robotcarWifi3-demo-orn - 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-orn

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@41:3c58a4be1199, 2020-08-19 (annotated)

Committer:: nishimura_taku_pet
Date:: Wed Aug 19 06:32:06 2020 +0000
Revision:: 41:3c58a4be1199
Parent:: 40:75e1ad7c27e4
Child:: 42:56022456ef23

servo change

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)
yangtzuli	2:38825726cb1b	96	int i; // ループ変数
nishimura_taku_pet	29:600e4b9b5c5b	97	int t1 = 0;
yangtzuli	2:38825726cb1b	98
nishimura_taku_pet	24:9481c8f56a49	99	/WiFi用変数/
nishimura_taku_pet	24:9481c8f56a49	100	Timer time1;
nishimura_taku_pet	24:9481c8f56a49	101	Timer time2;
nishimura_taku_pet	24:9481c8f56a49	102	int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
nishimura_taku_pet	24:9481c8f56a49	103	int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
nishimura_taku_pet	24:9481c8f56a49	104	float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet	24:9481c8f56a49	105	char webcount[8];
nishimura_taku_pet	24:9481c8f56a49	106	char type[16];
nishimura_taku_pet	24:9481c8f56a49	107	char channel[2];
nishimura_taku_pet	24:9481c8f56a49	108	char cmdbuff[32];
nishimura_taku_pet	24:9481c8f56a49	109	char replybuff[1024];
nishimura_taku_pet	24:9481c8f56a49	110	char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet	27:90962c01bfeb	111	char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet	24:9481c8f56a49	112	int port =80; // set server port
nishimura_taku_pet	24:9481c8f56a49	113	int SERVtimeout =5; // set server timeout in seconds in case link breaks.
nishimura_taku_pet	24:9481c8f56a49	114	char ssid[32] = "mbed02"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet	24:9481c8f56a49	115	char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
yangtzuli	3:2ae6218973be	116
yangtzuli	3:2ae6218973be	117
yangtzuli	3:2ae6218973be	118	/* プロトタイプ宣言 */
nishimura_taku_pet	33:a6f1090e0174	119	void decodeIR(/void const argument*/);
nishimura_taku_pet	33:a6f1090e0174	120	void motor(/void const argument*/);
yangtzuli	3:2ae6218973be	121	void changeSpeed();
nishimura_taku_pet	16:ffc732a3cf92	122	void avoidance(/void const argument*/);
nishimura_taku_pet	16:ffc732a3cf92	123	void trace(/void const argument*/);
nishimura_taku_pet	40:75e1ad7c27e4	124	void watchsurrounding3();
nishimura_taku_pet	40:75e1ad7c27e4	125	void watchsurrounding5();
yangtzuli	2:38825726cb1b	126	int watch();
yangtzuli	5:3fffb364744b	127	void bChange();
yangtzuli	3:2ae6218973be	128	void display();
yangtzuli	3:2ae6218973be	129	void lcdBacklight(void const *argument);
nishimura_taku_pet	24:9481c8f56a49	130	void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck(),touchuan();
nishimura_taku_pet	24:9481c8f56a49	131	void wifi(void const *argument);
nishimura_taku_pet	33:a6f1090e0174	132	Thread *deco_thread; // decodeIRをスレッド化：+3
nishimura_taku_pet	33:a6f1090e0174	133	Thread wifi_thread(wifi,NULL,osPriorityRealtime); // wifiをスレッド化
nishimura_taku_pet	33:a6f1090e0174	134	Thread *motor_thread; // motorをスレッド化：+2
nishimura_taku_pet	16:ffc732a3cf92	135	//Thread avoi_thread(avoidance, NULL, osPriorityHigh); // avoidanceをスレッド化：+2
nishimura_taku_pet	16:ffc732a3cf92	136	//Thread trace_thread(trace, NULL, osPriorityHigh); // traceをスレッド化：+2
nishimura_taku_pet	33:a6f1090e0174	137	RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
nishimura_taku_pet	16:ffc732a3cf92	138	Thread *avoi_thread;
nishimura_taku_pet	16:ffc732a3cf92	139	Thread *trace_thread;
yangtzuli	2:38825726cb1b	140
nishimura_taku_pet	24:9481c8f56a49	141	DigitalOut led1(LED1);
nishimura_taku_pet	24:9481c8f56a49	142	DigitalOut led2(LED2);
nishimura_taku_pet	24:9481c8f56a49	143	DigitalOut led3(LED3);
nishimura_taku_pet	24:9481c8f56a49	144	DigitalOut led4(LED4);
yangtzuli	3:2ae6218973be	145
nishimura_taku_pet	33:a6f1090e0174	146	void setup(){
nishimura_taku_pet	33:a6f1090e0174	147	deco_thread = new Thread(decodeIR);
nishimura_taku_pet	33:a6f1090e0174	148	deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet	33:a6f1090e0174	149	motor_thread = new Thread(motor);
nishimura_taku_pet	33:a6f1090e0174	150	motor_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	33:a6f1090e0174	151	display();
nishimura_taku_pet	33:a6f1090e0174	152	}
nishimura_taku_pet	33:a6f1090e0174	153
tomotsugu	8:a47dbf4fa455	154	/* リモコン受信スレッド */
nishimura_taku_pet	33:a6f1090e0174	155	void decodeIR(/void const argument*/){
yangtzuli	5:3fffb364744b	156	while(1){
yangtzuli	0:0d0037aabe41	157	// 受信待ち
tomotsugu	8:a47dbf4fa455	158	if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli	3:2ae6218973be	159	bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu	8:a47dbf4fa455	160	if(bitcount > 1){ // 受信成功
yangtzuli	1:5bb497a38344	161	code=0;
tomotsugu	15:5eef1955f6c2	162	for(int j = 0; j < 4; j++){
yangtzuli	1:5bb497a38344	163	code+=(buf[j]<<(8*(3-j)));
yangtzuli	1:5bb497a38344	164	}
tomotsugu	8:a47dbf4fa455	165	if(mode != SPEED){ // スピードモード以外なら
tomotsugu	8:a47dbf4fa455	166	beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli	3:2ae6218973be	167	}
yangtzuli	0:0d0037aabe41	168	switch(code){
tomotsugu	8:a47dbf4fa455	169	case 0x40bf27d8: // クイック
yangtzuli	17:f7259ab2fe86	170	//pc.printf("mode = SPEED\r\n");
tomotsugu	8:a47dbf4fa455	171	mode = SPEED; // スピードモード
tomotsugu	8:a47dbf4fa455	172	changeSpeed(); // 速度変更
tomotsugu	8:a47dbf4fa455	173	display(); // ディスプレイ表示
tomotsugu	8:a47dbf4fa455	174	mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli	1:5bb497a38344	175	break;
tomotsugu	8:a47dbf4fa455	176	case 0x40be34cb: // レグザリンク
yangtzuli	17:f7259ab2fe86	177	//pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet	16:ffc732a3cf92	178	if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	179	delete trace_thread;
nishimura_taku_pet	16:ffc732a3cf92	180	trace_thread = new Thread(trace);
nishimura_taku_pet	16:ffc732a3cf92	181	trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	16:ffc732a3cf92	182	}
tomotsugu	8:a47dbf4fa455	183	mode=LINE_TRACE; // ライントレースモード
tomotsugu	8:a47dbf4fa455	184	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	185	break;
tomotsugu	8:a47dbf4fa455	186	case 0x40bf6e91: // 番組表
yangtzuli	17:f7259ab2fe86	187	//pc.printf("mode = AVOIDANCE\r\n");
nishimura_taku_pet	16:ffc732a3cf92	188	if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	189	delete avoi_thread;
nishimura_taku_pet	16:ffc732a3cf92	190	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	16:ffc732a3cf92	191	avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	16:ffc732a3cf92	192	}
tomotsugu	18:6cca64c7dbc3	193	flag_a = 0;
tomotsugu	8:a47dbf4fa455	194	mode=AVOIDANCE; // 障害物回避モード
tomotsugu	13:1a7667d0aa78	195	run = ADVANCE; // 前進
tomotsugu	8:a47dbf4fa455	196	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	197	break;
tomotsugu	8:a47dbf4fa455	198	case 0x40bf3ec1: // ↑
yangtzuli	17:f7259ab2fe86	199	//pc.printf("mode = ADVANCE\r\n");
tomotsugu	8:a47dbf4fa455	200	mode = ADVANCE; // 前進モード
tomotsugu	8:a47dbf4fa455	201	run = ADVANCE; // 前進
tomotsugu	8:a47dbf4fa455	202	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	203	break;
tomotsugu	8:a47dbf4fa455	204	case 0x40bf3fc0: // ↓
yangtzuli	17:f7259ab2fe86	205	//pc.printf("mode = BACK\r\n");
tomotsugu	8:a47dbf4fa455	206	mode = BACK; // 後退モード
tomotsugu	8:a47dbf4fa455	207	run = BACK; // 後退
tomotsugu	8:a47dbf4fa455	208	display(); // ディスプレイ表示
yangtzuli	0:0d0037aabe41	209	break;
tomotsugu	8:a47dbf4fa455	210	case 0x40bf5fa0: // ←
yangtzuli	17:f7259ab2fe86	211	//pc.printf("mode = LEFT\r\n");
tomotsugu	8:a47dbf4fa455	212	mode = LEFT; // 左折モード
tomotsugu	8:a47dbf4fa455	213	run = LEFT; // 左折
tomotsugu	8:a47dbf4fa455	214	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	215	break;
tomotsugu	8:a47dbf4fa455	216	case 0x40bf5ba4: // →
yangtzuli	17:f7259ab2fe86	217	//pc.printf("mode = RIGHT\r\n");
tomotsugu	8:a47dbf4fa455	218	mode = RIGHT; // 右折モード
tomotsugu	8:a47dbf4fa455	219	run = RIGHT; // 右折
tomotsugu	8:a47dbf4fa455	220	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	221	break;
tomotsugu	8:a47dbf4fa455	222	case 0x40bf3dc2: // 決定
yangtzuli	17:f7259ab2fe86	223	//pc.printf("mode = STOP\r\n");
tomotsugu	8:a47dbf4fa455	224	mode = STOP; // 停止モード
tomotsugu	8:a47dbf4fa455	225	run = STOP; // 停止
tomotsugu	8:a47dbf4fa455	226	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	227	break;
yangtzuli	0:0d0037aabe41	228	default:
yangtzuli	0:0d0037aabe41	229	;
yangtzuli	0:0d0037aabe41	230	}
nishimura_taku_pet	16:ffc732a3cf92	231	if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	232	trace_thread->terminate();
nishimura_taku_pet	16:ffc732a3cf92	233	}
