siqiang pan
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
Dependencies: RemoteIR TextLCD
main.cpp@32:049d9ba081d4, 2020-08-06 (annotated)
- Committer:
- nishimura_taku_pet
- Date:
- Thu Aug 06 06:25:50 2020 +0000
- Revision:
- 32:049d9ba081d4
- Parent:
- 31:3665282561d6
- Child:
- 33:a6f1090e0174
saikyou
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 |
| tomotsugu | 22:c6e2a3b9aa14 | 61 | float motorSpeed[9] = {0.5, 0.8, 0.9, 0.75, 0.85, 0.95, 0.8, 0.9, 1.0}; |
| yangtzuli | 3:2ae6218973be | 62 | // モーター速度設定(後半はライントレース用) |
| tomotsugu | 8:a47dbf4fa455 | 63 | |
| tomotsugu | 8:a47dbf4fa455 | 64 | Mutex mutex; // ミューテックス |
| tomotsugu | 8:a47dbf4fa455 | 65 | |
| tomotsugu | 8:a47dbf4fa455 | 66 | /* decodeIR用変数 */ |
| yangtzuli | 3:2ae6218973be | 67 | RemoteIR::Format format; |
| yangtzuli | 3:2ae6218973be | 68 | uint8_t buf[32]; |
| yangtzuli | 3:2ae6218973be | 69 | uint32_t bitcount; |
| yangtzuli | 3:2ae6218973be | 70 | uint32_t code; |
| yangtzuli | 3:2ae6218973be | 71 | |
| tomotsugu | 8:a47dbf4fa455 | 72 | /* bChange, lcdbacklight用変数 */ |
| yangtzuli | 3:2ae6218973be | 73 | TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780); |
| tomotsugu | 8:a47dbf4fa455 | 74 | int b = 0; // バッテリー残量 |
| tomotsugu | 8:a47dbf4fa455 | 75 | int flag_b = 0; // バックライト点滅フラグ |
| tomotsugu | 8:a47dbf4fa455 | 76 | int flag_t = 0; // バックライトタイマーフラグ |
| yangtzuli | 3:2ae6218973be | 77 | |
| tomotsugu | 8:a47dbf4fa455 | 78 | /* trace用変数 */ |
| yangtzuli | 23:8c862b55fa1f | 79 | int sensArray[32] = {8,6,2,4,1,1,2,2, // ライントレースセンサパターン |
| nishimura_taku_pet | 28:cb51cafca490 | 80 | 3,1,1,1,3,1,1,2, |
| nishimura_taku_pet | 28:cb51cafca490 | 81 | 7,1,1,1,1,1,1,1, |
| nishimura_taku_pet | 28:cb51cafca490 | 82 | 5,1,1,1,3,1,3,1}; |
| yangtzuli | 0:0d0037aabe41 | 83 | |
| tomotsugu | 8:a47dbf4fa455 | 84 | /* avoidance用変数 */ |
| yangtzuli | 3:2ae6218973be | 85 | Timer timer; // 距離計測用タイマ |
| yangtzuli | 3:2ae6218973be | 86 | int DT; // 距離 |
| yangtzuli | 2:38825726cb1b | 87 | int SC; // 正面 |
| yangtzuli | 2:38825726cb1b | 88 | int SL; // 左 |
| yangtzuli | 2:38825726cb1b | 89 | int SR; // 右 |
| yangtzuli | 2:38825726cb1b | 90 | int SLD; // 左前 |
| yangtzuli | 2:38825726cb1b | 91 | int SRD; // 右前 |
| tomotsugu | 8:a47dbf4fa455 | 92 | int flag_a = 0; // 障害物有無のフラグ |
| yangtzuli | 2:38825726cb1b | 93 | const int limit = 20; // 障害物の距離のリミット(単位：cm) |
| yangtzuli | 3:2ae6218973be | 94 | int far; // 最も遠い距離 |
| yangtzuli | 2:38825726cb1b | 95 | int houkou; // 進行方向(1:前 2:左 3:右) |
| yangtzuli | 2:38825726cb1b | 96 | int i; // ループ変数 |
| nishimura_taku_pet | 29:600e4b9b5c5b | 97 | int t1 = 0; |
| yangtzuli | 2:38825726cb1b | 98 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 99 | /*WiFi用変数*/ |
| nishimura_taku_pet | 24:9481c8f56a49 | 100 | Timer time1; |
| nishimura_taku_pet | 24:9481c8f56a49 | 101 | Timer time2; |
| nishimura_taku_pet | 24:9481c8f56a49 | 102 | int bufflen, DataRX, ount, getcount, replycount, servreq, timeout; |
| nishimura_taku_pet | 24:9481c8f56a49 | 103 | int bufl, ipdLen, linkID, weberror, webcounter,click_flag; |
| nishimura_taku_pet | 24:9481c8f56a49 | 104 | float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage |
| nishimura_taku_pet | 24:9481c8f56a49 | 105 | char Vcc[10]; |
| nishimura_taku_pet | 24:9481c8f56a49 | 106 | char webcount[8]; |
| nishimura_taku_pet | 24:9481c8f56a49 | 107 | char type[16]; |
| nishimura_taku_pet | 24:9481c8f56a49 | 108 | char channel[2]; |
| nishimura_taku_pet | 24:9481c8f56a49 | 109 | char cmdbuff[32]; |
| nishimura_taku_pet | 24:9481c8f56a49 | 110 | char replybuff[1024]; |
| nishimura_taku_pet | 24:9481c8f56a49 | 111 | char webdata[1024]; // This may need to be bigger depending on WEB browser used |
| nishimura_taku_pet | 27:90962c01bfeb | 112 | char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added |
| nishimura_taku_pet | 24:9481c8f56a49 | 113 | int port =80; // set server port |
| nishimura_taku_pet | 24:9481c8f56a49 | 114 | int SERVtimeout =5; // set server timeout in seconds in case link breaks. |
| nishimura_taku_pet | 24:9481c8f56a49 | 115 | char ssid[32] = "mbed02"; // enter WiFi router ssid inside the quotes |
| nishimura_taku_pet | 24:9481c8f56a49 | 116 | char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes |
| yangtzuli | 3:2ae6218973be | 117 | |
| yangtzuli | 3:2ae6218973be | 118 | |
| yangtzuli | 3:2ae6218973be | 119 | /* プロトタイプ宣言 */ |
| yangtzuli | 3:2ae6218973be | 120 | void decodeIR(void const *argument); |
| yangtzuli | 3:2ae6218973be | 121 | void motor(void const *argument); |
| yangtzuli | 3:2ae6218973be | 122 | void changeSpeed(); |
| nishimura_taku_pet | 16:ffc732a3cf92 | 123 | void avoidance(/*void const *argument*/); |
| nishimura_taku_pet | 16:ffc732a3cf92 | 124 | void trace(/*void const *argument*/); |
| yangtzuli | 2:38825726cb1b | 125 | void watchsurrounding(); |
| 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); |
| tomotsugu | 8:a47dbf4fa455 | 132 | Thread deco_thread(decodeIR, NULL, osPriorityRealtime); // decodeIRをスレッド化 ：+3 |
| nishimura_taku_pet | 24:9481c8f56a49 | 133 | Thread wifi_thread(wifi,NULL,osPriorityRealtime); // wifiをスレッド化 |
| tomotsugu | 8:a47dbf4fa455 | 134 | Thread motor_thread(motor, NULL, osPriorityHigh); // 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 |
| tomotsugu | 8:a47dbf4fa455 | 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 | |
| tomotsugu | 8:a47dbf4fa455 | 146 | /* リモコン受信スレッド */ |
| yangtzuli | 5:3fffb364744b | 147 | void decodeIR(void const *argument){ |
| yangtzuli | 5:3fffb364744b | 148 | while(1){ |
| yangtzuli | 0:0d0037aabe41 | 149 | // 受信待ち |
| tomotsugu | 8:a47dbf4fa455 | 150 | if (ir.getState() == ReceiverIR::Received){ // コード受信 |
| yangtzuli | 3:2ae6218973be | 151 | bitcount = ir.getData(&format, buf, sizeof(buf) * 8); |
| tomotsugu | 8:a47dbf4fa455 | 152 | if(bitcount > 1){ // 受信成功 |
| yangtzuli | 1:5bb497a38344 | 153 | code=0; |
| tomotsugu | 15:5eef1955f6c2 | 154 | for(int j = 0; j < 4; j++){ |
| yangtzuli | 1:5bb497a38344 | 155 | code+=(buf[j]<<(8*(3-j))); |
| yangtzuli | 1:5bb497a38344 | 156 | } |
| tomotsugu | 8:a47dbf4fa455 | 157 | if(mode != SPEED){ // スピードモード以外なら |
| tomotsugu | 8:a47dbf4fa455 | 158 | beforeMode=mode; // 前回のモードに現在のモードを設定 |
| yangtzuli | 3:2ae6218973be | 159 | } |
| yangtzuli | 0:0d0037aabe41 | 160 | switch(code){ |
| tomotsugu | 8:a47dbf4fa455 | 161 | case 0x40bf27d8: // クイック |
| yangtzuli | 17:f7259ab2fe86 | 162 | //pc.printf("mode = SPEED\r\n"); |
| tomotsugu | 8:a47dbf4fa455 | 163 | mode = SPEED; // スピードモード |
| tomotsugu | 8:a47dbf4fa455 | 164 | changeSpeed(); // 速度変更 |
| tomotsugu | 8:a47dbf4fa455 | 165 | display(); // ディスプレイ表示 |
| tomotsugu | 8:a47dbf4fa455 | 166 | mode = beforeMode; // 現在のモードに前回のモードを設定 |
| yangtzuli | 1:5bb497a38344 | 167 | break; |
| tomotsugu | 8:a47dbf4fa455 | 168 | case 0x40be34cb: // レグザリンク |
| yangtzuli | 17:f7259ab2fe86 | 169 | //pc.printf("mode = LINE_TRACE\r\n"); |
| nishimura_taku_pet | 16:ffc732a3cf92 | 170 | if(trace_thread->get_state() == Thread::Deleted){ |
| nishimura_taku_pet | 16:ffc732a3cf92 | 171 | delete trace_thread; |
| nishimura_taku_pet | 16:ffc732a3cf92 | 172 | trace_thread = new Thread(trace); |
| nishimura_taku_pet | 16:ffc732a3cf92 | 173 | trace_thread -> set_priority(osPriorityHigh); |
| nishimura_taku_pet | 16:ffc732a3cf92 | 174 | } |
| tomotsugu | 8:a47dbf4fa455 | 175 | mode=LINE_TRACE; // ライントレースモード |
| tomotsugu | 8:a47dbf4fa455 | 176 | display(); // ディスプレイ表示 |
| yangtzuli | 1:5bb497a38344 | 177 | break; |
| tomotsugu | 8:a47dbf4fa455 | 178 | case 0x40bf6e91: // 番組表 |
| yangtzuli | 17:f7259ab2fe86 | 179 | //pc.printf("mode = AVOIDANCE\r\n"); |
| nishimura_taku_pet | 16:ffc732a3cf92 | 180 | if(avoi_thread->get_state() == Thread::Deleted){ |
| nishimura_taku_pet | 16:ffc732a3cf92 | 181 | delete avoi_thread; |
| nishimura_taku_pet | 16:ffc732a3cf92 | 182 | avoi_thread = new Thread(avoidance); |
| nishimura_taku_pet | 16:ffc732a3cf92 | 183 | avoi_thread -> set_priority(osPriorityHigh); |
| nishimura_taku_pet | 16:ffc732a3cf92 | 184 | } |
| tomotsugu | 18:6cca64c7dbc3 | 185 | flag_a = 0; |
| tomotsugu | 8:a47dbf4fa455 | 186 | mode=AVOIDANCE; // 障害物回避モード |
| tomotsugu | 13:1a7667d0aa78 | 187 | run = ADVANCE; // 前進 |
| tomotsugu | 8:a47dbf4fa455 | 188 | display(); // ディスプレイ表示 |
| yangtzuli | 1:5bb497a38344 | 189 | break; |
| tomotsugu | 8:a47dbf4fa455 | 190 | case 0x40bf3ec1: // ↑ |
| yangtzuli | 17:f7259ab2fe86 | 191 | //pc.printf("mode = ADVANCE\r\n"); |
| tomotsugu | 8:a47dbf4fa455 | 192 | mode = ADVANCE; // 前進モード |
| tomotsugu | 8:a47dbf4fa455 | 193 | run = ADVANCE; // 前進 |
| tomotsugu | 8:a47dbf4fa455 | 194 | display(); // ディスプレイ表示 |
| yangtzuli | 1:5bb497a38344 | 195 | break; |
| tomotsugu | 8:a47dbf4fa455 | 196 | case 0x40bf3fc0: // ↓ |
| yangtzuli | 17:f7259ab2fe86 | 197 | //pc.printf("mode = BACK\r\n"); |
| tomotsugu | 8:a47dbf4fa455 | 198 | mode = BACK; // 後退モード |
| tomotsugu | 8:a47dbf4fa455 | 199 | run = BACK; // 後退 |
| tomotsugu | 8:a47dbf4fa455 | 200 | display(); // ディスプレイ表示 |
| yangtzuli | 0:0d0037aabe41 | 201 | break; |
| tomotsugu | 8:a47dbf4fa455 | 202 | case 0x40bf5fa0: // ← |
| yangtzuli | 17:f7259ab2fe86 | 203 | //pc.printf("mode = LEFT\r\n"); |
| tomotsugu | 8:a47dbf4fa455 | 204 | mode = LEFT; // 左折モード |
| tomotsugu | 8:a47dbf4fa455 | 205 | run = LEFT; // 左折 |
| tomotsugu | 8:a47dbf4fa455 | 206 | display(); // ディスプレイ表示 |
| yangtzuli | 1:5bb497a38344 | 207 | break; |
| tomotsugu | 8:a47dbf4fa455 | 208 | case 0x40bf5ba4: // → |
| yangtzuli | 17:f7259ab2fe86 | 209 | //pc.printf("mode = RIGHT\r\n"); |
| tomotsugu | 8:a47dbf4fa455 | 210 | mode = RIGHT; // 右折モード |
| tomotsugu | 8:a47dbf4fa455 | 211 | run = RIGHT; // 右折 |
| tomotsugu | 8:a47dbf4fa455 | 212 | display(); // ディスプレイ表示 |
| yangtzuli | 1:5bb497a38344 | 213 | break; |
| tomotsugu | 8:a47dbf4fa455 | 214 | case 0x40bf3dc2: // 決定 |
