56a49 970 {
nishimura_taku_pet 24:9481c8f56a49 971 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 972 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 973 getcount=24;
nishimura_taku_pet 24:9481c8f56a49 974 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 975 time2.start();
nishimura_taku_pet 24:9481c8f56a49 976
nishimura_taku_pet 24:9481c8f56a49 977 /*
nishimura_taku_pet 24:9481c8f56a49 978 while(weberror==1 && time2.read() <5) {
nishimura_taku_pet 24:9481c8f56a49 979 getreply();
nishimura_taku_pet 24:9481c8f56a49 980 if (strstr(replybuff, "SEND OK") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 981 weberror=0; // wait for valid SEND OK
nishimura_taku_pet 24:9481c8f56a49 982 }
nishimura_taku_pet 24:9481c8f56a49 983 }
nishimura_taku_pet 24:9481c8f56a49 984 */
nishimura_taku_pet 24:9481c8f56a49 985 if(weberror==1) { // restart connection
nishimura_taku_pet 24:9481c8f56a49 986 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet 24:9481c8f56a49 987 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 988 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 989 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 990 getreply();
nishimura_taku_pet 24:9481c8f56a49 991 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 992 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 993 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 994 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 995 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 996 getreply();
nishimura_taku_pet 24:9481c8f56a49 997 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 998 } else {
nishimura_taku_pet 24:9481c8f56a49 999 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet 24:9481c8f56a49 1000 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1001 getreply();
nishimura_taku_pet 24:9481c8f56a49 1002 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1003 }
nishimura_taku_pet 24:9481c8f56a49 1004 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1005 }
nishimura_taku_pet 24:9481c8f56a49 1006
nishimura_taku_pet 24:9481c8f56a49 1007 // Reads and processes GET and POST web data
nishimura_taku_pet 24:9481c8f56a49 1008 void ReadWebData()
nishimura_taku_pet 24:9481c8f56a49 1009 {
nishimura_taku_pet 24:9481c8f56a49 1010 pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet 30:c80da0ecc260 1011 ThisThread::sleep_for(200);
nishimura_taku_pet 24:9481c8f56a49 1012 esp.attach(NULL);
nishimura_taku_pet 24:9481c8f56a49 1013 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1014 DataRX=0;
nishimura_taku_pet 24:9481c8f56a49 1015 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1016 memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet 24:9481c8f56a49 1017 int x = strcspn (webbuff,"+");
nishimura_taku_pet 24:9481c8f56a49 1018 if(x) {
nishimura_taku_pet 24:9481c8f56a49 1019 strcpy(webdata, webbuff + x);
nishimura_taku_pet 24:9481c8f56a49 1020 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1021 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
nishimura_taku_pet 24:9481c8f56a49 1022 //int i=0;
nishimura_taku_pet 24:9481c8f56a49 1023 pc.printf("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1024 pc.printf("%s",webdata);
nishimura_taku_pet 24:9481c8f56a49 1025 pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1026 if( strstr(webdata, "GO") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1027 pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1028 delete avoi_thread; //障害物回避スレッド停止
molberry 35:4cda290bdb87 1029 delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1030 run = ADVANCE; // 前進
molberry 35:4cda290bdb87 1031 mode = ADVANCE; // モード変更
molberry 35:4cda290bdb87 1032 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1033 }
nishimura_taku_pet 26:0badbc9f9cb3 1034
nishimura_taku_pet 24:9481c8f56a49 1035 if( strstr(webdata, "LEFT") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1036 pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1037 delete avoi_thread; //障害物回避スレッド停止
molberry 35:4cda290bdb87 1038 delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1039 run = LEFT; // 左折
molberry 35:4cda290bdb87 1040 mode = LEFT; // モード変更
molberry 35:4cda290bdb87 1041 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1042 }
nishimura_taku_pet 24:9481c8f56a49 1043
nishimura_taku_pet 24:9481c8f56a49 1044 if( strstr(webdata, "STOP") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1045 pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1046 delete avoi_thread; //障害物回避スレッド停止
molberry 35:4cda290bdb87 1047 delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1048 run = STOP; // 停止
molberry 35:4cda290bdb87 1049 mode = STOP; // モード変更
molberry 35:4cda290bdb87 1050 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1051 }
nishimura_taku_pet 24:9481c8f56a49 1052
nishimura_taku_pet 24:9481c8f56a49 1053 if( strstr(webdata, "RIGHT") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1054 pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1055 delete avoi_thread; //障害物回避スレッド停止