nishimura_taku_pet	16:ffc732a3cf92	234	if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	235	avoi_thread->terminate();
nishimura_taku_pet	28:cb51cafca490	236	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	16:ffc732a3cf92	237	}
yangtzuli	0:0d0037aabe41	238	}
yangtzuli	0:0d0037aabe41	239	}
tomotsugu	8:a47dbf4fa455	240	if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
tomotsugu	8:a47dbf4fa455	241	viewTimer.stop(); // タイマーストップ
tomotsugu	8:a47dbf4fa455	242	viewTimer.reset(); // タイマーリセット
tomotsugu	8:a47dbf4fa455	243	display(); // ディスプレイ表示
yangtzuli	4:3f80c0180e2f	244	}
tomotsugu	18:6cca64c7dbc3	245	ThisThread::sleep_for(90); // 90ms待つ
yangtzuli	4:3f80c0180e2f	246	}
yangtzuli	2:38825726cb1b	247	}
tomotsugu	8:a47dbf4fa455	248
tomotsugu	8:a47dbf4fa455	249	/* モーター制御スレッド */
nishimura_taku_pet	33:a6f1090e0174	250	void motor(/void const argument*/){
tomotsugu	8:a47dbf4fa455	251	while(1){
tomotsugu	8:a47dbf4fa455	252	/* 走行状態の場合分け */
yangtzuli	3:2ae6218973be	253	switch(run){
tomotsugu	8:a47dbf4fa455	254	/* 前進 */
yangtzuli	3:2ae6218973be	255	case ADVANCE:
tomotsugu	8:a47dbf4fa455	256	motorR1 = motorSpeed[flag_sp]; // 右前進モーターON
tomotsugu	8:a47dbf4fa455	257	motorR2 = LOW; // 右後退モーターOFF
tomotsugu	8:a47dbf4fa455	258	motorL1 = motorSpeed[flag_sp]; // 左前進モーターON
tomotsugu	8:a47dbf4fa455	259	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	260	break;
tomotsugu	8:a47dbf4fa455	261	/* 右折 */
yangtzuli	3:2ae6218973be	262	case RIGHT:
tomotsugu	8:a47dbf4fa455	263	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	8:a47dbf4fa455	264	motorR2 = motorSpeed[flag_sp]; // 右後退モーターON
tomotsugu	8:a47dbf4fa455	265	motorL1 = motorSpeed[flag_sp]; // 左前進モーターON
tomotsugu	8:a47dbf4fa455	266	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	267	break;
tomotsugu	8:a47dbf4fa455	268	/* 左折 */
yangtzuli	3:2ae6218973be	269	case LEFT:
tomotsugu	8:a47dbf4fa455	270	motorR1 = motorSpeed[flag_sp]; // 右前進モーターON
tomotsugu	8:a47dbf4fa455	271	motorR2 = LOW; // 右後退モーターOFF
tomotsugu	8:a47dbf4fa455	272	motorL1 = LOW; // 左前進モーターOFF
tomotsugu	8:a47dbf4fa455	273	motorL2 = motorSpeed[flag_sp]; // 左後退モーターON
yangtzuli	3:2ae6218973be	274	break;
tomotsugu	8:a47dbf4fa455	275	/* 後退 */
yangtzuli	3:2ae6218973be	276	case BACK:
tomotsugu	8:a47dbf4fa455	277	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	8:a47dbf4fa455	278	motorR2 = motorSpeed[flag_sp]; // 右後退モーターON
tomotsugu	8:a47dbf4fa455	279	motorL1 = LOW; // 左前進モーターOFF
tomotsugu	8:a47dbf4fa455	280	motorL2 = motorSpeed[flag_sp]; // 左後退モーターON
yangtzuli	3:2ae6218973be	281	break;
tomotsugu	8:a47dbf4fa455	282	/* 停止 */
yangtzuli	3:2ae6218973be	283	case STOP:
tomotsugu	8:a47dbf4fa455	284	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	8:a47dbf4fa455	285	motorR2 = LOW; // 右後退モーターOFF
tomotsugu	8:a47dbf4fa455	286	motorL1 = LOW; // 左前進モーターOFF
tomotsugu	8:a47dbf4fa455	287	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	288	break;
yangtzuli	3:2ae6218973be	289	}
tomotsugu	8:a47dbf4fa455	290	if(flag_sp > VERYFAST){ // スピード変更フラグが2より大きいなら
tomotsugu	8:a47dbf4fa455	291	flag_sp -= 3 * (flag_sp / 3); // スピード変更フラグ調整
yangtzuli	6:800a745c7f2e	292	}
tomotsugu	8:a47dbf4fa455	293	ThisThread::sleep_for(30); // 30ms待つ
yangtzuli	2:38825726cb1b	294	}
yangtzuli	2:38825726cb1b	295	}
tomotsugu	8:a47dbf4fa455	296
tomotsugu	8:a47dbf4fa455	297	/* スピード変更関数 */
yangtzuli	3:2ae6218973be	298	void changeSpeed(){
tomotsugu	8:a47dbf4fa455	299	if(flag_sp%3 == 2){ // スピード変更フラグを3で割った余りが2なら
tomotsugu	8:a47dbf4fa455	300	flag_sp -= 2; // スピード変更フラグを-2
yangtzuli	3:2ae6218973be	301
tomotsugu	8:a47dbf4fa455	302	}else{ // それ以外
tomotsugu	8:a47dbf4fa455	303	flag_sp = flag_sp + 1; // スピード変更フラグを+1
yangtzuli	3:2ae6218973be	304	}
yangtzuli	3:2ae6218973be	305	}
tomotsugu	8:a47dbf4fa455	306
tomotsugu	8:a47dbf4fa455	307	/* ライントレーススレッド */
tomotsugu	20:02bb875a9b13	308	void trace(){
tomotsugu	8:a47dbf4fa455	309	while(1){
tomotsugu	8:a47dbf4fa455	310	/* 各センサー値読み取り */
yangtzuli	3:2ae6218973be	311	int sensor1 = ss1;
yangtzuli	3:2ae6218973be	312	int sensor2 = ss2;
yangtzuli	3:2ae6218973be	313	int sensor3 = ss3;
yangtzuli	3:2ae6218973be	314	int sensor4 = ss4;
yangtzuli	3:2ae6218973be	315	int sensor5 = ss5;
yangtzuli	6:800a745c7f2e	316	pc.printf("%d %d %d %d %d \r\n",sensor1,sensor2,sensor3,sensor4,sensor5);
yangtzuli	3:2ae6218973be	317	int sensD = 0;
tomotsugu	8:a47dbf4fa455	318
tomotsugu	8:a47dbf4fa455	319	/* センサー値の決定 */
yangtzuli	3:2ae6218973be	320	if(sensor1 > 0) sensD \|= 0x10;
yangtzuli	3:2ae6218973be	321	if(sensor2 > 0) sensD \|= 0x08;
yangtzuli	3:2ae6218973be	322	if(sensor3 > 0) sensD \|= 0x04;
yangtzuli	3:2ae6218973be	323	if(sensor4 > 0) sensD \|= 0x02;
yangtzuli	3:2ae6218973be	324	if(sensor5 > 0) sensD \|= 0x01;
tomotsugu	8:a47dbf4fa455	325
tomotsugu	8:a47dbf4fa455	326	/* センサー値によって場合分け */
nishimura_taku_pet	34:040474bf6fe0	327	switch(sensArray[sensD]){
yangtzuli	3:2ae6218973be	328	case 1:
tomotsugu	18:6cca64c7dbc3	329	run = ADVANCE; // 低速で前進
yangtzuli	3:2ae6218973be	330	break;
yangtzuli	3:2ae6218973be	331	case 2:
takuminomura	39:054c17d10c55	332	// flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	333	run = RIGHT; // 低速で右折
yangtzuli	3:2ae6218973be	334	break;
yangtzuli	3:2ae6218973be	335	case 3:
takuminomura	39:054c17d10c55	336	// flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	337	run = LEFT; // 低速で左折
yangtzuli	3:2ae6218973be	338	break;
yangtzuli	3:2ae6218973be	339	case 4:
takuminomura	39:054c17d10c55	340	flag_sp = flag_sp % 3 + 3;
tomotsugu	18:6cca64c7dbc3	341	run = RIGHT; // 中速で右折
yangtzuli	3:2ae6218973be	342	break;
yangtzuli	3:2ae6218973be	343	case 5:
takuminomura	39:054c17d10c55	344	flag_sp = flag_sp % 3 + 3;
tomotsugu	18:6cca64c7dbc3	345	run = LEFT; // 中速で左折
yangtzuli	6:800a745c7f2e	346	break;
yangtzuli	6:800a745c7f2e	347	case 6:
tomotsugu	18:6cca64c7dbc3	348	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	349	run = RIGHT; // 高速で右折
yangtzuli	6:800a745c7f2e	350	break;
yangtzuli	6:800a745c7f2e	351	case 7:
tomotsugu	18:6cca64c7dbc3	352	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	353	run = LEFT; // 高速で左折
yangtzuli	3:2ae6218973be	354	break;
takuminomura	39:054c17d10c55	355	default:
takuminomura	39:054c17d10c55	356	break; // 前回動作を継続
yangtzuli	3:2ae6218973be	357	}
tomotsugu	8:a47dbf4fa455	358	ThisThread::sleep_for(30); // 30ms待つ
tomotsugu	18:6cca64c7dbc3	359	}
yangtzuli	3:2ae6218973be	360	}
yangtzuli	3:2ae6218973be	361
tomotsugu	8:a47dbf4fa455	362	/* 障害物回避走行スレッド */
tomotsugu	20:02bb875a9b13	363	void avoidance(){
yangtzuli	3:2ae6218973be	364	while(1){
nishimura_taku_pet	40:75e1ad7c27e4	365	watchsurrounding3();
tomotsugu	18:6cca64c7dbc3	366	pc.printf("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR);
tomotsugu	18:6cca64c7dbc3	367	if(flag_a == 0){ // 障害物がない場合
tomotsugu	18:6cca64c7dbc3	368	run = ADVANCE; // 前進
nishimura_taku_pet	28:cb51cafca490	369	}else{ // 障害物がある場合
tomotsugu	18:6cca64c7dbc3	370	i = 0;
tomotsugu	18:6cca64c7dbc3	371	if(SC < 15){ // 正面15cm以内に障害物が現れた場合
nishimura_taku_pet	41:3c58a4be1199	372	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	41:3c58a4be1199	373	ThisThread::sleep_for(100); // 100ms待つ
tomotsugu	18:6cca64c7dbc3	374	run = BACK; // 後退
nishimura_taku_pet	40:75e1ad7c27e4	375	int cnt_kyori=0;
nishimura_taku_pet	40:75e1ad7c27e4	376	int kyori = watch();
nishimura_taku_pet	40:75e1ad7c27e4	377	while(kyori < limit){ // 正面20cm以内に障害物がある間
nishimura_taku_pet	40:75e1ad7c27e4	378	if(kyori==-1){
nishimura_taku_pet	40:75e1ad7c27e4	379	cnt_kyori++;
nishimura_taku_pet	40:75e1ad7c27e4	380	if(cnt_kyori>15){
nishimura_taku_pet	40:75e1ad7c27e4	381	cnt_kyori=0;
nishimura_taku_pet	40:75e1ad7c27e4	382	break;
nishimura_taku_pet	40:75e1ad7c27e4	383	}
nishimura_taku_pet	40:75e1ad7c27e4	384	}
nishimura_taku_pet	40:75e1ad7c27e4	385	kyori = watch();
tomotsugu	18:6cca64c7dbc3	386	}
nishimura_taku_pet	40:75e1ad7c27e4	387	/*while(i < 30){ // 正面20cm以内に障害物がある間
nishimura_taku_pet	40:75e1ad7c27e4	388	if(watch() < limit){
nishimura_taku_pet	40:75e1ad7c27e4	389	break;
nishimura_taku_pet	40:75e1ad7c27e4	390	}
nishimura_taku_pet	40:75e1ad7c27e4	391	i++;
nishimura_taku_pet	40:75e1ad7c27e4	392	}
nishimura_taku_pet	40:75e1ad7c27e4	393	i = 0;*/
nishimura_taku_pet	40:75e1ad7c27e4	394	run = STOP; // 停止
yangtzuli	3:2ae6218973be	395	}
nishimura_taku_pet	40:75e1ad7c27e4	396	watchsurrounding5();
nishimura_taku_pet	28:cb51cafca490	397	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	398	run = LEFT; // 左折
nishimura_taku_pet	28:cb51cafca490	399	while(i < 1){ // 進行方向確認
tomotsugu	18:6cca64c7dbc3	400	if(watch() > limit){
tomotsugu	18:6cca64c7dbc3	401	i++;
nishimura_taku_pet	28:cb51cafca490	402	}else{