| yangtzuli | 17:f7259ab2fe86 | 215 | //pc.printf("mode = STOP\r\n"); |
| tomotsugu | 8:a47dbf4fa455 | 216 | mode = STOP; // 停止モード |
| tomotsugu | 8:a47dbf4fa455 | 217 | run = STOP; // 停止 |
| tomotsugu | 8:a47dbf4fa455 | 218 | display(); // ディスプレイ表示 |
| yangtzuli | 1:5bb497a38344 | 219 | break; |
| yangtzuli | 0:0d0037aabe41 | 220 | default: |
| yangtzuli | 0:0d0037aabe41 | 221 | ; |
| yangtzuli | 0:0d0037aabe41 | 222 | } |
| nishimura_taku_pet | 16:ffc732a3cf92 | 223 | if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){ |
| nishimura_taku_pet | 16:ffc732a3cf92 | 224 | trace_thread->terminate(); |
| nishimura_taku_pet | 16:ffc732a3cf92 | 225 | } |
| nishimura_taku_pet | 16:ffc732a3cf92 | 226 | if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){ |
| nishimura_taku_pet | 16:ffc732a3cf92 | 227 | avoi_thread->terminate(); |
| nishimura_taku_pet | 28:cb51cafca490 | 228 | servo.pulsewidth_us(1450); // サーボを中央位置に戻す |
| nishimura_taku_pet | 16:ffc732a3cf92 | 229 | } |
| yangtzuli | 0:0d0037aabe41 | 230 | } |
| yangtzuli | 0:0d0037aabe41 | 231 | } |
| tomotsugu | 8:a47dbf4fa455 | 232 | if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過 |
| tomotsugu | 8:a47dbf4fa455 | 233 | viewTimer.stop(); // タイマーストップ |
| tomotsugu | 8:a47dbf4fa455 | 234 | viewTimer.reset(); // タイマーリセット |
| tomotsugu | 8:a47dbf4fa455 | 235 | display(); // ディスプレイ表示 |
| yangtzuli | 4:3f80c0180e2f | 236 | } |
| tomotsugu | 18:6cca64c7dbc3 | 237 | ThisThread::sleep_for(90); // 90ms待つ |
| yangtzuli | 4:3f80c0180e2f | 238 | } |
| yangtzuli | 2:38825726cb1b | 239 | } |
| tomotsugu | 8:a47dbf4fa455 | 240 | |
| tomotsugu | 8:a47dbf4fa455 | 241 | /* モーター制御スレッド */ |
| yangtzuli | 2:38825726cb1b | 242 | void motor(void const *argument){ |
| tomotsugu | 8:a47dbf4fa455 | 243 | while(1){ |
| tomotsugu | 8:a47dbf4fa455 | 244 | /* 走行状態の場合分け */ |
| yangtzuli | 3:2ae6218973be | 245 | switch(run){ |
| tomotsugu | 8:a47dbf4fa455 | 246 | /* 前進 */ |
| yangtzuli | 3:2ae6218973be | 247 | case ADVANCE: |
| tomotsugu | 8:a47dbf4fa455 | 248 | motorR1 = motorSpeed[flag_sp]; // 右前進モーターON |
| tomotsugu | 8:a47dbf4fa455 | 249 | motorR2 = LOW; // 右後退モーターOFF |
| tomotsugu | 8:a47dbf4fa455 | 250 | motorL1 = motorSpeed[flag_sp]; // 左前進モーターON |
| tomotsugu | 8:a47dbf4fa455 | 251 | motorL2 = LOW; // 左後退モーターOFF |
| yangtzuli | 3:2ae6218973be | 252 | break; |
| tomotsugu | 8:a47dbf4fa455 | 253 | /* 右折 */ |
| yangtzuli | 3:2ae6218973be | 254 | case RIGHT: |
| tomotsugu | 8:a47dbf4fa455 | 255 | motorR1 = LOW; // 右前進モーターOFF |
| tomotsugu | 8:a47dbf4fa455 | 256 | motorR2 = motorSpeed[flag_sp]; // 右後退モーターON |
| tomotsugu | 8:a47dbf4fa455 | 257 | motorL1 = motorSpeed[flag_sp]; // 左前進モーターON |
| tomotsugu | 8:a47dbf4fa455 | 258 | motorL2 = LOW; // 左後退モーターOFF |
| yangtzuli | 3:2ae6218973be | 259 | break; |
| tomotsugu | 8:a47dbf4fa455 | 260 | /* 左折 */ |
| yangtzuli | 3:2ae6218973be | 261 | case LEFT: |
| tomotsugu | 8:a47dbf4fa455 | 262 | motorR1 = motorSpeed[flag_sp]; // 右前進モーターON |
| tomotsugu | 8:a47dbf4fa455 | 263 | motorR2 = LOW; // 右後退モーターOFF |
| tomotsugu | 8:a47dbf4fa455 | 264 | motorL1 = LOW; // 左前進モーターOFF |
| tomotsugu | 8:a47dbf4fa455 | 265 | motorL2 = motorSpeed[flag_sp]; // 左後退モーターON |
| yangtzuli | 3:2ae6218973be | 266 | break; |
| tomotsugu | 8:a47dbf4fa455 | 267 | /* 後退 */ |
| yangtzuli | 3:2ae6218973be | 268 | case BACK: |
| tomotsugu | 8:a47dbf4fa455 | 269 | motorR1 = LOW; // 右前進モーターOFF |
| tomotsugu | 8:a47dbf4fa455 | 270 | motorR2 = motorSpeed[flag_sp]; // 右後退モーターON |
| tomotsugu | 8:a47dbf4fa455 | 271 | motorL1 = LOW; // 左前進モーターOFF |
| tomotsugu | 8:a47dbf4fa455 | 272 | motorL2 = motorSpeed[flag_sp]; // 左後退モーターON |
| yangtzuli | 3:2ae6218973be | 273 | break; |
| tomotsugu | 8:a47dbf4fa455 | 274 | /* 停止 */ |
| yangtzuli | 3:2ae6218973be | 275 | case STOP: |
| tomotsugu | 8:a47dbf4fa455 | 276 | motorR1 = LOW; // 右前進モーターOFF |
| tomotsugu | 8:a47dbf4fa455 | 277 | motorR2 = LOW; // 右後退モーターOFF |
| tomotsugu | 8:a47dbf4fa455 | 278 | motorL1 = LOW; // 左前進モーターOFF |
| tomotsugu | 8:a47dbf4fa455 | 279 | motorL2 = LOW; // 左後退モーターOFF |
| yangtzuli | 3:2ae6218973be | 280 | break; |
| yangtzuli | 3:2ae6218973be | 281 | } |
| tomotsugu | 8:a47dbf4fa455 | 282 | 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 | 283 | flag_sp -= 3 * (flag_sp / 3); // スピード変更フラグ調整 |
| yangtzuli | 6:800a745c7f2e | 284 | } |
| tomotsugu | 8:a47dbf4fa455 | 285 | ThisThread::sleep_for(30); // 30ms待つ |
| yangtzuli | 2:38825726cb1b | 286 | } |
| yangtzuli | 2:38825726cb1b | 287 | } |
| tomotsugu | 8:a47dbf4fa455 | 288 | |
| tomotsugu | 8:a47dbf4fa455 | 289 | /* スピード変更関数 */ |
| yangtzuli | 3:2ae6218973be | 290 | void changeSpeed(){ |
| tomotsugu | 8:a47dbf4fa455 | 291 | 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 | 292 | flag_sp -= 2; // スピード変更フラグを-2 |
| yangtzuli | 3:2ae6218973be | 293 | |
| tomotsugu | 8:a47dbf4fa455 | 294 | }else{ // それ以外 |
| tomotsugu | 8:a47dbf4fa455 | 295 | flag_sp = flag_sp + 1; // スピード変更フラグを+1 |
| yangtzuli | 3:2ae6218973be | 296 | } |
| yangtzuli | 3:2ae6218973be | 297 | } |
| tomotsugu | 8:a47dbf4fa455 | 298 | |
| tomotsugu | 8:a47dbf4fa455 | 299 | /* ライントレーススレッド */ |
| tomotsugu | 20:02bb875a9b13 | 300 | void trace(){ |
| tomotsugu | 8:a47dbf4fa455 | 301 | while(1){ |
| tomotsugu | 8:a47dbf4fa455 | 302 | /* 各センサー値読み取り */ |
| yangtzuli | 3:2ae6218973be | 303 | int sensor1 = ss1; |
| yangtzuli | 3:2ae6218973be | 304 | int sensor2 = ss2; |
| yangtzuli | 3:2ae6218973be | 305 | int sensor3 = ss3; |
| yangtzuli | 3:2ae6218973be | 306 | int sensor4 = ss4; |
| yangtzuli | 3:2ae6218973be | 307 | int sensor5 = ss5; |
| yangtzuli | 6:800a745c7f2e | 308 | pc.printf("%d %d %d %d %d \r\n",sensor1,sensor2,sensor3,sensor4,sensor5); |
| yangtzuli | 3:2ae6218973be | 309 | int sensD = 0; |
| yangtzuli | 3:2ae6218973be | 310 | int sensorNum; |
| tomotsugu | 8:a47dbf4fa455 | 311 | |
| tomotsugu | 8:a47dbf4fa455 | 312 | /* センサー値の決定 */ |
| yangtzuli | 3:2ae6218973be | 313 | if(sensor1 > 0) sensD |= 0x10; |
| yangtzuli | 3:2ae6218973be | 314 | if(sensor2 > 0) sensD |= 0x08; |
| yangtzuli | 3:2ae6218973be | 315 | if(sensor3 > 0) sensD |= 0x04; |
| yangtzuli | 3:2ae6218973be | 316 | if(sensor4 > 0) sensD |= 0x02; |
| yangtzuli | 3:2ae6218973be | 317 | if(sensor5 > 0) sensD |= 0x01; |
| tomotsugu | 8:a47dbf4fa455 | 318 | |
| yangtzuli | 3:2ae6218973be | 319 | sensorNum = sensArray[sensD]; |
| tomotsugu | 8:a47dbf4fa455 | 320 | |
| tomotsugu | 8:a47dbf4fa455 | 321 | /* センサー値によって場合分け */ |
| yangtzuli | 3:2ae6218973be | 322 | switch(sensorNum){ |
| yangtzuli | 3:2ae6218973be | 323 | case 1: |
| tomotsugu | 18:6cca64c7dbc3 | 324 | run = ADVANCE; // 低速で前進 |
| yangtzuli | 3:2ae6218973be | 325 | break; |
| yangtzuli | 3:2ae6218973be | 326 | case 2: |
| yangtzuli | 23:8c862b55fa1f | 327 | flag_sp = flag_sp % 3 + 6; |
| tomotsugu | 18:6cca64c7dbc3 | 328 | run = RIGHT; // 低速で右折 |
| yangtzuli | 3:2ae6218973be | 329 | break; |
| yangtzuli | 3:2ae6218973be | 330 | case 3: |
| yangtzuli | 23:8c862b55fa1f | 331 | flag_sp = flag_sp % 3 + 6; |
| tomotsugu | 18:6cca64c7dbc3 | 332 | run = LEFT; // 低速で左折 |
| yangtzuli | 3:2ae6218973be | 333 | break; |
| yangtzuli | 3:2ae6218973be | 334 | case 4: |
| yangtzuli | 23:8c862b55fa1f | 335 | flag_sp = flag_sp % 3 + 6; |
| tomotsugu | 18:6cca64c7dbc3 | 336 | run = RIGHT; // 中速で右折 |
| yangtzuli | 3:2ae6218973be | 337 | break; |
| yangtzuli | 3:2ae6218973be | 338 | case 5: |
| yangtzuli | 23:8c862b55fa1f | 339 | flag_sp = flag_sp % 3 + 6; |
| tomotsugu | 18:6cca64c7dbc3 | 340 | run = LEFT; // 中速で左折 |
| yangtzuli | 6:800a745c7f2e | 341 | break; |
| yangtzuli | 6:800a745c7f2e | 342 | case 6: |
| tomotsugu | 18:6cca64c7dbc3 | 343 | flag_sp = flag_sp % 3 + 6; |
| tomotsugu | 18:6cca64c7dbc3 | 344 | run = RIGHT; // 高速で右折 |
| yangtzuli | 6:800a745c7f2e | 345 | break; |
| yangtzuli | 6:800a745c7f2e | 346 | case 7: |
| tomotsugu | 18:6cca64c7dbc3 | 347 | flag_sp = flag_sp % 3 + 6; |
| tomotsugu | 18:6cca64c7dbc3 | 348 | run = LEFT; // 高速で左折 |
| yangtzuli | 3:2ae6218973be | 349 | break; |
| yangtzuli | 23:8c862b55fa1f | 350 | case 8: |
| yangtzuli | 23:8c862b55fa1f | 351 | break; |
| yangtzuli | 3:2ae6218973be | 352 | } |
| tomotsugu | 8:a47dbf4fa455 | 353 | ThisThread::sleep_for(30); // 30ms待つ |
| tomotsugu | 18:6cca64c7dbc3 | 354 | } |
| yangtzuli | 3:2ae6218973be | 355 | } |
| yangtzuli | 3:2ae6218973be | 356 | |
| tomotsugu | 8:a47dbf4fa455 | 357 | /* 障害物回避走行スレッド */ |
| tomotsugu | 20:02bb875a9b13 | 358 | void avoidance(){ |
| yangtzuli | 3:2ae6218973be | 359 | while(1){ |
| tomotsugu | 18:6cca64c7dbc3 | 360 | watchsurrounding(); |
| tomotsugu | 18:6cca64c7dbc3 | 361 | pc.printf("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR); |
| tomotsugu | 18:6cca64c7dbc3 | 362 | if(flag_a == 0){ // 障害物がない場合 |
| tomotsugu | 18:6cca64c7dbc3 | 363 | run = ADVANCE; // 前進 |
| nishimura_taku_pet | 28:cb51cafca490 | 364 | }else{ // 障害物がある場合 |
| tomotsugu | 18:6cca64c7dbc3 | 365 | i = 0; |
| tomotsugu | 18:6cca64c7dbc3 | 366 | if(SC < 15){ // 正面15cm以内に障害物が現れた場合 |
| tomotsugu | 18:6cca64c7dbc3 | 367 | run = BACK; // 後退 |
| tomotsugu | 18:6cca64c7dbc3 | 368 | while(watch() < limit){ // 正面20cm以内に障害物がある間 |
| tomotsugu | 18:6cca64c7dbc3 | 369 | } |
| tomotsugu | 18:6cca64c7dbc3 | 370 | run = STOP; // 停止 |
| yangtzuli | 3:2ae6218973be | 371 | } |
| nishimura_taku_pet | 28:cb51cafca490 | 372 | 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 | 373 | run = LEFT; // 左折 |
| nishimura_taku_pet | 28:cb51cafca490 | 374 | while(i < 1){ // 進行方向確認 |
| nishimura_taku_pet | 28:cb51cafca490 | 375 | flag_sp = flag_sp % 3 + 6; |
| tomotsugu | 18:6cca64c7dbc3 | 376 | if(watch() > limit){ |
| tomotsugu | 18:6cca64c7dbc3 | 377 | i++; |
| nishimura_taku_pet | 28:cb51cafca490 | 378 | }else{ |
| nishimura_taku_pet | 28:cb51cafca490 | 379 | i = 0; |
| yangtzuli | 2:38825726cb1b | 380 | } |
| yangtzuli | 2:38825726cb1b | 381 | } |
| nishimura_taku_pet | 28:cb51cafca490 | 382 | run = STOP; // 停止 |
