robotcarWifi3-demo-0827 - ボタンを押すと、バッテリ更新を停止し、他のボタンもロックさせる

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siqiang pan / Mbed OS robotcarWifi3-demo-0827

ボタンを押すと、バッテリ更新を停止し、他のボタンもロックさせる

main.cpp@48:7be823ac7eb8, 2020-08-25 (annotated)

Committer:: faker_71
Date:: Tue Aug 25 05:15:48 2020 +0000
Revision:: 48:7be823ac7eb8
Parent:: 47:8a5a4275480a
Child:: 49:14b3dba5bd56

Who changed what in which revision?

User	Revision	Line number	New 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)
nishimura_taku_pet	29:600e4b9b5c5b	96	int t1 = 0;
yangtzuli	2:38825726cb1b	97
nishimura_taku_pet	24:9481c8f56a49	98	/WiFi用変数/
nishimura_taku_pet	24:9481c8f56a49	99	Timer time1;
nishimura_taku_pet	24:9481c8f56a49	100	Timer time2;
nishimura_taku_pet	24:9481c8f56a49	101	int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
nishimura_taku_pet	24:9481c8f56a49	102	int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
nishimura_taku_pet	24:9481c8f56a49	103	float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet	24:9481c8f56a49	104	char webcount[8];
nishimura_taku_pet	24:9481c8f56a49	105	char type[16];
nishimura_taku_pet	24:9481c8f56a49	106	char channel[2];
nishimura_taku_pet	24:9481c8f56a49	107	char cmdbuff[32];
nishimura_taku_pet	24:9481c8f56a49	108	char replybuff[1024];
nishimura_taku_pet	24:9481c8f56a49	109	char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet	27:90962c01bfeb	110	char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet	24:9481c8f56a49	111	int port =80; // set server port
nishimura_taku_pet	24:9481c8f56a49	112	int SERVtimeout =5; // set server timeout in seconds in case link breaks.
nishimura_taku_pet	24:9481c8f56a49	113	char ssid[32] = "mbed02"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet	24:9481c8f56a49	114	char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
yangtzuli	3:2ae6218973be	115
yangtzuli	3:2ae6218973be	116
yangtzuli	3:2ae6218973be	117	/* プロトタイプ宣言 */
nishimura_taku_pet	33:a6f1090e0174	118	void decodeIR(/void const argument*/);
nishimura_taku_pet	33:a6f1090e0174	119	void motor(/void const argument*/);
yangtzuli	3:2ae6218973be	120	void changeSpeed();
nishimura_taku_pet	16:ffc732a3cf92	121	void avoidance(/void const argument*/);
nishimura_taku_pet	16:ffc732a3cf92	122	void trace(/void const argument*/);
nishimura_taku_pet	40:75e1ad7c27e4	123	void watchsurrounding3();
nishimura_taku_pet	40:75e1ad7c27e4	124	void watchsurrounding5();
yangtzuli	2:38825726cb1b	125	int watch();
faker_71	48:7be823ac7eb8	126	char battery_ch[8];
yangtzuli	5:3fffb364744b	127	void bChange();
yangtzuli	3:2ae6218973be	128	void display();
yangtzuli	3:2ae6218973be	129	void lcdBacklight(void const *argument);
nishimura_taku_pet	45:76e8c07d76ef	130	void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
nishimura_taku_pet	43:243c1455f88a	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	43:243c1455f88a	133	Thread *wifi_thread;
nishimura_taku_pet	45:76e8c07d76ef	134	//wifi_thread(wifi,NULL,osPriorityHigh); // wifiをスレッド化
nishimura_taku_pet	33:a6f1090e0174	135	Thread *motor_thread; // motorをスレッド化：+2
nishimura_taku_pet	16:ffc732a3cf92	136	//Thread avoi_thread(avoidance, NULL, osPriorityHigh); // avoidanceをスレッド化：+2
nishimura_taku_pet	16:ffc732a3cf92	137	//Thread trace_thread(trace, NULL, osPriorityHigh); // traceをスレッド化：+2
nishimura_taku_pet	33:a6f1090e0174	138	RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
nishimura_taku_pet	43:243c1455f88a	139	//Ticker bTimer;
nishimura_taku_pet	16:ffc732a3cf92	140	Thread *avoi_thread;
nishimura_taku_pet	16:ffc732a3cf92	141	Thread *trace_thread;
yangtzuli	2:38825726cb1b	142
nishimura_taku_pet	24:9481c8f56a49	143	DigitalOut led1(LED1);
nishimura_taku_pet	24:9481c8f56a49	144	DigitalOut led2(LED2);
nishimura_taku_pet	24:9481c8f56a49	145	DigitalOut led3(LED3);
nishimura_taku_pet	24:9481c8f56a49	146	DigitalOut led4(LED4);
yangtzuli	3:2ae6218973be	147
nishimura_taku_pet	33:a6f1090e0174	148	void setup(){
nishimura_taku_pet	33:a6f1090e0174	149	deco_thread = new Thread(decodeIR);
nishimura_taku_pet	33:a6f1090e0174	150	deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet	33:a6f1090e0174	151	motor_thread = new Thread(motor);
nishimura_taku_pet	33:a6f1090e0174	152	motor_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	43:243c1455f88a	153	wifi_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet	33:a6f1090e0174	154	display();
nishimura_taku_pet	33:a6f1090e0174	155	}
nishimura_taku_pet	33:a6f1090e0174	156
tomotsugu	8:a47dbf4fa455	157	/* リモコン受信スレッド */
nishimura_taku_pet	33:a6f1090e0174	158	void decodeIR(/void const argument*/){
yangtzuli	5:3fffb364744b	159	while(1){
yangtzuli	0:0d0037aabe41	160	// 受信待ち
tomotsugu	8:a47dbf4fa455	161	if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli	3:2ae6218973be	162	bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu	8:a47dbf4fa455	163	if(bitcount > 1){ // 受信成功
yangtzuli	1:5bb497a38344	164	code=0;
tomotsugu	15:5eef1955f6c2	165	for(int j = 0; j < 4; j++){
yangtzuli	1:5bb497a38344	166	code+=(buf[j]<<(8*(3-j)));
yangtzuli	1:5bb497a38344	167	}
tomotsugu	8:a47dbf4fa455	168	if(mode != SPEED){ // スピードモード以外なら
tomotsugu	8:a47dbf4fa455	169	beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli	3:2ae6218973be	170	}
yangtzuli	0:0d0037aabe41	171	switch(code){
tomotsugu	8:a47dbf4fa455	172	case 0x40bf27d8: // クイック
yangtzuli	17:f7259ab2fe86	173	//pc.printf("mode = SPEED\r\n");
tomotsugu	8:a47dbf4fa455	174	mode = SPEED; // スピードモード
tomotsugu	8:a47dbf4fa455	175	changeSpeed(); // 速度変更
tomotsugu	8:a47dbf4fa455	176	display(); // ディスプレイ表示
tomotsugu	8:a47dbf4fa455	177	mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli	1:5bb497a38344	178	break;
tomotsugu	8:a47dbf4fa455	179	case 0x40be34cb: // レグザリンク
yangtzuli	17:f7259ab2fe86	180	//pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet	16:ffc732a3cf92	181	if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	182	delete trace_thread;
nishimura_taku_pet	16:ffc732a3cf92	183	trace_thread = new Thread(trace);
nishimura_taku_pet	16:ffc732a3cf92	184	trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	16:ffc732a3cf92	185	}
tomotsugu	8:a47dbf4fa455	186	mode=LINE_TRACE; // ライントレースモード
tomotsugu	8:a47dbf4fa455	187	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	188	break;
tomotsugu	8:a47dbf4fa455	189	case 0x40bf6e91: // 番組表
yangtzuli	17:f7259ab2fe86	190	//pc.printf("mode = AVOIDANCE\r\n");
nishimura_taku_pet	16:ffc732a3cf92	191	if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	192	delete avoi_thread;
nishimura_taku_pet	16:ffc732a3cf92	193	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	16:ffc732a3cf92	194	avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	16:ffc732a3cf92	195	}
tomotsugu	18:6cca64c7dbc3	196	flag_a = 0;
tomotsugu	8:a47dbf4fa455	197	mode=AVOIDANCE; // 障害物回避モード
tomotsugu	13:1a7667d0aa78	198	run = ADVANCE; // 前進
tomotsugu	8:a47dbf4fa455	199	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	200	break;
tomotsugu	8:a47dbf4fa455	201	case 0x40bf3ec1: // ↑
yangtzuli	17:f7259ab2fe86	202	//pc.printf("mode = ADVANCE\r\n");
tomotsugu	8:a47dbf4fa455	203	mode = ADVANCE; // 前進モード
tomotsugu	8:a47dbf4fa455	204	run = ADVANCE; // 前進
tomotsugu	8:a47dbf4fa455	205	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	206	break;
tomotsugu	8:a47dbf4fa455	207	case 0x40bf3fc0: // ↓
yangtzuli	17:f7259ab2fe86	208	//pc.printf("mode = BACK\r\n");
tomotsugu	8:a47dbf4fa455	209	mode = BACK; // 後退モード
tomotsugu	8:a47dbf4fa455	210	run = BACK; // 後退
tomotsugu	8:a47dbf4fa455	211	display(); // ディスプレイ表示
yangtzuli	0:0d0037aabe41	212	break;
tomotsugu	8:a47dbf4fa455	213	case 0x40bf5fa0: // ←
yangtzuli	17:f7259ab2fe86	214	//pc.printf("mode = LEFT\r\n");
tomotsugu	8:a47dbf4fa455	215	mode = LEFT; // 左折モード
tomotsugu	8:a47dbf4fa455	216	run = LEFT; // 左折
tomotsugu	8:a47dbf4fa455	217	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	218	break;
tomotsugu	8:a47dbf4fa455	219	case 0x40bf5ba4: // →
yangtzuli	17:f7259ab2fe86	220	//pc.printf("mode = RIGHT\r\n");
tomotsugu	8:a47dbf4fa455	221	mode = RIGHT; // 右折モード
tomotsugu	8:a47dbf4fa455	222	run = RIGHT; // 右折
tomotsugu	8:a47dbf4fa455	223	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	224	break;
tomotsugu	8:a47dbf4fa455	225	case 0x40bf3dc2: // 決定
yangtzuli	17:f7259ab2fe86	226	//pc.printf("mode = STOP\r\n");
tomotsugu	8:a47dbf4fa455	227	mode = STOP; // 停止モード
tomotsugu	8:a47dbf4fa455	228	run = STOP; // 停止
tomotsugu	8:a47dbf4fa455	229	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	230	break;
yangtzuli	0:0d0037aabe41	231	default:
yangtzuli	0:0d0037aabe41	232	;
yangtzuli	0:0d0037aabe41	233	}
nishimura_taku_pet	16:ffc732a3cf92	234	if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	235	trace_thread->terminate();
nishimura_taku_pet	16:ffc732a3cf92	236	}
nishimura_taku_pet	16:ffc732a3cf92	237	if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	238	avoi_thread->terminate();
nishimura_taku_pet	28:cb51cafca490	239	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	16:ffc732a3cf92	240	}
yangtzuli	0:0d0037aabe41	241	}
yangtzuli	0:0d0037aabe41	242	}
tomotsugu	8:a47dbf4fa455	243	if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
tomotsugu	8:a47dbf4fa455	244	viewTimer.stop(); // タイマーストップ
tomotsugu	8:a47dbf4fa455	245	viewTimer.reset(); // タイマーリセット
tomotsugu	8:a47dbf4fa455	246	display(); // ディスプレイ表示
yangtzuli	4:3f80c0180e2f	247	}
tomotsugu	18:6cca64c7dbc3	248	ThisThread::sleep_for(90); // 90ms待つ
yangtzuli	4:3f80c0180e2f	249	}
yangtzuli	2:38825726cb1b	250	}
tomotsugu	8:a47dbf4fa455	251
tomotsugu	8:a47dbf4fa455	252	/* モーター制御スレッド */