nishimura_taku_pet	28:cb51cafca490	403	i = 0;
yangtzuli	2:38825726cb1b	404	}
yangtzuli	2:38825726cb1b	405	}
nishimura_taku_pet	28:cb51cafca490	406	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	407	}else { // 全方向以外
nishimura_taku_pet	28:cb51cafca490	408	far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	409	houkou = 1; // 進行方向を前に設定
nishimura_taku_pet	28:cb51cafca490	410	if(far < SLD \|\| far < SL){ // 左または左前がより遠い場合
nishimura_taku_pet	28:cb51cafca490	411	if(SL < SLD){ // 左前が左より遠い場合
nishimura_taku_pet	28:cb51cafca490	412	far = SLD; // 左前を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	413	}else{ // 左が左前より遠い場合
nishimura_taku_pet	28:cb51cafca490	414	far = SL; // 左を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	415	}
nishimura_taku_pet	28:cb51cafca490	416	houkou = 2; // 進行方向を左に設定
nishimura_taku_pet	28:cb51cafca490	417	}
nishimura_taku_pet	28:cb51cafca490	418	if(far < SRD \|\| far < SR){ // 右または右前がより遠い場合
nishimura_taku_pet	28:cb51cafca490	419	if(SR < SRD){ // 右前が右より遠い場合
nishimura_taku_pet	28:cb51cafca490	420	far = SRD; // 右前を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	421	}else{ // 右が右前よりも遠い場合
nishimura_taku_pet	28:cb51cafca490	422	far = SR; // 右を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	423	}
nishimura_taku_pet	28:cb51cafca490	424	houkou = 3; // 進行方向を右に設定
nishimura_taku_pet	28:cb51cafca490	425	}
nishimura_taku_pet	28:cb51cafca490	426	switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet	28:cb51cafca490	427	case 1: // 前の場合
nishimura_taku_pet	28:cb51cafca490	428	run = ADVANCE; // 前進
nishimura_taku_pet	40:75e1ad7c27e4	429	ThisThread::sleep_for(500); // 0.5秒待つ
nishimura_taku_pet	28:cb51cafca490	430	break;
nishimura_taku_pet	40:75e1ad7c27e4	431	case 2: // 左の場合
nishimura_taku_pet	28:cb51cafca490	432	run = LEFT; // 左折
nishimura_taku_pet	40:75e1ad7c27e4	433	//int kyori = watch();
nishimura_taku_pet	40:75e1ad7c27e4	434	//int kyori_f=0;
nishimura_taku_pet	40:75e1ad7c27e4	435	while(i < 20){ // 進行方向確認
nishimura_taku_pet	40:75e1ad7c27e4	436	/*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	437	break; // ループ+
nishimura_taku_pet	40:75e1ad7c27e4	438	}else if(kyori==-1){
nishimura_taku_pet	40:75e1ad7c27e4	439	kyori_f++;
nishimura_taku_pet	40:75e1ad7c27e4	440	}else{
nishimura_taku_pet	40:75e1ad7c27e4	441	kyori_f = 0;
nishimura_taku_pet	40:75e1ad7c27e4	442	i++;
nishimura_taku_pet	40:75e1ad7c27e4	443	}*/
nishimura_taku_pet	28:cb51cafca490	444	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	445	break; // ループ+
nishimura_taku_pet	28:cb51cafca490	446	}else{
nishimura_taku_pet	40:75e1ad7c27e4	447	i++;
nishimura_taku_pet	28:cb51cafca490	448	}
nishimura_taku_pet	28:cb51cafca490	449	}
nishimura_taku_pet	28:cb51cafca490	450	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	451	break;
nishimura_taku_pet	40:75e1ad7c27e4	452	case 3: // 右の場合
nishimura_taku_pet	28:cb51cafca490	453	run = RIGHT; // 右折
nishimura_taku_pet	40:75e1ad7c27e4	454	int kyori = watch();
nishimura_taku_pet	40:75e1ad7c27e4	455	int kyori_f=0;
nishimura_taku_pet	40:75e1ad7c27e4	456	while(i < 20){ // 進行方向確認
nishimura_taku_pet	40:75e1ad7c27e4	457	/*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	458	break; // ループ+
nishimura_taku_pet	40:75e1ad7c27e4	459	}else if(kyori==-1){
nishimura_taku_pet	40:75e1ad7c27e4	460	kyori_f++;
nishimura_taku_pet	40:75e1ad7c27e4	461	}else{
nishimura_taku_pet	40:75e1ad7c27e4	462	kyori_f = 0;
nishimura_taku_pet	40:75e1ad7c27e4	463	i++;
nishimura_taku_pet	40:75e1ad7c27e4	464	}*/
nishimura_taku_pet	28:cb51cafca490	465	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	466	break; // ループ+
nishimura_taku_pet	28:cb51cafca490	467	}else{
nishimura_taku_pet	40:75e1ad7c27e4	468	i++;
nishimura_taku_pet	28:cb51cafca490	469	}
nishimura_taku_pet	28:cb51cafca490	470	}
nishimura_taku_pet	28:cb51cafca490	471	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	472	break;
nishimura_taku_pet	28:cb51cafca490	473	}
yangtzuli	5:3fffb364744b	474	}
nishimura_taku_pet	28:cb51cafca490	475	}
nishimura_taku_pet	28:cb51cafca490	476	flag_a = 0; // 障害物有無フラグを0にセット
nishimura_taku_pet	40:75e1ad7c27e4	477	if(SLD < 29){ // 正面15cm以内に障害物が現れた場合
nishimura_taku_pet	40:75e1ad7c27e4	478	run = RIGHT; // 右折
nishimura_taku_pet	41:3c58a4be1199	479	ThisThread::sleep_for(200); // 100ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	480	run = STOP; // 停止
nishimura_taku_pet	40:75e1ad7c27e4	481	}else if(SRD < 29){
nishimura_taku_pet	40:75e1ad7c27e4	482	run = LEFT; // 左折
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	}
yangtzuli	2:38825726cb1b	486	}
yangtzuli	2:38825726cb1b	487	}
tomotsugu	8:a47dbf4fa455	488
tomotsugu	8:a47dbf4fa455	489	/* 距離計測関数 */
yangtzuli	2:38825726cb1b	490	int watch(){
tomotsugu	21:68d38e8f64b5	491	do{
tomotsugu	21:68d38e8f64b5	492	trig = 0;
tomotsugu	21:68d38e8f64b5	493	ThisThread::sleep_for(5); // 5ms待つ
tomotsugu	21:68d38e8f64b5	494	trig = 1;
tomotsugu	21:68d38e8f64b5	495	ThisThread::sleep_for(15); // 15ms待つ
tomotsugu	21:68d38e8f64b5	496	trig = 0;
tomotsugu	21:68d38e8f64b5	497	timer.start();
yangtzuli	17:f7259ab2fe86	498	t1=timer.read_ms();
nishimura_taku_pet	29:600e4b9b5c5b	499	while(echo.read() == 0 && t1<10){
tomotsugu	21:68d38e8f64b5	500	t1=timer.read_ms();
tomotsugu	21:68d38e8f64b5	501	led1 = 1;
tomotsugu	21:68d38e8f64b5	502	}
tomotsugu	21:68d38e8f64b5	503	timer.stop();
tomotsugu	21:68d38e8f64b5	504	timer.reset();
nishimura_taku_pet	28:cb51cafca490	505	/*if((t1-t2) >= 10){
nishimura_taku_pet	28:cb51cafca490	506	run = STOP;*/
nishimura_taku_pet	29:600e4b9b5c5b	507	}while(t1 >= 10);
tomotsugu	21:68d38e8f64b5	508	timer.start(); // 距離計測タイマースタート
tomotsugu	21:68d38e8f64b5	509	while(echo.read() == 1){
yangtzuli	5:3fffb364744b	510	}
tomotsugu	21:68d38e8f64b5	511	timer.stop(); // 距離計測タイマーストップ
tomotsugu	21:68d38e8f64b5	512	DT = (int)(timer.read_us()*0.01657); // 距離計算
nishimura_taku_pet	28:cb51cafca490	513	if(DT > 1000){
nishimura_taku_pet	28:cb51cafca490	514	DT = -1;
nishimura_taku_pet	28:cb51cafca490	515	}else if(DT > 150){ // 検知範囲外なら100cmに設定
tomotsugu	22:c6e2a3b9aa14	516	DT = 150;
yangtzuli	2:38825726cb1b	517	}
tomotsugu	21:68d38e8f64b5	518	timer.reset(); // 距離計測タイマーリセット
tomotsugu	8:a47dbf4fa455	519	led1 = 0;
yangtzuli	2:38825726cb1b	520	return DT;
yangtzuli	0:0d0037aabe41	521	}
yangtzuli	0:0d0037aabe41	522
tomotsugu	8:a47dbf4fa455	523	/* 障害物検知関数 */
nishimura_taku_pet	40:75e1ad7c27e4	524	void watchsurrounding3(){
nishimura_taku_pet	28:cb51cafca490	525	//servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	28:cb51cafca490	526	//ThisThread::sleep_for(200); // 100ms待つ
yangtzuli	2:38825726cb1b	527	SC = watch();
nishimura_taku_pet	28:cb51cafca490	528	if(SC < limit){ // 正面20cm以内に障害物がある場合
nishimura_taku_pet	28:cb51cafca490	529	if(SC!=-1){
nishimura_taku_pet	28:cb51cafca490	530	run = STOP; // 停止
nishimura_taku_pet	40:75e1ad7c27e4	531	flag_a = 1;
nishimura_taku_pet	40:75e1ad7c27e4	532	return;
nishimura_taku_pet	28:cb51cafca490	533	}
yangtzuli	2:38825726cb1b	534	}
yangtzuli	2:38825726cb1b	535	servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet	28:cb51cafca490	536	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	537	SLD = watch();
yangtzuli	2:38825726cb1b	538	if(SLD < limit){ // 左前20cm以内に障害物がある場合
tomotsugu	20:02bb875a9b13	539	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	540	flag_a = 1;
nishimura_taku_pet	40:75e1ad7c27e4	541	return;
yangtzuli	2:38825726cb1b	542	}
tomotsugu	19:c6f9f010bd9e	543	servo.pulsewidth_us(1450);
nishimura_taku_pet	40:75e1ad7c27e4	544	ThisThread::sleep_for(100);
tomotsugu	19:c6f9f010bd9e	545	SC = watch();
tomotsugu	19:c6f9f010bd9e	546	if(SC < limit){
nishimura_taku_pet	28:cb51cafca490	547	if(SC!=-1){
nishimura_taku_pet	28:cb51cafca490	548	run = STOP; // 停止
nishimura_taku_pet	40:75e1ad7c27e4	549	flag_a = 1;
nishimura_taku_pet	40:75e1ad7c27e4	550	return;
nishimura_taku_pet	28:cb51cafca490	551	}
tomotsugu	19:c6f9f010bd9e	552	}
yangtzuli	2:38825726cb1b	553	servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet	28:cb51cafca490	554	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	555	SRD = watch();
yangtzuli	2:38825726cb1b	556	if(SRD < limit){ // 右前20cm以内に障害物がある場合
tomotsugu	20:02bb875a9b13	557	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	558	flag_a = 1;
nishimura_taku_pet	40:75e1ad7c27e4	559	return;
yangtzuli	2:38825726cb1b	560	}
nishimura_taku_pet	40:75e1ad7c27e4	561	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	40:75e1ad7c27e4	562	ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	563	/*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	564	flag_a = 1; // 障害物有無フラグに1をセット