| nishimura_taku_pet | 28:cb51cafca490 | 383 | }else { // 全方向以外 |
| nishimura_taku_pet | 28:cb51cafca490 | 384 | far = SC; // 正面を最も遠い距離に設定 |
| nishimura_taku_pet | 28:cb51cafca490 | 385 | houkou = 1; // 進行方向を前に設定 |
| nishimura_taku_pet | 28:cb51cafca490 | 386 | if(far < SLD || far < SL){ // 左または左前がより遠い場合 |
| nishimura_taku_pet | 28:cb51cafca490 | 387 | if(SL < SLD){ // 左前が左より遠い場合 |
| nishimura_taku_pet | 28:cb51cafca490 | 388 | far = SLD; // 左前を最も遠い距離に設定 |
| nishimura_taku_pet | 28:cb51cafca490 | 389 | }else{ // 左が左前より遠い場合 |
| nishimura_taku_pet | 28:cb51cafca490 | 390 | far = SL; // 左を最も遠い距離に設定 |
| nishimura_taku_pet | 28:cb51cafca490 | 391 | } |
| nishimura_taku_pet | 28:cb51cafca490 | 392 | houkou = 2; // 進行方向を左に設定 |
| nishimura_taku_pet | 28:cb51cafca490 | 393 | } |
| nishimura_taku_pet | 28:cb51cafca490 | 394 | if(far < SRD || far < SR){ // 右または右前がより遠い場合 |
| nishimura_taku_pet | 28:cb51cafca490 | 395 | if(SR < SRD){ // 右前が右より遠い場合 |
| nishimura_taku_pet | 28:cb51cafca490 | 396 | far = SRD; // 右前を最も遠い距離に設定 |
| nishimura_taku_pet | 28:cb51cafca490 | 397 | }else{ // 右が右前よりも遠い場合 |
| nishimura_taku_pet | 28:cb51cafca490 | 398 | far = SR; // 右を最も遠い距離に設定 |
| nishimura_taku_pet | 28:cb51cafca490 | 399 | } |
| nishimura_taku_pet | 28:cb51cafca490 | 400 | houkou = 3; // 進行方向を右に設定 |
| nishimura_taku_pet | 28:cb51cafca490 | 401 | } |
| nishimura_taku_pet | 28:cb51cafca490 | 402 | switch(houkou){ // 進行方向の場合分け |
| nishimura_taku_pet | 28:cb51cafca490 | 403 | case 1: // 前の場合 |
| nishimura_taku_pet | 28:cb51cafca490 | 404 | run = ADVANCE; // 前進 |
| nishimura_taku_pet | 28:cb51cafca490 | 405 | ThisThread::sleep_for(1000); // 1秒待つ |
| nishimura_taku_pet | 28:cb51cafca490 | 406 | break; |
| nishimura_taku_pet | 28:cb51cafca490 | 407 | case 2: // 左の場合 |
| nishimura_taku_pet | 28:cb51cafca490 | 408 | |
| nishimura_taku_pet | 28:cb51cafca490 | 409 | run = LEFT; // 左折 |
| nishimura_taku_pet | 28:cb51cafca490 | 410 | while(i < 1){ // 進行方向確認 |
| nishimura_taku_pet | 28:cb51cafca490 | 411 | flag_sp = flag_sp % 3 + 6; |
| nishimura_taku_pet | 28:cb51cafca490 | 412 | if(watch() > (far - 2)){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm) |
| nishimura_taku_pet | 28:cb51cafca490 | 413 | i++; // ループ+ |
| nishimura_taku_pet | 28:cb51cafca490 | 414 | }else{ |
| nishimura_taku_pet | 28:cb51cafca490 | 415 | i = 0; |
| nishimura_taku_pet | 28:cb51cafca490 | 416 | } |
| nishimura_taku_pet | 28:cb51cafca490 | 417 | } |
| nishimura_taku_pet | 28:cb51cafca490 | 418 | run = STOP; // 停止 |
| nishimura_taku_pet | 28:cb51cafca490 | 419 | break; |
| nishimura_taku_pet | 28:cb51cafca490 | 420 | case 3: // 右の場合 |
| nishimura_taku_pet | 28:cb51cafca490 | 421 | |
| nishimura_taku_pet | 28:cb51cafca490 | 422 | run = RIGHT; // 右折 |
| nishimura_taku_pet | 28:cb51cafca490 | 423 | while(i < 1){ // 進行方向確認 |
| nishimura_taku_pet | 28:cb51cafca490 | 424 | flag_sp = flag_sp % 3 + 6; |
| nishimura_taku_pet | 28:cb51cafca490 | 425 | if(watch() > (far - 2)){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm) |
| nishimura_taku_pet | 28:cb51cafca490 | 426 | i++; // ループ+ |
| nishimura_taku_pet | 28:cb51cafca490 | 427 | }else{ |
| nishimura_taku_pet | 28:cb51cafca490 | 428 | i = 0; |
| nishimura_taku_pet | 28:cb51cafca490 | 429 | } |
| nishimura_taku_pet | 28:cb51cafca490 | 430 | } |
| nishimura_taku_pet | 28:cb51cafca490 | 431 | run = STOP; // 停止 |
| nishimura_taku_pet | 28:cb51cafca490 | 432 | break; |
| nishimura_taku_pet | 28:cb51cafca490 | 433 | } |
| yangtzuli | 5:3fffb364744b | 434 | } |
| nishimura_taku_pet | 28:cb51cafca490 | 435 | } |
| nishimura_taku_pet | 28:cb51cafca490 | 436 | flag_a = 0; // 障害物有無フラグを0にセット |
| yangtzuli | 2:38825726cb1b | 437 | } |
| yangtzuli | 2:38825726cb1b | 438 | } |
| tomotsugu | 8:a47dbf4fa455 | 439 | |
| tomotsugu | 8:a47dbf4fa455 | 440 | /* 距離計測関数 */ |
| yangtzuli | 2:38825726cb1b | 441 | int watch(){ |
| tomotsugu | 21:68d38e8f64b5 | 442 | do{ |
| tomotsugu | 21:68d38e8f64b5 | 443 | trig = 0; |
| tomotsugu | 21:68d38e8f64b5 | 444 | ThisThread::sleep_for(5); // 5ms待つ |
| tomotsugu | 21:68d38e8f64b5 | 445 | trig = 1; |
| tomotsugu | 21:68d38e8f64b5 | 446 | ThisThread::sleep_for(15); // 15ms待つ |
| tomotsugu | 21:68d38e8f64b5 | 447 | trig = 0; |
| tomotsugu | 21:68d38e8f64b5 | 448 | timer.start(); |
| yangtzuli | 17:f7259ab2fe86 | 449 | t1=timer.read_ms(); |
| nishimura_taku_pet | 29:600e4b9b5c5b | 450 | while(echo.read() == 0 && t1<10){ |
| tomotsugu | 21:68d38e8f64b5 | 451 | t1=timer.read_ms(); |
| tomotsugu | 21:68d38e8f64b5 | 452 | led1 = 1; |
| tomotsugu | 21:68d38e8f64b5 | 453 | } |
| tomotsugu | 21:68d38e8f64b5 | 454 | timer.stop(); |
| tomotsugu | 21:68d38e8f64b5 | 455 | timer.reset(); |
| nishimura_taku_pet | 28:cb51cafca490 | 456 | /*if((t1-t2) >= 10){ |
| nishimura_taku_pet | 28:cb51cafca490 | 457 | run = STOP;*/ |
| nishimura_taku_pet | 29:600e4b9b5c5b | 458 | }while(t1 >= 10); |
| tomotsugu | 21:68d38e8f64b5 | 459 | timer.start(); // 距離計測タイマースタート |
| tomotsugu | 21:68d38e8f64b5 | 460 | while(echo.read() == 1){ |
| yangtzuli | 5:3fffb364744b | 461 | } |
| tomotsugu | 21:68d38e8f64b5 | 462 | timer.stop(); // 距離計測タイマーストップ |
| tomotsugu | 21:68d38e8f64b5 | 463 | DT = (int)(timer.read_us()*0.01657); // 距離計算 |
| nishimura_taku_pet | 28:cb51cafca490 | 464 | if(DT > 1000){ |
| nishimura_taku_pet | 28:cb51cafca490 | 465 | DT = -1; |
| nishimura_taku_pet | 28:cb51cafca490 | 466 | }else if(DT > 150){ // 検知範囲外なら100cmに設定 |
| tomotsugu | 22:c6e2a3b9aa14 | 467 | DT = 150; |
| yangtzuli | 2:38825726cb1b | 468 | } |
| tomotsugu | 21:68d38e8f64b5 | 469 | timer.reset(); // 距離計測タイマーリセット |
| tomotsugu | 8:a47dbf4fa455 | 470 | led1 = 0; |
| yangtzuli | 2:38825726cb1b | 471 | return DT; |
| yangtzuli | 0:0d0037aabe41 | 472 | } |
| yangtzuli | 0:0d0037aabe41 | 473 | |
| tomotsugu | 8:a47dbf4fa455 | 474 | /* 障害物検知関数 */ |
| yangtzuli | 2:38825726cb1b | 475 | void watchsurrounding(){ |
| nishimura_taku_pet | 28:cb51cafca490 | 476 | //servo.pulsewidth_us(1450); // サーボを中央位置に戻す |
| nishimura_taku_pet | 28:cb51cafca490 | 477 | //ThisThread::sleep_for(200); // 100ms待つ |
| yangtzuli | 2:38825726cb1b | 478 | SC = watch(); |
| nishimura_taku_pet | 28:cb51cafca490 | 479 | if(SC < limit){ // 正面20cm以内に障害物がある場合 |
| nishimura_taku_pet | 28:cb51cafca490 | 480 | if(SC!=-1){ |
| nishimura_taku_pet | 28:cb51cafca490 | 481 | run = STOP; // 停止 |
| nishimura_taku_pet | 28:cb51cafca490 | 482 | flag_a = 1; |
| nishimura_taku_pet | 28:cb51cafca490 | 483 | } |
| yangtzuli | 2:38825726cb1b | 484 | } |
| yangtzuli | 2:38825726cb1b | 485 | servo.pulsewidth_us(1925); // サーボを左に40度回転 |
| nishimura_taku_pet | 28:cb51cafca490 | 486 | ThisThread::sleep_for(100); // 250ms待つ |
| yangtzuli | 2:38825726cb1b | 487 | SLD = watch(); |
| yangtzuli | 2:38825726cb1b | 488 | if(SLD < limit){ // 左前20cm以内に障害物がある場合 |
| tomotsugu | 20:02bb875a9b13 | 489 | run = STOP; // 停止 |
| nishimura_taku_pet | 28:cb51cafca490 | 490 | flag_a = 1; |
| yangtzuli | 2:38825726cb1b | 491 | } |
| yangtzuli | 2:38825726cb1b | 492 | servo.pulsewidth_us(2400); // サーボを左に90度回転 |
| nishimura_taku_pet | 28:cb51cafca490 | 493 | ThisThread::sleep_for(100); // 250ms待つ |
| yangtzuli | 2:38825726cb1b | 494 | SL = watch(); |
| yangtzuli | 2:38825726cb1b | 495 | if(SL < limit){ // 左20cm以内に障害物がある場合 |
| tomotsugu | 20:02bb875a9b13 | 496 | run = STOP; // 停止 |
| nishimura_taku_pet | 28:cb51cafca490 | 497 | flag_a = 1; |
| yangtzuli | 2:38825726cb1b | 498 | } |
| tomotsugu | 19:c6f9f010bd9e | 499 | servo.pulsewidth_us(1450); |
| nishimura_taku_pet | 28:cb51cafca490 | 500 | ThisThread::sleep_for(250); |
| tomotsugu | 19:c6f9f010bd9e | 501 | SC = watch(); |
| tomotsugu | 19:c6f9f010bd9e | 502 | if(SC < limit){ |
| nishimura_taku_pet | 28:cb51cafca490 | 503 | if(SC!=-1){ |
| nishimura_taku_pet | 28:cb51cafca490 | 504 | run = STOP; // 停止 |
| nishimura_taku_pet | 28:cb51cafca490 | 505 | flag_a = 1; |
| nishimura_taku_pet | 28:cb51cafca490 | 506 | } |
| tomotsugu | 19:c6f9f010bd9e | 507 | } |
| yangtzuli | 2:38825726cb1b | 508 | servo.pulsewidth_us(925); // サーボを右に40度回転 |
| nishimura_taku_pet | 28:cb51cafca490 | 509 | ThisThread::sleep_for(100); // 250ms待つ |
| yangtzuli | 2:38825726cb1b | 510 | SRD = watch(); |
| yangtzuli | 2:38825726cb1b | 511 | if(SRD < limit){ // 右前20cm以内に障害物がある場合 |
| tomotsugu | 20:02bb875a9b13 | 512 | run = STOP; // 停止 |
| nishimura_taku_pet | 28:cb51cafca490 | 513 | flag_a = 1; |
| yangtzuli | 2:38825726cb1b | 514 | } |
| yangtzuli | 2:38825726cb1b | 515 | servo.pulsewidth_us(500); // サーボを右に90度回転 |
| nishimura_taku_pet | 28:cb51cafca490 | 516 | ThisThread::sleep_for(100); // 250ms待つ |
| yangtzuli | 2:38825726cb1b | 517 | SR = watch(); |
| yangtzuli | 2:38825726cb1b | 518 | if(SR < limit){ // 右20cm以内に障害物がある場合 |
| nishimura_taku_pet | 28:cb51cafca490 | 519 | run = STOP; // 停止 |
| nishimura_taku_pet | 28:cb51cafca490 | 520 | flag_a = 1; |
| yangtzuli | 2:38825726cb1b | 521 | } |
| yangtzuli | 2:38825726cb1b | 522 | servo.pulsewidth_us(1450); // サーボを中央位置に戻す |
| nishimura_taku_pet | 28:cb51cafca490 | 523 | ThisThread::sleep_for(250); // 100ms待つ |
| nishimura_taku_pet | 28:cb51cafca490 | 524 | /*if(SC < limit || SLD < limit || SL < limit || SRD < limit || SR < limit){ // 20cm以内に障害物を検知した場合 |
| tomotsugu | 8:a47dbf4fa455 | 525 | flag_a = 1; // 障害物有無フラグに1をセット |
| nishimura_taku_pet | 28:cb51cafca490 | 526 | }*/ |
| yangtzuli | 3:2ae6218973be | 527 | } |
| yangtzuli | 3:2ae6218973be | 528 | |
| tomotsugu | 8:a47dbf4fa455 | 529 | /* ディスプレイ表示関数 */ |
| yangtzuli | 3:2ae6218973be | 530 | void display(){ |
| tomotsugu | 8:a47dbf4fa455 | 531 | mutex.lock(); // ミューテックスロック |
| yangtzuli | 3:2ae6218973be | 532 | lcd.setAddress(0,1); |
| tomotsugu | 8:a47dbf4fa455 | 533 | |
| tomotsugu | 8:a47dbf4fa455 | 534 | /* 操作モードによる場合分け */ |
| yangtzuli | 3:2ae6218973be | 535 | switch(mode){ |
| tomotsugu | 8:a47dbf4fa455 | 536 | /* 前進 */ |