nishimura_taku_pet	33:a6f1090e0174	253	void motor(/void const argument*/){
tomotsugu	8:a47dbf4fa455	254	while(1){
tomotsugu	8:a47dbf4fa455	255	/* 走行状態の場合分け */
yangtzuli	3:2ae6218973be	256	switch(run){
tomotsugu	8:a47dbf4fa455	257	/* 前進 */
yangtzuli	3:2ae6218973be	258	case ADVANCE:
tomotsugu	8:a47dbf4fa455	259	motorR1 = motorSpeed[flag_sp]; // 右前進モーターON
tomotsugu	8:a47dbf4fa455	260	motorR2 = LOW; // 右後退モーターOFF
tomotsugu	8:a47dbf4fa455	261	motorL1 = motorSpeed[flag_sp]; // 左前進モーターON
tomotsugu	8:a47dbf4fa455	262	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	263	break;
tomotsugu	8:a47dbf4fa455	264	/* 右折 */
yangtzuli	3:2ae6218973be	265	case RIGHT:
tomotsugu	8:a47dbf4fa455	266	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	8:a47dbf4fa455	267	motorR2 = motorSpeed[flag_sp]; // 右後退モーターON
tomotsugu	8:a47dbf4fa455	268	motorL1 = motorSpeed[flag_sp]; // 左前進モーターON
tomotsugu	8:a47dbf4fa455	269	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	270	break;
tomotsugu	8:a47dbf4fa455	271	/* 左折 */
yangtzuli	3:2ae6218973be	272	case LEFT:
tomotsugu	8:a47dbf4fa455	273	motorR1 = motorSpeed[flag_sp]; // 右前進モーターON
tomotsugu	8:a47dbf4fa455	274	motorR2 = LOW; // 右後退モーターOFF
tomotsugu	8:a47dbf4fa455	275	motorL1 = LOW; // 左前進モーターOFF
tomotsugu	8:a47dbf4fa455	276	motorL2 = motorSpeed[flag_sp]; // 左後退モーターON
yangtzuli	3:2ae6218973be	277	break;
tomotsugu	8:a47dbf4fa455	278	/* 後退 */
yangtzuli	3:2ae6218973be	279	case BACK:
tomotsugu	8:a47dbf4fa455	280	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	8:a47dbf4fa455	281	motorR2 = motorSpeed[flag_sp]; // 右後退モーターON
tomotsugu	8:a47dbf4fa455	282	motorL1 = LOW; // 左前進モーターOFF
tomotsugu	8:a47dbf4fa455	283	motorL2 = motorSpeed[flag_sp]; // 左後退モーターON
yangtzuli	3:2ae6218973be	284	break;
tomotsugu	8:a47dbf4fa455	285	/* 停止 */
yangtzuli	3:2ae6218973be	286	case STOP:
tomotsugu	8:a47dbf4fa455	287	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	8:a47dbf4fa455	288	motorR2 = LOW; // 右後退モーターOFF
tomotsugu	8:a47dbf4fa455	289	motorL1 = LOW; // 左前進モーターOFF
tomotsugu	8:a47dbf4fa455	290	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	291	break;
yangtzuli	3:2ae6218973be	292	}
tomotsugu	8:a47dbf4fa455	293	if(flag_sp > VERYFAST){ // スピード変更フラグが2より大きいなら
nishimura_taku_pet	47:8a5a4275480a	294	flag_sp %= 3; // スピード変更フラグ調整
yangtzuli	6:800a745c7f2e	295	}
tomotsugu	8:a47dbf4fa455	296	ThisThread::sleep_for(30); // 30ms待つ
yangtzuli	2:38825726cb1b	297	}
yangtzuli	2:38825726cb1b	298	}
tomotsugu	8:a47dbf4fa455	299
tomotsugu	8:a47dbf4fa455	300	/* スピード変更関数 */
yangtzuli	3:2ae6218973be	301	void changeSpeed(){
tomotsugu	8:a47dbf4fa455	302	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	303	flag_sp -= 2; // スピード変更フラグを-2
yangtzuli	3:2ae6218973be	304
tomotsugu	8:a47dbf4fa455	305	}else{ // それ以外
tomotsugu	8:a47dbf4fa455	306	flag_sp = flag_sp + 1; // スピード変更フラグを+1
yangtzuli	3:2ae6218973be	307	}
yangtzuli	3:2ae6218973be	308	}
tomotsugu	8:a47dbf4fa455	309
tomotsugu	8:a47dbf4fa455	310	/* ライントレーススレッド */
tomotsugu	20:02bb875a9b13	311	void trace(){
tomotsugu	8:a47dbf4fa455	312	while(1){
tomotsugu	8:a47dbf4fa455	313	/* 各センサー値読み取り */
yangtzuli	3:2ae6218973be	314	int sensor1 = ss1;
yangtzuli	3:2ae6218973be	315	int sensor2 = ss2;
yangtzuli	3:2ae6218973be	316	int sensor3 = ss3;
yangtzuli	3:2ae6218973be	317	int sensor4 = ss4;
yangtzuli	3:2ae6218973be	318	int sensor5 = ss5;
yangtzuli	6:800a745c7f2e	319	pc.printf("%d %d %d %d %d \r\n",sensor1,sensor2,sensor3,sensor4,sensor5);
yangtzuli	3:2ae6218973be	320	int sensD = 0;
tomotsugu	8:a47dbf4fa455	321
tomotsugu	8:a47dbf4fa455	322	/* センサー値の決定 */
yangtzuli	3:2ae6218973be	323	if(sensor1 > 0) sensD \|= 0x10;
yangtzuli	3:2ae6218973be	324	if(sensor2 > 0) sensD \|= 0x08;
yangtzuli	3:2ae6218973be	325	if(sensor3 > 0) sensD \|= 0x04;
yangtzuli	3:2ae6218973be	326	if(sensor4 > 0) sensD \|= 0x02;
yangtzuli	3:2ae6218973be	327	if(sensor5 > 0) sensD \|= 0x01;
tomotsugu	8:a47dbf4fa455	328
tomotsugu	8:a47dbf4fa455	329	/* センサー値によって場合分け */
nishimura_taku_pet	34:040474bf6fe0	330	switch(sensArray[sensD]){
yangtzuli	3:2ae6218973be	331	case 1:
tomotsugu	18:6cca64c7dbc3	332	run = ADVANCE; // 低速で前進
yangtzuli	3:2ae6218973be	333	break;
yangtzuli	3:2ae6218973be	334	case 2:
takuminomura	39:054c17d10c55	335	// flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	336	run = RIGHT; // 低速で右折
yangtzuli	3:2ae6218973be	337	break;
yangtzuli	3:2ae6218973be	338	case 3:
takuminomura	39:054c17d10c55	339	// flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	340	run = LEFT; // 低速で左折
yangtzuli	3:2ae6218973be	341	break;
yangtzuli	3:2ae6218973be	342	case 4:
takuminomura	39:054c17d10c55	343	flag_sp = flag_sp % 3 + 3;
tomotsugu	18:6cca64c7dbc3	344	run = RIGHT; // 中速で右折
yangtzuli	3:2ae6218973be	345	break;
yangtzuli	3:2ae6218973be	346	case 5:
takuminomura	39:054c17d10c55	347	flag_sp = flag_sp % 3 + 3;
tomotsugu	18:6cca64c7dbc3	348	run = LEFT; // 中速で左折
yangtzuli	6:800a745c7f2e	349	break;
yangtzuli	6:800a745c7f2e	350	case 6:
tomotsugu	18:6cca64c7dbc3	351	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	352	run = RIGHT; // 高速で右折
yangtzuli	6:800a745c7f2e	353	break;
yangtzuli	6:800a745c7f2e	354	case 7:
tomotsugu	18:6cca64c7dbc3	355	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	356	run = LEFT; // 高速で左折
yangtzuli	3:2ae6218973be	357	break;
takuminomura	39:054c17d10c55	358	default:
takuminomura	39:054c17d10c55	359	break; // 前回動作を継続
yangtzuli	3:2ae6218973be	360	}
tomotsugu	8:a47dbf4fa455	361	ThisThread::sleep_for(30); // 30ms待つ
tomotsugu	18:6cca64c7dbc3	362	}
yangtzuli	3:2ae6218973be	363	}
yangtzuli	3:2ae6218973be	364
tomotsugu	8:a47dbf4fa455	365	/* 障害物回避走行スレッド */
tomotsugu	20:02bb875a9b13	366	void avoidance(){
nishimura_taku_pet	46:c6deb699160b	367	int i;
yangtzuli	3:2ae6218973be	368	while(1){
nishimura_taku_pet	40:75e1ad7c27e4	369	watchsurrounding3();
tomotsugu	18:6cca64c7dbc3	370	pc.printf("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR);
tomotsugu	18:6cca64c7dbc3	371	if(flag_a == 0){ // 障害物がない場合
tomotsugu	18:6cca64c7dbc3	372	run = ADVANCE; // 前進
nishimura_taku_pet	28:cb51cafca490	373	}else{ // 障害物がある場合
tomotsugu	18:6cca64c7dbc3	374	i = 0;
tomotsugu	18:6cca64c7dbc3	375	if(SC < 15){ // 正面15cm以内に障害物が現れた場合
nishimura_taku_pet	41:3c58a4be1199	376	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	41:3c58a4be1199	377	ThisThread::sleep_for(100); // 100ms待つ
tomotsugu	18:6cca64c7dbc3	378	run = BACK; // 後退
nishimura_taku_pet	40:75e1ad7c27e4	379	int cnt_kyori=0;
nishimura_taku_pet	40:75e1ad7c27e4	380	int kyori = watch();
nishimura_taku_pet	40:75e1ad7c27e4	381	while(kyori < limit){ // 正面20cm以内に障害物がある間
nishimura_taku_pet	40:75e1ad7c27e4	382	if(kyori==-1){
nishimura_taku_pet	40:75e1ad7c27e4	383	cnt_kyori++;
nishimura_taku_pet	40:75e1ad7c27e4	384	if(cnt_kyori>15){
nishimura_taku_pet	40:75e1ad7c27e4	385	cnt_kyori=0;
nishimura_taku_pet	40:75e1ad7c27e4	386	break;
nishimura_taku_pet	40:75e1ad7c27e4	387	}
nishimura_taku_pet	40:75e1ad7c27e4	388	}
nishimura_taku_pet	40:75e1ad7c27e4	389	kyori = watch();
tomotsugu	18:6cca64c7dbc3	390	}
nishimura_taku_pet	40:75e1ad7c27e4	391	/*while(i < 30){ // 正面20cm以内に障害物がある間
nishimura_taku_pet	40:75e1ad7c27e4	392	if(watch() < limit){
nishimura_taku_pet	40:75e1ad7c27e4	393	break;
nishimura_taku_pet	40:75e1ad7c27e4	394	}
nishimura_taku_pet	40:75e1ad7c27e4	395	i++;
nishimura_taku_pet	40:75e1ad7c27e4	396	}
nishimura_taku_pet	40:75e1ad7c27e4	397	i = 0;*/
nishimura_taku_pet	40:75e1ad7c27e4	398	run = STOP; // 停止
yangtzuli	3:2ae6218973be	399	}
nishimura_taku_pet	40:75e1ad7c27e4	400	watchsurrounding5();
nishimura_taku_pet	28:cb51cafca490	401	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	402	run = LEFT; // 左折
nishimura_taku_pet	28:cb51cafca490	403	while(i < 1){ // 進行方向確認
tomotsugu	18:6cca64c7dbc3	404	if(watch() > limit){
tomotsugu	18:6cca64c7dbc3	405	i++;
nishimura_taku_pet	28:cb51cafca490	406	}else{
nishimura_taku_pet	28:cb51cafca490	407	i = 0;
yangtzuli	2:38825726cb1b	408	}
yangtzuli	2:38825726cb1b	409	}
nishimura_taku_pet	28:cb51cafca490	410	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	411	}else { // 全方向以外
nishimura_taku_pet	28:cb51cafca490	412	far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	413	houkou = 1; // 進行方向を前に設定
nishimura_taku_pet	28:cb51cafca490	414	if(far < SLD \|\| far < SL){ // 左または左前がより遠い場合
nishimura_taku_pet	28:cb51cafca490	415	if(SL < SLD){ // 左前が左より遠い場合
nishimura_taku_pet	28:cb51cafca490	416	far = SLD; // 左前を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	417	}else{ // 左が左前より遠い場合
nishimura_taku_pet	28:cb51cafca490	418	far = SL; // 左を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	419	}
nishimura_taku_pet	28:cb51cafca490	420	houkou = 2; // 進行方向を左に設定
nishimura_taku_pet	28:cb51cafca490	421	}
nishimura_taku_pet	28:cb51cafca490	422	if(far < SRD \|\| far < SR){ // 右または右前がより遠い場合
nishimura_taku_pet	28:cb51cafca490	423	if(SR < SRD){ // 右前が右より遠い場合
nishimura_taku_pet	28:cb51cafca490	424	far = SRD; // 右前を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	425	}else{ // 右が右前よりも遠い場合
nishimura_taku_pet	28:cb51cafca490	426	far = SR; // 右を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	427	}
nishimura_taku_pet	28:cb51cafca490	428	houkou = 3; // 進行方向を右に設定
nishimura_taku_pet	28:cb51cafca490	429	}
nishimura_taku_pet	28:cb51cafca490	430	switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet	28:cb51cafca490	431	case 1: // 前の場合
nishimura_taku_pet	28:cb51cafca490	432	run = ADVANCE; // 前進
nishimura_taku_pet	40:75e1ad7c27e4	433	ThisThread::sleep_for(500); // 0.5秒待つ
nishimura_taku_pet	28:cb51cafca490	434	break;
