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/nordic/nrf-sdk/app_common/hal_transport.h	Wed Aug 20 13:41:01 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,227 +0,0 @@
-/* Copyright (c) 2013 Nordic Semiconductor. All Rights Reserved.
- *
- * The information contained herein is property of Nordic Semiconductor ASA.
- * Terms and conditions of usage are described in detail in NORDIC
- * SEMICONDUCTOR STANDARD SOFTWARE LICENSE AGREEMENT.
- *
- * Licensees are granted free, non-transferable use of the information. NO
- * WARRANTY of ANY KIND is provided. This heading must NOT be removed from
- * the file.
- *
- */
- 
-/**@file
- *
- * @defgroup hci_transport HCI Transport
- * @{
- * @ingroup  app_common
- *
- * @brief    HCI transport module implementation.
- *
- * This module implements certain specific features from the three-wire UART transport layer, 
- * defined by the Bluetooth specification version 4.0 [Vol 4] part D.
- *
- * \par Features supported
- * - Transmission and reception of Vendor Specific HCI packet type application packets.
- * - Transmission and reception of reliable packets: defined by chapter 6 of the specification.
- *
- * \par Features not supported
- * - Link establishment procedure: defined by chapter 8 of the specification.
- * - Low power: defined by chapter 9 of the specification. 
- *
- * \par Implementation specific behaviour
- * - As Link establishment procedure is not supported following static link configuration parameters
- * are used:
- * + TX window size is 1.
- * + 16 bit CCITT-CRC must be used.
- * + Out of frame software flow control not supported.
- * + Parameters specific for resending reliable packets are compile time configurable (clarifed 
- * later in this document).
- * + Acknowledgement packet transmissions are not timeout driven , meaning they are delivered for 
- * transmission within same context which the corresponding application packet was received. 
- *
- * \par Implementation specific limitations
- * Current implementation has the following limitations which will have impact to system wide 
- * behaviour:
- * - Delayed acknowledgement scheduling not implemented: 
- * There exists a possibility that acknowledgement TX packet and application TX packet will collide 
- * in the TX pipeline having the end result that acknowledgement packet will be excluded from the TX 
- * pipeline which will trigger the retransmission algorithm within the peer protocol entity.
- * - Delayed retransmission scheduling not implemented:  
- * There exists a possibility that retransmitted application TX packet and acknowledgement TX packet
- * will collide in the TX pipeline having the end result that retransmitted application TX packet 
- * will be excluded from the TX pipeline.
- * - Processing of the acknowledgement number from RX application packets:
- * Acknowledgement number is not processed from the RX application packets having the end result 
- * that unnecessary application packet retransmissions can occur.
- *
- * The application TX packet processing flow is illustrated by the statemachine below. 
- *
- * @image html hci_transport_tx_sm.png "TX - application packet statemachine"
- *
- * \par Component specific configuration options
- *
- * The following compile time configuration options are available, and used to configure the 
- * application TX packet retransmission interval, in order to suite various application specific 
- * implementations:
- * - MAC_PACKET_SIZE_IN_BITS Maximum size of a single application packet in bits. 
- * - USED_BAUD_RATE Used uart baudrate. 
- *
- * The following compile time configuration option is available to configure module specific 
- * behaviour:
- * - MAX_RETRY_COUNT Max retransmission retry count for applicaton packets.
- */
- 
-#ifndef HCI_TRANSPORT_H__
-#define HCI_TRANSPORT_H__
-
-#include <stdint.h>
-#include "nrf_error.h"
-
-#define HCI_TRANSPORT_PKT_HEADER_SIZE  (2)   /**< Size of transport packet header */
-
-/**@brief Generic event callback function events. */
-typedef enum
-{
-    HCI_TRANSPORT_RX_RDY,               /**< An event indicating that RX packet is ready for read. */
-    HCI_TRANSPORT_EVT_TYPE_MAX          /**< Enumeration upper bound. */  
-} hci_transport_evt_type_t;
-
-/**@brief Struct containing events from the Transport layer.
- */
-typedef struct
-{
-    hci_transport_evt_type_t evt_type;  /**< Type of event. */
-} hci_transport_evt_t;
-
-/**@brief Transport layer generic event callback function type.
- *
- * @param[in] event                Transport layer event.  
- */
-typedef void (*hci_transport_event_handler_t)(hci_transport_evt_t event);
-
-/**@brief TX done event callback function result codes. */
-typedef enum
-{
-    HCI_TRANSPORT_TX_DONE_SUCCESS,      /**< Transmission success, peer transport entity has acknowledged the transmission. */
-    HCI_TRANSPORT_TX_DONE_FAILURE       /**< Transmission failure. */    
-} hci_transport_tx_done_result_t;
-
-/**@brief Transport layer TX done event callback function type.
- *
- * @param[in] result                TX done event result code. 
- */
-typedef void (*hci_transport_tx_done_handler_t)(hci_transport_tx_done_result_t result);
-
-/**@brief Function for registering a generic event handler.