nishimura_taku_pet	40:75e1ad7c27e4	565	}*/
nishimura_taku_pet	40:75e1ad7c27e4	566	}
nishimura_taku_pet	40:75e1ad7c27e4	567
nishimura_taku_pet	40:75e1ad7c27e4	568	/* 障害物検知関数 */
nishimura_taku_pet	40:75e1ad7c27e4	569	void watchsurrounding5(){
nishimura_taku_pet	40:75e1ad7c27e4	570	//servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	40:75e1ad7c27e4	571	//ThisThread::sleep_for(200); // 100ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	572	SC = watch();
nishimura_taku_pet	40:75e1ad7c27e4	573	servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet	40:75e1ad7c27e4	574	ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	575	SLD = watch();
nishimura_taku_pet	40:75e1ad7c27e4	576	servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet	40:75e1ad7c27e4	577	ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	578	SL = watch();
nishimura_taku_pet	40:75e1ad7c27e4	579	servo.pulsewidth_us(1450);
nishimura_taku_pet	40:75e1ad7c27e4	580	ThisThread::sleep_for(250);
nishimura_taku_pet	40:75e1ad7c27e4	581	SC = watch();
nishimura_taku_pet	40:75e1ad7c27e4	582	servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet	40:75e1ad7c27e4	583	ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	584	SRD = watch();
yangtzuli	2:38825726cb1b	585	servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet	28:cb51cafca490	586	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	587	SR = watch();
yangtzuli	2:38825726cb1b	588	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	28:cb51cafca490	589	ThisThread::sleep_for(250); // 100ms待つ
yangtzuli	3:2ae6218973be	590	}
yangtzuli	3:2ae6218973be	591
tomotsugu	8:a47dbf4fa455	592	/* ディスプレイ表示関数 */
yangtzuli	3:2ae6218973be	593	void display(){
tomotsugu	8:a47dbf4fa455	594	mutex.lock(); // ミューテックスロック
yangtzuli	3:2ae6218973be	595	lcd.setAddress(0,1);
tomotsugu	8:a47dbf4fa455	596
tomotsugu	8:a47dbf4fa455	597	/* 操作モードによる場合分け */
yangtzuli	3:2ae6218973be	598	switch(mode){
tomotsugu	8:a47dbf4fa455	599	/* 前進 */
yangtzuli	3:2ae6218973be	600	case ADVANCE:
yangtzuli	3:2ae6218973be	601	lcd.printf("Mode:Advance ");
yangtzuli	3:2ae6218973be	602	break;
tomotsugu	8:a47dbf4fa455	603	/* 右折 */
yangtzuli	3:2ae6218973be	604	case RIGHT:
yangtzuli	5:3fffb364744b	605	lcd.printf("Mode:TurnRight ");
yangtzuli	3:2ae6218973be	606	break;
tomotsugu	8:a47dbf4fa455	607	/* 左折 */
yangtzuli	3:2ae6218973be	608	case LEFT:
yangtzuli	5:3fffb364744b	609	lcd.printf("Mode:TurnLeft ");
yangtzuli	3:2ae6218973be	610	break;
tomotsugu	8:a47dbf4fa455	611	/* 後退 */
yangtzuli	3:2ae6218973be	612	case BACK:
yangtzuli	3:2ae6218973be	613	lcd.printf("Mode:Back ");
yangtzuli	3:2ae6218973be	614	break;
tomotsugu	8:a47dbf4fa455	615	/* 停止 */
yangtzuli	3:2ae6218973be	616	case STOP:
yangtzuli	3:2ae6218973be	617	lcd.printf("Mode:Stop ");
yangtzuli	3:2ae6218973be	618	break;
tomotsugu	8:a47dbf4fa455	619	/* 待ち */
yangtzuli	3:2ae6218973be	620	case READY:
yangtzuli	3:2ae6218973be	621	lcd.printf("Mode:Ready ");
yangtzuli	3:2ae6218973be	622	break;
tomotsugu	8:a47dbf4fa455	623	/* ライントレース */
yangtzuli	3:2ae6218973be	624	case LINE_TRACE:
yangtzuli	3:2ae6218973be	625	lcd.printf("Mode:LineTrace ");
yangtzuli	3:2ae6218973be	626	break;
tomotsugu	8:a47dbf4fa455	627	/* 障害物回避 */
yangtzuli	3:2ae6218973be	628	case AVOIDANCE:
yangtzuli	3:2ae6218973be	629	lcd.printf("Mode:Avoidance ");
yangtzuli	3:2ae6218973be	630	break;
tomotsugu	8:a47dbf4fa455	631	/* スピード制御 */
yangtzuli	3:2ae6218973be	632	case SPEED:
tomotsugu	8:a47dbf4fa455	633	/* スピードの状態で場合分け */
yangtzuli	3:2ae6218973be	634	switch(flag_sp){
tomotsugu	8:a47dbf4fa455	635	/* 普通 */
yangtzuli	3:2ae6218973be	636	case(NORMAL):
yangtzuli	3:2ae6218973be	637	lcd.printf("Speed:Normal ");
yangtzuli	3:2ae6218973be	638	break;
tomotsugu	8:a47dbf4fa455	639	/* 速い */
yangtzuli	3:2ae6218973be	640	case(FAST):
yangtzuli	3:2ae6218973be	641	lcd.printf("Speed:Fast ");
yangtzuli	3:2ae6218973be	642	break;
tomotsugu	8:a47dbf4fa455	643	/* とても速い */
yangtzuli	3:2ae6218973be	644	case(VERYFAST):
yangtzuli	3:2ae6218973be	645	lcd.printf("Speed:VeryFast ");
yangtzuli	3:2ae6218973be	646	break;
yangtzuli	3:2ae6218973be	647	}
tomotsugu	8:a47dbf4fa455	648	viewTimer.reset(); // タイマーリセット
tomotsugu	8:a47dbf4fa455	649	viewTimer.start(); // タイマースタート
yangtzuli	3:2ae6218973be	650	break;
yangtzuli	3:2ae6218973be	651	}
tomotsugu	8:a47dbf4fa455	652	mutex.unlock(); // ミューテックスアンロック
yangtzuli	3:2ae6218973be	653	}
yangtzuli	3:2ae6218973be	654
tomotsugu	8:a47dbf4fa455	655	/* バックライト点滅 */
yangtzuli	3:2ae6218973be	656	void lcdBacklight(void const *argument){
tomotsugu	8:a47dbf4fa455	657	if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu	8:a47dbf4fa455	658	lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu	8:a47dbf4fa455	659	}else{ // バックライト点滅フラグが0なら
tomotsugu	8:a47dbf4fa455	660	lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli	3:2ae6218973be	661	}
tomotsugu	8:a47dbf4fa455	662	flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli	3:2ae6218973be	663	}
yangtzuli	2:38825726cb1b	664
tomotsugu	8:a47dbf4fa455	665	/* バッテリー残量更新関数 */
yangtzuli	5:3fffb364744b	666	void bChange(){
yangtzuli	17:f7259ab2fe86	667	//pc.printf(" bChange1\r\n");
tomotsugu	10:d193030ce672	668	b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)10+0.5)10;
tomotsugu	10:d193030ce672	669	if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu	10:d193030ce672	670	b = 0;
tomotsugu	10:d193030ce672	671	//lcd.setBacklight(TextLCD::LightOff);
tomotsugu	10:d193030ce672	672	//run = STOP;
tomotsugu	10:d193030ce672	673	//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	674	}
tomotsugu	10:d193030ce672	675	mutex.lock(); // ミューテックスロック
tomotsugu	10:d193030ce672	676	lcd.setAddress(0,0);
tomotsugu	10:d193030ce672	677	lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
tomotsugu	10:d193030ce672	678	mutex.unlock(); // ミューテックスアンロック
tomotsugu	10:d193030ce672	679	if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu	10:d193030ce672	680	if(flag_t == 0){ // バックライトタイマーフラグが0なら
tomotsugu	10:d193030ce672	681	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	682	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	683	}
tomotsugu	10:d193030ce672	684	}else{
tomotsugu	10:d193030ce672	685	if(flag_t == 1){ // バックライトタイマーフラグが1なら
tomotsugu	10:d193030ce672	686	bTimer.stop(); // バックライトタイマーストップ
tomotsugu	10:d193030ce672	687	lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu	10:d193030ce672	688	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	689	}
tomotsugu	10:d193030ce672	690	}
yangtzuli	2:38825726cb1b	691	}
tomotsugu	8:a47dbf4fa455	692
nishimura_taku_pet	24:9481c8f56a49	693	// Serial Interrupt read ESP data
nishimura_taku_pet	24:9481c8f56a49	694	void callback()
nishimura_taku_pet	24:9481c8f56a49	695	{
nishimura_taku_pet	24:9481c8f56a49	696	//pc.printf("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	697	led3=1;
nishimura_taku_pet	24:9481c8f56a49	698	while (esp.readable()) {
nishimura_taku_pet	24:9481c8f56a49	699	webbuff[ount] = esp.getc();
nishimura_taku_pet	24:9481c8f56a49	700	ount++;
nishimura_taku_pet	24:9481c8f56a49	701	}
nishimura_taku_pet	24:9481c8f56a49	702	if(strlen(webbuff)>bufflen) {
nishimura_taku_pet	24:9481c8f56a49	703	pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	704	DataRX=1;
nishimura_taku_pet	24:9481c8f56a49	705	led3=0;
nishimura_taku_pet	24:9481c8f56a49	706	}
nishimura_taku_pet	24:9481c8f56a49	707	}
nishimura_taku_pet	24:9481c8f56a49	708
nishimura_taku_pet	24:9481c8f56a49	709	void wifi(void const *argument)
nishimura_taku_pet	24:9481c8f56a49	710	{
nishimura_taku_pet	24:9481c8f56a49	711	pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet	33:a6f1090e0174	712	ThisThread::sleep_for(100);
nishimura_taku_pet	24:9481c8f56a49	713	led1=1,led2=0,led3=0;
nishimura_taku_pet	24:9481c8f56a49	714	timeout=6000;
nishimura_taku_pet	24:9481c8f56a49	715	getcount=500;
nishimura_taku_pet	24:9481c8f56a49	716	getreply();
nishimura_taku_pet	24:9481c8f56a49	717	esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet	24:9481c8f56a49	718	startserver();
nishimura_taku_pet	24:9481c8f56a49	719
nishimura_taku_pet	24:9481c8f56a49	720	while(1) {
nishimura_taku_pet	24:9481c8f56a49	721	if(DataRX==1) {
nishimura_taku_pet	24:9481c8f56a49	722	pc.printf("\f\n\r------------ main while > if --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	723	click_flag = 1;
nishimura_taku_pet	24:9481c8f56a49	724	ReadWebData();
nishimura_taku_pet	24:9481c8f56a49	725	pc.printf("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
nishimura_taku_pet	24:9481c8f56a49	726	//if ((servreq == 1 && weberror == 0) && click_flag == 1) {