nishimura_taku_pet	40:75e1ad7c27e4	435	case 2: // 左の場合
nishimura_taku_pet	28:cb51cafca490	436	run = LEFT; // 左折
nishimura_taku_pet	40:75e1ad7c27e4	437	//int kyori = watch();
nishimura_taku_pet	40:75e1ad7c27e4	438	//int kyori_f=0;
nishimura_taku_pet	40:75e1ad7c27e4	439	while(i < 20){ // 進行方向確認
nishimura_taku_pet	40:75e1ad7c27e4	440	/*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	441	break; // ループ+
nishimura_taku_pet	40:75e1ad7c27e4	442	}else if(kyori==-1){
nishimura_taku_pet	40:75e1ad7c27e4	443	kyori_f++;
nishimura_taku_pet	40:75e1ad7c27e4	444	}else{
nishimura_taku_pet	40:75e1ad7c27e4	445	kyori_f = 0;
nishimura_taku_pet	40:75e1ad7c27e4	446	i++;
nishimura_taku_pet	40:75e1ad7c27e4	447	}*/
nishimura_taku_pet	28:cb51cafca490	448	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	449	break; // ループ+
nishimura_taku_pet	28:cb51cafca490	450	}else{
nishimura_taku_pet	40:75e1ad7c27e4	451	i++;
nishimura_taku_pet	28:cb51cafca490	452	}
nishimura_taku_pet	28:cb51cafca490	453	}
nishimura_taku_pet	28:cb51cafca490	454	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	455	break;
nishimura_taku_pet	40:75e1ad7c27e4	456	case 3: // 右の場合
nishimura_taku_pet	28:cb51cafca490	457	run = RIGHT; // 右折
nishimura_taku_pet	45:76e8c07d76ef	458	//int kyori = watch();
nishimura_taku_pet	45:76e8c07d76ef	459	//int kyori_f=0;
nishimura_taku_pet	40:75e1ad7c27e4	460	while(i < 20){ // 進行方向確認
nishimura_taku_pet	40:75e1ad7c27e4	461	/*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	462	break; // ループ+
nishimura_taku_pet	40:75e1ad7c27e4	463	}else if(kyori==-1){
nishimura_taku_pet	40:75e1ad7c27e4	464	kyori_f++;
nishimura_taku_pet	40:75e1ad7c27e4	465	}else{
nishimura_taku_pet	40:75e1ad7c27e4	466	kyori_f = 0;
nishimura_taku_pet	40:75e1ad7c27e4	467	i++;
nishimura_taku_pet	40:75e1ad7c27e4	468	}*/
nishimura_taku_pet	28:cb51cafca490	469	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	470	break; // ループ+
nishimura_taku_pet	28:cb51cafca490	471	}else{
nishimura_taku_pet	40:75e1ad7c27e4	472	i++;
nishimura_taku_pet	28:cb51cafca490	473	}
nishimura_taku_pet	28:cb51cafca490	474	}
nishimura_taku_pet	28:cb51cafca490	475	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	476	break;
nishimura_taku_pet	28:cb51cafca490	477	}
yangtzuli	5:3fffb364744b	478	}
nishimura_taku_pet	28:cb51cafca490	479	}
nishimura_taku_pet	28:cb51cafca490	480	flag_a = 0; // 障害物有無フラグを0にセット
nishimura_taku_pet	40:75e1ad7c27e4	481	if(SLD < 29){ // 正面15cm以内に障害物が現れた場合
nishimura_taku_pet	40:75e1ad7c27e4	482	run = RIGHT; // 右折
nishimura_taku_pet	41:3c58a4be1199	483	ThisThread::sleep_for(200); // 100ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	484	run = STOP; // 停止
nishimura_taku_pet	40:75e1ad7c27e4	485	}else if(SRD < 29){
nishimura_taku_pet	40:75e1ad7c27e4	486	run = LEFT; // 左折
nishimura_taku_pet	41:3c58a4be1199	487	ThisThread::sleep_for(200); // 100ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	488	run = STOP; // 停止
nishimura_taku_pet	40:75e1ad7c27e4	489	}
yangtzuli	2:38825726cb1b	490	}
yangtzuli	2:38825726cb1b	491	}
tomotsugu	8:a47dbf4fa455	492
tomotsugu	8:a47dbf4fa455	493	/* 距離計測関数 */
yangtzuli	2:38825726cb1b	494	int watch(){
tomotsugu	21:68d38e8f64b5	495	do{
tomotsugu	21:68d38e8f64b5	496	trig = 0;
tomotsugu	21:68d38e8f64b5	497	ThisThread::sleep_for(5); // 5ms待つ
tomotsugu	21:68d38e8f64b5	498	trig = 1;
tomotsugu	21:68d38e8f64b5	499	ThisThread::sleep_for(15); // 15ms待つ
tomotsugu	21:68d38e8f64b5	500	trig = 0;
tomotsugu	21:68d38e8f64b5	501	timer.start();
yangtzuli	17:f7259ab2fe86	502	t1=timer.read_ms();
nishimura_taku_pet	29:600e4b9b5c5b	503	while(echo.read() == 0 && t1<10){
tomotsugu	21:68d38e8f64b5	504	t1=timer.read_ms();
tomotsugu	21:68d38e8f64b5	505	led1 = 1;
tomotsugu	21:68d38e8f64b5	506	}
tomotsugu	21:68d38e8f64b5	507	timer.stop();
tomotsugu	21:68d38e8f64b5	508	timer.reset();
nishimura_taku_pet	28:cb51cafca490	509	/*if((t1-t2) >= 10){
nishimura_taku_pet	28:cb51cafca490	510	run = STOP;*/
nishimura_taku_pet	29:600e4b9b5c5b	511	}while(t1 >= 10);
tomotsugu	21:68d38e8f64b5	512	timer.start(); // 距離計測タイマースタート
tomotsugu	21:68d38e8f64b5	513	while(echo.read() == 1){
yangtzuli	5:3fffb364744b	514	}
tomotsugu	21:68d38e8f64b5	515	timer.stop(); // 距離計測タイマーストップ
tomotsugu	21:68d38e8f64b5	516	DT = (int)(timer.read_us()*0.01657); // 距離計算
nishimura_taku_pet	28:cb51cafca490	517	if(DT > 1000){
nishimura_taku_pet	28:cb51cafca490	518	DT = -1;
nishimura_taku_pet	28:cb51cafca490	519	}else if(DT > 150){ // 検知範囲外なら100cmに設定
tomotsugu	22:c6e2a3b9aa14	520	DT = 150;
yangtzuli	2:38825726cb1b	521	}
tomotsugu	21:68d38e8f64b5	522	timer.reset(); // 距離計測タイマーリセット
tomotsugu	8:a47dbf4fa455	523	led1 = 0;
yangtzuli	2:38825726cb1b	524	return DT;
yangtzuli	0:0d0037aabe41	525	}
yangtzuli	0:0d0037aabe41	526
tomotsugu	8:a47dbf4fa455	527	/* 障害物検知関数 */
nishimura_taku_pet	40:75e1ad7c27e4	528	void watchsurrounding3(){
nishimura_taku_pet	28:cb51cafca490	529	//servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	28:cb51cafca490	530	//ThisThread::sleep_for(200); // 100ms待つ
yangtzuli	2:38825726cb1b	531	SC = watch();
nishimura_taku_pet	28:cb51cafca490	532	if(SC < limit){ // 正面20cm以内に障害物がある場合
nishimura_taku_pet	28:cb51cafca490	533	if(SC!=-1){
nishimura_taku_pet	28:cb51cafca490	534	run = STOP; // 停止
nishimura_taku_pet	40:75e1ad7c27e4	535	flag_a = 1;
nishimura_taku_pet	40:75e1ad7c27e4	536	return;
nishimura_taku_pet	28:cb51cafca490	537	}
yangtzuli	2:38825726cb1b	538	}
yangtzuli	2:38825726cb1b	539	servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet	28:cb51cafca490	540	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	541	SLD = watch();
yangtzuli	2:38825726cb1b	542	if(SLD < limit){ // 左前20cm以内に障害物がある場合
tomotsugu	20:02bb875a9b13	543	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	544	flag_a = 1;
nishimura_taku_pet	40:75e1ad7c27e4	545	return;
yangtzuli	2:38825726cb1b	546	}
tomotsugu	19:c6f9f010bd9e	547	servo.pulsewidth_us(1450);
nishimura_taku_pet	42:56022456ef23	548	ThisThread::sleep_for(150);
tomotsugu	19:c6f9f010bd9e	549	SC = watch();
tomotsugu	19:c6f9f010bd9e	550	if(SC < limit){
nishimura_taku_pet	28:cb51cafca490	551	if(SC!=-1){
nishimura_taku_pet	28:cb51cafca490	552	run = STOP; // 停止
nishimura_taku_pet	40:75e1ad7c27e4	553	flag_a = 1;
nishimura_taku_pet	40:75e1ad7c27e4	554	return;
nishimura_taku_pet	28:cb51cafca490	555	}
tomotsugu	19:c6f9f010bd9e	556	}
yangtzuli	2:38825726cb1b	557	servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet	28:cb51cafca490	558	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	559	SRD = watch();
yangtzuli	2:38825726cb1b	560	if(SRD < limit){ // 右前20cm以内に障害物がある場合
tomotsugu	20:02bb875a9b13	561	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	562	flag_a = 1;
nishimura_taku_pet	40:75e1ad7c27e4	563	return;
yangtzuli	2:38825726cb1b	564	}
nishimura_taku_pet	40:75e1ad7c27e4	565	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	40:75e1ad7c27e4	566	ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	567	/*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	568	flag_a = 1; // 障害物有無フラグに1をセット
nishimura_taku_pet	40:75e1ad7c27e4	569	}*/
nishimura_taku_pet	40:75e1ad7c27e4	570	}
nishimura_taku_pet	40:75e1ad7c27e4	571
nishimura_taku_pet	40:75e1ad7c27e4	572	/* 障害物検知関数 */
nishimura_taku_pet	40:75e1ad7c27e4	573	void watchsurrounding5(){
nishimura_taku_pet	40:75e1ad7c27e4	574	//servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	40:75e1ad7c27e4	575	//ThisThread::sleep_for(200); // 100ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	576	SC = watch();
nishimura_taku_pet	40:75e1ad7c27e4	577	servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet	40:75e1ad7c27e4	578	ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	579	SLD = watch();
nishimura_taku_pet	40:75e1ad7c27e4	580	servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet	40:75e1ad7c27e4	581	ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	582	SL = watch();
nishimura_taku_pet	40:75e1ad7c27e4	583	servo.pulsewidth_us(1450);
nishimura_taku_pet	40:75e1ad7c27e4	584	ThisThread::sleep_for(250);
nishimura_taku_pet	40:75e1ad7c27e4	585	SC = watch();
nishimura_taku_pet	40:75e1ad7c27e4	586	servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet	40:75e1ad7c27e4	587	ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	588	SRD = watch();
yangtzuli	2:38825726cb1b	589	servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet	28:cb51cafca490	590	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	591	SR = watch();
yangtzuli	2:38825726cb1b	592	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	28:cb51cafca490	593	ThisThread::sleep_for(250); // 100ms待つ
yangtzuli	3:2ae6218973be	594	}
yangtzuli	3:2ae6218973be	595
tomotsugu	8:a47dbf4fa455	596	/* ディスプレイ表示関数 */
yangtzuli	3:2ae6218973be	597	void display(){
tomotsugu	8:a47dbf4fa455	598	mutex.lock(); // ミューテックスロック
yangtzuli	3:2ae6218973be	599	lcd.setAddress(0,1);
tomotsugu	8:a47dbf4fa455	600
tomotsugu	8:a47dbf4fa455	601	/* 操作モードによる場合分け */
yangtzuli	3:2ae6218973be	602	switch(mode){
tomotsugu	8:a47dbf4fa455	603	/* 前進 */
yangtzuli	3:2ae6218973be	604	case ADVANCE:
yangtzuli	3:2ae6218973be	605	lcd.printf("Mode:Advance ");
yangtzuli	3:2ae6218973be	606	break;
tomotsugu	8:a47dbf4fa455	607	/* 右折 */
yangtzuli	3:2ae6218973be	608	case RIGHT:
yangtzuli	5:3fffb364744b	609	lcd.printf("Mode:TurnRight ");
yangtzuli	3:2ae6218973be	610	break;
tomotsugu	8:a47dbf4fa455	611	/* 左折 */
yangtzuli	3:2ae6218973be	612	case LEFT:
yangtzuli	5:3fffb364744b	613	lcd.printf("Mode:TurnLeft ");
yangtzuli	3:2ae6218973be	614	break;
tomotsugu	8:a47dbf4fa455	615	/* 後退 */
yangtzuli	3:2ae6218973be	616	case BACK:
yangtzuli	3:2ae6218973be	617	lcd.printf("Mode:Back ");
yangtzuli	3:2ae6218973be	618	break;
tomotsugu	8:a47dbf4fa455	619	/* 停止 */
yangtzuli	3:2ae6218973be	620	case STOP:
yangtzuli	3:2ae6218973be	621	lcd.printf("Mode:Stop ");
yangtzuli	3:2ae6218973be	622	break;
tomotsugu	8:a47dbf4fa455	623	/* 待ち */
yangtzuli	3:2ae6218973be	624	case READY:
yangtzuli	3:2ae6218973be	625	lcd.printf("Mode:Ready ");
yangtzuli	3:2ae6218973be	626	break;
tomotsugu	8:a47dbf4fa455	627	/* ライントレース */
yangtzuli	3:2ae6218973be	628	case LINE_TRACE:
yangtzuli	3:2ae6218973be	629	lcd.printf("Mode:LineTrace ");
yangtzuli	3:2ae6218973be	630	break;
tomotsugu	8:a47dbf4fa455	631	/* 障害物回避 */
yangtzuli	3:2ae6218973be	632	case AVOIDANCE:
yangtzuli	3:2ae6218973be	633	lcd.printf("Mode:Avoidance ");
yangtzuli	3:2ae6218973be	634	break;
tomotsugu	8:a47dbf4fa455	635	/* スピード制御 */
yangtzuli	3:2ae6218973be	636	case SPEED:
tomotsugu	8:a47dbf4fa455	637	/* スピードの状態で場合分け */
yangtzuli	3:2ae6218973be	638	switch(flag_sp){
tomotsugu	8:a47dbf4fa455	639	/* 普通 */
yangtzuli	3:2ae6218973be	640	case(NORMAL):
yangtzuli	3:2ae6218973be	641	lcd.printf("Speed:Normal ");
yangtzuli	3:2ae6218973be	642	break;
tomotsugu	8:a47dbf4fa455	643	/* 速い */
yangtzuli	3:2ae6218973be	644	case(FAST):
yangtzuli	3:2ae6218973be	645	lcd.printf("Speed:Fast ");
yangtzuli	3:2ae6218973be	646	break;
tomotsugu	8:a47dbf4fa455	647	/* とても速い */
yangtzuli	3:2ae6218973be	648	case(VERYFAST):
yangtzuli	3:2ae6218973be	649	lcd.printf("Speed:VeryFast ");
yangtzuli	3:2ae6218973be	650	break;
yangtzuli	3:2ae6218973be	651	}
tomotsugu	8:a47dbf4fa455	652	viewTimer.reset(); // タイマーリセット
tomotsugu	8:a47dbf4fa455	653	viewTimer.start(); // タイマースタート
yangtzuli	3:2ae6218973be	654	break;
yangtzuli	3:2ae6218973be	655	}
tomotsugu	8:a47dbf4fa455	656	mutex.unlock(); // ミューテックスアンロック
yangtzuli	3:2ae6218973be	657	}
yangtzuli	3:2ae6218973be	658
tomotsugu	8:a47dbf4fa455	659	/* バックライト点滅 */
yangtzuli	3:2ae6218973be	660	void lcdBacklight(void const *argument){
tomotsugu	8:a47dbf4fa455	661	if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu	8:a47dbf4fa455	662	lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu	8:a47dbf4fa455	663	}else{ // バックライト点滅フラグが0なら
tomotsugu	8:a47dbf4fa455	664	lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli	3:2ae6218973be	665	}
tomotsugu	8:a47dbf4fa455	666	flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli	3:2ae6218973be	667	}
yangtzuli	2:38825726cb1b	668
tomotsugu	8:a47dbf4fa455	669	/* バッテリー残量更新関数 */
yangtzuli	5:3fffb364744b	670	void bChange(){
yangtzuli	17:f7259ab2fe86	671	//pc.printf(" bChange1\r\n");
tomotsugu	10:d193030ce672	672	b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)10+0.5)10;
tomotsugu	10:d193030ce672	673	if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu	10:d193030ce672	674	b = 0;
tomotsugu	10:d193030ce672	675	//lcd.setBacklight(TextLCD::LightOff);
tomotsugu	10:d193030ce672	676	//run = STOP;
tomotsugu	10:d193030ce672	677	//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	678	}
tomotsugu	10:d193030ce672	679	mutex.lock(); // ミューテックスロック
tomotsugu	10:d193030ce672	680	lcd.setAddress(0,0);
tomotsugu	10:d193030ce672	681	lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
tomotsugu	10:d193030ce672	682	mutex.unlock(); // ミューテックスアンロック
tomotsugu	10:d193030ce672	683	if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu	10:d193030ce672	684	if(flag_t == 0){ // バックライトタイマーフラグが0なら
nishimura_taku_pet	43:243c1455f88a	685	//bTimer.attach(lcdBacklight,0.5);
tomotsugu	10:d193030ce672	686	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	687	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	688	}
tomotsugu	10:d193030ce672	689	}else{
tomotsugu	10:d193030ce672	690	if(flag_t == 1){ // バックライトタイマーフラグが1なら
nishimura_taku_pet	43:243c1455f88a	691	//bTimer.detach();
tomotsugu	10:d193030ce672	692	bTimer.stop(); // バックライトタイマーストップ
tomotsugu	10:d193030ce672	693	lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu	10:d193030ce672	694	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	695	}
tomotsugu	10:d193030ce672	696	}
yangtzuli	2:38825726cb1b	697	}
tomotsugu	8:a47dbf4fa455	698
nishimura_taku_pet	24:9481c8f56a49	699	// Serial Interrupt read ESP data
nishimura_taku_pet	24:9481c8f56a49	700	void callback()
nishimura_taku_pet	24:9481c8f56a49	701	{
nishimura_taku_pet	24:9481c8f56a49	702	//pc.printf("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	703	led3=1;
nishimura_taku_pet	24:9481c8f56a49	704	while (esp.readable()) {
nishimura_taku_pet	24:9481c8f56a49	705	webbuff[ount] = esp.getc();
nishimura_taku_pet	24:9481c8f56a49	706	ount++;
nishimura_taku_pet	24:9481c8f56a49	707	}
nishimura_taku_pet	24:9481c8f56a49	708	if(strlen(webbuff)>bufflen) {
nishimura_taku_pet	24:9481c8f56a49	709	pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	710	DataRX=1;
nishimura_taku_pet	24:9481c8f56a49	711	led3=0;
nishimura_taku_pet	24:9481c8f56a49	712	}
nishimura_taku_pet	24:9481c8f56a49	713	}
nishimura_taku_pet	24:9481c8f56a49	714
nishimura_taku_pet	43:243c1455f88a	715	void wifi(/void const argument*/)
nishimura_taku_pet	24:9481c8f56a49	716	{
nishimura_taku_pet	24:9481c8f56a49	717	pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet	33:a6f1090e0174	718	ThisThread::sleep_for(100);
nishimura_taku_pet	24:9481c8f56a49	719	led1=1,led2=0,led3=0;
nishimura_taku_pet	24:9481c8f56a49	720	timeout=6000;
nishimura_taku_pet	24:9481c8f56a49	721	getcount=500;
nishimura_taku_pet	24:9481c8f56a49	722	getreply();
nishimura_taku_pet	24:9481c8f56a49	723	esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet	24:9481c8f56a49	724	startserver();
nishimura_taku_pet	24:9481c8f56a49	725
nishimura_taku_pet	24:9481c8f56a49	726	while(1) {
nishimura_taku_pet	24:9481c8f56a49	727	if(DataRX==1) {
nishimura_taku_pet	24:9481c8f56a49	728	pc.printf("\f\n\r------------ main while > if --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	729	click_flag = 1;
nishimura_taku_pet	24:9481c8f56a49	730	ReadWebData();
nishimura_taku_pet	24:9481c8f56a49	731	pc.printf("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
nishimura_taku_pet	24:9481c8f56a49	732	//if ((servreq == 1 && weberror == 0) && click_flag == 1) {
nishimura_taku_pet	24:9481c8f56a49	733	if (servreq == 1 && weberror == 0) {
nishimura_taku_pet	24:9481c8f56a49	734	pc.printf("\f\n\r------------ befor send page --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	735	sendpage();
nishimura_taku_pet	24:9481c8f56a49	736	}
nishimura_taku_pet	24:9481c8f56a49	737	pc.printf("\f\n\r------------ send_check begin --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	738
nishimura_taku_pet	24:9481c8f56a49	739	//sendcheck();
nishimura_taku_pet	24:9481c8f56a49	740	pc.printf("\f\n\r------------ ssend_check end--------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	741
nishimura_taku_pet	24:9481c8f56a49	742	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	743	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	744	pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
nishimura_taku_pet	24:9481c8f56a49	745	pc.printf(" Web Characters sent : %d\n\n", bufl);
nishimura_taku_pet	24:9481c8f56a49	746	pc.printf(" -------------------------------------\n\n");
nishimura_taku_pet	24:9481c8f56a49	747	servreq=0;
nishimura_taku_pet	24:9481c8f56a49	748	}
nishimura_taku_pet	24:9481c8f56a49	749	ThisThread::sleep_for(100);
nishimura_taku_pet	24:9481c8f56a49	750	}
nishimura_taku_pet	24:9481c8f56a49	751	}
nishimura_taku_pet	24:9481c8f56a49	752	// Static WEB page
nishimura_taku_pet	24:9481c8f56a49	753	void sendpage()
nishimura_taku_pet	24:9481c8f56a49	754	{
nishimura_taku_pet	24:9481c8f56a49	755	// WEB page data
nishimura_taku_pet	24:9481c8f56a49	756
nishimura_taku_pet	24:9481c8f56a49	757	strcpy(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet	24:9481c8f56a49	758	strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
faker_71	48:7be823ac7eb8	759	//strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >");
molberry	38:39db3f7450c2	760	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	761	strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet	24:9481c8f56a49	762	strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
faker_71	48:7be823ac7eb8	763	/*
molberry	35:4cda290bdb87	764	if(b > 30) { //残電量表示
nishimura_taku_pet	33:a6f1090e0174	765	sprintf(webbuff, "%s%3d", webbuff, b);
molberry	35:4cda290bdb87	766	} else { //30%より下の場合残電量を赤文字
nishimura_taku_pet	33:a6f1090e0174	767	strcat(webbuff, "<font color=\"red\">");
nishimura_taku_pet	33:a6f1090e0174	768	sprintf(webbuff, "%s%3d", webbuff, b);
nishimura_taku_pet	43:243c1455f88a	769	strcat(webbuff, "</font>");
faker_71	48:7be823ac7eb8	770	}*/
faker_71	48:7be823ac7eb8	771	strcat(webbuff, "<input type=\"text\" id=\"leftms\" size=4 value=250>%</strong>");
molberry	38:39db3f7450c2	772	strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"rel()\">RELOAD</button>");
nishimura_taku_pet	24:9481c8f56a49	773	strcat(webbuff, "</td></p>");
nishimura_taku_pet	24:9481c8f56a49	774	strcat(webbuff, "<br>");
nishimura_taku_pet	24:9481c8f56a49	775	strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	776
molberry	35:4cda290bdb87	777	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	778	case ADVANCE: //前進