| yangtzuli | 3:2ae6218973be | 537 | case ADVANCE: |
| yangtzuli | 3:2ae6218973be | 538 | lcd.printf("Mode:Advance "); |
| yangtzuli | 3:2ae6218973be | 539 | break; |
| tomotsugu | 8:a47dbf4fa455 | 540 | /* 右折 */ |
| yangtzuli | 3:2ae6218973be | 541 | case RIGHT: |
| yangtzuli | 5:3fffb364744b | 542 | lcd.printf("Mode:TurnRight "); |
| yangtzuli | 3:2ae6218973be | 543 | break; |
| tomotsugu | 8:a47dbf4fa455 | 544 | /* 左折 */ |
| yangtzuli | 3:2ae6218973be | 545 | case LEFT: |
| yangtzuli | 5:3fffb364744b | 546 | lcd.printf("Mode:TurnLeft "); |
| yangtzuli | 3:2ae6218973be | 547 | break; |
| tomotsugu | 8:a47dbf4fa455 | 548 | /* 後退 */ |
| yangtzuli | 3:2ae6218973be | 549 | case BACK: |
| yangtzuli | 3:2ae6218973be | 550 | lcd.printf("Mode:Back "); |
| yangtzuli | 3:2ae6218973be | 551 | break; |
| tomotsugu | 8:a47dbf4fa455 | 552 | /* 停止 */ |
| yangtzuli | 3:2ae6218973be | 553 | case STOP: |
| yangtzuli | 3:2ae6218973be | 554 | lcd.printf("Mode:Stop "); |
| yangtzuli | 3:2ae6218973be | 555 | break; |
| tomotsugu | 8:a47dbf4fa455 | 556 | /* 待ち */ |
| yangtzuli | 3:2ae6218973be | 557 | case READY: |
| yangtzuli | 3:2ae6218973be | 558 | lcd.printf("Mode:Ready "); |
| yangtzuli | 3:2ae6218973be | 559 | break; |
| tomotsugu | 8:a47dbf4fa455 | 560 | /* ライントレース */ |
| yangtzuli | 3:2ae6218973be | 561 | case LINE_TRACE: |
| yangtzuli | 3:2ae6218973be | 562 | lcd.printf("Mode:LineTrace "); |
| yangtzuli | 3:2ae6218973be | 563 | break; |
| tomotsugu | 8:a47dbf4fa455 | 564 | /* 障害物回避 */ |
| yangtzuli | 3:2ae6218973be | 565 | case AVOIDANCE: |
| yangtzuli | 3:2ae6218973be | 566 | lcd.printf("Mode:Avoidance "); |
| yangtzuli | 3:2ae6218973be | 567 | break; |
| tomotsugu | 8:a47dbf4fa455 | 568 | /* スピード制御 */ |
| yangtzuli | 3:2ae6218973be | 569 | case SPEED: |
| tomotsugu | 8:a47dbf4fa455 | 570 | /* スピードの状態で場合分け */ |
| yangtzuli | 3:2ae6218973be | 571 | switch(flag_sp){ |
| tomotsugu | 8:a47dbf4fa455 | 572 | /* 普通 */ |
| yangtzuli | 3:2ae6218973be | 573 | case(NORMAL): |
| yangtzuli | 3:2ae6218973be | 574 | lcd.printf("Speed:Normal "); |
| yangtzuli | 3:2ae6218973be | 575 | break; |
| tomotsugu | 8:a47dbf4fa455 | 576 | /* 速い */ |
| yangtzuli | 3:2ae6218973be | 577 | case(FAST): |
| yangtzuli | 3:2ae6218973be | 578 | lcd.printf("Speed:Fast "); |
| yangtzuli | 3:2ae6218973be | 579 | break; |
| tomotsugu | 8:a47dbf4fa455 | 580 | /* とても速い */ |
| yangtzuli | 3:2ae6218973be | 581 | case(VERYFAST): |
| yangtzuli | 3:2ae6218973be | 582 | lcd.printf("Speed:VeryFast "); |
| yangtzuli | 3:2ae6218973be | 583 | break; |
| yangtzuli | 3:2ae6218973be | 584 | } |
| tomotsugu | 8:a47dbf4fa455 | 585 | viewTimer.reset(); // タイマーリセット |
| tomotsugu | 8:a47dbf4fa455 | 586 | viewTimer.start(); // タイマースタート |
| yangtzuli | 3:2ae6218973be | 587 | break; |
| yangtzuli | 3:2ae6218973be | 588 | } |
| tomotsugu | 8:a47dbf4fa455 | 589 | mutex.unlock(); // ミューテックスアンロック |
| yangtzuli | 3:2ae6218973be | 590 | } |
| yangtzuli | 3:2ae6218973be | 591 | |
| tomotsugu | 8:a47dbf4fa455 | 592 | /* バックライト点滅 */ |
| yangtzuli | 3:2ae6218973be | 593 | void lcdBacklight(void const *argument){ |
| tomotsugu | 8:a47dbf4fa455 | 594 | if(flag_b == 1){ // バックライト点滅フラグが1なら |
| tomotsugu | 8:a47dbf4fa455 | 595 | lcd.setBacklight(TextLCD::LightOn); // バックライトON |
| tomotsugu | 8:a47dbf4fa455 | 596 | }else{ // バックライト点滅フラグが0なら |
| tomotsugu | 8:a47dbf4fa455 | 597 | lcd.setBacklight(TextLCD::LightOff); // バックライトOFF |
| yangtzuli | 3:2ae6218973be | 598 | } |
| tomotsugu | 8:a47dbf4fa455 | 599 | flag_b = !flag_b; // バックライト点滅フラグ切り替え |
| yangtzuli | 3:2ae6218973be | 600 | } |
| yangtzuli | 2:38825726cb1b | 601 | |
| tomotsugu | 8:a47dbf4fa455 | 602 | /* バッテリー残量更新関数 */ |
| yangtzuli | 5:3fffb364744b | 603 | void bChange(){ |
| yangtzuli | 17:f7259ab2fe86 | 604 | //pc.printf(" bChange1\r\n"); |
| tomotsugu | 10:d193030ce672 | 605 | b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10; |
| tomotsugu | 10:d193030ce672 | 606 | if(b <= 0){ // バッテリー残量0%なら全ての機能停止 |
| tomotsugu | 10:d193030ce672 | 607 | b = 0; |
| tomotsugu | 10:d193030ce672 | 608 | //lcd.setBacklight(TextLCD::LightOff); |
| tomotsugu | 10:d193030ce672 | 609 | //run = STOP; |
| tomotsugu | 10:d193030ce672 | 610 | //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 | 611 | } |
| tomotsugu | 10:d193030ce672 | 612 | mutex.lock(); // ミューテックスロック |
| tomotsugu | 10:d193030ce672 | 613 | lcd.setAddress(0,0); |
| tomotsugu | 10:d193030ce672 | 614 | lcd.printf("Battery:%3d%%",b); // バッテリー残量表示 |
| tomotsugu | 10:d193030ce672 | 615 | mutex.unlock(); // ミューテックスアンロック |
| tomotsugu | 10:d193030ce672 | 616 | if(b <= 30){ // バッテリー残量30%以下なら |
| tomotsugu | 10:d193030ce672 | 617 | if(flag_t == 0){ // バックライトタイマーフラグが0なら |
| tomotsugu | 10:d193030ce672 | 618 | 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 | 619 | 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 | 620 | } |
| tomotsugu | 10:d193030ce672 | 621 | }else{ |
| tomotsugu | 10:d193030ce672 | 622 | if(flag_t == 1){ // バックライトタイマーフラグが1なら |
| tomotsugu | 10:d193030ce672 | 623 | bTimer.stop(); // バックライトタイマーストップ |
| tomotsugu | 10:d193030ce672 | 624 | lcd.setBacklight(TextLCD::LightOn); // バックライトON |
| tomotsugu | 10:d193030ce672 | 625 | 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 | 626 | } |
| tomotsugu | 10:d193030ce672 | 627 | } |
| yangtzuli | 2:38825726cb1b | 628 | } |
| tomotsugu | 8:a47dbf4fa455 | 629 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 630 | // Serial Interrupt read ESP data |
| nishimura_taku_pet | 24:9481c8f56a49 | 631 | void callback() |
| nishimura_taku_pet | 24:9481c8f56a49 | 632 | { |
| nishimura_taku_pet | 24:9481c8f56a49 | 633 | //pc.printf("\n\r------------ callback is being called --------------\n\r"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 634 | led3=1; |
| nishimura_taku_pet | 24:9481c8f56a49 | 635 | while (esp.readable()) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 636 | webbuff[ount] = esp.getc(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 637 | ount++; |
| nishimura_taku_pet | 24:9481c8f56a49 | 638 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 639 | if(strlen(webbuff)>bufflen) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 640 | pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 641 | DataRX=1; |
| nishimura_taku_pet | 24:9481c8f56a49 | 642 | led3=0; |
| nishimura_taku_pet | 24:9481c8f56a49 | 643 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 644 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 645 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 646 | void wifi(void const *argument) |
| nishimura_taku_pet | 24:9481c8f56a49 | 647 | { |
| nishimura_taku_pet | 24:9481c8f56a49 | 648 | pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 649 | ThisThread::sleep_for(500); |
| nishimura_taku_pet | 24:9481c8f56a49 | 650 | led1=1,led2=0,led3=0; |
| nishimura_taku_pet | 24:9481c8f56a49 | 651 | timeout=6000; |
| nishimura_taku_pet | 24:9481c8f56a49 | 652 | getcount=500; |
| nishimura_taku_pet | 24:9481c8f56a49 | 653 | getreply(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 654 | esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F |
| nishimura_taku_pet | 24:9481c8f56a49 | 655 | startserver(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 656 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 657 | while(1) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 658 | if(DataRX==1) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 659 | pc.printf("\f\n\r------------ main while > if --------------\n\r"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 660 | click_flag = 1; |
| nishimura_taku_pet | 24:9481c8f56a49 | 661 | ReadWebData(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 662 | pc.printf("\f\n\r------------ click_flag=%d --------------\n\r",click_flag); |
| nishimura_taku_pet | 24:9481c8f56a49 | 663 | //if ((servreq == 1 && weberror == 0) && click_flag == 1) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 664 | if (servreq == 1 && weberror == 0) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 665 | pc.printf("\f\n\r------------ befor send page --------------\n\r"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 666 | sendpage(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 667 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 668 | pc.printf("\f\n\r------------ send_check begin --------------\n\r"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 669 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 670 | //sendcheck(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 671 | pc.printf("\f\n\r------------ ssend_check end--------------\n\r"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 672 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 673 | esp.attach(&callback); |
| nishimura_taku_pet | 24:9481c8f56a49 | 674 | 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 | 675 | pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata); |
| nishimura_taku_pet | 24:9481c8f56a49 | 676 | pc.printf(" Web Characters sent : %d\n\n", bufl); |
| nishimura_taku_pet | 24:9481c8f56a49 | 677 | pc.printf(" -------------------------------------\n\n"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 678 | servreq=0; |
| nishimura_taku_pet | 24:9481c8f56a49 | 679 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 680 | ThisThread::sleep_for(100); |
| nishimura_taku_pet | 24:9481c8f56a49 | 681 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 682 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 683 | // Static WEB page |
| nishimura_taku_pet | 24:9481c8f56a49 | 684 | void sendpage() |
| nishimura_taku_pet | 24:9481c8f56a49 | 685 | { |
| nishimura_taku_pet | 24:9481c8f56a49 | 686 | // WEB page data |