molberry 35:4cda290bdb87 1056 delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1057 run = RIGHT; // 右折
molberry 35:4cda290bdb87 1058 mode = RIGHT; // モード変更
molberry 35:4cda290bdb87 1059 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1060 }
nishimura_taku_pet 24:9481c8f56a49 1061
nishimura_taku_pet 24:9481c8f56a49 1062 if( strstr(webdata, "BACK") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1063 pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n");
molberry 35:4cda290bdb87 1064 delete avoi_thread; //障害物回避スレッド停止
molberry 35:4cda290bdb87 1065 delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1066 run = BACK; // 後進
molberry 35:4cda290bdb87 1067 mode = BACK; // モード変更
molberry 35:4cda290bdb87 1068 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1069 }
nishimura_taku_pet 24:9481c8f56a49 1070 pc.printf("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1071
nishimura_taku_pet 24:9481c8f56a49 1072 if( strstr(webdata, "AVOIDANCE") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1073 pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet 26:0badbc9f9cb3 1074 if(avoi_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1075 delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1076 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 26:0badbc9f9cb3 1077 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1078 }
nishimura_taku_pet 24:9481c8f56a49 1079 mode=AVOIDANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1080 run = ADVANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1081 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1082 }
nishimura_taku_pet 24:9481c8f56a49 1083 if( strstr(webdata, "LINE_TRACE") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1084 pc.printf("+++++++++++++++++LINET RACE+++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1085 pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet 26:0badbc9f9cb3 1086 if(trace_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1087 delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1088 trace_thread = new Thread(trace);
nishimura_taku_pet 26:0badbc9f9cb3 1089 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1090 }
nishimura_taku_pet 24:9481c8f56a49 1091 mode=LINE_TRACE;
nishimura_taku_pet 26:0badbc9f9cb3 1092 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1093 }
nishimura_taku_pet 24:9481c8f56a49 1094 if( strstr(webdata, "Normal") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1095 pc.printf("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1096 mode = SPEED; // スピードモード
nishimura_taku_pet 24:9481c8f56a49 1097 flag_sp = 0;
nishimura_taku_pet 26:0badbc9f9cb3 1098 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1099 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 24:9481c8f56a49 1100 }
nishimura_taku_pet 24:9481c8f56a49 1101 if( strstr(webdata, "Fast") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1102 pc.printf("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1103 mode = SPEED; // スピードモード
nishimura_taku_pet 24:9481c8f56a49 1104 flag_sp = 1;
nishimura_taku_pet 26:0badbc9f9cb3 1105 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1106 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 24:9481c8f56a49 1107 }
nishimura_taku_pet 24:9481c8f56a49 1108 if( strstr(webdata, "VeryFast") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1109 pc.printf("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet 26:0badbc9f9cb3 1110 mode = SPEED; // スピードモード
nishimura_taku_pet 24:9481c8f56a49 1111 flag_sp = 2;
nishimura_taku_pet 26:0badbc9f9cb3 1112 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1113 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 24:9481c8f56a49 1114 }
nishimura_taku_pet 26:0badbc9f9cb3 1115 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1116 trace_thread->terminate();
nishimura_taku_pet 26:0badbc9f9cb3 1117 }
nishimura_taku_pet 26:0badbc9f9cb3 1118 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1119 avoi_thread->terminate();
nishimura_taku_pet 31:3665282561d6 1120 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 26:0badbc9f9cb3 1121 }
nishimura_taku_pet 24:9481c8f56a49 1122 sprintf(channel, "%d",linkID);
nishimura_taku_pet 24:9481c8f56a49 1123 if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1124 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1125 }
nishimura_taku_pet 24:9481c8f56a49 1126 if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1127 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1128 }
nishimura_taku_pet 24:9481c8f56a49 1129 webcounter++;
nishimura_taku_pet 24:9481c8f56a49 1130 sprintf(webcount, "%d",webcounter);
nishimura_taku_pet 24:9481c8f56a49 1131 } else {
nishimura_taku_pet 24:9481c8f56a49 1132 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1133 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1134 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1135 }
nishimura_taku_pet 24:9481c8f56a49 1136 }
nishimura_taku_pet 24:9481c8f56a49 1137 // Starts and restarts webserver if errors detected.