nishimura_taku_pet	24:9481c8f56a49	779	strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	780	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	781	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	782	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	783	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	784	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	785	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	786	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	787	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	788	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	789	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	790	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	791	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	792	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	793	break;
molberry	35:4cda290bdb87	794	case LEFT: //左折
nishimura_taku_pet	24:9481c8f56a49	795	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	796	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	797	strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	798	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	799	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	800	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	801	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	802	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	803	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	804	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	805	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	806	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	807	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	808	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	809	break;
molberry	35:4cda290bdb87	810	case STOP: //停止
nishimura_taku_pet	24:9481c8f56a49	811	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	812	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	813	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	814	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	815	strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	816	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	817	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	818	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	819	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	820	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	821	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	822	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	823	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	824	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	825	break;
molberry	35:4cda290bdb87	826	case RIGHT: //右折
nishimura_taku_pet	24:9481c8f56a49	827	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	828	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	829	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	830	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	831	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	832	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	833	strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	834	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	835	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	836	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	837	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	838	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	839	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	840	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	841	break;
molberry	35:4cda290bdb87	842	case BACK: //後進
nishimura_taku_pet	24:9481c8f56a49	843	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	844	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	845	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	846	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	847	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	848	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	849	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	850	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	851	strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	852	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet	24:9481c8f56a49	853	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	854	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	855	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	856	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	857	break;
molberry	35:4cda290bdb87	858	case AVOIDANCE: //障害物回避
nishimura_taku_pet	24:9481c8f56a49	859	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	860	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	861	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	862	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	863	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	864	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	865	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	866	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	867	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	868	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	869	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	870	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	871	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	872	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	873	break;
molberry	35:4cda290bdb87	874	case LINE_TRACE: //ライントレース
nishimura_taku_pet	24:9481c8f56a49	875	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	876	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	877	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	878	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	879	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	880	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	881	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	882	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	883	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	884	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	885	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	886	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	887	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	888	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	889	break;
molberry	35:4cda290bdb87	890	default: //その他
nishimura_taku_pet	24:9481c8f56a49	891	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	892	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	893	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	894	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	895	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	896	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	897	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	898	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	899	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	900	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	901	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	902	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	903	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	904	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	905	break;
nishimura_taku_pet	24:9481c8f56a49	906	}
nishimura_taku_pet	24:9481c8f56a49	907	strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	908	strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet	24:9481c8f56a49	909	strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	910	//ready示速度だけ点灯
molberry	35:4cda290bdb87	911	switch (flag_sp) { //現在の速度のボタン表示
molberry	35:4cda290bdb87	912	case 0: //ノーマル
nishimura_taku_pet	24:9481c8f56a49	913	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	914	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	915	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	916	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	917	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	918	break;
molberry	35:4cda290bdb87	919	case 1: //ファスト
nishimura_taku_pet	24:9481c8f56a49	920	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	921	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	922	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	923	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	924	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	925	break;
molberry	35:4cda290bdb87	926	case 2: //ベリーファスト
nishimura_taku_pet	24:9481c8f56a49	927	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	928	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	929	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	930	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	931	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	932	break;
molberry	35:4cda290bdb87	933	default: //その他
nishimura_taku_pet	24:9481c8f56a49	934	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	935	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	936	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	937	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	938	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	939	break;
nishimura_taku_pet	24:9481c8f56a49	940	}
nishimura_taku_pet	24:9481c8f56a49	941	strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	942
nishimura_taku_pet	24:9481c8f56a49	943	strcat(webbuff, "</center>");
nishimura_taku_pet	24:9481c8f56a49	944	strcat(webbuff, "</body>");
nishimura_taku_pet	24:9481c8f56a49	945	strcat(webbuff, "</html>");
molberry	35:4cda290bdb87	946	strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
nishimura_taku_pet	24:9481c8f56a49	947
molberry	38:39db3f7450c2	948	strcat(webbuff, "function rel(){");
molberry	38:39db3f7450c2	949	strcat(webbuff, "location.reload();");
molberry	38:39db3f7450c2	950	strcat(webbuff, "}");
molberry	38:39db3f7450c2	951