| nishimura_taku_pet | 24:9481c8f56a49 | 687 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 688 | strcpy(webbuff, "<!DOCTYPE html>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 689 | strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 690 | strcat(webbuff, "<style type=\"text/css\">.noselect{ width:100px;height:60px;}.light{ width:100px;height:60px;background-color:#00ff66;}</style>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 691 | strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 692 | strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level "); |
| nishimura_taku_pet | 24:9481c8f56a49 | 693 | strcat(webbuff, "<input type=\"text\" id=\"leftms\" size=4 value=250>%</strong>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 694 | strcat(webbuff, "</td></p>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 695 | strcat(webbuff, "<br>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 696 | strcat(webbuff, "<table><tr><td></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 697 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 698 | switch(mode) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 699 | case ADVANCE: |
| nishimura_taku_pet | 24:9481c8f56a49 | 700 | strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 701 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 702 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 703 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 704 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 705 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 706 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 707 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 708 | strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 709 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 710 | strcat(webbuff, "<strong>Mode</strong>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 711 | 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 | 712 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 713 | 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 | 714 | break; |
| nishimura_taku_pet | 24:9481c8f56a49 | 715 | case LEFT: |
| nishimura_taku_pet | 24:9481c8f56a49 | 716 | strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 717 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 718 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 719 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 720 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 721 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 722 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 723 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 724 | strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 725 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 726 | strcat(webbuff, "<strong>Mode</strong>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 727 | 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 | 728 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 729 | 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 | 730 | break; |
| nishimura_taku_pet | 24:9481c8f56a49 | 731 | case STOP: |
| nishimura_taku_pet | 24:9481c8f56a49 | 732 | strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 733 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 734 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 735 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 736 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 737 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 738 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 739 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 740 | strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 741 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 742 | strcat(webbuff, "<strong>Mode</strong>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 743 | 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 | 744 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 745 | 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 | 746 | break; |
| nishimura_taku_pet | 24:9481c8f56a49 | 747 | case RIGHT: |
| nishimura_taku_pet | 24:9481c8f56a49 | 748 | strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 749 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 750 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 751 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 752 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 753 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 754 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 755 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 756 | strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 757 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 758 | strcat(webbuff, "<strong>Mode</strong>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 759 | 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 | 760 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 761 | 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 | 762 | break; |
| nishimura_taku_pet | 24:9481c8f56a49 | 763 | case BACK: |
| nishimura_taku_pet | 24:9481c8f56a49 | 764 | strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 765 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 766 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 767 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 768 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 769 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 770 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 771 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 772 | strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 773 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 774 | strcat(webbuff, "<strong>Mode</strong>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 775 | 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 | 776 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 777 | 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 | 778 | break; |
| nishimura_taku_pet | 24:9481c8f56a49 | 779 | case AVOIDANCE: |
| nishimura_taku_pet | 24:9481c8f56a49 | 780 | strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 781 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 782 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 783 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 784 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 785 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 786 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 787 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 788 | strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 789 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 790 | strcat(webbuff, "<strong>Mode</strong>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 791 | 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 | 792 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 793 | 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 | 794 | break; |
| nishimura_taku_pet | 24:9481c8f56a49 | 795 | case LINE_TRACE: |
| nishimura_taku_pet | 24:9481c8f56a49 | 796 | strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 797 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 798 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 799 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 800 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 801 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 802 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 803 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 804 | strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 805 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 806 | strcat(webbuff, "<strong>Mode</strong>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 807 | 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 | 808 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 809 | 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 | 810 | break; |
| nishimura_taku_pet | 24:9481c8f56a49 | 811 | default: |
| nishimura_taku_pet | 24:9481c8f56a49 | 812 | strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 813 | strcat(webbuff, "</button></td><td></td></tr><tr><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 814 | strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 815 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 816 | strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 817 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 818 | strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 819 | strcat(webbuff, "</button></td></tr><td></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 820 | strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 821 | strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 822 | strcat(webbuff, "<strong>Mode</strong>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 823 | 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 | 824 | strcat(webbuff, "AVOIDANCE</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 825 | 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 | 826 | break; |
| nishimura_taku_pet | 24:9481c8f56a49 | 827 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 828 | strcat(webbuff, "</button></td></tr></table>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 829 | strcat(webbuff, "<strong>Speed</strong>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 830 | strcat(webbuff, "<table><tr><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 831 | //ready示速度だけ点灯 |
| nishimura_taku_pet | 24:9481c8f56a49 | 832 | switch (flag_sp) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 833 | case 0: |
| nishimura_taku_pet | 24:9481c8f56a49 | 834 | 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 | 835 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 836 | 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 | 837 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 838 | 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 | 839 | break; |
