siqiang pan / Mbed OS robotcarWifi3-demo-0827

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Dependencies:   RemoteIR TextLCD

main.cpp@40:75e1ad7c27e4, 2020-08-19 (annotated)

Committer:
nishimura_taku_pet
Date:
Wed Aug 19 06:07:00 2020 +0000
Revision:
40:75e1ad7c27e4
Parent:
39:054c17d10c55
Child:
41:3c58a4be1199
avoidance update

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
nishimura_taku_pet 40:75e1ad7c27e4 61 float motorSpeed[9] = {0.4, 0.7, 0.8, 0.7, 0.8, 0.9, 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 */
takuminomura 39:054c17d10c55 79 int sensArray[32] = {0,6,2,4,1,1,2,2, // 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*/);
nishimura_taku_pet 40:75e1ad7c27e4 124 void watchsurrounding3();
nishimura_taku_pet 40:75e1ad7c27e4 125 void watchsurrounding5();
yangtzuli 2:38825726cb1b 126 int watch();
yangtzuli 5:3fffb364744b 127 void bChange();
yangtzuli 3:2ae6218973be 128 void display();
yangtzuli 3:2ae6218973be 129 void lcdBacklight(void const *argument);
nishimura_taku_pet 24:9481c8f56a49 130 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck(),touchuan();
nishimura_taku_pet 24:9481c8f56a49 131 void wifi(void const *argument);
nishimura_taku_pet 33:a6f1090e0174 132 Thread *deco_thread; // decodeIRをスレッド化 ：+3
nishimura_taku_pet 33:a6f1090e0174 133 Thread wifi_thread(wifi,NULL,osPriorityRealtime); // wifiをスレッド化
nishimura_taku_pet 33:a6f1090e0174 134 Thread *motor_thread; // motorをスレッド化 ：+2
nishimura_taku_pet 16:ffc732a3cf92 135 //Thread avoi_thread(avoidance, NULL, osPriorityHigh); // avoidanceをスレッド化：+2
nishimura_taku_pet 16:ffc732a3cf92 136 //Thread trace_thread(trace, NULL, osPriorityHigh); // traceをスレッド化 ：+2
nishimura_taku_pet 33:a6f1090e0174 137 RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
nishimura_taku_pet 16:ffc732a3cf92 138 Thread *avoi_thread;
nishimura_taku_pet 16:ffc732a3cf92 139 Thread *trace_thread;
yangtzuli 2:38825726cb1b 140
nishimura_taku_pet 24:9481c8f56a49 141 DigitalOut led1(LED1);
nishimura_taku_pet 24:9481c8f56a49 142 DigitalOut led2(LED2);
nishimura_taku_pet 24:9481c8f56a49 143 DigitalOut led3(LED3);
nishimura_taku_pet 24:9481c8f56a49 144 DigitalOut led4(LED4);
yangtzuli 3:2ae6218973be 145
nishimura_taku_pet 33:a6f1090e0174 146 void setup(){
nishimura_taku_pet 33:a6f1090e0174 147 deco_thread = new Thread(decodeIR);
nishimura_taku_pet 33:a6f1090e0174 148 deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 149 motor_thread = new Thread(motor);
nishimura_taku_pet 33:a6f1090e0174 150 motor_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 33:a6f1090e0174 151 display();
nishimura_taku_pet 33:a6f1090e0174 152 }
nishimura_taku_pet 33:a6f1090e0174 153
tomotsugu 8:a47dbf4fa455 154 /* リモコン受信スレッド */
nishimura_taku_pet 33:a6f1090e0174 155 void decodeIR(/*void const *argument*/){
yangtzuli 5:3fffb364744b 156 while(1){
yangtzuli 0:0d0037aabe41 157 // 受信待ち
tomotsugu 8:a47dbf4fa455 158 if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli 3:2ae6218973be 159 bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu 8:a47dbf4fa455 160 if(bitcount > 1){ // 受信成功
yangtzuli 1:5bb497a38344 161 code=0;
tomotsugu 15:5eef1955f6c2 162 for(int j = 0; j < 4; j++){
yangtzuli 1:5bb497a38344 163 code+=(buf[j]<<(8*(3-j)));
yangtzuli 1:5bb497a38344 164 }
tomotsugu 8:a47dbf4fa455 165 if(mode != SPEED){ // スピードモード以外なら
tomotsugu 8:a47dbf4fa455 166 beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli 3:2ae6218973be 167 }
yangtzuli 0:0d0037aabe41 168 switch(code){
tomotsugu 8:a47dbf4fa455 169 case 0x40bf27d8: // クイック
yangtzuli 17:f7259ab2fe86 170 //pc.printf("mode = SPEED\r\n");
tomotsugu 8:a47dbf4fa455 171 mode = SPEED; // スピードモード
tomotsugu 8:a47dbf4fa455 172 changeSpeed(); // 速度変更
tomotsugu 8:a47dbf4fa455 173 display(); // ディスプレイ表示
tomotsugu 8:a47dbf4fa455 174 mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli 1:5bb497a38344 175 break;
tomotsugu 8:a47dbf4fa455 176 case 0x40be34cb: // レグザリンク
yangtzuli 17:f7259ab2fe86 177 //pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 178 if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 179 delete trace_thread;
nishimura_taku_pet 16:ffc732a3cf92 180 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 181 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 182 }
tomotsugu 8:a47dbf4fa455 183 mode=LINE_TRACE; // ライントレースモード
tomotsugu 8:a47dbf4fa455 184 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 185 break;
tomotsugu 8:a47dbf4fa455 186 case 0x40bf6e91: // 番組表
yangtzuli 17:f7259ab2fe86 187 //pc.printf("mode = AVOIDANCE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 188 if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 189 delete avoi_thread;
nishimura_taku_pet 16:ffc732a3cf92 190 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 191 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 192 }
tomotsugu 18:6cca64c7dbc3 193 flag_a = 0;
tomotsugu 8:a47dbf4fa455 194 mode=AVOIDANCE; // 障害物回避モード
tomotsugu 13:1a7667d0aa78 195 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 196 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 197 break;
tomotsugu 8:a47dbf4fa455 198 case 0x40bf3ec1: // ↑
yangtzuli 17:f7259ab2fe86 199 //pc.printf("mode = ADVANCE\r\n");
tomotsugu 8:a47dbf4fa455 200 mode = ADVANCE; // 前進モード
tomotsugu 8:a47dbf4fa455 201 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 202 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 203 break;
tomotsugu 8:a47dbf4fa455 204 case 0x40bf3fc0: // ↓
yangtzuli 17:f7259ab2fe86 205 //pc.printf("mode = BACK\r\n");
tomotsugu 8:a47dbf4fa455 206 mode = BACK; // 後退モード
tomotsugu 8:a47dbf4fa455 207 run = BACK; // 後退
tomotsugu 8:a47dbf4fa455 208 display(); // ディスプレイ表示
yangtzuli 0:0d0037aabe41 209 break;
tomotsugu 8:a47dbf4fa455 210 case 0x40bf5fa0: // ←
yangtzuli 17:f7259ab2fe86 211 //pc.printf("mode = LEFT\r\n");
tomotsugu 8:a47dbf4fa455 212 mode = LEFT; // 左折モード
tomotsugu 8:a47dbf4fa455 213 run = LEFT; // 左折
tomotsugu 8:a47dbf4fa455 214 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 215 break;
tomotsugu 8:a47dbf4fa455 216 case 0x40bf5ba4: // →
yangtzuli 17:f7259ab2fe86 217 //pc.printf("mode = RIGHT\r\n");
tomotsugu 8:a47dbf4fa455 218 mode = RIGHT; // 右折モード
tomotsugu 8:a47dbf4fa455 219 run = RIGHT; // 右折
tomotsugu 8:a47dbf4fa455 220 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 221 break;
tomotsugu 8:a47dbf4fa455 222 case 0x40bf3dc2: // 決定
yangtzuli 17:f7259ab2fe86 223 //pc.printf("mode = STOP\r\n");
tomotsugu 8:a47dbf4fa455 224 mode = STOP; // 停止モード
tomotsugu 8:a47dbf4fa455 225 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 226 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 227 break;
yangtzuli 0:0d0037aabe41 228 default:
yangtzuli 0:0d0037aabe41 229 ;
yangtzuli 0:0d0037aabe41 230 }
nishimura_taku_pet 16:ffc732a3cf92 231 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 232 trace_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 233 }
nishimura_taku_pet 16:ffc732a3cf92 234 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 235 avoi_thread->terminate();
nishimura_taku_pet 28:cb51cafca490 236 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 16:ffc732a3cf92 237 }
yangtzuli 0:0d0037aabe41 238 }
yangtzuli 0:0d0037aabe41 239 }
tomotsugu 8:a47dbf4fa455 240 if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
tomotsugu 8:a47dbf4fa455 241 viewTimer.stop(); // タイマーストップ
tomotsugu 8:a47dbf4fa455 242 viewTimer.reset(); // タイマーリセット
tomotsugu 8:a47dbf4fa455 243 display(); // ディスプレイ表示
yangtzuli 4:3f80c0180e2f 244 }
tomotsugu 18:6cca64c7dbc3 245 ThisThread::sleep_for(90); // 90ms待つ
yangtzuli 4:3f80c0180e2f 246 }
yangtzuli 2:38825726cb1b 247 }
tomotsugu 8:a47dbf4fa455 248
tomotsugu 8:a47dbf4fa455 249 /* モーター制御スレッド */
nishimura_taku_pet 33:a6f1090e0174 250 void motor(/*void const *argument*/){
tomotsugu 8:a47dbf4fa455 251 while(1){
tomotsugu 8:a47dbf4fa455 252 /* 走行状態の場合分け */
yangtzuli 3:2ae6218973be 253 switch(run){
tomotsugu 8:a47dbf4fa455 254 /* 前進 */
yangtzuli 3:2ae6218973be 255 case ADVANCE:
tomotsugu 8:a47dbf4fa455 256 motorR1 = motorSpeed[flag_sp]; // 右前進モーターON
tomotsugu 8:a47dbf4fa455 257 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 258 motorL1 = motorSpeed[flag_sp]; // 左前進モーターON
tomotsugu 8:a47dbf4fa455 259 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 260 break;
tomotsugu 8:a47dbf4fa455 261 /* 右折 */
yangtzuli 3:2ae6218973be 262 case RIGHT:
tomotsugu 8:a47dbf4fa455 263 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 264 motorR2 = motorSpeed[flag_sp]; // 右後退モーターON
tomotsugu 8:a47dbf4fa455 265 motorL1 = motorSpeed[flag_sp]; // 左前進モーターON
tomotsugu 8:a47dbf4fa455 266 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 267 break;
tomotsugu 8:a47dbf4fa455 268 /* 左折 */
yangtzuli 3:2ae6218973be 269 case LEFT:
tomotsugu 8:a47dbf4fa455 270 motorR1 = motorSpeed[flag_sp]; // 右前進モーターON
tomotsugu 8:a47dbf4fa455 271 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 272 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 273 motorL2 = motorSpeed[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 274 break;
tomotsugu 8:a47dbf4fa455 275 /* 後退 */
yangtzuli 3:2ae6218973be 276 case BACK:
tomotsugu 8:a47dbf4fa455 277 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 278 motorR2 = motorSpeed[flag_sp]; // 右後退モーターON
tomotsugu 8:a47dbf4fa455 279 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 280 motorL2 = motorSpeed[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 281 break;
tomotsugu 8:a47dbf4fa455 282 /* 停止 */
yangtzuli 3:2ae6218973be 283 case STOP:
tomotsugu 8:a47dbf4fa455 284 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 285 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 286 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 287 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 288 break;
yangtzuli 3:2ae6218973be 289 }
tomotsugu 8:a47dbf4fa455 290 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 291 flag_sp -= 3 * (flag_sp / 3); // スピード変更フラグ調整
yangtzuli 6:800a745c7f2e 292 }
tomotsugu 8:a47dbf4fa455 293 ThisThread::sleep_for(30); // 30ms待つ
yangtzuli 2:38825726cb1b 294 }
yangtzuli 2:38825726cb1b 295 }
tomotsugu 8:a47dbf4fa455 296
tomotsugu 8:a47dbf4fa455 297 /* スピード変更関数 */
yangtzuli 3:2ae6218973be 298 void changeSpeed(){
tomotsugu 8:a47dbf4fa455 299 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 300 flag_sp -= 2; // スピード変更フラグを-2
yangtzuli 3:2ae6218973be 301
tomotsugu 8:a47dbf4fa455 302 }else{ // それ以外
tomotsugu 8:a47dbf4fa455 303 flag_sp = flag_sp + 1; // スピード変更フラグを+1
yangtzuli 3:2ae6218973be 304 }
yangtzuli 3:2ae6218973be 305 }
tomotsugu 8:a47dbf4fa455 306
tomotsugu 8:a47dbf4fa455 307 /* ライントレーススレッド */
tomotsugu 20:02bb875a9b13 308 void trace(){
tomotsugu 8:a47dbf4fa455 309 while(1){
tomotsugu 8:a47dbf4fa455 310 /* 各センサー値読み取り */
yangtzuli 3:2ae6218973be 311 int sensor1 = ss1;
yangtzuli 3:2ae6218973be 312 int sensor2 = ss2;
yangtzuli 3:2ae6218973be 313 int sensor3 = ss3;
yangtzuli 3:2ae6218973be 314 int sensor4 = ss4;
yangtzuli 3:2ae6218973be 315 int sensor5 = ss5;
yangtzuli 6:800a745c7f2e 316 pc.printf("%d %d %d %d %d \r\n",sensor1,sensor2,sensor3,sensor4,sensor5);
yangtzuli 3:2ae6218973be 317 int sensD = 0;
tomotsugu 8:a47dbf4fa455 318
tomotsugu 8:a47dbf4fa455 319 /* センサー値の決定 */
yangtzuli 3:2ae6218973be 320 if(sensor1 > 0) sensD |= 0x10;
yangtzuli 3:2ae6218973be 321 if(sensor2 > 0) sensD |= 0x08;
yangtzuli 3:2ae6218973be 322 if(sensor3 > 0) sensD |= 0x04;
yangtzuli 3:2ae6218973be 323 if(sensor4 > 0) sensD |= 0x02;
yangtzuli 3:2ae6218973be 324 if(sensor5 > 0) sensD |= 0x01;
tomotsugu 8:a47dbf4fa455 325
tomotsugu 8:a47dbf4fa455 326 /* センサー値によって場合分け */
nishimura_taku_pet 34:040474bf6fe0 327 switch(sensArray[sensD]){
yangtzuli 3:2ae6218973be 328 case 1:
tomotsugu 18:6cca64c7dbc3 329 run = ADVANCE; // 低速で前進
yangtzuli 3:2ae6218973be 330 break;
yangtzuli 3:2ae6218973be 331 case 2:
takuminomura 39:054c17d10c55 332 // flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 333 run = RIGHT; // 低速で右折
yangtzuli 3:2ae6218973be 334 break;
yangtzuli 3:2ae6218973be 335 case 3:
takuminomura 39:054c17d10c55 336 // flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 337 run = LEFT; // 低速で左折
yangtzuli 3:2ae6218973be 338 break;
yangtzuli 3:2ae6218973be 339 case 4:
takuminomura 39:054c17d10c55 340 flag_sp = flag_sp % 3 + 3;
tomotsugu 18:6cca64c7dbc3 341 run = RIGHT; // 中速で右折
yangtzuli 3:2ae6218973be 342 break;
yangtzuli 3:2ae6218973be 343 case 5:
takuminomura 39:054c17d10c55 344 flag_sp = flag_sp % 3 + 3;
tomotsugu 18:6cca64c7dbc3 345 run = LEFT; // 中速で左折
yangtzuli 6:800a745c7f2e 346 break;
yangtzuli 6:800a745c7f2e 347 case 6:
tomotsugu 18:6cca64c7dbc3 348 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 349 run = RIGHT; // 高速で右折
yangtzuli 6:800a745c7f2e 350 break;
yangtzuli 6:800a745c7f2e 351 case 7:
tomotsugu 18:6cca64c7dbc3 352 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 353 run = LEFT; // 高速で左折
yangtzuli 3:2ae6218973be 354 break;
takuminomura 39:054c17d10c55 355 default:
takuminomura 39:054c17d10c55 356 break; // 前回動作を継続
yangtzuli 3:2ae6218973be 357 }
tomotsugu 8:a47dbf4fa455 358 ThisThread::sleep_for(30); // 30ms待つ
tomotsugu 18:6cca64c7dbc3 359 }
yangtzuli 3:2ae6218973be 360 }
yangtzuli 3:2ae6218973be 361
tomotsugu 8:a47dbf4fa455 362 /* 障害物回避走行スレッド */
tomotsugu 20:02bb875a9b13 363 void avoidance(){
yangtzuli 3:2ae6218973be 364 while(1){
nishimura_taku_pet 40:75e1ad7c27e4 365 watchsurrounding3();
tomotsugu 18:6cca64c7dbc3 366 pc.printf("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR);
tomotsugu 18:6cca64c7dbc3 367 if(flag_a == 0){ // 障害物がない場合
tomotsugu 18:6cca64c7dbc3 368 run = ADVANCE; // 前進
nishimura_taku_pet 28:cb51cafca490 369 }else{ // 障害物がある場合
tomotsugu 18:6cca64c7dbc3 370 i = 0;
tomotsugu 18:6cca64c7dbc3 371 if(SC < 15){ // 正面15cm以内に障害物が現れた場合
tomotsugu 18:6cca64c7dbc3 372 run = BACK; // 後退
nishimura_taku_pet 40:75e1ad7c27e4 373 int cnt_kyori=0;
nishimura_taku_pet 40:75e1ad7c27e4 374 int kyori = watch();
nishimura_taku_pet 40:75e1ad7c27e4 375 while(kyori < limit){ // 正面20cm以内に障害物がある間
nishimura_taku_pet 40:75e1ad7c27e4 376 if(kyori==-1){
nishimura_taku_pet 40:75e1ad7c27e4 377 cnt_kyori++;
nishimura_taku_pet 40:75e1ad7c27e4 378 if(cnt_kyori>15){
nishimura_taku_pet 40:75e1ad7c27e4 379 cnt_kyori=0;
nishimura_taku_pet 40:75e1ad7c27e4 380 break;
nishimura_taku_pet 40:75e1ad7c27e4 381 }
nishimura_taku_pet 40:75e1ad7c27e4 382 }
nishimura_taku_pet 40:75e1ad7c27e4 383 kyori = watch();
tomotsugu 18:6cca64c7dbc3 384 }
nishimura_taku_pet 40:75e1ad7c27e4 385 /*while(i < 30){ // 正面20cm以内に障害物がある間
nishimura_taku_pet 40:75e1ad7c27e4 386 if(watch() < limit){
nishimura_taku_pet 40:75e1ad7c27e4 387 break;
nishimura_taku_pet 40:75e1ad7c27e4 388 }
nishimura_taku_pet 40:75e1ad7c27e4 389 i++;
nishimura_taku_pet 40:75e1ad7c27e4 390 }
nishimura_taku_pet 40:75e1ad7c27e4 391 i = 0;*/
nishimura_taku_pet 40:75e1ad7c27e4 392 run = STOP; // 停止
yangtzuli 3:2ae6218973be 393 }
nishimura_taku_pet 40:75e1ad7c27e4 394 watchsurrounding5();
nishimura_taku_pet 28:cb51cafca490 395 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 396 run = LEFT; // 左折
nishimura_taku_pet 28:cb51cafca490 397 while(i < 1){ // 進行方向確認
tomotsugu 18:6cca64c7dbc3 398 if(watch() > limit){
tomotsugu 18:6cca64c7dbc3 399 i++;
nishimura_taku_pet 28:cb51cafca490 400 }else{
nishimura_taku_pet 28:cb51cafca490 401 i = 0;
yangtzuli 2:38825726cb1b 402 }
yangtzuli 2:38825726cb1b 403 }
nishimura_taku_pet 28:cb51cafca490 404 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 405 }else { // 全方向以外
nishimura_taku_pet 28:cb51cafca490 406 far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 407 houkou = 1; // 進行方向を前に設定
nishimura_taku_pet 28:cb51cafca490 408 if(far < SLD || far < SL){ // 左または左前がより遠い場合
nishimura_taku_pet 28:cb51cafca490 409 if(SL < SLD){ // 左前が左より遠い場合
nishimura_taku_pet 28:cb51cafca490 410 far = SLD; // 左前を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 411 }else{ // 左が左前より遠い場合
nishimura_taku_pet 28:cb51cafca490 412 far = SL; // 左を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 413 }
nishimura_taku_pet 28:cb51cafca490 414 houkou = 2; // 進行方向を左に設定
nishimura_taku_pet 28:cb51cafca490 415 }
nishimura_taku_pet 28:cb51cafca490 416 if(far < SRD || far < SR){ // 右または右前がより遠い場合
nishimura_taku_pet 28:cb51cafca490 417 if(SR < SRD){ // 右前が右より遠い場合
nishimura_taku_pet 28:cb51cafca490 418 far = SRD; // 右前を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 419 }else{ // 右が右前よりも遠い場合
nishimura_taku_pet 28:cb51cafca490 420 far = SR; // 右を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 421 }
nishimura_taku_pet 28:cb51cafca490 422 houkou = 3; // 進行方向を右に設定
nishimura_taku_pet 28:cb51cafca490 423 }
nishimura_taku_pet 28:cb51cafca490 424 switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet 28:cb51cafca490 425 case 1: // 前の場合
nishimura_taku_pet 28:cb51cafca490 426 run = ADVANCE; // 前進
nishimura_taku_pet 40:75e1ad7c27e4 427 ThisThread::sleep_for(500); // 0.5秒待つ
nishimura_taku_pet 28:cb51cafca490 428 break;
nishimura_taku_pet 40:75e1ad7c27e4 429 case 2: // 左の場合
nishimura_taku_pet 28:cb51cafca490 430 run = LEFT; // 左折
nishimura_taku_pet 40:75e1ad7c27e4 431 //int kyori = watch();
nishimura_taku_pet 40:75e1ad7c27e4 432 //int kyori_f=0;
nishimura_taku_pet 40:75e1ad7c27e4 433 while(i < 20){ // 進行方向確認
nishimura_taku_pet 40:75e1ad7c27e4 434 /*if(kyori > (far - 2) || kyori_f == 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 40:75e1ad7c27e4 435 break; // ループ+
nishimura_taku_pet 40:75e1ad7c27e4 436 }else if(kyori==-1){