nishimura_taku_pet	24:9481c8f56a49	952	strcat(webbuff, "function htmlacs(url) {");
nishimura_taku_pet	24:9481c8f56a49	953	strcat(webbuff, "var xhr = new XMLHttpRequest();");
nishimura_taku_pet	24:9481c8f56a49	954	strcat(webbuff, "xhr.open(\"GET\", url);");
nishimura_taku_pet	24:9481c8f56a49	955	strcat(webbuff, "xhr.send(\"\");");
nishimura_taku_pet	24:9481c8f56a49	956	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	957
faker_71	48:7be823ac7eb8	958
faker_71	48:7be823ac7eb8	959	//0825
faker_71	48:7be823ac7eb8	960	//
faker_71	48:7be823ac7eb8	961	//0824 battery update auto
faker_71	48:7be823ac7eb8	962	strcat(webbuff, "function battery_update() {");
faker_71	48:7be823ac7eb8	963	strcat(webbuff, "var url1 = \"http://\" + window.location.hostname+ \"/cargo?a=responseBattery\";");
faker_71	48:7be823ac7eb8	964	strcat(webbuff, "var xhr1 = new XMLHttpRequest();");
faker_71	48:7be823ac7eb8	965	strcat(webbuff, "xhr1.open(\"GET\", url1);");
faker_71	48:7be823ac7eb8	966	//0820
faker_71	48:7be823ac7eb8	967	strcat(webbuff, "xhr1.onreadystatechange = function(){");
faker_71	48:7be823ac7eb8	968	//strcat(webbuff, "console.log(\"onready function is being reload!\");");
faker_71	48:7be823ac7eb8	969	strcat(webbuff, "if(this.readyState == 4 && this.status == 200){");
faker_71	48:7be823ac7eb8	970	//strcat(webbuff, "console.log(\"state is being reload!\");");
faker_71	48:7be823ac7eb8	971	strcat(webbuff, "var res1 = xhr1.responseText;");
faker_71	48:7be823ac7eb8	972
faker_71	48:7be823ac7eb8	973	//color
faker_71	48:7be823ac7eb8	974	strcat(webbuff, "var battery_num=res1;");
faker_71	48:7be823ac7eb8	975	strcat(webbuff, "if(battery_num>0 && battery_num<31){");
faker_71	48:7be823ac7eb8	976	strcat(webbuff, "document.getElementById('leftms').style.color=\"red\";");
faker_71	48:7be823ac7eb8	977	strcat(webbuff, "}");
faker_71	48:7be823ac7eb8	978	strcat(webbuff, "if(battery_num>39 && battery_num<61){");
faker_71	48:7be823ac7eb8	979	strcat(webbuff, "document.getElementById('leftms').style.color=\"orange\";");
faker_71	48:7be823ac7eb8	980	strcat(webbuff, "}");
faker_71	48:7be823ac7eb8	981	strcat(webbuff, "if(battery_num>69 && battery_num<101){");
faker_71	48:7be823ac7eb8	982	strcat(webbuff, "document.getElementById('leftms').style.color=\"blue\";");
faker_71	48:7be823ac7eb8	983	strcat(webbuff, "}");
faker_71	48:7be823ac7eb8	984	//color
faker_71	48:7be823ac7eb8	985	strcat(webbuff, "document.getElementById('leftms').value=res1;}};");
faker_71	48:7be823ac7eb8	986
faker_71	48:7be823ac7eb8	987
faker_71	48:7be823ac7eb8	988	//strcat(webbuff, "console.log(res);}};");
faker_71	48:7be823ac7eb8	989	//0820
faker_71	48:7be823ac7eb8	990
faker_71	48:7be823ac7eb8	991	strcat(webbuff, "xhr1.send();");
faker_71	48:7be823ac7eb8	992	strcat(webbuff, "}");
faker_71	48:7be823ac7eb8	993	strcat(webbuff, "setInterval(battery_update,15000);");
faker_71	48:7be823ac7eb8	994
faker_71	48:7be823ac7eb8	995	//0824 battery update auto
faker_71	48:7be823ac7eb8	996	//0825
faker_71	48:7be823ac7eb8	997
faker_71	48:7be823ac7eb8	998
molberry	35:4cda290bdb87	999	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	1000	strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet	24:9481c8f56a49	1001
nishimura_taku_pet	24:9481c8f56a49	1002	strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet	24:9481c8f56a49	1003	strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet	24:9481c8f56a49	1004	strcat(webbuff, "console.log(url);");
nishimura_taku_pet	24:9481c8f56a49	1005	strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet	43:243c1455f88a	1006	strcat(webbuff, "for(var i=1;i<8;i++){");
nishimura_taku_pet	24:9481c8f56a49	1007	strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet	24:9481c8f56a49	1008	strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet	24:9481c8f56a49	1009	strcat(webbuff, "}else{");
nishimura_taku_pet	24:9481c8f56a49	1010	strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet	24:9481c8f56a49	1011	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1012	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1013	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1014
molberry	35:4cda290bdb87	1015	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	1016	strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet	24:9481c8f56a49	1017	strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet	24:9481c8f56a49	1018	strcat(webbuff, "console.log(url);");
nishimura_taku_pet	24:9481c8f56a49	1019	strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet	43:243c1455f88a	1020	strcat(webbuff, "for(var i=8;i<11;i++){");
nishimura_taku_pet	24:9481c8f56a49	1021	strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet	24:9481c8f56a49	1022	strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet	24:9481c8f56a49	1023	strcat(webbuff, "}else{");
nishimura_taku_pet	24:9481c8f56a49	1024	strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet	24:9481c8f56a49	1025	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1026	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1027	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1028	strcat(webbuff, "</script>");
nishimura_taku_pet	24:9481c8f56a49	1029	// end of WEB page data
nishimura_taku_pet	24:9481c8f56a49	1030	bufl = strlen(webbuff); // get total page buffer length
nishimura_taku_pet	24:9481c8f56a49	1031	//sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet	24:9481c8f56a49	1032
nishimura_taku_pet	24:9481c8f56a49	1033	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	1034	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1035	getcount=40;
nishimura_taku_pet	24:9481c8f56a49	1036	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1037	getreply();
nishimura_taku_pet	24:9481c8f56a49	1038	pc.printf(replybuff);
nishimura_taku_pet	32:049d9ba081d4	1039	//pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
nishimura_taku_pet	24:9481c8f56a49	1040
nishimura_taku_pet	24:9481c8f56a49	1041	pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
nishimura_taku_pet	24:9481c8f56a49	1042
nishimura_taku_pet	24:9481c8f56a49	1043	//pastthrough mode
nishimura_taku_pet	24:9481c8f56a49	1044	SendWEB(); // send web page
nishimura_taku_pet	24:9481c8f56a49	1045	pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1046
nishimura_taku_pet	24:9481c8f56a49	1047	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	1048	sendcheck();
nishimura_taku_pet	24:9481c8f56a49	1049	}
nishimura_taku_pet	24:9481c8f56a49	1050
nishimura_taku_pet	24:9481c8f56a49	1051	// Large WEB buffer data send
nishimura_taku_pet	24:9481c8f56a49	1052	void SendWEB()
nishimura_taku_pet	24:9481c8f56a49	1053	{
nishimura_taku_pet	24:9481c8f56a49	1054	int i=0;
nishimura_taku_pet	24:9481c8f56a49	1055	if(esp.writeable()) {
nishimura_taku_pet	24:9481c8f56a49	1056	while(webbuff[i]!='\0') {
nishimura_taku_pet	24:9481c8f56a49	1057	esp.putc(webbuff[i]);
nishimura_taku_pet	24:9481c8f56a49	1058
nishimura_taku_pet	24:9481c8f56a49	1059	//****
nishimura_taku_pet	24:9481c8f56a49	1060	//output at command when 2000
nishimura_taku_pet	24:9481c8f56a49	1061	if(((i%2047)==0) && (i>0)) {
nishimura_taku_pet	24:9481c8f56a49	1062	//wait_ms(10);
nishimura_taku_pet	32:049d9ba081d4	1063	ThisThread::sleep_for(10);
faker_71	48:7be823ac7eb8	1064	sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048(i/2047))>2048?2048:(bufl-2048(i/2047))); // send IPD link channel and buffer character length.
nishimura_taku_pet	32:049d9ba081d4	1065	//pc.printf("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet	24:9481c8f56a49	1066	timeout=600;
nishimura_taku_pet	24:9481c8f56a49	1067	getcount=50;
nishimura_taku_pet	24:9481c8f56a49	1068	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1069	getreply();
nishimura_taku_pet	32:049d9ba081d4	1070	//pc.printf(replybuff);
nishimura_taku_pet	32:049d9ba081d4	1071	//pc.printf("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1072	}
nishimura_taku_pet	24:9481c8f56a49	1073	//****
nishimura_taku_pet	24:9481c8f56a49	1074	i++;
nishimura_taku_pet	32:049d9ba081d4	1075	//pc.printf("%c",webbuff[i]);
nishimura_taku_pet	24:9481c8f56a49	1076	}
nishimura_taku_pet	24:9481c8f56a49	1077	}
nishimura_taku_pet	24:9481c8f56a49	1078	pc.printf("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet	24:9481c8f56a49	1079	}
nishimura_taku_pet	24:9481c8f56a49	1080
faker_71	48:7be823ac7eb8	1081
faker_71	48:7be823ac7eb8	1082	void sendpage2()
faker_71	48:7be823ac7eb8	1083	{
faker_71	48:7be823ac7eb8	1084	// WEB page data
faker_71	48:7be823ac7eb8	1085
faker_71	48:7be823ac7eb8	1086	//strcpy(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");
faker_71	48:7be823ac7eb8	1087	//strcat(webbuff, "document.getElementById('leftms').value=\"100\";");
faker_71	48:7be823ac7eb8	1088
faker_71	48:7be823ac7eb8	1089	sprintf(battery_ch,"%d",b);
faker_71	48:7be823ac7eb8	1090	//sprintf(battery_ch,"%d",30);
faker_71	48:7be823ac7eb8	1091	strcpy(webbuff, battery_ch);
faker_71	48:7be823ac7eb8	1092
faker_71	48:7be823ac7eb8	1093	//strcpy(webbuff, "document.getElementById('leftms').value=\"100\";");
faker_71	48:7be823ac7eb8	1094
faker_71	48:7be823ac7eb8	1095	//strcat(webbuff, "</script>");
faker_71	48:7be823ac7eb8	1096	// end of WEB page data
faker_71	48:7be823ac7eb8	1097	bufl = strlen(webbuff); // get total page buffer length
faker_71	48:7be823ac7eb8	1098	//sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
faker_71	48:7be823ac7eb8	1099
faker_71	48:7be823ac7eb8	1100	sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl>2048?2048:bufl)); // send IPD link channel and buffer character length.
