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/hci_slip.h	Wed Aug 20 13:41:01 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,129 +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_slip SLIP module
- * @{
- * @ingroup app_common
- *
- * @brief SLIP layer for supporting packet framing in HCI transport.
- *
- * @details This module implements SLIP packet framing as described in the Bluetooth Core
- *          Specification 4.0, Volume 4, Part D, Chapter 3 SLIP Layer.
- *
- *          SLIP framing ensures that all packets sent on the UART are framed as:
- *          <0xC0> SLIP packet 1 <0xC0> <0xC0> SLIP packet 2 <0xC0>.
- *
- *          The SLIP layer uses events to notify the upper layer when data transmission is complete
- *          and when a SLIP packet is received.
- */
-
-#ifndef HCI_SLIP_H__
-#define HCI_SLIP_H__
-
-#include <stdint.h>
-
-/**@brief Event types from the SLIP Layer. */
-typedef enum
-{
-    HCI_SLIP_RX_RDY,                        /**< An event indicating that an RX packet is ready to be read. */
-    HCI_SLIP_TX_DONE,                       /**< An event indicating write completion of the TX packet provided in the function call \ref hci_slip_write . */
-    HCI_SLIP_RX_OVERFLOW,                   /**< An event indicating that RX data has been discarded due to lack of free RX memory. */
-    HCI_SLIP_ERROR,                         /**< An event indicating that an unrecoverable error has occurred. */
-    HCI_SLIP_EVT_TYPE_MAX                   /**< Enumeration upper bound. */
-} hci_slip_evt_type_t;
-
-/**@brief Structure containing an event from the SLIP layer.
- */
-typedef struct
-{
-    hci_slip_evt_type_t evt_type;           /**< Type of event. */
-    const uint8_t *     packet;             /**< This field contains a pointer to the packet for which the event relates, i.e. SLIP_TX_DONE: the packet transmitted, SLIP_RX_RDY: the packet received, SLIP_RX_OVERFLOW: The packet which overflow/or NULL if no receive buffer is available. */
-    uint32_t            packet_length;      /**< Packet length, i.e. SLIP_TX_DONE: Bytes transmitted, SLIP_RX_RDY: Bytes received, SLIP_RX_OVERFLOW: index at which the packet overflowed. */
-} hci_slip_evt_t;
-
-/**@brief Function for the SLIP layer event callback.
- */
-typedef void (*hci_slip_event_handler_t)(hci_slip_evt_t event);
-
-/**@brief Function for registering the event handler provided as parameter and this event handler
- *        will be used by SLIP layer to send events described in \ref hci_slip_evt_type_t.
- *
- * @note Multiple registration requests will overwrite any existing registration. 
- *
- * @param[in] event_handler         This function is called by the SLIP layer upon an event.
- *
- * @retval NRF_SUCCESS              Operation success.
- */
-uint32_t hci_slip_evt_handler_register(hci_slip_event_handler_t event_handler);
-
-/**@brief Function for opening the SLIP layer. This function must be called before
- *        \ref hci_slip_write and before any data can be received.
- *
- * @note Can be called multiple times. 
- * 
- * @retval NRF_SUCCESS              Operation success.
- *
- * The SLIP layer module will propagate errors from underlying sub-modules.
- * This implementation is using UART module as a physical transmission layer, and hci_slip_open
- * executes \ref app_uart_init . For an extended error list, please refer to \ref app_uart_init .
- */
-uint32_t hci_slip_open(void);
-
-/**@brief Function for closing the SLIP layer. After this function is called no data can be
- *        transmitted or received in this layer.
- *
- * @note This function can be called multiple times and also for an unopened channel.
- * 
- * @retval NRF_SUCCESS              Operation success.  
- */
-uint32_t hci_slip_close(void);
-
-/**@brief Function for writing a packet with SLIP encoding. Packet transmission is confirmed when
- *        the HCI_SLIP_TX_DONE event is received by the function caller.
- *
- * @param[in] p_buffer              Pointer to the packet to transmit.
- * @param[in] length                Packet length, in bytes.
- *
- * @retval NRF_SUCCESS              Operation success. Packet was encoded and added to the 
- *                                  transmission queue and an event will be sent upon transmission 
- *                                  completion.
- * @retval NRF_ERROR_NO_MEM         Operation failure. Transmission queue is full and packet was not
- *                                  added to the transmission queue. Application shall wait for
- *                                  the \ref HCI_SLIP_TX_DONE event. After HCI_SLIP_TX_DONE this
- *                                  function can be executed for transmission of next packet.
- * @retval NRF_ERROR_INVALID_ADDR   If a NULL pointer is provided.
- * @retval NRF_ERROR_INVALID_STATE  Operation failure. Module is not open.
- */
-uint32_t hci_slip_write(const uint8_t * p_buffer, uint32_t length);
-
-/**@brief Function for registering a receive buffer. The receive buffer will be used for storage of
- *        received and SLIP decoded data.
- *        No data can be received by the SLIP layer until a receive buffer has been registered.
- *
- * @note  The lifetime of the buffer must be valid during complete reception of data. A static
- *        buffer is recommended.
- *
- * @warning Multiple registration requests will overwrite any existing registration.
- *
- * @param[in]  p_buffer             Pointer to receive buffer. The received and SLIP decoded packet
- *                                  will be placed in this buffer.
- * @param[in]  length               Buffer length, in bytes.
- *
- * @retval NRF_SUCCESS              Operation success. 
- */
-uint32_t hci_slip_rx_buffer_register(uint8_t * p_buffer, uint32_t length);
- 
-#endif // HCI_SLIP_H__
- 
-/** @} */