nishimura_taku_pet 40:75e1ad7c27e4 437 kyori_f++;
nishimura_taku_pet 40:75e1ad7c27e4 438 }else{
nishimura_taku_pet 40:75e1ad7c27e4 439 kyori_f = 0;
nishimura_taku_pet 40:75e1ad7c27e4 440 i++;
nishimura_taku_pet 40:75e1ad7c27e4 441 }*/
nishimura_taku_pet 28:cb51cafca490 442 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 40:75e1ad7c27e4 443 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 444 }else{
nishimura_taku_pet 40:75e1ad7c27e4 445 i++;
nishimura_taku_pet 28:cb51cafca490 446 }
nishimura_taku_pet 28:cb51cafca490 447 }
nishimura_taku_pet 28:cb51cafca490 448 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 449 break;
nishimura_taku_pet 40:75e1ad7c27e4 450 case 3: // 右の場合
nishimura_taku_pet 28:cb51cafca490 451 run = RIGHT; // 右折
nishimura_taku_pet 40:75e1ad7c27e4 452 int kyori = watch();
nishimura_taku_pet 40:75e1ad7c27e4 453 int kyori_f=0;
nishimura_taku_pet 40:75e1ad7c27e4 454 while(i < 20){ // 進行方向確認
nishimura_taku_pet 40:75e1ad7c27e4 455 /*if(kyori > (far - 2) || kyori_f == 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 40:75e1ad7c27e4 456 break; // ループ+
nishimura_taku_pet 40:75e1ad7c27e4 457 }else if(kyori==-1){
nishimura_taku_pet 40:75e1ad7c27e4 458 kyori_f++;
nishimura_taku_pet 40:75e1ad7c27e4 459 }else{
nishimura_taku_pet 40:75e1ad7c27e4 460 kyori_f = 0;
nishimura_taku_pet 40:75e1ad7c27e4 461 i++;
nishimura_taku_pet 40:75e1ad7c27e4 462 }*/
nishimura_taku_pet 28:cb51cafca490 463 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 40:75e1ad7c27e4 464 break; // ループ+
nishimura_taku_pet 28:cb51cafca490 465 }else{
nishimura_taku_pet 40:75e1ad7c27e4 466 i++;
nishimura_taku_pet 28:cb51cafca490 467 }
nishimura_taku_pet 28:cb51cafca490 468 }
nishimura_taku_pet 28:cb51cafca490 469 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 470 break;
nishimura_taku_pet 28:cb51cafca490 471 }
yangtzuli 5:3fffb364744b 472 }
nishimura_taku_pet 28:cb51cafca490 473 }
nishimura_taku_pet 28:cb51cafca490 474 flag_a = 0; // 障害物有無フラグを0にセット
nishimura_taku_pet 40:75e1ad7c27e4 475 if(SLD < 29){ // 正面15cm以内に障害物が現れた場合
nishimura_taku_pet 40:75e1ad7c27e4 476 run = RIGHT; // 右折
nishimura_taku_pet 40:75e1ad7c27e4 477 ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 478 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 479 }else if(SRD < 29){
nishimura_taku_pet 40:75e1ad7c27e4 480 run = LEFT; // 左折
nishimura_taku_pet 40:75e1ad7c27e4 481 ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 482 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 483 }
yangtzuli 2:38825726cb1b 484 }
yangtzuli 2:38825726cb1b 485 }
tomotsugu 8:a47dbf4fa455 486
tomotsugu 8:a47dbf4fa455 487 /* 距離計測関数 */
yangtzuli 2:38825726cb1b 488 int watch(){
tomotsugu 21:68d38e8f64b5 489 do{
tomotsugu 21:68d38e8f64b5 490 trig = 0;
tomotsugu 21:68d38e8f64b5 491 ThisThread::sleep_for(5); // 5ms待つ
tomotsugu 21:68d38e8f64b5 492 trig = 1;
tomotsugu 21:68d38e8f64b5 493 ThisThread::sleep_for(15); // 15ms待つ
tomotsugu 21:68d38e8f64b5 494 trig = 0;
tomotsugu 21:68d38e8f64b5 495 timer.start();
yangtzuli 17:f7259ab2fe86 496 t1=timer.read_ms();
nishimura_taku_pet 29:600e4b9b5c5b 497 while(echo.read() == 0 && t1<10){
tomotsugu 21:68d38e8f64b5 498 t1=timer.read_ms();
tomotsugu 21:68d38e8f64b5 499 led1 = 1;
tomotsugu 21:68d38e8f64b5 500 }
tomotsugu 21:68d38e8f64b5 501 timer.stop();
tomotsugu 21:68d38e8f64b5 502 timer.reset();
nishimura_taku_pet 28:cb51cafca490 503 /*if((t1-t2) >= 10){
nishimura_taku_pet 28:cb51cafca490 504 run = STOP;*/
nishimura_taku_pet 29:600e4b9b5c5b 505 }while(t1 >= 10);
tomotsugu 21:68d38e8f64b5 506 timer.start(); // 距離計測タイマースタート
tomotsugu 21:68d38e8f64b5 507 while(echo.read() == 1){
yangtzuli 5:3fffb364744b 508 }
tomotsugu 21:68d38e8f64b5 509 timer.stop(); // 距離計測タイマーストップ
tomotsugu 21:68d38e8f64b5 510 DT = (int)(timer.read_us()*0.01657); // 距離計算
nishimura_taku_pet 28:cb51cafca490 511 if(DT > 1000){
nishimura_taku_pet 28:cb51cafca490 512 DT = -1;
nishimura_taku_pet 28:cb51cafca490 513 }else if(DT > 150){ // 検知範囲外なら100cmに設定
tomotsugu 22:c6e2a3b9aa14 514 DT = 150;
yangtzuli 2:38825726cb1b 515 }
tomotsugu 21:68d38e8f64b5 516 timer.reset(); // 距離計測タイマーリセット
tomotsugu 8:a47dbf4fa455 517 led1 = 0;
yangtzuli 2:38825726cb1b 518 return DT;
yangtzuli 0:0d0037aabe41 519 }
yangtzuli 0:0d0037aabe41 520
tomotsugu 8:a47dbf4fa455 521 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 522 void watchsurrounding3(){
nishimura_taku_pet 28:cb51cafca490 523 //servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 524 //ThisThread::sleep_for(200); // 100ms待つ
yangtzuli 2:38825726cb1b 525 SC = watch();
nishimura_taku_pet 28:cb51cafca490 526 if(SC < limit){ // 正面20cm以内に障害物がある場合
nishimura_taku_pet 28:cb51cafca490 527 if(SC!=-1){
nishimura_taku_pet 28:cb51cafca490 528 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 529 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 530 return;
nishimura_taku_pet 28:cb51cafca490 531 }
yangtzuli 2:38825726cb1b 532 }
yangtzuli 2:38825726cb1b 533 servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet 28:cb51cafca490 534 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 535 SLD = watch();
yangtzuli 2:38825726cb1b 536 if(SLD < limit){ // 左前20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 537 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 538 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 539 return;
yangtzuli 2:38825726cb1b 540 }
tomotsugu 19:c6f9f010bd9e 541 servo.pulsewidth_us(1450);
nishimura_taku_pet 40:75e1ad7c27e4 542 ThisThread::sleep_for(100);
tomotsugu 19:c6f9f010bd9e 543 SC = watch();
tomotsugu 19:c6f9f010bd9e 544 if(SC < limit){
nishimura_taku_pet 28:cb51cafca490 545 if(SC!=-1){
nishimura_taku_pet 28:cb51cafca490 546 run = STOP; // 停止
nishimura_taku_pet 40:75e1ad7c27e4 547 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 548 return;
nishimura_taku_pet 28:cb51cafca490 549 }
tomotsugu 19:c6f9f010bd9e 550 }
yangtzuli 2:38825726cb1b 551 servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet 28:cb51cafca490 552 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 553 SRD = watch();
yangtzuli 2:38825726cb1b 554 if(SRD < limit){ // 右前20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 555 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 556 flag_a = 1;
nishimura_taku_pet 40:75e1ad7c27e4 557 return;
yangtzuli 2:38825726cb1b 558 }
nishimura_taku_pet 40:75e1ad7c27e4 559 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 40:75e1ad7c27e4 560 ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 561 /*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
nishimura_taku_pet 40:75e1ad7c27e4 562 flag_a = 1; // 障害物有無フラグに1をセット
nishimura_taku_pet 40:75e1ad7c27e4 563 }*/
nishimura_taku_pet 40:75e1ad7c27e4 564 }
nishimura_taku_pet 40:75e1ad7c27e4 565
nishimura_taku_pet 40:75e1ad7c27e4 566 /* 障害物検知関数 */
nishimura_taku_pet 40:75e1ad7c27e4 567 void watchsurrounding5(){
nishimura_taku_pet 40:75e1ad7c27e4 568 //servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 40:75e1ad7c27e4 569 //ThisThread::sleep_for(200); // 100ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 570 SC = watch();
nishimura_taku_pet 40:75e1ad7c27e4 571 servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 572 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 573 SLD = watch();
nishimura_taku_pet 40:75e1ad7c27e4 574 servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet 40:75e1ad7c27e4 575 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 576 SL = watch();
nishimura_taku_pet 40:75e1ad7c27e4 577 servo.pulsewidth_us(1450);
nishimura_taku_pet 40:75e1ad7c27e4 578 ThisThread::sleep_for(250);
nishimura_taku_pet 40:75e1ad7c27e4 579 SC = watch();
nishimura_taku_pet 40:75e1ad7c27e4 580 servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet 40:75e1ad7c27e4 581 ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet 40:75e1ad7c27e4 582 SRD = watch();
yangtzuli 2:38825726cb1b 583 servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet 28:cb51cafca490 584 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 585 SR = watch();
yangtzuli 2:38825726cb1b 586 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 587 ThisThread::sleep_for(250); // 100ms待つ
yangtzuli 3:2ae6218973be 588 }
yangtzuli 3:2ae6218973be 589
tomotsugu 8:a47dbf4fa455 590 /* ディスプレイ表示関数 */
yangtzuli 3:2ae6218973be 591 void display(){
tomotsugu 8:a47dbf4fa455 592 mutex.lock(); // ミューテックスロック
yangtzuli 3:2ae6218973be 593 lcd.setAddress(0,1);
tomotsugu 8:a47dbf4fa455 594
tomotsugu 8:a47dbf4fa455 595 /* 操作モードによる場合分け */
yangtzuli 3:2ae6218973be 596 switch(mode){
tomotsugu 8:a47dbf4fa455 597 /* 前進 */
yangtzuli 3:2ae6218973be 598 case ADVANCE:
yangtzuli 3:2ae6218973be 599 lcd.printf("Mode:Advance ");
yangtzuli 3:2ae6218973be 600 break;