- *
- * @note Multiple registration requests will overwrite any possible existing registration. 
- *
- * @param[in] event_handler         The function to be called by the transport layer upon an event.
- *
- * @retval NRF_SUCCESS              Operation success.
- * @retval NRF_ERROR_NULL           Operation failure. NULL pointer supplied.    
- */
-uint32_t hci_transport_evt_handler_reg(hci_transport_event_handler_t event_handler);
-
-/**@brief Function for registering a handler for TX done event.
- *
- * @note Multiple registration requests will overwrite any possible existing registration. 
- *
- * @param[in] event_handler         The function to be called by the transport layer upon TX done
- *                                  event.
- *
- * @retval NRF_SUCCESS              Operation success.
- * @retval NRF_ERROR_NULL           Operation failure. NULL pointer supplied.    
- */
-uint32_t hci_transport_tx_done_register(hci_transport_tx_done_handler_t event_handler);
-                                        
-/**@brief Function for opening the transport channel and initializing the transport layer.
- *
- * @warning Must not be called for a channel which has been allready opened. 
- * 
- * @retval NRF_SUCCESS              Operation success.
- * @retval NRF_ERROR_INTERNAL       Operation failure. Internal error ocurred. 
- */
-uint32_t hci_transport_open(void);
-
-/**@brief Function for closing the transport channel.
- *
- * @note Can be called multiple times and also for not opened channel.
- * 
- * @retval NRF_SUCCESS              Operation success.  
- */
-uint32_t hci_transport_close(void);
-
-/**@brief Function for allocating tx packet memory.
- * 
- * @param[out] pp_memory            Pointer to the packet data.
- * 
- * @retval NRF_SUCCESS              Operation success. Memory was allocated.
- * @retval NRF_ERROR_NO_MEM         Operation failure. No memory available.
- * @retval NRF_ERROR_NULL           Operation failure. NULL pointer supplied.   
- */
-uint32_t hci_transport_tx_alloc(uint8_t ** pp_memory);
-
-/**@brief Function for freeing tx packet memory.
- *
- * @note Memory management works in FIFO principle meaning that free order must match the alloc 
- *       order.
- * 
- * @retval NRF_SUCCESS              Operation success. Memory was freed.   
- */
-uint32_t hci_transport_tx_free(void);
-
-/**@brief Function for writing a packet.
- *
- * @note Completion of this method does not guarantee that actual peripheral transmission would 
- *       have completed. 
- *
- * @note In case of 0 byte packet length write request, message will consist of only transport 
- *       module specific headers.  
- *
- * @note The buffer provided to this function must be allocated through @ref hci_transport_tx_alloc
- *       function.
- *
- * @retval NRF_SUCCESS              Operation success. Packet was added to the transmission queue 
- *                                  and an event will be send upon transmission completion. 
- * @retval NRF_ERROR_NO_MEM         Operation failure. Transmission queue is full and packet was not
- *                                  added to the transmission queue. User should wait for 
- *                                  a appropriate event prior issuing this operation again.
- * @retval NRF_ERROR_DATA_SIZE      Operation failure. Packet size exceeds limit.
- * @retval NRF_ERROR_NULL           Operation failure. NULL pointer supplied.  
- * @retval NRF_ERROR_INVALID_STATE  Operation failure. Channel is not open.
- * @retval NRF_ERROR_INVALID_ADDR   Operation failure. Buffer provided is not allocated through
- *                                  hci_transport_tx_alloc function.
- */
-uint32_t hci_transport_pkt_write(const uint8_t * p_buffer, uint16_t length);
-
-/**@brief Function for extracting received packet.
- *
- * @note Extracted memory can't be reused by the underlying transport layer untill freed by call to 
- *       hci_transport_rx_pkt_consume().
- *
- * @param[out] pp_buffer            Pointer to the packet data.
- * @param[out] p_length             Length of packet data in bytes.  
- *
- * @retval NRF_SUCCESS              Operation success. Packet was extracted. 
- * @retval NRF_ERROR_NO_MEM         Operation failure. No packet available to extract.
- * @retval NRF_ERROR_NULL           Operation failure. NULL pointer supplied.   
- */
-uint32_t hci_transport_rx_pkt_extract(uint8_t ** pp_buffer, uint16_t * p_length);
-
-/**@brief Function for consuming extracted packet described by p_buffer.
- *
- * RX memory pointed to by p_buffer is freed and can be reused by the underlying transport layer.
- *
- * @param[in] p_buffer              Pointer to the buffer that has been consumed.
- *
- * @retval NRF_SUCCESS              Operation success. 
- * @retval NRF_ERROR_NO_MEM         Operation failure. No packet available to consume. 
- * @retval NRF_ERROR_INVALID_ADDR   Operation failure. Not a valid pointer. 
- */
-uint32_t hci_transport_rx_pkt_consume(uint8_t * p_buffer);
-
-#endif // HCI_TRANSPORT_H__
-
-/** @} */