nishimura_taku_pet	24:9481c8f56a49	727	if (servreq == 1 && weberror == 0) {
nishimura_taku_pet	24:9481c8f56a49	728	pc.printf("\f\n\r------------ befor send page --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	729	sendpage();
nishimura_taku_pet	24:9481c8f56a49	730	}
nishimura_taku_pet	24:9481c8f56a49	731	pc.printf("\f\n\r------------ send_check begin --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	732
nishimura_taku_pet	24:9481c8f56a49	733	//sendcheck();
nishimura_taku_pet	24:9481c8f56a49	734	pc.printf("\f\n\r------------ ssend_check end--------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	735
nishimura_taku_pet	24:9481c8f56a49	736	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	737	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	738	pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
nishimura_taku_pet	24:9481c8f56a49	739	pc.printf(" Web Characters sent : %d\n\n", bufl);
nishimura_taku_pet	24:9481c8f56a49	740	pc.printf(" -------------------------------------\n\n");
nishimura_taku_pet	24:9481c8f56a49	741	servreq=0;
nishimura_taku_pet	24:9481c8f56a49	742	}
nishimura_taku_pet	24:9481c8f56a49	743	ThisThread::sleep_for(100);
nishimura_taku_pet	24:9481c8f56a49	744	}
nishimura_taku_pet	24:9481c8f56a49	745	}
nishimura_taku_pet	24:9481c8f56a49	746	// Static WEB page
nishimura_taku_pet	24:9481c8f56a49	747	void sendpage()
nishimura_taku_pet	24:9481c8f56a49	748	{
nishimura_taku_pet	24:9481c8f56a49	749	// WEB page data
nishimura_taku_pet	24:9481c8f56a49	750
nishimura_taku_pet	24:9481c8f56a49	751	strcpy(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet	24:9481c8f56a49	752	strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
yangtzuli	37:0cde453dce7d	753	strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >");
molberry	38:39db3f7450c2	754	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	755	strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet	24:9481c8f56a49	756	strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
molberry	35:4cda290bdb87	757	if(b > 30) { //残電量表示
nishimura_taku_pet	33:a6f1090e0174	758	sprintf(webbuff, "%s%3d", webbuff, b);
molberry	35:4cda290bdb87	759	} else { //30%より下の場合残電量を赤文字
nishimura_taku_pet	33:a6f1090e0174	760	strcat(webbuff, "<font color=\"red\">");
nishimura_taku_pet	33:a6f1090e0174	761	sprintf(webbuff, "%s%3d", webbuff, b);
nishimura_taku_pet	33:a6f1090e0174	762	strcat(webbuff, "<\font>");
nishimura_taku_pet	33:a6f1090e0174	763	}
nishimura_taku_pet	33:a6f1090e0174	764	strcat(webbuff, "%</strong>");
molberry	38:39db3f7450c2	765	strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"rel()\">RELOAD</button>");
nishimura_taku_pet	24:9481c8f56a49	766	strcat(webbuff, "</td></p>");
nishimura_taku_pet	24:9481c8f56a49	767	strcat(webbuff, "<br>");
nishimura_taku_pet	24:9481c8f56a49	768	strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	769
molberry	35:4cda290bdb87	770	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	771	case ADVANCE: //前進
nishimura_taku_pet	24:9481c8f56a49	772	strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	773	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	774	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	775	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	776	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	777	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	778	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	779	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	780	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	781	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	782	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	783	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	784	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	785	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	786	break;
molberry	35:4cda290bdb87	787	case LEFT: //左折
nishimura_taku_pet	24:9481c8f56a49	788	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	789	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	790	strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	791	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	792	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	793	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	794	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	795	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	796	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	797	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	798	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	799	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	800	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	801	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	802	break;
molberry	35:4cda290bdb87	803	case STOP: //停止
nishimura_taku_pet	24:9481c8f56a49	804	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	805	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	806	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	807	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	808	strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	809	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	810	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	811	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	812	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	813	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	814	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	815	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	816	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	817	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	818	break;
molberry	35:4cda290bdb87	819	case RIGHT: //右折
nishimura_taku_pet	24:9481c8f56a49	820	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	821	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	822	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	823	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	824	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	825	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	826	strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	827	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	828	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	829	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	830	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	831	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	832	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	833	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	834	break;
molberry	35:4cda290bdb87	835	case BACK: //後進
nishimura_taku_pet	24:9481c8f56a49	836	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	837	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	838	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	839	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	840	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	841	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	842	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	843	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	844	strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	845	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet	24:9481c8f56a49	846	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	847	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	848	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	849	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	850	break;
molberry	35:4cda290bdb87	851	case AVOIDANCE: //障害物回避
nishimura_taku_pet	24:9481c8f56a49	852	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	853	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	854	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	855	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	856	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	857	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	858	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	859	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	860	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	861	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	862	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	863	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	864	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	865	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	866	break;
molberry	35:4cda290bdb87	867	case LINE_TRACE: //ライントレース