tomotsugu 8:a47dbf4fa455 601 /* 右折 */
yangtzuli 3:2ae6218973be 602 case RIGHT:
yangtzuli 5:3fffb364744b 603 lcd.printf("Mode:TurnRight ");
yangtzuli 3:2ae6218973be 604 break;
tomotsugu 8:a47dbf4fa455 605 /* 左折 */
yangtzuli 3:2ae6218973be 606 case LEFT:
yangtzuli 5:3fffb364744b 607 lcd.printf("Mode:TurnLeft ");
yangtzuli 3:2ae6218973be 608 break;
tomotsugu 8:a47dbf4fa455 609 /* 後退 */
yangtzuli 3:2ae6218973be 610 case BACK:
yangtzuli 3:2ae6218973be 611 lcd.printf("Mode:Back ");
yangtzuli 3:2ae6218973be 612 break;
tomotsugu 8:a47dbf4fa455 613 /* 停止 */
yangtzuli 3:2ae6218973be 614 case STOP:
yangtzuli 3:2ae6218973be 615 lcd.printf("Mode:Stop ");
yangtzuli 3:2ae6218973be 616 break;
tomotsugu 8:a47dbf4fa455 617 /* 待ち */
yangtzuli 3:2ae6218973be 618 case READY:
yangtzuli 3:2ae6218973be 619 lcd.printf("Mode:Ready ");
yangtzuli 3:2ae6218973be 620 break;
tomotsugu 8:a47dbf4fa455 621 /* ライントレース */
yangtzuli 3:2ae6218973be 622 case LINE_TRACE:
yangtzuli 3:2ae6218973be 623 lcd.printf("Mode:LineTrace ");
yangtzuli 3:2ae6218973be 624 break;
tomotsugu 8:a47dbf4fa455 625 /* 障害物回避 */
yangtzuli 3:2ae6218973be 626 case AVOIDANCE:
yangtzuli 3:2ae6218973be 627 lcd.printf("Mode:Avoidance ");
yangtzuli 3:2ae6218973be 628 break;
tomotsugu 8:a47dbf4fa455 629 /* スピード制御 */
yangtzuli 3:2ae6218973be 630 case SPEED:
tomotsugu 8:a47dbf4fa455 631 /* スピードの状態で場合分け */
yangtzuli 3:2ae6218973be 632 switch(flag_sp){
tomotsugu 8:a47dbf4fa455 633 /* 普通 */
yangtzuli 3:2ae6218973be 634 case(NORMAL):
yangtzuli 3:2ae6218973be 635 lcd.printf("Speed:Normal ");
yangtzuli 3:2ae6218973be 636 break;
tomotsugu 8:a47dbf4fa455 637 /* 速い */
yangtzuli 3:2ae6218973be 638 case(FAST):
yangtzuli 3:2ae6218973be 639 lcd.printf("Speed:Fast ");
yangtzuli 3:2ae6218973be 640 break;
tomotsugu 8:a47dbf4fa455 641 /* とても速い */
yangtzuli 3:2ae6218973be 642 case(VERYFAST):
yangtzuli 3:2ae6218973be 643 lcd.printf("Speed:VeryFast ");
yangtzuli 3:2ae6218973be 644 break;
yangtzuli 3:2ae6218973be 645 }
tomotsugu 8:a47dbf4fa455 646 viewTimer.reset(); // タイマーリセット
tomotsugu 8:a47dbf4fa455 647 viewTimer.start(); // タイマースタート
yangtzuli 3:2ae6218973be 648 break;
yangtzuli 3:2ae6218973be 649 }
tomotsugu 8:a47dbf4fa455 650 mutex.unlock(); // ミューテックスアンロック
yangtzuli 3:2ae6218973be 651 }
yangtzuli 3:2ae6218973be 652
tomotsugu 8:a47dbf4fa455 653 /* バックライト点滅 */
yangtzuli 3:2ae6218973be 654 void lcdBacklight(void const *argument){
tomotsugu 8:a47dbf4fa455 655 if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu 8:a47dbf4fa455 656 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 8:a47dbf4fa455 657 }else{ // バックライト点滅フラグが0なら
tomotsugu 8:a47dbf4fa455 658 lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli 3:2ae6218973be 659 }
tomotsugu 8:a47dbf4fa455 660 flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli 3:2ae6218973be 661 }
yangtzuli 2:38825726cb1b 662
tomotsugu 8:a47dbf4fa455 663 /* バッテリー残量更新関数 */
yangtzuli 5:3fffb364744b 664 void bChange(){
yangtzuli 17:f7259ab2fe86 665 //pc.printf(" bChange1\r\n");
tomotsugu 10:d193030ce672 666 b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10;
tomotsugu 10:d193030ce672 667 if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu 10:d193030ce672 668 b = 0;
tomotsugu 10:d193030ce672 669 //lcd.setBacklight(TextLCD::LightOff);
tomotsugu 10:d193030ce672 670 //run = STOP;
tomotsugu 10:d193030ce672 671 //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 672 }
tomotsugu 10:d193030ce672 673 mutex.lock(); // ミューテックスロック
tomotsugu 10:d193030ce672 674 lcd.setAddress(0,0);
tomotsugu 10:d193030ce672 675 lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
tomotsugu 10:d193030ce672 676 mutex.unlock(); // ミューテックスアンロック
tomotsugu 10:d193030ce672 677 if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu 10:d193030ce672 678 if(flag_t == 0){ // バックライトタイマーフラグが0なら
tomotsugu 10:d193030ce672 679 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 680 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 681 }
tomotsugu 10:d193030ce672 682 }else{
tomotsugu 10:d193030ce672 683 if(flag_t == 1){ // バックライトタイマーフラグが1なら
tomotsugu 10:d193030ce672 684 bTimer.stop(); // バックライトタイマーストップ
tomotsugu 10:d193030ce672 685 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 10:d193030ce672 686 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 687 }
tomotsugu 10:d193030ce672 688 }
yangtzuli 2:38825726cb1b 689 }
tomotsugu 8:a47dbf4fa455 690
nishimura_taku_pet 24:9481c8f56a49 691 // Serial Interrupt read ESP data
nishimura_taku_pet 24:9481c8f56a49 692 void callback()
nishimura_taku_pet 24:9481c8f56a49 693 {
nishimura_taku_pet 24:9481c8f56a49 694 //pc.printf("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 695 led3=1;
nishimura_taku_pet 24:9481c8f56a49 696 while (esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 697 webbuff[ount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 698 ount++;
nishimura_taku_pet 24:9481c8f56a49 699 }
nishimura_taku_pet 24:9481c8f56a49 700 if(strlen(webbuff)>bufflen) {
nishimura_taku_pet 24:9481c8f56a49 701 pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 702 DataRX=1;
nishimura_taku_pet 24:9481c8f56a49 703 led3=0;
nishimura_taku_pet 24:9481c8f56a49 704 }
nishimura_taku_pet 24:9481c8f56a49 705 }
nishimura_taku_pet 24:9481c8f56a49 706
nishimura_taku_pet 24:9481c8f56a49 707 void wifi(void const *argument)
nishimura_taku_pet 24:9481c8f56a49 708 {
nishimura_taku_pet 24:9481c8f56a49 709 pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet 33:a6f1090e0174 710 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 711 led1=1,led2=0,led3=0;
nishimura_taku_pet 24:9481c8f56a49 712 timeout=6000;
nishimura_taku_pet 24:9481c8f56a49 713 getcount=500;
nishimura_taku_pet 24:9481c8f56a49 714 getreply();
nishimura_taku_pet 24:9481c8f56a49 715 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet 24:9481c8f56a49 716 startserver();
nishimura_taku_pet 24:9481c8f56a49 717
nishimura_taku_pet 24:9481c8f56a49 718 while(1) {
nishimura_taku_pet 24:9481c8f56a49 719 if(DataRX==1) {
nishimura_taku_pet 24:9481c8f56a49 720 pc.printf("\f\n\r------------ main while > if --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 721 click_flag = 1;
nishimura_taku_pet 24:9481c8f56a49 722 ReadWebData();
nishimura_taku_pet 24:9481c8f56a49 723 pc.printf("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
nishimura_taku_pet 24:9481c8f56a49 724 //if ((servreq == 1 && weberror == 0) && click_flag == 1) {
nishimura_taku_pet 24:9481c8f56a49 725 if (servreq == 1 && weberror == 0) {
nishimura_taku_pet 24:9481c8f56a49 726 pc.printf("\f\n\r------------ befor send page --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 727 sendpage();
nishimura_taku_pet 24:9481c8f56a49 728 }
nishimura_taku_pet 24:9481c8f56a49 729 pc.printf("\f\n\r------------ send_check begin --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 730
nishimura_taku_pet 24:9481c8f56a49 731 //sendcheck();
nishimura_taku_pet 24:9481c8f56a49 732 pc.printf("\f\n\r------------ ssend_check end--------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 733
nishimura_taku_pet 24:9481c8f56a49 734 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 735 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 736 pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
nishimura_taku_pet 24:9481c8f56a49 737 pc.printf(" Web Characters sent : %d\n\n", bufl);
nishimura_taku_pet 24:9481c8f56a49 738 pc.printf(" -------------------------------------\n\n");
nishimura_taku_pet 24:9481c8f56a49 739 servreq=0;
nishimura_taku_pet 24:9481c8f56a49 740 }
nishimura_taku_pet 24:9481c8f56a49 741 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 742 }
nishimura_taku_pet 24:9481c8f56a49 743 }
nishimura_taku_pet 24:9481c8f56a49 744 // Static WEB page
nishimura_taku_pet 24:9481c8f56a49 745 void sendpage()
nishimura_taku_pet 24:9481c8f56a49 746 {
nishimura_taku_pet 24:9481c8f56a49 747 // WEB page data
nishimura_taku_pet 24:9481c8f56a49 748
nishimura_taku_pet 24:9481c8f56a49 749 strcpy(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet 24:9481c8f56a49 750 strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
yangtzuli 37:0cde453dce7d 751 strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >");
molberry 38:39db3f7450c2 752 strcat(webbuff, "<style type=\"text/css\">.noselect{ width:100px;height:60px;}.light{ width:100px;height:60px;background-color:#00ff66;}.load{ width: 50px; height: 30px;font-size:10px}</style>");
nishimura_taku_pet 24:9481c8f56a49 753 strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet 24:9481c8f56a49 754 strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
molberry 35:4cda290bdb87 755 if(b > 30) { //残電量表示
nishimura_taku_pet 33:a6f1090e0174 756 sprintf(webbuff, "%s%3d", webbuff, b);