nishimura_taku_pet 24:9481c8f56a49 1138 void startserver()
nishimura_taku_pet 24:9481c8f56a49 1139 {
nishimura_taku_pet 24:9481c8f56a49 1140 pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1141 strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet 24:9481c8f56a49 1142 timeout=8000;
nishimura_taku_pet 24:9481c8f56a49 1143 getcount=1000;
nishimura_taku_pet 24:9481c8f56a49 1144 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1145 getreply();
nishimura_taku_pet 24:9481c8f56a49 1146 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1147 pc.printf("%d",ount);
nishimura_taku_pet 24:9481c8f56a49 1148 if (strstr(replybuff, "OK") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1149 pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1150 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet 24:9481c8f56a49 1151 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1152 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1153 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1154 getreply();
nishimura_taku_pet 24:9481c8f56a49 1155 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1156 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1157 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1158 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1159 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1160 getreply();
nishimura_taku_pet 24:9481c8f56a49 1161 pc.printf(replybuff);
nishimura_taku_pet 33:a6f1090e0174 1162 ThisThread::sleep_for(500);
nishimura_taku_pet 24:9481c8f56a49 1163 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet 24:9481c8f56a49 1164 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1165 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1166 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1167 getreply();
nishimura_taku_pet 24:9481c8f56a49 1168 pc.printf(replybuff);
nishimura_taku_pet 25:8ed98982faa7 1169 ThisThread::sleep_for(5000);
nishimura_taku_pet 24:9481c8f56a49 1170 pc.printf("\n Getting Server IP \r\n");
nishimura_taku_pet 24:9481c8f56a49 1171 strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet 24:9481c8f56a49 1172 timeout=2500;
nishimura_taku_pet 24:9481c8f56a49 1173 getcount=200;
nishimura_taku_pet 24:9481c8f56a49 1174 while(weberror==0) {
nishimura_taku_pet 24:9481c8f56a49 1175 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1176 getreply();
nishimura_taku_pet 24:9481c8f56a49 1177 if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet 24:9481c8f56a49 1178 weberror=1; // wait for valid IP
nishimura_taku_pet 24:9481c8f56a49 1179 }
nishimura_taku_pet 24:9481c8f56a49 1180 }
nishimura_taku_pet 24:9481c8f56a49 1181 pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1182 pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1183 replybuff[strlen(replybuff)-1] = '\0';
nishimura_taku_pet 24:9481c8f56a49 1184 //char* IP = replybuff + 5;
nishimura_taku_pet 24:9481c8f56a49 1185 sprintf(webdata,"%s", replybuff);
nishimura_taku_pet 24:9481c8f56a49 1186 pc.printf(webdata);
nishimura_taku_pet 24:9481c8f56a49 1187 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1188 bufflen=200;
nishimura_taku_pet 24:9481c8f56a49 1189 //bufflen=100;
nishimura_taku_pet 24:9481c8f56a49 1190 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1191 pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet 33:a6f1090e0174 1192 setup();