nishimura_taku_pet	24:9481c8f56a49	868	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	869	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	870	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	871	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	872	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	873	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	874	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	875	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	876	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	877	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	878	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	879	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	880	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	881	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	882	break;
molberry	35:4cda290bdb87	883	default: //その他
nishimura_taku_pet	24:9481c8f56a49	884	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	885	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	886	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	887	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	888	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	889	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	890	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	891	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	892	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	893	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	894	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	895	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	896	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	897	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	898	break;
nishimura_taku_pet	24:9481c8f56a49	899	}
nishimura_taku_pet	24:9481c8f56a49	900	strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	901	strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet	24:9481c8f56a49	902	strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	903	//ready示速度だけ点灯
molberry	35:4cda290bdb87	904	switch (flag_sp) { //現在の速度のボタン表示
molberry	35:4cda290bdb87	905	case 0: //ノーマル
nishimura_taku_pet	24:9481c8f56a49	906	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	907	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	908	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	909	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	910	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	911	break;
molberry	35:4cda290bdb87	912	case 1: //ファスト
nishimura_taku_pet	24:9481c8f56a49	913	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	914	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	915	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	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 2: //ベリーファスト
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=\"noselect\" 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=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet	24:9481c8f56a49	925	break;
molberry	35:4cda290bdb87	926	default: //その他
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=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet	24:9481c8f56a49	932	break;
nishimura_taku_pet	24:9481c8f56a49	933	}
nishimura_taku_pet	24:9481c8f56a49	934	strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	935
nishimura_taku_pet	24:9481c8f56a49	936	strcat(webbuff, "</center>");
nishimura_taku_pet	24:9481c8f56a49	937	strcat(webbuff, "</body>");
nishimura_taku_pet	24:9481c8f56a49	938	strcat(webbuff, "</html>");
molberry	35:4cda290bdb87	939	strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
nishimura_taku_pet	24:9481c8f56a49	940
molberry	38:39db3f7450c2	941	strcat(webbuff, "function rel(){");
molberry	38:39db3f7450c2	942	strcat(webbuff, "location.reload();");
molberry	38:39db3f7450c2	943	strcat(webbuff, "}");
molberry	38:39db3f7450c2	944
nishimura_taku_pet	24:9481c8f56a49	945	strcat(webbuff, "function htmlacs(url) {");
nishimura_taku_pet	24:9481c8f56a49	946	strcat(webbuff, "var xhr = new XMLHttpRequest();");
nishimura_taku_pet	24:9481c8f56a49	947	strcat(webbuff, "xhr.open(\"GET\", url);");
nishimura_taku_pet	24:9481c8f56a49	948	strcat(webbuff, "xhr.send(\"\");");
nishimura_taku_pet	24:9481c8f56a49	949	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	950
molberry	35:4cda290bdb87	951	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	952	strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet	24:9481c8f56a49	953
nishimura_taku_pet	24:9481c8f56a49	954	strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet	24:9481c8f56a49	955	strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet	24:9481c8f56a49	956	strcat(webbuff, "console.log(url);");
nishimura_taku_pet	24:9481c8f56a49	957	strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet	24:9481c8f56a49	958	strcat(webbuff, "for(var i=0;i<7;i++){");
nishimura_taku_pet	24:9481c8f56a49	959	strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet	24:9481c8f56a49	960	strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet	24:9481c8f56a49	961	strcat(webbuff, "}else{");
nishimura_taku_pet	24:9481c8f56a49	962	strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet	24:9481c8f56a49	963	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	964	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	965	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	966
molberry	35:4cda290bdb87	967	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	968	strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet	24:9481c8f56a49	969	strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet	24:9481c8f56a49	970	strcat(webbuff, "console.log(url);");
nishimura_taku_pet	24:9481c8f56a49	971	strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet	24:9481c8f56a49	972	strcat(webbuff, "for(var i=7;i<10;i++){");
nishimura_taku_pet	24:9481c8f56a49	973	strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet	24:9481c8f56a49	974	strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet	24:9481c8f56a49	975	strcat(webbuff, "}else{");
nishimura_taku_pet	24:9481c8f56a49	976	strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet	24:9481c8f56a49	977	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	978	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	979	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	980	strcat(webbuff, "</script>");
nishimura_taku_pet	24:9481c8f56a49	981	// end of WEB page data
nishimura_taku_pet	24:9481c8f56a49	982	bufl = strlen(webbuff); // get total page buffer length
nishimura_taku_pet	24:9481c8f56a49	983	//sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet	24:9481c8f56a49	984
nishimura_taku_pet	24:9481c8f56a49	985	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	986	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	987	getcount=40;
nishimura_taku_pet	24:9481c8f56a49	988	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	989	getreply();
nishimura_taku_pet	24:9481c8f56a49	990	pc.printf(replybuff);
nishimura_taku_pet	32:049d9ba081d4	991	//pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
nishimura_taku_pet	24:9481c8f56a49	992
nishimura_taku_pet	24:9481c8f56a49	993	pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
nishimura_taku_pet	24:9481c8f56a49	994
nishimura_taku_pet	24:9481c8f56a49	995	//pastthrough mode
nishimura_taku_pet	24:9481c8f56a49	996	SendWEB(); // send web page
nishimura_taku_pet	24:9481c8f56a49	997	pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	998
nishimura_taku_pet	24:9481c8f56a49	999	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	1000	sendcheck();
nishimura_taku_pet	24:9481c8f56a49	1001	}
nishimura_taku_pet	24:9481c8f56a49	1002
nishimura_taku_pet	24:9481c8f56a49	1003	// Large WEB buffer data send
nishimura_taku_pet	24:9481c8f56a49	1004	void SendWEB()
nishimura_taku_pet	24:9481c8f56a49	1005	{
nishimura_taku_pet	24:9481c8f56a49	1006	int i=0;
nishimura_taku_pet	24:9481c8f56a49	1007	if(esp.writeable()) {
nishimura_taku_pet	24:9481c8f56a49	1008	while(webbuff[i]!='\0') {
nishimura_taku_pet	24:9481c8f56a49	1009	esp.putc(webbuff[i]);
nishimura_taku_pet	24:9481c8f56a49	1010
nishimura_taku_pet	24:9481c8f56a49	1011	//****
nishimura_taku_pet	24:9481c8f56a49	1012	//output at command when 2000
nishimura_taku_pet	24:9481c8f56a49	1013	if(((i%2047)==0) && (i>0)) {
nishimura_taku_pet	24:9481c8f56a49	1014	//wait_ms(10);
nishimura_taku_pet	32:049d9ba081d4	1015	ThisThread::sleep_for(10);
nishimura_taku_pet	24:9481c8f56a49	1016	sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); // send IPD link channel and buffer character length.