molberry 35:4cda290bdb87 757 } else { //30%より下の場合残電量を赤文字
nishimura_taku_pet 33:a6f1090e0174 758 strcat(webbuff, "<font color=\"red\">");
nishimura_taku_pet 33:a6f1090e0174 759 sprintf(webbuff, "%s%3d", webbuff, b);
nishimura_taku_pet 33:a6f1090e0174 760 strcat(webbuff, "<\font>");
nishimura_taku_pet 33:a6f1090e0174 761 }
nishimura_taku_pet 33:a6f1090e0174 762 strcat(webbuff, "%</strong>");
molberry 38:39db3f7450c2 763 strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"rel()\">RELOAD</button>");
nishimura_taku_pet 24:9481c8f56a49 764 strcat(webbuff, "</td></p>");
nishimura_taku_pet 24:9481c8f56a49 765 strcat(webbuff, "<br>");
nishimura_taku_pet 24:9481c8f56a49 766 strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 767
molberry 35:4cda290bdb87 768 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 769 case ADVANCE: //前進
nishimura_taku_pet 24:9481c8f56a49 770 strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 771 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 772 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 773 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 774 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 775 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 776 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 777 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 778 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 779 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 780 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 781 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 782 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 783 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 784 break;
molberry 35:4cda290bdb87 785 case LEFT: //左折
nishimura_taku_pet 24:9481c8f56a49 786 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 787 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 788 strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 789 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 790 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 791 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 792 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 793 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 794 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 795 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 796 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 797 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 798 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 799 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 800 break;
molberry 35:4cda290bdb87 801 case STOP: //停止
nishimura_taku_pet 24:9481c8f56a49 802 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 803 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 804 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 805 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 806 strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 807 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 808 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 809 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 810 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 811 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 812 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 813 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 814 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 815 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 816 break;
molberry 35:4cda290bdb87 817 case RIGHT: //右折
nishimura_taku_pet 24:9481c8f56a49 818 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 819 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 820 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 821 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 822 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 823 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 824 strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 825 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 826 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 827 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 828 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 829 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 830 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 831 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 832 break;
molberry 35:4cda290bdb87 833 case BACK: //後進
nishimura_taku_pet 24:9481c8f56a49 834 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 835 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 836 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 837 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 838 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 839 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 840 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 841 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 842 strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 843 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet 24:9481c8f56a49 844 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 845 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 846 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 847 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 848 break;
molberry 35:4cda290bdb87 849 case AVOIDANCE: //障害物回避
nishimura_taku_pet 24:9481c8f56a49 850 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 851 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 852 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 853 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 854 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 855 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 856 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 857 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 858 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 859 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 860 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 861 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 862 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 863 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 864 break;
molberry 35:4cda290bdb87 865 case LINE_TRACE: //ライントレース
nishimura_taku_pet 24:9481c8f56a49 866 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 867 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 868 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 869 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 870 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 871 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 872 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 873 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 874 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 875 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 876 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 877 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 878 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 879 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 880 break;
molberry 35:4cda290bdb87 881 default: //その他
nishimura_taku_pet 24:9481c8f56a49 882 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 883 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 884 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 885 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 886 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 887 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 888 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 889 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 890 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 891 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 892 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 893 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 894 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 895 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 896 break;
nishimura_taku_pet 24:9481c8f56a49 897 }
nishimura_taku_pet 24:9481c8f56a49 898 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 899 strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet 24:9481c8f56a49 900 strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 901 //ready示速度だけ点灯
molberry 35:4cda290bdb87 902 switch (flag_sp) { //現在の速度のボタン表示
molberry 35:4cda290bdb87 903 case 0: //ノーマル
nishimura_taku_pet 24:9481c8f56a49 904 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 905 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 906 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 907 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 908 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 909 break;