faker_71	48:7be823ac7eb8	1101	timeout=500;
faker_71	48:7be823ac7eb8	1102	getcount=40;
faker_71	48:7be823ac7eb8	1103	SendCMD();
faker_71	48:7be823ac7eb8	1104	getreply();
faker_71	48:7be823ac7eb8	1105	pc.printf(replybuff);
faker_71	48:7be823ac7eb8	1106	pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
faker_71	48:7be823ac7eb8	1107
faker_71	48:7be823ac7eb8	1108	pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
faker_71	48:7be823ac7eb8	1109
faker_71	48:7be823ac7eb8	1110	//pastthrough mode
faker_71	48:7be823ac7eb8	1111	SendWEB(); // send web page
faker_71	48:7be823ac7eb8	1112	pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
faker_71	48:7be823ac7eb8	1113
faker_71	48:7be823ac7eb8	1114	memset(webbuff, '\0', sizeof(webbuff));
faker_71	48:7be823ac7eb8	1115	sendcheck();
faker_71	48:7be823ac7eb8	1116	}
nishimura_taku_pet	24:9481c8f56a49	1117
nishimura_taku_pet	24:9481c8f56a49	1118	void sendcheck()
nishimura_taku_pet	24:9481c8f56a49	1119	{
nishimura_taku_pet	24:9481c8f56a49	1120	weberror=1;
nishimura_taku_pet	24:9481c8f56a49	1121	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1122	getcount=24;
nishimura_taku_pet	24:9481c8f56a49	1123	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1124	time2.start();
nishimura_taku_pet	24:9481c8f56a49	1125
nishimura_taku_pet	24:9481c8f56a49	1126	/*
nishimura_taku_pet	24:9481c8f56a49	1127	while(weberror==1 && time2.read() <5) {
nishimura_taku_pet	24:9481c8f56a49	1128	getreply();
nishimura_taku_pet	24:9481c8f56a49	1129	if (strstr(replybuff, "SEND OK") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1130	weberror=0; // wait for valid SEND OK
nishimura_taku_pet	24:9481c8f56a49	1131	}
nishimura_taku_pet	24:9481c8f56a49	1132	}
nishimura_taku_pet	24:9481c8f56a49	1133	*/
nishimura_taku_pet	24:9481c8f56a49	1134	if(weberror==1) { // restart connection
nishimura_taku_pet	24:9481c8f56a49	1135	strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet	24:9481c8f56a49	1136	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1137	getcount=10;
nishimura_taku_pet	24:9481c8f56a49	1138	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1139	getreply();
nishimura_taku_pet	24:9481c8f56a49	1140	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1141	sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet	24:9481c8f56a49	1142	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1143	getcount=10;
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	} else {
nishimura_taku_pet	24:9481c8f56a49	1148	sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet	24:9481c8f56a49	1149	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1150	getreply();
nishimura_taku_pet	24:9481c8f56a49	1151	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1152	}
nishimura_taku_pet	24:9481c8f56a49	1153	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1154	}
nishimura_taku_pet	24:9481c8f56a49	1155
nishimura_taku_pet	24:9481c8f56a49	1156	// Reads and processes GET and POST web data
nishimura_taku_pet	24:9481c8f56a49	1157	void ReadWebData()
nishimura_taku_pet	24:9481c8f56a49	1158	{
nishimura_taku_pet	24:9481c8f56a49	1159	pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet	30:c80da0ecc260	1160	ThisThread::sleep_for(200);
nishimura_taku_pet	24:9481c8f56a49	1161	esp.attach(NULL);
nishimura_taku_pet	24:9481c8f56a49	1162	ount=0;
nishimura_taku_pet	24:9481c8f56a49	1163	DataRX=0;
nishimura_taku_pet	24:9481c8f56a49	1164	weberror=0;
nishimura_taku_pet	24:9481c8f56a49	1165	memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet	24:9481c8f56a49	1166	int x = strcspn (webbuff,"+");
nishimura_taku_pet	24:9481c8f56a49	1167	if(x) {
nishimura_taku_pet	24:9481c8f56a49	1168	strcpy(webdata, webbuff + x);
nishimura_taku_pet	24:9481c8f56a49	1169	weberror=0;
nishimura_taku_pet	24:9481c8f56a49	1170	int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
nishimura_taku_pet	24:9481c8f56a49	1171	//int i=0;
nishimura_taku_pet	24:9481c8f56a49	1172	pc.printf("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1173	pc.printf("%s",webdata);
nishimura_taku_pet	24:9481c8f56a49	1174	pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
faker_71	48:7be823ac7eb8	1175
faker_71	48:7be823ac7eb8	1176	if( strstr(webdata, "responseBattery") != NULL ) {
faker_71	48:7be823ac7eb8	1177	click_flag = 0;
faker_71	48:7be823ac7eb8	1178	led4=!led4;
faker_71	48:7be823ac7eb8	1179	pc.printf("\r\n++++++++++++++mode = LEFT++++++++++++++\r\n");
faker_71	48:7be823ac7eb8	1180	sendpage2();
faker_71	48:7be823ac7eb8	1181	}
faker_71	48:7be823ac7eb8	1182
nishimura_taku_pet	43:243c1455f88a	1183	if( strstr(webdata, "Normal") != NULL ) {
nishimura_taku_pet	43:243c1455f88a	1184	pc.printf("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet	43:243c1455f88a	1185	mode = SPEED; // スピードモード
nishimura_taku_pet	43:243c1455f88a	1186	flag_sp = 0;
nishimura_taku_pet	43:243c1455f88a	1187	display(); // ディスプレイ表示
nishimura_taku_pet	43:243c1455f88a	1188	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	43:243c1455f88a	1189	}else if( strstr(webdata, "VeryFast") != NULL ) {
nishimura_taku_pet	43:243c1455f88a	1190	pc.printf("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet	43:243c1455f88a	1191	mode = SPEED; // スピードモード
nishimura_taku_pet	43:243c1455f88a	1192	flag_sp = 2;
nishimura_taku_pet	43:243c1455f88a	1193	display(); // ディスプレイ表示
nishimura_taku_pet	43:243c1455f88a	1194	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	43:243c1455f88a	1195	}else if( strstr(webdata, "Fast") != NULL ) {
nishimura_taku_pet	43:243c1455f88a	1196	pc.printf("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet	43:243c1455f88a	1197	mode = SPEED; // スピードモード
nishimura_taku_pet	43:243c1455f88a	1198	flag_sp = 1;
nishimura_taku_pet	43:243c1455f88a	1199	display(); // ディスプレイ表示
nishimura_taku_pet	43:243c1455f88a	1200	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	43:243c1455f88a	1201	}else{
nishimura_taku_pet	43:243c1455f88a	1202	beforeMode = mode;
nishimura_taku_pet	43:243c1455f88a	1203	}
nishimura_taku_pet	24:9481c8f56a49	1204	if( strstr(webdata, "GO") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1205	pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n");
yangtzuli	37:0cde453dce7d	1206	//delete avoi_thread; //障害物回避スレッド停止
yangtzuli	37:0cde453dce7d	1207	//delete trace_thread; //ライントレーススレッド停止
molberry	35:4cda290bdb87	1208	run = ADVANCE; // 前進
molberry	35:4cda290bdb87	1209	mode = ADVANCE; // モード変更
molberry	35:4cda290bdb87	1210	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1211	}
nishimura_taku_pet	26:0badbc9f9cb3	1212
nishimura_taku_pet	24:9481c8f56a49	1213	if( strstr(webdata, "LEFT") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1214	pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n");
yangtzuli	37:0cde453dce7d	1215	//delete avoi_thread; //障害物回避スレッド停止
yangtzuli	37:0cde453dce7d	1216	//delete trace_thread; //ライントレーススレッド停止
molberry	35:4cda290bdb87	1217	run = LEFT; // 左折
molberry	35:4cda290bdb87	1218	mode = LEFT; // モード変更
molberry	35:4cda290bdb87	1219	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1220	}
nishimura_taku_pet	24:9481c8f56a49	1221
nishimura_taku_pet	24:9481c8f56a49	1222	if( strstr(webdata, "STOP") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1223	pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n");
yangtzuli	37:0cde453dce7d	1224	//delete avoi_thread; //障害物回避スレッド停止
yangtzuli	37:0cde453dce7d	1225	//delete trace_thread; //ライントレーススレッド停止
molberry	35:4cda290bdb87	1226	run = STOP; // 停止
molberry	35:4cda290bdb87	1227	mode = STOP; // モード変更
molberry	35:4cda290bdb87	1228	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1229	}
nishimura_taku_pet	24:9481c8f56a49	1230
nishimura_taku_pet	24:9481c8f56a49	1231	if( strstr(webdata, "RIGHT") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1232	pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n");
yangtzuli	37:0cde453dce7d	1233	//delete avoi_thread; //障害物回避スレッド停止
yangtzuli	37:0cde453dce7d	1234	//delete trace_thread; //ライントレーススレッド停止
molberry	35:4cda290bdb87	1235	run = RIGHT; // 右折
molberry	35:4cda290bdb87	1236	mode = RIGHT; // モード変更
molberry	35:4cda290bdb87	1237	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1238	}
nishimura_taku_pet	24:9481c8f56a49	1239
nishimura_taku_pet	24:9481c8f56a49	1240	if( strstr(webdata, "BACK") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1241	pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n");
yangtzuli	37:0cde453dce7d	1242	//delete avoi_thread; //障害物回避スレッド停止
yangtzuli	37:0cde453dce7d	1243	//delete trace_thread; //ライントレーススレッド停止
molberry	35:4cda290bdb87	1244	run = BACK; // 後進
molberry	35:4cda290bdb87	1245	mode = BACK; // モード変更
molberry	35:4cda290bdb87	1246	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1247	}
nishimura_taku_pet	24:9481c8f56a49	1248	pc.printf("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1249
nishimura_taku_pet	24:9481c8f56a49	1250	if( strstr(webdata, "AVOIDANCE") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1251	pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet	26:0badbc9f9cb3	1252	if(avoi_thread->get_state() == Thread::Deleted) {
molberry	35:4cda290bdb87	1253	delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet	26:0badbc9f9cb3	1254	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	26:0badbc9f9cb3	1255	avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	26:0badbc9f9cb3	1256	}
nishimura_taku_pet	24:9481c8f56a49	1257	mode=AVOIDANCE;
nishimura_taku_pet	26:0badbc9f9cb3	1258	run = ADVANCE;
nishimura_taku_pet	26:0badbc9f9cb3	1259	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1260	}
nishimura_taku_pet	24:9481c8f56a49	1261	if( strstr(webdata, "LINE_TRACE") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1262	pc.printf("+++++++++++++++++LINET RACE+++++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1263	pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1264	if(trace_thread->get_state() == Thread::Deleted) {
molberry	35:4cda290bdb87	1265	delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet	26:0badbc9f9cb3	1266	trace_thread = new Thread(trace);
nishimura_taku_pet	26:0badbc9f9cb3	1267	trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	26:0badbc9f9cb3	1268	}
nishimura_taku_pet	24:9481c8f56a49	1269	mode=LINE_TRACE;
nishimura_taku_pet	26:0badbc9f9cb3	1270	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1271	}
nishimura_taku_pet	26:0badbc9f9cb3	1272	if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	26:0badbc9f9cb3	1273	trace_thread->terminate();
nishimura_taku_pet	26:0badbc9f9cb3	1274	}
nishimura_taku_pet	26:0badbc9f9cb3	1275	if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	26:0badbc9f9cb3	1276	avoi_thread->terminate();
nishimura_taku_pet	31:3665282561d6	1277	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	26:0badbc9f9cb3	1278	}
nishimura_taku_pet	24:9481c8f56a49	1279	sprintf(channel, "%d",linkID);
nishimura_taku_pet	24:9481c8f56a49	1280	if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1281	servreq=1;
nishimura_taku_pet	24:9481c8f56a49	1282	}
nishimura_taku_pet	24:9481c8f56a49	1283	if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1284	servreq=1;
nishimura_taku_pet	24:9481c8f56a49	1285	}
nishimura_taku_pet	24:9481c8f56a49	1286	webcounter++;
nishimura_taku_pet	24:9481c8f56a49	1287	sprintf(webcount, "%d",webcounter);
nishimura_taku_pet	24:9481c8f56a49	1288	} else {
nishimura_taku_pet	24:9481c8f56a49	1289	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	1290	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	1291	weberror=1;
nishimura_taku_pet	24:9481c8f56a49	1292	}
nishimura_taku_pet	24:9481c8f56a49	1293	}
nishimura_taku_pet	24:9481c8f56a49	1294	// Starts and restarts webserver if errors detected.