nishimura_taku_pet	32:049d9ba081d4	1017	//pc.printf("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet	24:9481c8f56a49	1018	timeout=600;
nishimura_taku_pet	24:9481c8f56a49	1019	getcount=50;
nishimura_taku_pet	24:9481c8f56a49	1020	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1021	getreply();
nishimura_taku_pet	32:049d9ba081d4	1022	//pc.printf(replybuff);
nishimura_taku_pet	32:049d9ba081d4	1023	//pc.printf("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1024	}
nishimura_taku_pet	24:9481c8f56a49	1025	//****
nishimura_taku_pet	24:9481c8f56a49	1026	i++;
nishimura_taku_pet	32:049d9ba081d4	1027	//pc.printf("%c",webbuff[i]);
nishimura_taku_pet	24:9481c8f56a49	1028	}
nishimura_taku_pet	24:9481c8f56a49	1029	}
nishimura_taku_pet	24:9481c8f56a49	1030	pc.printf("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet	24:9481c8f56a49	1031	}
nishimura_taku_pet	24:9481c8f56a49	1032
nishimura_taku_pet	24:9481c8f56a49	1033
nishimura_taku_pet	24:9481c8f56a49	1034	void sendcheck()
nishimura_taku_pet	24:9481c8f56a49	1035	{
nishimura_taku_pet	24:9481c8f56a49	1036	weberror=1;
nishimura_taku_pet	24:9481c8f56a49	1037	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1038	getcount=24;
nishimura_taku_pet	24:9481c8f56a49	1039	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1040	time2.start();
nishimura_taku_pet	24:9481c8f56a49	1041
nishimura_taku_pet	24:9481c8f56a49	1042	/*
nishimura_taku_pet	24:9481c8f56a49	1043	while(weberror==1 && time2.read() <5) {
nishimura_taku_pet	24:9481c8f56a49	1044	getreply();
nishimura_taku_pet	24:9481c8f56a49	1045	if (strstr(replybuff, "SEND OK") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1046	weberror=0; // wait for valid SEND OK
nishimura_taku_pet	24:9481c8f56a49	1047	}
nishimura_taku_pet	24:9481c8f56a49	1048	}
nishimura_taku_pet	24:9481c8f56a49	1049	*/
nishimura_taku_pet	24:9481c8f56a49	1050	if(weberror==1) { // restart connection
nishimura_taku_pet	24:9481c8f56a49	1051	strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet	24:9481c8f56a49	1052	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1053	getcount=10;
nishimura_taku_pet	24:9481c8f56a49	1054	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1055	getreply();
nishimura_taku_pet	24:9481c8f56a49	1056	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1057	sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet	24:9481c8f56a49	1058	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1059	getcount=10;
nishimura_taku_pet	24:9481c8f56a49	1060	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1061	getreply();
nishimura_taku_pet	24:9481c8f56a49	1062	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1063	} else {
nishimura_taku_pet	24:9481c8f56a49	1064	sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet	24:9481c8f56a49	1065	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1066	getreply();
nishimura_taku_pet	24:9481c8f56a49	1067	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1068	}
nishimura_taku_pet	24:9481c8f56a49	1069	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1070	}
nishimura_taku_pet	24:9481c8f56a49	1071
nishimura_taku_pet	24:9481c8f56a49	1072	// Reads and processes GET and POST web data
nishimura_taku_pet	24:9481c8f56a49	1073	void ReadWebData()
nishimura_taku_pet	24:9481c8f56a49	1074	{
nishimura_taku_pet	24:9481c8f56a49	1075	pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet	30:c80da0ecc260	1076	ThisThread::sleep_for(200);
nishimura_taku_pet	24:9481c8f56a49	1077	esp.attach(NULL);
nishimura_taku_pet	24:9481c8f56a49	1078	ount=0;
nishimura_taku_pet	24:9481c8f56a49	1079	DataRX=0;
nishimura_taku_pet	24:9481c8f56a49	1080	weberror=0;
nishimura_taku_pet	24:9481c8f56a49	1081	memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet	24:9481c8f56a49	1082	int x = strcspn (webbuff,"+");
nishimura_taku_pet	24:9481c8f56a49	1083	if(x) {
nishimura_taku_pet	24:9481c8f56a49	1084	strcpy(webdata, webbuff + x);
nishimura_taku_pet	24:9481c8f56a49	1085	weberror=0;
nishimura_taku_pet	24:9481c8f56a49	1086	int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
nishimura_taku_pet	24:9481c8f56a49	1087	//int i=0;
nishimura_taku_pet	24:9481c8f56a49	1088	pc.printf("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1089	pc.printf("%s",webdata);
nishimura_taku_pet	24:9481c8f56a49	1090	pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1091	if( strstr(webdata, "GO") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1092	pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n");
yangtzuli	37:0cde453dce7d	1093	//delete avoi_thread; //障害物回避スレッド停止
yangtzuli	37:0cde453dce7d	1094	//delete trace_thread; //ライントレーススレッド停止
molberry	35:4cda290bdb87	1095	run = ADVANCE; // 前進
molberry	35:4cda290bdb87	1096	mode = ADVANCE; // モード変更
molberry	35:4cda290bdb87	1097	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1098	}
nishimura_taku_pet	26:0badbc9f9cb3	1099
nishimura_taku_pet	24:9481c8f56a49	1100	if( strstr(webdata, "LEFT") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1101	pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n");
yangtzuli	37:0cde453dce7d	1102	//delete avoi_thread; //障害物回避スレッド停止
yangtzuli	37:0cde453dce7d	1103	//delete trace_thread; //ライントレーススレッド停止
molberry	35:4cda290bdb87	1104	run = LEFT; // 左折
molberry	35:4cda290bdb87	1105	mode = LEFT; // モード変更
molberry	35:4cda290bdb87	1106	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1107	}
nishimura_taku_pet	24:9481c8f56a49	1108
nishimura_taku_pet	24:9481c8f56a49	1109	if( strstr(webdata, "STOP") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1110	pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n");
yangtzuli	37:0cde453dce7d	1111	//delete avoi_thread; //障害物回避スレッド停止
yangtzuli	37:0cde453dce7d	1112	//delete trace_thread; //ライントレーススレッド停止
molberry	35:4cda290bdb87	1113	run = STOP; // 停止
molberry	35:4cda290bdb87	1114	mode = STOP; // モード変更
molberry	35:4cda290bdb87	1115	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1116	}
nishimura_taku_pet	24:9481c8f56a49	1117
nishimura_taku_pet	24:9481c8f56a49	1118	if( strstr(webdata, "RIGHT") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1119	pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n");
yangtzuli	37:0cde453dce7d	1120	//delete avoi_thread; //障害物回避スレッド停止
yangtzuli	37:0cde453dce7d	1121	//delete trace_thread; //ライントレーススレッド停止
molberry	35:4cda290bdb87	1122	run = RIGHT; // 右折
molberry	35:4cda290bdb87	1123	mode = RIGHT; // モード変更
molberry	35:4cda290bdb87	1124	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1125	}
nishimura_taku_pet	24:9481c8f56a49	1126
nishimura_taku_pet	24:9481c8f56a49	1127	if( strstr(webdata, "BACK") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1128	pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n");
yangtzuli	37:0cde453dce7d	1129	//delete avoi_thread; //障害物回避スレッド停止
yangtzuli	37:0cde453dce7d	1130	//delete trace_thread; //ライントレーススレッド停止
molberry	35:4cda290bdb87	1131	run = BACK; // 後進
molberry	35:4cda290bdb87	1132	mode = BACK; // モード変更
molberry	35:4cda290bdb87	1133	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1134	}
nishimura_taku_pet	24:9481c8f56a49	1135	pc.printf("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1136
nishimura_taku_pet	24:9481c8f56a49	1137	if( strstr(webdata, "AVOIDANCE") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1138	pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet	26:0badbc9f9cb3	1139	if(avoi_thread->get_state() == Thread::Deleted) {
molberry	35:4cda290bdb87	1140	delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet	26:0badbc9f9cb3	1141	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	26:0badbc9f9cb3	1142	avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	26:0badbc9f9cb3	1143	}
nishimura_taku_pet	24:9481c8f56a49	1144	mode=AVOIDANCE;
nishimura_taku_pet	26:0badbc9f9cb3	1145	run = ADVANCE;
nishimura_taku_pet	26:0badbc9f9cb3	1146	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1147	}
nishimura_taku_pet	24:9481c8f56a49	1148	if( strstr(webdata, "LINE_TRACE") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1149	pc.printf("+++++++++++++++++LINET RACE+++++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1150	pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1151	if(trace_thread->get_state() == Thread::Deleted) {
molberry	35:4cda290bdb87	1152	delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet	26:0badbc9f9cb3	1153	trace_thread = new Thread(trace);
nishimura_taku_pet	26:0badbc9f9cb3	1154	trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	26:0badbc9f9cb3	1155	}
nishimura_taku_pet	24:9481c8f56a49	1156	mode=LINE_TRACE;
nishimura_taku_pet	26:0badbc9f9cb3	1157	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1158	}
nishimura_taku_pet	24:9481c8f56a49	1159	if( strstr(webdata, "Normal") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1160	pc.printf("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1161	mode = SPEED; // スピードモード
nishimura_taku_pet	24:9481c8f56a49	1162	flag_sp = 0;
nishimura_taku_pet	26:0badbc9f9cb3	1163	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1164	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	24:9481c8f56a49	1165	}
nishimura_taku_pet	24:9481c8f56a49	1166	if( strstr(webdata, "Fast") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1167	pc.printf("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1168	mode = SPEED; // スピードモード
nishimura_taku_pet	24:9481c8f56a49	1169	flag_sp = 1;
nishimura_taku_pet	26:0badbc9f9cb3	1170	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1171	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	24:9481c8f56a49	1172	}
nishimura_taku_pet	24:9481c8f56a49	1173	if( strstr(webdata, "VeryFast") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1174	pc.printf("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet	26:0badbc9f9cb3	1175	mode = SPEED; // スピードモード
nishimura_taku_pet	24:9481c8f56a49	1176	flag_sp = 2;
nishimura_taku_pet	26:0badbc9f9cb3	1177	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1178	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	24:9481c8f56a49	1179	}
nishimura_taku_pet	26:0badbc9f9cb3	1180	if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	26:0badbc9f9cb3	1181	trace_thread->terminate();
nishimura_taku_pet	26:0badbc9f9cb3	1182	}
nishimura_taku_pet	26:0badbc9f9cb3	1183	if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	26:0badbc9f9cb3	1184	avoi_thread->terminate();
nishimura_taku_pet	31:3665282561d6	1185	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	26:0badbc9f9cb3	1186	}
nishimura_taku_pet	24:9481c8f56a49	1187	sprintf(channel, "%d",linkID);
nishimura_taku_pet	24:9481c8f56a49	1188	if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1189	servreq=1;
nishimura_taku_pet	24:9481c8f56a49	1190	}
nishimura_taku_pet	24:9481c8f56a49	1191	if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1192	servreq=1;
nishimura_taku_pet	24:9481c8f56a49	1193	}
nishimura_taku_pet	24:9481c8f56a49	1194	webcounter++;
nishimura_taku_pet	24:9481c8f56a49	1195	sprintf(webcount, "%d",webcounter);
nishimura_taku_pet	24:9481c8f56a49	1196	} else {
nishimura_taku_pet	24:9481c8f56a49	1197	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	1198	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	1199	weberror=1;
nishimura_taku_pet	24:9481c8f56a49	1200	}
nishimura_taku_pet	24:9481c8f56a49	1201	}
nishimura_taku_pet	24:9481c8f56a49	1202	// Starts and restarts webserver if errors detected.