molberry 35:4cda290bdb87 910 case 1: //ファスト
nishimura_taku_pet 24:9481c8f56a49 911 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 912 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 913 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 914 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 915 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 916 break;
molberry 35:4cda290bdb87 917 case 2: //ベリーファスト
nishimura_taku_pet 24:9481c8f56a49 918 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 919 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 920 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 921 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 922 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 923 break;
molberry 35:4cda290bdb87 924 default: //その他
nishimura_taku_pet 24:9481c8f56a49 925 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 926 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 927 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 928 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 929 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 930 break;
nishimura_taku_pet 24:9481c8f56a49 931 }
nishimura_taku_pet 24:9481c8f56a49 932 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 933
nishimura_taku_pet 24:9481c8f56a49 934 strcat(webbuff, "</center>");
nishimura_taku_pet 24:9481c8f56a49 935 strcat(webbuff, "</body>");
nishimura_taku_pet 24:9481c8f56a49 936 strcat(webbuff, "</html>");
molberry 35:4cda290bdb87 937 strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
nishimura_taku_pet 24:9481c8f56a49 938
molberry 38:39db3f7450c2 939 strcat(webbuff, "function rel(){");
molberry 38:39db3f7450c2 940 strcat(webbuff, "location.reload();");
molberry 38:39db3f7450c2 941 strcat(webbuff, "}");
molberry 38:39db3f7450c2 942
nishimura_taku_pet 24:9481c8f56a49 943 strcat(webbuff, "function htmlacs(url) {");
nishimura_taku_pet 24:9481c8f56a49 944 strcat(webbuff, "var xhr = new XMLHttpRequest();");
nishimura_taku_pet 24:9481c8f56a49 945 strcat(webbuff, "xhr.open(\"GET\", url);");
nishimura_taku_pet 24:9481c8f56a49 946 strcat(webbuff, "xhr.send(\"\");");
nishimura_taku_pet 24:9481c8f56a49 947 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 948
molberry 35:4cda290bdb87 949 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 950 strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet 24:9481c8f56a49 951
nishimura_taku_pet 24:9481c8f56a49 952 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 953 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 954 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 955 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 24:9481c8f56a49 956 strcat(webbuff, "for(var i=0;i<7;i++){");
nishimura_taku_pet 24:9481c8f56a49 957 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 958 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 959 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 960 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 961 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 962 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 963 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 964
molberry 35:4cda290bdb87 965 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 966 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 967 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 968 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 969 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 24:9481c8f56a49 970 strcat(webbuff, "for(var i=7;i<10;i++){");
nishimura_taku_pet 24:9481c8f56a49 971 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 972 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 973 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 974 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 975 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 976 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 977 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 978 strcat(webbuff, "</script>");
nishimura_taku_pet 24:9481c8f56a49 979 // end of WEB page data
nishimura_taku_pet 24:9481c8f56a49 980 bufl = strlen(webbuff); // get total page buffer length
nishimura_taku_pet 24:9481c8f56a49 981 //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet 24:9481c8f56a49 982
nishimura_taku_pet 24:9481c8f56a49 983 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 984 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 985 getcount=40;
nishimura_taku_pet 24:9481c8f56a49 986 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 987 getreply();
nishimura_taku_pet 24:9481c8f56a49 988 pc.printf(replybuff);
nishimura_taku_pet 32:049d9ba081d4 989 //pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
nishimura_taku_pet 24:9481c8f56a49 990
nishimura_taku_pet 24:9481c8f56a49 991 pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
nishimura_taku_pet 24:9481c8f56a49 992
nishimura_taku_pet 24:9481c8f56a49 993 //pastthrough mode
nishimura_taku_pet 24:9481c8f56a49 994 SendWEB(); // send web page
nishimura_taku_pet 24:9481c8f56a49 995 pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 996
nishimura_taku_pet 24:9481c8f56a49 997 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 998 sendcheck();
nishimura_taku_pet 24:9481c8f56a49 999 }
nishimura_taku_pet 24:9481c8f56a49 1000
nishimura_taku_pet 24:9481c8f56a49 1001 // Large WEB buffer data send
nishimura_taku_pet 24:9481c8f56a49 1002 void SendWEB()
nishimura_taku_pet 24:9481c8f56a49 1003 {
nishimura_taku_pet 24:9481c8f56a49 1004 int i=0;
nishimura_taku_pet 24:9481c8f56a49 1005 if(esp.writeable()) {
nishimura_taku_pet 24:9481c8f56a49 1006 while(webbuff[i]!='\0') {
nishimura_taku_pet 24:9481c8f56a49 1007 esp.putc(webbuff[i]);
nishimura_taku_pet 24:9481c8f56a49 1008
nishimura_taku_pet 24:9481c8f56a49 1009 //****
nishimura_taku_pet 24:9481c8f56a49 1010 //output at command when 2000
nishimura_taku_pet 24:9481c8f56a49 1011 if(((i%2047)==0) && (i>0)) {
nishimura_taku_pet 24:9481c8f56a49 1012 //wait_ms(10);
nishimura_taku_pet 32:049d9ba081d4 1013 ThisThread::sleep_for(10);
nishimura_taku_pet 24:9481c8f56a49 1014 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 1015 //pc.printf("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet 24:9481c8f56a49 1016 timeout=600;
nishimura_taku_pet 24:9481c8f56a49 1017 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1018 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1019 getreply();
nishimura_taku_pet 32:049d9ba081d4 1020 //pc.printf(replybuff);
nishimura_taku_pet 32:049d9ba081d4 1021 //pc.printf("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1022 }
nishimura_taku_pet 24:9481c8f56a49 1023 //****
nishimura_taku_pet 24:9481c8f56a49 1024 i++;
nishimura_taku_pet 32:049d9ba081d4 1025 //pc.printf("%c",webbuff[i]);
nishimura_taku_pet 24:9481c8f56a49 1026 }
nishimura_taku_pet 24:9481c8f56a49 1027 }
nishimura_taku_pet 24:9481c8f56a49 1028 pc.printf("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet 24:9481c8f56a49 1029 }
nishimura_taku_pet 24:9481c8f56a49 1030
nishimura_taku_pet 24:9481c8f56a49 1031
nishimura_taku_pet 24:9481c8f56a49 1032 void sendcheck()
nishimura_taku_pet 24:9481c8f56a49 1033 {
nishimura_taku_pet 24:9481c8f56a49 1034 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1035 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1036 getcount=24;
nishimura_taku_pet 24:9481c8f56a49 1037 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1038 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1039
nishimura_taku_pet 24:9481c8f56a49 1040 /*
nishimura_taku_pet 24:9481c8f56a49 1041 while(weberror==1 && time2.read() <5) {
nishimura_taku_pet 24:9481c8f56a49 1042 getreply();
nishimura_taku_pet 24:9481c8f56a49 1043 if (strstr(replybuff, "SEND OK") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1044 weberror=0; // wait for valid SEND OK
nishimura_taku_pet 24:9481c8f56a49 1045 }
nishimura_taku_pet 24:9481c8f56a49 1046 }
nishimura_taku_pet 24:9481c8f56a49 1047 */
nishimura_taku_pet 24:9481c8f56a49 1048 if(weberror==1) { // restart connection
nishimura_taku_pet 24:9481c8f56a49 1049 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet 24:9481c8f56a49 1050 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1051 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1052 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1053 getreply();
nishimura_taku_pet 24:9481c8f56a49 1054 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1055 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1056 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1057 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1058 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1059 getreply();