| nishimura_taku_pet | 24:9481c8f56a49 | 840 | case 1: |
| nishimura_taku_pet | 24:9481c8f56a49 | 841 | 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 | 842 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 843 | 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 | 844 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 845 | 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 | 846 | break; |
| nishimura_taku_pet | 24:9481c8f56a49 | 847 | case 2: |
| nishimura_taku_pet | 24:9481c8f56a49 | 848 | 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 | 849 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 850 | 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 | 851 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 852 | 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 | 853 | break; |
| nishimura_taku_pet | 24:9481c8f56a49 | 854 | default: |
| nishimura_taku_pet | 24:9481c8f56a49 | 855 | 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 | 856 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 857 | 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 | 858 | strcat(webbuff, "</button></td><td>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 859 | 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 | 860 | break; |
| nishimura_taku_pet | 24:9481c8f56a49 | 861 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 862 | strcat(webbuff, "</button></td></tr></table>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 863 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 864 | strcat(webbuff, "</center>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 865 | strcat(webbuff, "</body>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 866 | strcat(webbuff, "</html>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 867 | strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 868 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 869 | strcat(webbuff, "function htmlacs(url) {"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 870 | strcat(webbuff, "var xhr = new XMLHttpRequest();"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 871 | strcat(webbuff, "xhr.open(\"GET\", url);"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 872 | strcat(webbuff, "xhr.send(\"\");"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 873 | strcat(webbuff, "}"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 874 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 875 | strcat(webbuff, "function send_mes(btnmes,btnval){"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 876 | strcat(webbuff, "console.log(btnval);"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 877 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 878 | strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 879 | strcat(webbuff, "htmlacs(url);"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 880 | strcat(webbuff, "console.log(url);"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 881 | strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 882 | strcat(webbuff, "for(var i=0;i<7;i++){"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 883 | strcat(webbuff, "if(buttons[i].value == btnval){"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 884 | strcat(webbuff, "buttons[i].className=\"light\";"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 885 | strcat(webbuff, "}else{"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 886 | strcat(webbuff, "buttons[i].className=\"noselect\";"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 887 | strcat(webbuff, "}"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 888 | strcat(webbuff, "}"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 889 | strcat(webbuff, "}"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 890 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 891 | strcat(webbuff, "function send_mes_spe(btnmes,btnval){"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 892 | strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 893 | strcat(webbuff, "htmlacs(url);"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 894 | strcat(webbuff, "console.log(url);"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 895 | strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 896 | strcat(webbuff, "for(var i=7;i<10;i++){"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 897 | strcat(webbuff, "if(buttons[i].value == btnval){"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 898 | strcat(webbuff, "buttons[i].className=\"light\";"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 899 | strcat(webbuff, "}else{"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 900 | strcat(webbuff, "buttons[i].className=\"noselect\";"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 901 | strcat(webbuff, "}"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 902 | strcat(webbuff, "}"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 903 | strcat(webbuff, "}"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 904 | strcat(webbuff, "</script>"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 905 | // end of WEB page data |
| nishimura_taku_pet | 24:9481c8f56a49 | 906 | bufl = strlen(webbuff); // get total page buffer length |
| nishimura_taku_pet | 24:9481c8f56a49 | 907 | //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length. |
| nishimura_taku_pet | 24:9481c8f56a49 | 908 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 909 | 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 | 910 | timeout=500; |
| nishimura_taku_pet | 24:9481c8f56a49 | 911 | getcount=40; |
| nishimura_taku_pet | 24:9481c8f56a49 | 912 | SendCMD(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 913 | getreply(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 914 | pc.printf(replybuff); |
| nishimura_taku_pet | 32:049d9ba081d4 | 915 | //pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl)); |
| nishimura_taku_pet | 24:9481c8f56a49 | 916 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 917 | pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl); |
| nishimura_taku_pet | 24:9481c8f56a49 | 918 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 919 | //pastthrough mode |
| nishimura_taku_pet | 24:9481c8f56a49 | 920 | SendWEB(); // send web page |
| nishimura_taku_pet | 24:9481c8f56a49 | 921 | pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 922 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 923 | memset(webbuff, '\0', sizeof(webbuff)); |
| nishimura_taku_pet | 24:9481c8f56a49 | 924 | sendcheck(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 925 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 926 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 927 | // Large WEB buffer data send |
| nishimura_taku_pet | 24:9481c8f56a49 | 928 | void SendWEB() |
| nishimura_taku_pet | 24:9481c8f56a49 | 929 | { |
| nishimura_taku_pet | 24:9481c8f56a49 | 930 | int i=0; |
| nishimura_taku_pet | 24:9481c8f56a49 | 931 | if(esp.writeable()) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 932 | while(webbuff[i]!='\0') { |
| nishimura_taku_pet | 24:9481c8f56a49 | 933 | esp.putc(webbuff[i]); |
| nishimura_taku_pet | 24:9481c8f56a49 | 934 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 935 | //**** |
| nishimura_taku_pet | 24:9481c8f56a49 | 936 | //output at command when 2000 |
| nishimura_taku_pet | 24:9481c8f56a49 | 937 | if(((i%2047)==0) && (i>0)) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 938 | //wait_ms(10); |
| nishimura_taku_pet | 32:049d9ba081d4 | 939 | ThisThread::sleep_for(10); |
| nishimura_taku_pet | 24:9481c8f56a49 | 940 | 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 | 941 | //pc.printf("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); |
| nishimura_taku_pet | 24:9481c8f56a49 | 942 | timeout=600; |
| nishimura_taku_pet | 24:9481c8f56a49 | 943 | getcount=50; |
| nishimura_taku_pet | 24:9481c8f56a49 | 944 | SendCMD(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 945 | getreply(); |
| nishimura_taku_pet | 32:049d9ba081d4 | 946 | //pc.printf(replybuff); |
| nishimura_taku_pet | 32:049d9ba081d4 | 947 | //pc.printf("\r\n+++++++++++++++++++\r\n"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 948 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 949 | //**** |
| nishimura_taku_pet | 24:9481c8f56a49 | 950 | i++; |
| nishimura_taku_pet | 32:049d9ba081d4 | 951 | //pc.printf("%c",webbuff[i]); |
| nishimura_taku_pet | 24:9481c8f56a49 | 952 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 953 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 954 | pc.printf("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i); |
| nishimura_taku_pet | 24:9481c8f56a49 | 955 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 956 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 957 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 958 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 959 | void sendcheck() |
| nishimura_taku_pet | 24:9481c8f56a49 | 960 | { |
| nishimura_taku_pet | 24:9481c8f56a49 | 961 | weberror=1; |
| nishimura_taku_pet | 24:9481c8f56a49 | 962 | timeout=500; |
| nishimura_taku_pet | 24:9481c8f56a49 | 963 | getcount=24; |
| nishimura_taku_pet | 24:9481c8f56a49 | 964 | time2.reset(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 965 | time2.start(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 966 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 967 | /* |
| nishimura_taku_pet | 24:9481c8f56a49 | 968 | while(weberror==1 && time2.read() <5) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 969 | getreply(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 970 | if (strstr(replybuff, "SEND OK") != NULL) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 971 | weberror=0; // wait for valid SEND OK |
