RCBControllerでモータを制御します。うおーるぼっとも動かせました。

Dependencies:   BLE_API TB6612FNG2 mbed nRF51822

Fork of BLE_RCBController2 by Junichi Katsu

うまく接続できない時は、iPhone/iPadのBluetoothをOFF->ONしてキャッシュをクリアしてみてください。

ライブラリ類をUpdateするとコンパイル出来なくなります。インポートした物をそのまま使って下さい。

RCBControllerでうおーるぼっとを操縦する例 /media/uploads/robo8080/img_1671.jpg

Components / Wallbot
This robot has switch, line sensors and motors. It controls by mbed.

RCBControllerでの操縦は次の4種類あります。 それぞれうおーるぼっとの動きが異なりますので試してみてください。

  • 左十字ボタン
  • 左のみアナログ
  • 右のみアナログ
  • 両方アナログ

うおーるぼっと(LPC1768のソケット)とHRM1017の接続はこれです。

LPC1768 ー HRM1017

p11 ーーー P0_0

p12 ーーー P0_1

p13 ーーー P0_28

p14 ーーー P0_29

p21 ーーー P0_30

p22 ーーー P0_25

GND ーーー GND

/media/uploads/robo8080/img_1711.jpg

/media/uploads/robo8080/img_1703.jpg

HRM1017の電源はうおーるぼっとのUSBコネクタからとります。 /media/uploads/robo8080/img_1674.jpg

Revision:
5:1c04bd9f8457
Parent:
4:ebda47d22091
--- a/HRM1017/nRF51822n.cpp	Wed Aug 20 13:41:01 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,148 +0,0 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2006-2013 ARM Limited
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "mbed.h"
-#include "nRF51822n.h"
-#include "nrf_soc.h"
-
-#include "btle/btle.h"
-
-/**
- * The singleton which represents the nRF51822 transport for the BLEDevice.
- */
-static nRF51822n deviceInstance;
-
-/**
- * BLE-API requires an implementation of the following function in order to
- * obtain its transport handle.
- */
-BLEDeviceInstanceBase *
-createBLEDeviceInstance(void)
-{
-    return (&deviceInstance);
-}
-
-/**************************************************************************/
-/*!
-    @brief  Constructor
-*/
-/**************************************************************************/
-nRF51822n::nRF51822n(void)
-{
-}
-
-/**************************************************************************/
-/*!
-    @brief  Destructor
-*/
-/**************************************************************************/
-nRF51822n::~nRF51822n(void)
-{
-}
-
-const char *nRF51822n::getVersion(void)
-{
-    static char versionString[10];
-    static bool versionFetched = false;
-
-    if (!versionFetched) {
-        ble_version_t version;
-        if (sd_ble_version_get(&version) == NRF_SUCCESS) {
-            snprintf(versionString, sizeof(versionString), "%u.%u", version.version_number, version.subversion_number);
-            versionFetched = true;
-        } else {
-            strncpy(versionString, "unknown", sizeof(versionString));
-        }
-    }
-
-    return versionString;
-}
-
-/* (Valid values are -40, -20, -16, -12, -8, -4, 0, 4) */
-ble_error_t nRF51822n::setTxPower(int8_t txPower)
-{
-    unsigned rc;
-    if ((rc = sd_ble_gap_tx_power_set(txPower)) != NRF_SUCCESS) {
-        switch (rc) {
-            case NRF_ERROR_BUSY:
-                return BLE_STACK_BUSY;
-            case NRF_ERROR_INVALID_PARAM:
-            default:
-                return BLE_ERROR_PARAM_OUT_OF_RANGE;
-        }
-    }
-
-    return BLE_ERROR_NONE;
-}
-
-/**************************************************************************/
-/*!
-    @brief  Initialises anything required to start using BLE
-
-    @returns    ble_error_t
-
-    @retval     BLE_ERROR_NONE
-                Everything executed properly
-
-    @section EXAMPLE
-
-    @code
-
-    @endcode
-*/
-/**************************************************************************/
-ble_error_t nRF51822n::init(void)
-{
-    /* ToDo: Clear memory contents, reset the SD, etc. */
-    btle_init();
-
-    reset();
-
-    return BLE_ERROR_NONE;
-}
-
-/**************************************************************************/
-/*!
-    @brief  Resets the BLE HW, removing any existing services and
-            characteristics
-
-    @returns    ble_error_t
-
-    @retval     BLE_ERROR_NONE
-                Everything executed properly
-
-    @section EXAMPLE
-
-    @code
-
-    @endcode
-*/
-/**************************************************************************/
-ble_error_t nRF51822n::reset(void)
-{
-    wait(0.5);
-
-    /* Wait for the radio to come back up */
-    wait(1);
-
-    return BLE_ERROR_NONE;
-}
-
-void
-nRF51822n::waitForEvent(void)
-{
-    sd_app_evt_wait();
-}