nishimura_taku_pet 24:9481c8f56a49 1060 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1061 } else {
nishimura_taku_pet 24:9481c8f56a49 1062 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet 24:9481c8f56a49 1063 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1064 getreply();
nishimura_taku_pet 24:9481c8f56a49 1065 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1066 }
nishimura_taku_pet 24:9481c8f56a49 1067 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1068 }
nishimura_taku_pet 24:9481c8f56a49 1069
nishimura_taku_pet 24:9481c8f56a49 1070 // Reads and processes GET and POST web data
nishimura_taku_pet 24:9481c8f56a49 1071 void ReadWebData()
nishimura_taku_pet 24:9481c8f56a49 1072 {
nishimura_taku_pet 24:9481c8f56a49 1073 pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet 30:c80da0ecc260 1074 ThisThread::sleep_for(200);
nishimura_taku_pet 24:9481c8f56a49 1075 esp.attach(NULL);
nishimura_taku_pet 24:9481c8f56a49 1076 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1077 DataRX=0;
nishimura_taku_pet 24:9481c8f56a49 1078 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1079 memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet 24:9481c8f56a49 1080 int x = strcspn (webbuff,"+");
nishimura_taku_pet 24:9481c8f56a49 1081 if(x) {
nishimura_taku_pet 24:9481c8f56a49 1082 strcpy(webdata, webbuff + x);
nishimura_taku_pet 24:9481c8f56a49 1083 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1084 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
nishimura_taku_pet 24:9481c8f56a49 1085 //int i=0;
nishimura_taku_pet 24:9481c8f56a49 1086 pc.printf("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1087 pc.printf("%s",webdata);
nishimura_taku_pet 24:9481c8f56a49 1088 pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1089 if( strstr(webdata, "GO") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1090 pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1091 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1092 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1093 run = ADVANCE; // 前進
molberry 35:4cda290bdb87 1094 mode = ADVANCE; // モード変更
molberry 35:4cda290bdb87 1095 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1096 }
nishimura_taku_pet 26:0badbc9f9cb3 1097
nishimura_taku_pet 24:9481c8f56a49 1098 if( strstr(webdata, "LEFT") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1099 pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1100 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1101 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1102 run = LEFT; // 左折
molberry 35:4cda290bdb87 1103 mode = LEFT; // モード変更
molberry 35:4cda290bdb87 1104 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1105 }
nishimura_taku_pet 24:9481c8f56a49 1106
nishimura_taku_pet 24:9481c8f56a49 1107 if( strstr(webdata, "STOP") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1108 pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1109 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1110 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1111 run = STOP; // 停止
molberry 35:4cda290bdb87 1112 mode = STOP; // モード変更
molberry 35:4cda290bdb87 1113 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1114 }
nishimura_taku_pet 24:9481c8f56a49 1115
nishimura_taku_pet 24:9481c8f56a49 1116 if( strstr(webdata, "RIGHT") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1117 pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1118 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1119 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1120 run = RIGHT; // 右折
molberry 35:4cda290bdb87 1121 mode = RIGHT; // モード変更
molberry 35:4cda290bdb87 1122 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1123 }
nishimura_taku_pet 24:9481c8f56a49 1124
nishimura_taku_pet 24:9481c8f56a49 1125 if( strstr(webdata, "BACK") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1126 pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n");
yangtzuli 37:0cde453dce7d 1127 //delete avoi_thread; //障害物回避スレッド停止
yangtzuli 37:0cde453dce7d 1128 //delete trace_thread; //ライントレーススレッド停止
molberry 35:4cda290bdb87 1129 run = BACK; // 後進
molberry 35:4cda290bdb87 1130 mode = BACK; // モード変更
molberry 35:4cda290bdb87 1131 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1132 }
nishimura_taku_pet 24:9481c8f56a49 1133 pc.printf("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1134
nishimura_taku_pet 24:9481c8f56a49 1135 if( strstr(webdata, "AVOIDANCE") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1136 pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet 26:0badbc9f9cb3 1137 if(avoi_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1138 delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1139 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 26:0badbc9f9cb3 1140 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1141 }
nishimura_taku_pet 24:9481c8f56a49 1142 mode=AVOIDANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1143 run = ADVANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1144 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1145 }
nishimura_taku_pet 24:9481c8f56a49 1146 if( strstr(webdata, "LINE_TRACE") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1147 pc.printf("+++++++++++++++++LINET RACE+++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1148 pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet 26:0badbc9f9cb3 1149 if(trace_thread->get_state() == Thread::Deleted) {
molberry 35:4cda290bdb87 1150 delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet 26:0badbc9f9cb3 1151 trace_thread = new Thread(trace);
nishimura_taku_pet 26:0badbc9f9cb3 1152 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1153 }
nishimura_taku_pet 24:9481c8f56a49 1154 mode=LINE_TRACE;
nishimura_taku_pet 26:0badbc9f9cb3 1155 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1156 }
nishimura_taku_pet 24:9481c8f56a49 1157 if( strstr(webdata, "Normal") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1158 pc.printf("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1159 mode = SPEED; // スピードモード
nishimura_taku_pet 24:9481c8f56a49 1160 flag_sp = 0;
nishimura_taku_pet 26:0badbc9f9cb3 1161 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1162 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 24:9481c8f56a49 1163 }
nishimura_taku_pet 24:9481c8f56a49 1164 if( strstr(webdata, "Fast") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1165 pc.printf("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1166 mode = SPEED; // スピードモード
nishimura_taku_pet 24:9481c8f56a49 1167 flag_sp = 1;
nishimura_taku_pet 26:0badbc9f9cb3 1168 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1169 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 24:9481c8f56a49 1170 }
nishimura_taku_pet 24:9481c8f56a49 1171 if( strstr(webdata, "VeryFast") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1172 pc.printf("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet 26:0badbc9f9cb3 1173 mode = SPEED; // スピードモード
nishimura_taku_pet 24:9481c8f56a49 1174 flag_sp = 2;
nishimura_taku_pet 26:0badbc9f9cb3 1175 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1176 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 24:9481c8f56a49 1177 }
nishimura_taku_pet 26:0badbc9f9cb3 1178 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1179 trace_thread->terminate();
nishimura_taku_pet 26:0badbc9f9cb3 1180 }
nishimura_taku_pet 26:0badbc9f9cb3 1181 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1182 avoi_thread->terminate();
nishimura_taku_pet 31:3665282561d6 1183 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 26:0badbc9f9cb3 1184 }
nishimura_taku_pet 24:9481c8f56a49 1185 sprintf(channel, "%d",linkID);
nishimura_taku_pet 24:9481c8f56a49 1186 if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1187 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1188 }
nishimura_taku_pet 24:9481c8f56a49 1189 if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1190 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1191 }
nishimura_taku_pet 24:9481c8f56a49 1192 webcounter++;
nishimura_taku_pet 24:9481c8f56a49 1193 sprintf(webcount, "%d",webcounter);
nishimura_taku_pet 24:9481c8f56a49 1194 } else {
nishimura_taku_pet 24:9481c8f56a49 1195 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1196 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1197 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1198 }
nishimura_taku_pet 24:9481c8f56a49 1199 }
nishimura_taku_pet 24:9481c8f56a49 1200 // Starts and restarts webserver if errors detected.