| nishimura_taku_pet | 24:9481c8f56a49 | 972 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 973 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 974 | */ |
| nishimura_taku_pet | 24:9481c8f56a49 | 975 | if(weberror==1) { // restart connection |
| nishimura_taku_pet | 24:9481c8f56a49 | 976 | strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 977 | timeout=500; |
| nishimura_taku_pet | 24:9481c8f56a49 | 978 | getcount=10; |
| nishimura_taku_pet | 24:9481c8f56a49 | 979 | SendCMD(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 980 | getreply(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 981 | pc.printf(replybuff); |
| nishimura_taku_pet | 24:9481c8f56a49 | 982 | sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port); |
| nishimura_taku_pet | 24:9481c8f56a49 | 983 | timeout=500; |
| nishimura_taku_pet | 24:9481c8f56a49 | 984 | getcount=10; |
| nishimura_taku_pet | 24:9481c8f56a49 | 985 | SendCMD(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 986 | getreply(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 987 | pc.printf(replybuff); |
| nishimura_taku_pet | 24:9481c8f56a49 | 988 | } else { |
| nishimura_taku_pet | 24:9481c8f56a49 | 989 | sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection |
| nishimura_taku_pet | 24:9481c8f56a49 | 990 | SendCMD(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 991 | getreply(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 992 | pc.printf(replybuff); |
| nishimura_taku_pet | 24:9481c8f56a49 | 993 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 994 | time2.reset(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 995 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 996 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 997 | // Reads and processes GET and POST web data |
| nishimura_taku_pet | 24:9481c8f56a49 | 998 | void ReadWebData() |
| nishimura_taku_pet | 24:9481c8f56a49 | 999 | { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1000 | pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n"); |
| nishimura_taku_pet | 30:c80da0ecc260 | 1001 | ThisThread::sleep_for(200); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1002 | esp.attach(NULL); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1003 | ount=0; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1004 | DataRX=0; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1005 | weberror=0; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1006 | memset(webdata, '\0', sizeof(webdata)); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1007 | int x = strcspn (webbuff,"+"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1008 | if(x) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1009 | strcpy(webdata, webbuff + x); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1010 | weberror=0; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1011 | int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1012 | //int i=0; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1013 | pc.printf("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1014 | pc.printf("%s",webdata); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1015 | pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1016 | if( strstr(webdata, "GO") != NULL ) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1017 | pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n"); |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1018 | run = ADVANCE; // 前進 |
| nishimura_taku_pet | 32:049d9ba081d4 | 1019 | mode = ADVANCE; // モード変更 |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1020 | display(); // ディスプレイ表示 |
| nishimura_taku_pet | 24:9481c8f56a49 | 1021 | } |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1022 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 1023 | if( strstr(webdata, "LEFT") != NULL ) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1024 | pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n"); |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1025 | run = LEFT; |
| nishimura_taku_pet | 32:049d9ba081d4 | 1026 | mode = LEFT; |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1027 | display(); // ディスプレイ表示 |
| nishimura_taku_pet | 24:9481c8f56a49 | 1028 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1029 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 1030 | if( strstr(webdata, "STOP") != NULL ) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1031 | pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n"); |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1032 | run = STOP; |
| nishimura_taku_pet | 32:049d9ba081d4 | 1033 | mode = STOP; |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1034 | display(); // ディスプレイ表示 |
| nishimura_taku_pet | 24:9481c8f56a49 | 1035 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1036 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 1037 | if( strstr(webdata, "RIGHT") != NULL ) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1038 | pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n"); |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1039 | run = RIGHT; |
| nishimura_taku_pet | 32:049d9ba081d4 | 1040 | mode = RIGHT; |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1041 | display(); // ディスプレイ表示 |
| nishimura_taku_pet | 24:9481c8f56a49 | 1042 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1043 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 1044 | if( strstr(webdata, "BACK") != NULL ) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1045 | pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n"); |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1046 | run = BACK; |
| nishimura_taku_pet | 32:049d9ba081d4 | 1047 | mode = BACK; |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1048 | display(); // ディスプレイ表示 |
| nishimura_taku_pet | 24:9481c8f56a49 | 1049 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1050 | pc.printf("+++++++++++++++++succed+++++++++++++++++++++"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1051 | |
| nishimura_taku_pet | 24:9481c8f56a49 | 1052 | if( strstr(webdata, "AVOIDANCE") != NULL ) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1053 | pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++"); |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1054 | if(avoi_thread->get_state() == Thread::Deleted) { |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1055 | delete avoi_thread; |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1056 | avoi_thread = new Thread(avoidance); |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1057 | avoi_thread -> set_priority(osPriorityHigh); |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1058 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1059 | mode=AVOIDANCE; |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1060 | run = ADVANCE; |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1061 | display(); // ディスプレイ表示 |
| nishimura_taku_pet | 24:9481c8f56a49 | 1062 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1063 | if( strstr(webdata, "LINE_TRACE") != NULL ) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1064 | pc.printf("+++++++++++++++++LINET RACE+++++++++++++++++++++"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1065 | pc.printf("mode = LINE_TRACE\r\n"); |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1066 | if(trace_thread->get_state() == Thread::Deleted) { |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1067 | delete trace_thread; |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1068 | trace_thread = new Thread(trace); |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1069 | trace_thread -> set_priority(osPriorityHigh); |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1070 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1071 | mode=LINE_TRACE; |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1072 | display(); // ディスプレイ表示 |
| nishimura_taku_pet | 24:9481c8f56a49 | 1073 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1074 | if( strstr(webdata, "Normal") != NULL ) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1075 | pc.printf("++++++++++++++++++Normal++++++++++++++++++++"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1076 | mode = SPEED; // スピードモード |
| nishimura_taku_pet | 24:9481c8f56a49 | 1077 | flag_sp = 0; |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1078 | display(); // ディスプレイ表示 |
| nishimura_taku_pet | 24:9481c8f56a49 | 1079 | mode = beforeMode; // 現在のモードに前回のモードを設定 |
| nishimura_taku_pet | 24:9481c8f56a49 | 1080 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1081 | if( strstr(webdata, "Fast") != NULL ) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1082 | pc.printf("++++++++++++++++++++Fast++++++++++++++++++"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1083 | mode = SPEED; // スピードモード |
| nishimura_taku_pet | 24:9481c8f56a49 | 1084 | flag_sp = 1; |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1085 | display(); // ディスプレイ表示 |
| nishimura_taku_pet | 24:9481c8f56a49 | 1086 | mode = beforeMode; // 現在のモードに前回のモードを設定 |
| nishimura_taku_pet | 24:9481c8f56a49 | 1087 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1088 | if( strstr(webdata, "VeryFast") != NULL ) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1089 | pc.printf("+++++++++++++++++++VeryFast+++++++++++++++++++"); |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1090 | mode = SPEED; // スピードモード |
| nishimura_taku_pet | 24:9481c8f56a49 | 1091 | flag_sp = 2; |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1092 | display(); // ディスプレイ表示 |
| nishimura_taku_pet | 24:9481c8f56a49 | 1093 | mode = beforeMode; // 現在のモードに前回のモードを設定 |