nishimura_taku_pet 24:9481c8f56a49 1193 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1194 } else {
nishimura_taku_pet 24:9481c8f56a49 1195 pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1196 led1=1;
nishimura_taku_pet 24:9481c8f56a49 1197 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1198 led3=1;
nishimura_taku_pet 24:9481c8f56a49 1199 led4=1;
nishimura_taku_pet 24:9481c8f56a49 1200 while(1) {
nishimura_taku_pet 24:9481c8f56a49 1201 led1=!led1;
nishimura_taku_pet 24:9481c8f56a49 1202 led2=!led2;
nishimura_taku_pet 24:9481c8f56a49 1203 led3=!led3;
nishimura_taku_pet 24:9481c8f56a49 1204 led4=!led4;
nishimura_taku_pet 25:8ed98982faa7 1205 ThisThread::sleep_for(1000);
nishimura_taku_pet 24:9481c8f56a49 1206 }
nishimura_taku_pet 24:9481c8f56a49 1207 }
nishimura_taku_pet 24:9481c8f56a49 1208 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1209 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1210 }
nishimura_taku_pet 24:9481c8f56a49 1211 // ESP Command data send
nishimura_taku_pet 24:9481c8f56a49 1212 void SendCMD()
nishimura_taku_pet 24:9481c8f56a49 1213 {
nishimura_taku_pet 24:9481c8f56a49 1214 esp.printf("%s", cmdbuff);
nishimura_taku_pet 24:9481c8f56a49 1215 }
nishimura_taku_pet 24:9481c8f56a49 1216 // Get Command and ESP status replies
nishimura_taku_pet 24:9481c8f56a49 1217 void getreply()
nishimura_taku_pet 24:9481c8f56a49 1218 {
nishimura_taku_pet 24:9481c8f56a49 1219 memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet 24:9481c8f56a49 1220 time1.reset();
nishimura_taku_pet 24:9481c8f56a49 1221 time1.start();
nishimura_taku_pet 24:9481c8f56a49 1222 replycount=0;
nishimura_taku_pet 24:9481c8f56a49 1223 while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet 24:9481c8f56a49 1224 if(esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 1225 replybuff[replycount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 1226 replycount++;
nishimura_taku_pet 24:9481c8f56a49 1227 }
nishimura_taku_pet 24:9481c8f56a49 1228 }
nishimura_taku_pet 24:9481c8f56a49 1229 time1.stop();
nishimura_taku_pet 24:9481c8f56a49 1230 }
nishimura_taku_pet 24:9481c8f56a49 1231
tomotsugu 8:a47dbf4fa455 1232 /* mainスレッド */
yangtzuli 0:0d0037aabe41 1233 int main() {
tomotsugu 8:a47dbf4fa455 1234 /* 初期設定 */
nishimura_taku_pet 16:ffc732a3cf92 1235 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 1236 avoi_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 1237 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 1238 trace_thread->terminate();
tomotsugu 8:a47dbf4fa455 1239 mode = READY; // 現在待ちモード
tomotsugu 8:a47dbf4fa455 1240 beforeMode = READY; // 前回待ちモード
tomotsugu 8:a47dbf4fa455 1241 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 1242 flag_sp = NORMAL; // スピード(普通)
tomotsugu 10:d193030ce672 1243 lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet 33:a6f1090e0174 1244 lcd.setAddress(0,1);
nishimura_taku_pet 33:a6f1090e0174 1245 lcd.printf("Mode:SetUp");
nishimura_taku_pet 33:a6f1090e0174 1246 //display(); // ディスプレイ表示
yangtzuli 2:38825726cb1b 1247
yangtzuli 0:0d0037aabe41 1248 while(1){
tomotsugu 8:a47dbf4fa455 1249 bChange(); // バッテリー残量更新
yangtzuli 0:0d0037aabe41 1250 }
yangtzuli 0:0d0037aabe41 1251 }