nishimura_taku_pet 24:9481c8f56a49 1201 void startserver()
nishimura_taku_pet 24:9481c8f56a49 1202 {
nishimura_taku_pet 24:9481c8f56a49 1203 pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1204 strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet 24:9481c8f56a49 1205 timeout=8000;
nishimura_taku_pet 24:9481c8f56a49 1206 getcount=1000;
nishimura_taku_pet 24:9481c8f56a49 1207 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1208 getreply();
nishimura_taku_pet 24:9481c8f56a49 1209 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1210 pc.printf("%d",ount);
nishimura_taku_pet 24:9481c8f56a49 1211 if (strstr(replybuff, "OK") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1212 pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1213 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet 24:9481c8f56a49 1214 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1215 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1216 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1217 getreply();
nishimura_taku_pet 24:9481c8f56a49 1218 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1219 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1220 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1221 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1222 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1223 getreply();
nishimura_taku_pet 24:9481c8f56a49 1224 pc.printf(replybuff);
nishimura_taku_pet 33:a6f1090e0174 1225 ThisThread::sleep_for(500);
nishimura_taku_pet 24:9481c8f56a49 1226 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet 24:9481c8f56a49 1227 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1228 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1229 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1230 getreply();
nishimura_taku_pet 24:9481c8f56a49 1231 pc.printf(replybuff);
nishimura_taku_pet 25:8ed98982faa7 1232 ThisThread::sleep_for(5000);
nishimura_taku_pet 24:9481c8f56a49 1233 pc.printf("\n Getting Server IP \r\n");
nishimura_taku_pet 24:9481c8f56a49 1234 strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet 24:9481c8f56a49 1235 timeout=2500;
nishimura_taku_pet 24:9481c8f56a49 1236 getcount=200;
nishimura_taku_pet 24:9481c8f56a49 1237 while(weberror==0) {
nishimura_taku_pet 24:9481c8f56a49 1238 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1239 getreply();
nishimura_taku_pet 24:9481c8f56a49 1240 if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet 24:9481c8f56a49 1241 weberror=1; // wait for valid IP
nishimura_taku_pet 24:9481c8f56a49 1242 }
nishimura_taku_pet 24:9481c8f56a49 1243 }
nishimura_taku_pet 24:9481c8f56a49 1244 pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1245 pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1246 replybuff[strlen(replybuff)-1] = '\0';
nishimura_taku_pet 24:9481c8f56a49 1247 //char* IP = replybuff + 5;
nishimura_taku_pet 24:9481c8f56a49 1248 sprintf(webdata,"%s", replybuff);
nishimura_taku_pet 24:9481c8f56a49 1249 pc.printf(webdata);
nishimura_taku_pet 24:9481c8f56a49 1250 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1251 bufflen=200;
nishimura_taku_pet 24:9481c8f56a49 1252 //bufflen=100;
nishimura_taku_pet 24:9481c8f56a49 1253 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1254 pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet 33:a6f1090e0174 1255 setup();
nishimura_taku_pet 24:9481c8f56a49 1256 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1257 } else {
nishimura_taku_pet 24:9481c8f56a49 1258 pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1259 led1=1;
nishimura_taku_pet 24:9481c8f56a49 1260 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1261 led3=1;
nishimura_taku_pet 24:9481c8f56a49 1262 led4=1;
nishimura_taku_pet 24:9481c8f56a49 1263 while(1) {
nishimura_taku_pet 24:9481c8f56a49 1264 led1=!led1;
nishimura_taku_pet 24:9481c8f56a49 1265 led2=!led2;
nishimura_taku_pet 24:9481c8f56a49 1266 led3=!led3;
nishimura_taku_pet 24:9481c8f56a49 1267 led4=!led4;
nishimura_taku_pet 25:8ed98982faa7 1268 ThisThread::sleep_for(1000);
nishimura_taku_pet 24:9481c8f56a49 1269 }
nishimura_taku_pet 24:9481c8f56a49 1270 }
nishimura_taku_pet 24:9481c8f56a49 1271 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1272 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1273 }
nishimura_taku_pet 24:9481c8f56a49 1274 // ESP Command data send
nishimura_taku_pet 24:9481c8f56a49 1275 void SendCMD()
nishimura_taku_pet 24:9481c8f56a49 1276 {
nishimura_taku_pet 24:9481c8f56a49 1277 esp.printf("%s", cmdbuff);
nishimura_taku_pet 24:9481c8f56a49 1278 }
nishimura_taku_pet 24:9481c8f56a49 1279 // Get Command and ESP status replies
nishimura_taku_pet 24:9481c8f56a49 1280 void getreply()
nishimura_taku_pet 24:9481c8f56a49 1281 {
nishimura_taku_pet 24:9481c8f56a49 1282 memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet 24:9481c8f56a49 1283 time1.reset();
nishimura_taku_pet 24:9481c8f56a49 1284 time1.start();
nishimura_taku_pet 24:9481c8f56a49 1285 replycount=0;
nishimura_taku_pet 24:9481c8f56a49 1286 while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet 24:9481c8f56a49 1287 if(esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 1288 replybuff[replycount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 1289 replycount++;
nishimura_taku_pet 24:9481c8f56a49 1290 }
nishimura_taku_pet 24:9481c8f56a49 1291 }
nishimura_taku_pet 24:9481c8f56a49 1292 time1.stop();
nishimura_taku_pet 24:9481c8f56a49 1293 }
nishimura_taku_pet 24:9481c8f56a49 1294
tomotsugu 8:a47dbf4fa455 1295 /* mainスレッド */
yangtzuli 0:0d0037aabe41 1296 int main() {
tomotsugu 8:a47dbf4fa455 1297 /* 初期設定 */
nishimura_taku_pet 16:ffc732a3cf92 1298 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 1299 avoi_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 1300 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 1301 trace_thread->terminate();
tomotsugu 8:a47dbf4fa455 1302 mode = READY; // 現在待ちモード
tomotsugu 8:a47dbf4fa455 1303 beforeMode = READY; // 前回待ちモード
tomotsugu 8:a47dbf4fa455 1304 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 1305 flag_sp = NORMAL; // スピード(普通)
tomotsugu 10:d193030ce672 1306 lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet 33:a6f1090e0174 1307 lcd.setAddress(0,1);
nishimura_taku_pet 33:a6f1090e0174 1308 lcd.printf("Mode:SetUp");
nishimura_taku_pet 33:a6f1090e0174 1309 //display(); // ディスプレイ表示
yangtzuli 2:38825726cb1b 1310
yangtzuli 0:0d0037aabe41 1311 while(1){
tomotsugu 8:a47dbf4fa455 1312 bChange(); // バッテリー残量更新
yangtzuli 0:0d0037aabe41 1313 }
yangtzuli 0:0d0037aabe41 1314 }