| nishimura_taku_pet | 24:9481c8f56a49 | 1094 | } |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1095 | if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){ |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1096 | trace_thread->terminate(); |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1097 | } |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1098 | if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){ |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1099 | avoi_thread->terminate(); |
| nishimura_taku_pet | 31:3665282561d6 | 1100 | servo.pulsewidth_us(1450); // サーボを中央位置に戻す |
| nishimura_taku_pet | 26:0badbc9f9cb3 | 1101 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1102 | sprintf(channel, "%d",linkID); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1103 | if (strstr(webdata, "GET") != NULL) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1104 | servreq=1; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1105 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1106 | if (strstr(webdata, "POST") != NULL) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1107 | servreq=1; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1108 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1109 | webcounter++; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1110 | sprintf(webcount, "%d",webcounter); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1111 | } else { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1112 | memset(webbuff, '\0', sizeof(webbuff)); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1113 | esp.attach(&callback); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1114 | weberror=1; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1115 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1116 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1117 | // Starts and restarts webserver if errors detected. |
| nishimura_taku_pet | 24:9481c8f56a49 | 1118 | void startserver() |
| nishimura_taku_pet | 24:9481c8f56a49 | 1119 | { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1120 | pc.printf("++++++++++ Resetting ESP ++++++++++\r\n"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1121 | strcpy(cmdbuff,"AT+RST\r\n"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1122 | timeout=8000; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1123 | getcount=1000; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1124 | SendCMD(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1125 | getreply(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1126 | pc.printf(replybuff); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1127 | pc.printf("%d",ount); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1128 | if (strstr(replybuff, "OK") != NULL) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1129 | pc.printf("\n++++++++++ Starting Server ++++++++++\r\n"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1130 | strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections. |
| nishimura_taku_pet | 24:9481c8f56a49 | 1131 | timeout=500; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1132 | getcount=20; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1133 | SendCMD(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1134 | getreply(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1135 | pc.printf(replybuff); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1136 | sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1137 | timeout=500; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1138 | getcount=20; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1139 | SendCMD(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1140 | getreply(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1141 | pc.printf(replybuff); |
| nishimura_taku_pet | 25:8ed98982faa7 | 1142 | ThisThread::sleep_for(1000); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1143 | sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1144 | timeout=500; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1145 | getcount=50; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1146 | SendCMD(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1147 | getreply(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1148 | pc.printf(replybuff); |
| nishimura_taku_pet | 25:8ed98982faa7 | 1149 | ThisThread::sleep_for(5000); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1150 | pc.printf("\n Getting Server IP \r\n"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1151 | strcpy(cmdbuff, "AT+CIFSR\r\n"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1152 | timeout=2500; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1153 | getcount=200; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1154 | while(weberror==0) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1155 | SendCMD(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1156 | getreply(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1157 | if (strstr(replybuff, "0.0.0.0") == NULL) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1158 | weberror=1; // wait for valid IP |
| nishimura_taku_pet | 24:9481c8f56a49 | 1159 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1160 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1161 | pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1162 | pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1163 | replybuff[strlen(replybuff)-1] = '\0'; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1164 | //char* IP = replybuff + 5; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1165 | sprintf(webdata,"%s", replybuff); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1166 | pc.printf(webdata); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1167 | led2=1; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1168 | bufflen=200; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1169 | //bufflen=100; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1170 | ount=0; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1171 | pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1172 | esp.attach(&callback); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1173 | } else { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1174 | pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n"); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1175 | led1=1; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1176 | led2=1; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1177 | led3=1; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1178 | led4=1; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1179 | while(1) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1180 | led1=!led1; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1181 | led2=!led2; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1182 | led3=!led3; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1183 | led4=!led4; |
| nishimura_taku_pet | 25:8ed98982faa7 | 1184 | ThisThread::sleep_for(1000); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1185 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1186 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1187 | time2.reset(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1188 | time2.start(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1189 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1190 | // ESP Command data send |
| nishimura_taku_pet | 24:9481c8f56a49 | 1191 | void SendCMD() |
| nishimura_taku_pet | 24:9481c8f56a49 | 1192 | { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1193 | esp.printf("%s", cmdbuff); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1194 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1195 | // Get Command and ESP status replies |
| nishimura_taku_pet | 24:9481c8f56a49 | 1196 | void getreply() |
| nishimura_taku_pet | 24:9481c8f56a49 | 1197 | { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1198 | memset(replybuff, '\0', sizeof(replybuff)); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1199 | time1.reset(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1200 | time1.start(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1201 | replycount=0; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1202 | while(time1.read_ms()< timeout && replycount < getcount) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1203 | if(esp.readable()) { |
| nishimura_taku_pet | 24:9481c8f56a49 | 1204 | replybuff[replycount] = esp.getc(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1205 | replycount++; |
| nishimura_taku_pet | 24:9481c8f56a49 | 1206 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1207 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1208 | time1.stop(); |
| nishimura_taku_pet | 24:9481c8f56a49 | 1209 | } |
| nishimura_taku_pet | 24:9481c8f56a49 | 1210 | |
| tomotsugu | 8:a47dbf4fa455 | 1211 | /* mainスレッド */ |
| yangtzuli | 0:0d0037aabe41 | 1212 | int main() { |
| tomotsugu | 8:a47dbf4fa455 | 1213 | /* 初期設定 */ |
| nishimura_taku_pet | 16:ffc732a3cf92 | 1214 | avoi_thread = new Thread(avoidance); |
| nishimura_taku_pet | 16:ffc732a3cf92 | 1215 | avoi_thread->terminate(); |
| nishimura_taku_pet | 16:ffc732a3cf92 | 1216 | trace_thread = new Thread(trace); |
| nishimura_taku_pet | 16:ffc732a3cf92 | 1217 | trace_thread->terminate(); |
| tomotsugu | 8:a47dbf4fa455 | 1218 | mode = READY; // 現在待ちモード |
| tomotsugu | 8:a47dbf4fa455 | 1219 | beforeMode = READY; // 前回待ちモード |
| tomotsugu | 8:a47dbf4fa455 | 1220 | run = STOP; // 停止 |
| tomotsugu | 8:a47dbf4fa455 | 1221 | flag_sp = NORMAL; // スピード(普通) |
| tomotsugu | 10:d193030ce672 | 1222 | lcd.setBacklight(TextLCD::LightOn); // バックライトON |
| tomotsugu | 8:a47dbf4fa455 | 1223 | display(); // ディスプレイ表示 |
| yangtzuli | 2:38825726cb1b | 1224 | |
| yangtzuli | 0:0d0037aabe41 | 1225 | while(1){ |
| tomotsugu | 8:a47dbf4fa455 | 1226 | bChange(); // バッテリー残量更新 |
| yangtzuli | 0:0d0037aabe41 | 1227 | } |
| yangtzuli | 0:0d0037aabe41 | 1228 | } |