nishimura_taku_pet	24:9481c8f56a49	1203	void startserver()
nishimura_taku_pet	24:9481c8f56a49	1204	{
nishimura_taku_pet	24:9481c8f56a49	1205	pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1206	strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet	24:9481c8f56a49	1207	timeout=8000;
nishimura_taku_pet	24:9481c8f56a49	1208	getcount=1000;
nishimura_taku_pet	24:9481c8f56a49	1209	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1210	getreply();
nishimura_taku_pet	24:9481c8f56a49	1211	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1212	pc.printf("%d",ount);
nishimura_taku_pet	24:9481c8f56a49	1213	if (strstr(replybuff, "OK") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1214	pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1215	strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet	24:9481c8f56a49	1216	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1217	getcount=20;
nishimura_taku_pet	24:9481c8f56a49	1218	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1219	getreply();
nishimura_taku_pet	24:9481c8f56a49	1220	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1221	sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet	24:9481c8f56a49	1222	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1223	getcount=20;
nishimura_taku_pet	24:9481c8f56a49	1224	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1225	getreply();
nishimura_taku_pet	24:9481c8f56a49	1226	pc.printf(replybuff);
nishimura_taku_pet	33:a6f1090e0174	1227	ThisThread::sleep_for(500);
nishimura_taku_pet	24:9481c8f56a49	1228	sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet	24:9481c8f56a49	1229	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1230	getcount=50;
nishimura_taku_pet	24:9481c8f56a49	1231	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1232	getreply();
nishimura_taku_pet	24:9481c8f56a49	1233	pc.printf(replybuff);
nishimura_taku_pet	25:8ed98982faa7	1234	ThisThread::sleep_for(5000);
nishimura_taku_pet	24:9481c8f56a49	1235	pc.printf("\n Getting Server IP \r\n");
nishimura_taku_pet	24:9481c8f56a49	1236	strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet	24:9481c8f56a49	1237	timeout=2500;
nishimura_taku_pet	24:9481c8f56a49	1238	getcount=200;
nishimura_taku_pet	24:9481c8f56a49	1239	while(weberror==0) {
nishimura_taku_pet	24:9481c8f56a49	1240	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1241	getreply();
nishimura_taku_pet	24:9481c8f56a49	1242	if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet	24:9481c8f56a49	1243	weberror=1; // wait for valid IP
nishimura_taku_pet	24:9481c8f56a49	1244	}
nishimura_taku_pet	24:9481c8f56a49	1245	}
nishimura_taku_pet	24:9481c8f56a49	1246	pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
nishimura_taku_pet	24:9481c8f56a49	1247	pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet	24:9481c8f56a49	1248	replybuff[strlen(replybuff)-1] = '\0';
nishimura_taku_pet	24:9481c8f56a49	1249	//char* IP = replybuff + 5;
nishimura_taku_pet	24:9481c8f56a49	1250	sprintf(webdata,"%s", replybuff);
nishimura_taku_pet	24:9481c8f56a49	1251	pc.printf(webdata);
nishimura_taku_pet	24:9481c8f56a49	1252	led2=1;
nishimura_taku_pet	24:9481c8f56a49	1253	bufflen=200;
nishimura_taku_pet	24:9481c8f56a49	1254	//bufflen=100;
nishimura_taku_pet	24:9481c8f56a49	1255	ount=0;
nishimura_taku_pet	24:9481c8f56a49	1256	pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet	33:a6f1090e0174	1257	setup();
nishimura_taku_pet	24:9481c8f56a49	1258	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	1259	} else {
nishimura_taku_pet	24:9481c8f56a49	1260	pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1261	led1=1;
nishimura_taku_pet	24:9481c8f56a49	1262	led2=1;
nishimura_taku_pet	24:9481c8f56a49	1263	led3=1;
nishimura_taku_pet	24:9481c8f56a49	1264	led4=1;
nishimura_taku_pet	24:9481c8f56a49	1265	while(1) {
nishimura_taku_pet	24:9481c8f56a49	1266	led1=!led1;
nishimura_taku_pet	24:9481c8f56a49	1267	led2=!led2;
nishimura_taku_pet	24:9481c8f56a49	1268	led3=!led3;
nishimura_taku_pet	24:9481c8f56a49	1269	led4=!led4;
nishimura_taku_pet	25:8ed98982faa7	1270	ThisThread::sleep_for(1000);
nishimura_taku_pet	24:9481c8f56a49	1271	}
nishimura_taku_pet	24:9481c8f56a49	1272	}
nishimura_taku_pet	24:9481c8f56a49	1273	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1274	time2.start();
nishimura_taku_pet	24:9481c8f56a49	1275	}
nishimura_taku_pet	24:9481c8f56a49	1276	// ESP Command data send
nishimura_taku_pet	24:9481c8f56a49	1277	void SendCMD()
nishimura_taku_pet	24:9481c8f56a49	1278	{
nishimura_taku_pet	24:9481c8f56a49	1279	esp.printf("%s", cmdbuff);
nishimura_taku_pet	24:9481c8f56a49	1280	}
nishimura_taku_pet	24:9481c8f56a49	1281	// Get Command and ESP status replies
nishimura_taku_pet	24:9481c8f56a49	1282	void getreply()
nishimura_taku_pet	24:9481c8f56a49	1283	{
nishimura_taku_pet	24:9481c8f56a49	1284	memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet	24:9481c8f56a49	1285	time1.reset();
nishimura_taku_pet	24:9481c8f56a49	1286	time1.start();
nishimura_taku_pet	24:9481c8f56a49	1287	replycount=0;
nishimura_taku_pet	24:9481c8f56a49	1288	while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet	24:9481c8f56a49	1289	if(esp.readable()) {
nishimura_taku_pet	24:9481c8f56a49	1290	replybuff[replycount] = esp.getc();
nishimura_taku_pet	24:9481c8f56a49	1291	replycount++;
nishimura_taku_pet	24:9481c8f56a49	1292	}
nishimura_taku_pet	24:9481c8f56a49	1293	}
nishimura_taku_pet	24:9481c8f56a49	1294	time1.stop();
nishimura_taku_pet	24:9481c8f56a49	1295	}
nishimura_taku_pet	24:9481c8f56a49	1296
tomotsugu	8:a47dbf4fa455	1297	/* mainスレッド */
yangtzuli	0:0d0037aabe41	1298	int main() {
tomotsugu	8:a47dbf4fa455	1299	/* 初期設定 */
nishimura_taku_pet	16:ffc732a3cf92	1300	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	16:ffc732a3cf92	1301	avoi_thread->terminate();
nishimura_taku_pet	16:ffc732a3cf92	1302	trace_thread = new Thread(trace);
nishimura_taku_pet	16:ffc732a3cf92	1303	trace_thread->terminate();
tomotsugu	8:a47dbf4fa455	1304	mode = READY; // 現在待ちモード
tomotsugu	8:a47dbf4fa455	1305	beforeMode = READY; // 前回待ちモード
tomotsugu	8:a47dbf4fa455	1306	run = STOP; // 停止
tomotsugu	8:a47dbf4fa455	1307	flag_sp = NORMAL; // スピード(普通)
tomotsugu	10:d193030ce672	1308	lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet	33:a6f1090e0174	1309	lcd.setAddress(0,1);
nishimura_taku_pet	33:a6f1090e0174	1310	lcd.printf("Mode:SetUp");
nishimura_taku_pet	33:a6f1090e0174	1311	//display(); // ディスプレイ表示
yangtzuli	2:38825726cb1b	1312
yangtzuli	0:0d0037aabe41	1313	while(1){
tomotsugu	8:a47dbf4fa455	1314	bChange(); // バッテリー残量更新
yangtzuli	0:0d0037aabe41	1315	}
yangtzuli	0:0d0037aabe41	1316	}

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Type:	Program
Mbed OS support:	Mbed OS
Created:	01 Sep 2020
Imports:	2
Forks:	0
Commits:	52
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@41:3c58a4be1199, 2020-08-19 (annotated)

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