nishimura_taku_pet	24:9481c8f56a49	1295	void startserver()
nishimura_taku_pet	24:9481c8f56a49	1296	{
nishimura_taku_pet	24:9481c8f56a49	1297	pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1298	strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet	24:9481c8f56a49	1299	timeout=8000;
nishimura_taku_pet	24:9481c8f56a49	1300	getcount=1000;
nishimura_taku_pet	24:9481c8f56a49	1301	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1302	getreply();
nishimura_taku_pet	24:9481c8f56a49	1303	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1304	pc.printf("%d",ount);
nishimura_taku_pet	24:9481c8f56a49	1305	if (strstr(replybuff, "OK") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1306	pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1307	strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet	24:9481c8f56a49	1308	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1309	getcount=20;
nishimura_taku_pet	24:9481c8f56a49	1310	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1311	getreply();
nishimura_taku_pet	24:9481c8f56a49	1312	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1313	sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet	24:9481c8f56a49	1314	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1315	getcount=20;
nishimura_taku_pet	24:9481c8f56a49	1316	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1317	getreply();
nishimura_taku_pet	24:9481c8f56a49	1318	pc.printf(replybuff);
nishimura_taku_pet	33:a6f1090e0174	1319	ThisThread::sleep_for(500);
nishimura_taku_pet	24:9481c8f56a49	1320	sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet	24:9481c8f56a49	1321	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1322	getcount=50;
nishimura_taku_pet	24:9481c8f56a49	1323	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1324	getreply();
nishimura_taku_pet	24:9481c8f56a49	1325	pc.printf(replybuff);
nishimura_taku_pet	25:8ed98982faa7	1326	ThisThread::sleep_for(5000);
nishimura_taku_pet	24:9481c8f56a49	1327	pc.printf("\n Getting Server IP \r\n");
nishimura_taku_pet	24:9481c8f56a49	1328	strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet	24:9481c8f56a49	1329	timeout=2500;
nishimura_taku_pet	24:9481c8f56a49	1330	getcount=200;
nishimura_taku_pet	24:9481c8f56a49	1331	while(weberror==0) {
nishimura_taku_pet	24:9481c8f56a49	1332	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1333	getreply();
nishimura_taku_pet	24:9481c8f56a49	1334	if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet	24:9481c8f56a49	1335	weberror=1; // wait for valid IP
nishimura_taku_pet	24:9481c8f56a49	1336	}
nishimura_taku_pet	24:9481c8f56a49	1337	}
nishimura_taku_pet	24:9481c8f56a49	1338	pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
nishimura_taku_pet	24:9481c8f56a49	1339	pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet	24:9481c8f56a49	1340	replybuff[strlen(replybuff)-1] = '\0';
nishimura_taku_pet	24:9481c8f56a49	1341	//char* IP = replybuff + 5;
nishimura_taku_pet	24:9481c8f56a49	1342	sprintf(webdata,"%s", replybuff);
nishimura_taku_pet	24:9481c8f56a49	1343	pc.printf(webdata);
nishimura_taku_pet	24:9481c8f56a49	1344	led2=1;
nishimura_taku_pet	24:9481c8f56a49	1345	bufflen=200;
nishimura_taku_pet	24:9481c8f56a49	1346	//bufflen=100;
nishimura_taku_pet	24:9481c8f56a49	1347	ount=0;
nishimura_taku_pet	24:9481c8f56a49	1348	pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet	33:a6f1090e0174	1349	setup();
nishimura_taku_pet	24:9481c8f56a49	1350	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	1351	} else {
nishimura_taku_pet	24:9481c8f56a49	1352	pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1353	led1=1;
nishimura_taku_pet	24:9481c8f56a49	1354	led2=1;
nishimura_taku_pet	24:9481c8f56a49	1355	led3=1;
nishimura_taku_pet	24:9481c8f56a49	1356	led4=1;
nishimura_taku_pet	24:9481c8f56a49	1357	while(1) {
nishimura_taku_pet	24:9481c8f56a49	1358	led1=!led1;
nishimura_taku_pet	24:9481c8f56a49	1359	led2=!led2;
nishimura_taku_pet	24:9481c8f56a49	1360	led3=!led3;
nishimura_taku_pet	24:9481c8f56a49	1361	led4=!led4;
nishimura_taku_pet	25:8ed98982faa7	1362	ThisThread::sleep_for(1000);
nishimura_taku_pet	24:9481c8f56a49	1363	}
nishimura_taku_pet	24:9481c8f56a49	1364	}
nishimura_taku_pet	24:9481c8f56a49	1365	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1366	time2.start();
nishimura_taku_pet	24:9481c8f56a49	1367	}
nishimura_taku_pet	24:9481c8f56a49	1368	// ESP Command data send
nishimura_taku_pet	24:9481c8f56a49	1369	void SendCMD()
nishimura_taku_pet	24:9481c8f56a49	1370	{
nishimura_taku_pet	24:9481c8f56a49	1371	esp.printf("%s", cmdbuff);
nishimura_taku_pet	24:9481c8f56a49	1372	}
nishimura_taku_pet	24:9481c8f56a49	1373	// Get Command and ESP status replies
nishimura_taku_pet	24:9481c8f56a49	1374	void getreply()
nishimura_taku_pet	24:9481c8f56a49	1375	{
nishimura_taku_pet	24:9481c8f56a49	1376	memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet	24:9481c8f56a49	1377	time1.reset();
nishimura_taku_pet	24:9481c8f56a49	1378	time1.start();
nishimura_taku_pet	24:9481c8f56a49	1379	replycount=0;
nishimura_taku_pet	24:9481c8f56a49	1380	while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet	24:9481c8f56a49	1381	if(esp.readable()) {
nishimura_taku_pet	24:9481c8f56a49	1382	replybuff[replycount] = esp.getc();
nishimura_taku_pet	24:9481c8f56a49	1383	replycount++;
nishimura_taku_pet	24:9481c8f56a49	1384	}
nishimura_taku_pet	24:9481c8f56a49	1385	}
nishimura_taku_pet	24:9481c8f56a49	1386	time1.stop();
nishimura_taku_pet	24:9481c8f56a49	1387	}
nishimura_taku_pet	24:9481c8f56a49	1388
tomotsugu	8:a47dbf4fa455	1389	/* mainスレッド */
yangtzuli	0:0d0037aabe41	1390	int main() {
tomotsugu	8:a47dbf4fa455	1391	/* 初期設定 */
nishimura_taku_pet	43:243c1455f88a	1392	wifi_thread = new Thread(wifi);
nishimura_taku_pet	43:243c1455f88a	1393	wifi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	16:ffc732a3cf92	1394	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	16:ffc732a3cf92	1395	avoi_thread->terminate();
nishimura_taku_pet	16:ffc732a3cf92	1396	trace_thread = new Thread(trace);
nishimura_taku_pet	16:ffc732a3cf92	1397	trace_thread->terminate();
tomotsugu	8:a47dbf4fa455	1398	mode = READY; // 現在待ちモード
tomotsugu	8:a47dbf4fa455	1399	beforeMode = READY; // 前回待ちモード
tomotsugu	8:a47dbf4fa455	1400	run = STOP; // 停止
tomotsugu	8:a47dbf4fa455	1401	flag_sp = NORMAL; // スピード(普通)
tomotsugu	10:d193030ce672	1402	lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet	33:a6f1090e0174	1403	lcd.setAddress(0,1);
nishimura_taku_pet	33:a6f1090e0174	1404	lcd.printf("Mode:SetUp");
nishimura_taku_pet	33:a6f1090e0174	1405	//display(); // ディスプレイ表示
yangtzuli	2:38825726cb1b	1406
yangtzuli	0:0d0037aabe41	1407	while(1){
tomotsugu	8:a47dbf4fa455	1408	bChange(); // バッテリー残量更新
yangtzuli	0:0d0037aabe41	1409	}
yangtzuli	0:0d0037aabe41	1410	}

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Type:	Program
Mbed OS support:	Mbed OS
Created:	27 Aug 2020
Imports:	0
Forks:	0
Commits:	51
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@48:7be823ac7eb8, 2020-08-25 (annotated)

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