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/ble/ble_services/ble_cscs.h	Wed Aug 20 13:41:01 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,161 +0,0 @@
-/* Copyright (c) 2012 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 ble_sdk_srv_csc Cycling Speed and Cadence Service
- * @{
- * @ingroup ble_sdk_srv
- * @brief Cycling Speed and Cadence Service module.
- *
- * @details This module implements the Cycling Speed and Cadence Service. If enabled, notification
- *          of the Cycling Speead and Candence Measurement is performed when the application
- *          calls ble_cscs_measurement_send().
- *
- *          To use this service, you need to provide the the supported features (@ref BLE_CSCS_FEATURES).
- *          If you choose to support Wheel revolution data (feature bit @ref BLE_CSCS_FEATURE_WHEEL_REV_BIT), 
- *          you then need to support the 'setting of cumulative value' operation by the supporting the 
- *          Speed and Cadence Control Point (@ref ble_sdk_srv_sc_ctrlpt) by setting the @ref BLE_SRV_SC_CTRLPT_CUM_VAL_OP_SUPPORTED
- *          bit of the ctrplt_supported_functions in the @ref ble_cscs_init_t structure.
- *          If you want to support the 'start autocalibration' control point feature, you need, after the @ref BLE_SC_CTRLPT_EVT_START_CALIBRATION
- *          has been received and the auto calibration is finished, to call the @ref ble_sc_ctrlpt_rsp_send to indicate that the operation is finished
- *          and thus be able to receive new control point operations.
- *          If you want to support the 'sensor location' related operation, you need to provide a list of supported location in the 
- *          @ref ble_cscs_init_t structure.
- *          
- *
- * @note The application or the service using this module must propagate BLE stack events to the 
- *       Cycling Speead and Candence Service module by calling ble_cscs_on_ble_evt() from the 
- *       from the @ref ble_stack_handler function. This service will forward the event to the @ref ble_sdk_srv_sc_ctrlpt module.
- *
- * @note Attention! 
- *  To maintain compliance with Nordic Semiconductor ASA Bluetooth profile 
- *  qualification listings, this section of source code must not be modified.
- */
-
-#ifndef BLE_CSCS_H__
-#define BLE_CSCS_H__
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "ble.h"
-#include "ble_srv_common.h"
-#include "ble_sc_ctrlpt.h"
-#include "ble_sensor_location.h"
-
-/** @defgroup BLE_CSCS_FEATURES Cycling Speed and Cadence Service feature bits
- * @{ */
-#define BLE_CSCS_FEATURE_WHEEL_REV_BIT                  (0x01 << 0)     /**< Wheel Revolution Data Supported bit. */
-#define BLE_CSCS_FEATURE_CRANK_REV_BIT                  (0x01 << 1)     /**< Crank Revolution Data Supported bit. */
-#define BLE_CSCS_FEATURE_MULTIPLE_SENSORS_BIT           (0x01 << 2)     /**< Multiple Sensor Locations Supported bit. */
-/** @} */
-
-/**@brief Cycling Speed and Cadence Service event type. */
-typedef enum
-{
-    BLE_CSCS_EVT_NOTIFICATION_ENABLED,                                  /**< Cycling Speed and Cadence value notification enabled event. */
-    BLE_CSCS_EVT_NOTIFICATION_DISABLED                                  /**< Cycling Speed and Cadence value notification disabled event. */
-} ble_cscs_evt_type_t;
-
-/**@brief Cycling Speed and Cadence Service event. */
-typedef struct
-{
-    ble_cscs_evt_type_t evt_type;                                       /**< Type of event. */
-} ble_cscs_evt_t;
-
-// Forward declaration of the ble_csc_t type. 
-typedef struct ble_cscs_s ble_cscs_t;
-
-/**@brief Cycling Speed and Cadence Service event handler type. */
-typedef void (*ble_cscs_evt_handler_t) (ble_cscs_t * p_cscs, ble_cscs_evt_t * p_evt);
-
-/**@brief Cycling Speed and Cadence Service init structure. This contains all options and data
-*         needed for initialization of the service. */
-typedef struct
-{
-    ble_cscs_evt_handler_t       evt_handler;                           /**< Event handler to be called for handling events in the Cycling Speed and Cadence Service. */
-    ble_srv_cccd_security_mode_t csc_meas_attr_md;                      /**< Initial security level for cycling speed and cadence measurement attribute */
-    ble_srv_cccd_security_mode_t csc_ctrlpt_attr_md;                    /**< Initial security level for cycling speed and cadence control point attribute */
-    ble_srv_security_mode_t      csc_feature_attr_md;                   /**< Initial security level for feature attribute */
-    uint16_t                     feature;                               /**< Initial value for features of sensor @ref BLE_CSCS_FEATURES. */
-    uint8_t                      ctrplt_supported_functions;            /**< Supported control point functionnalities see @ref BLE_SRV_SC_CTRLPT_SUPP_FUNC. */
-    ble_sc_ctrlpt_evt_handler_t  ctrlpt_evt_handler;                    /**< Event handler */
-    ble_sensor_location_t        *list_supported_locations;             /**< List of supported sensor locations.*/
-    uint8_t                      size_list_supported_locations;         /**< Number of supported sensor locations in the list.*/
-    ble_srv_error_handler_t      error_handler;                         /**< Function to be called in case of an error. */
-    ble_sensor_location_t        *sensor_location;                      /**< Initial Sensor Location, if NULL, sensor_location characteristic is not added*/
-    ble_srv_cccd_security_mode_t csc_sensor_loc_attr_md;                /**< Initial security level for sensor location attribute */
-} ble_cscs_init_t;
-
-/**@brief Cycling Speed and Cadence Service structure. This contains various status information for
- *        the service. */
-typedef struct ble_cscs_s
-{
-    ble_cscs_evt_handler_t       evt_handler;                           /**< Event handler to be called for handling events in the Cycling Speed and Cadence Service. */
-    uint16_t                     service_handle;                        /**< Handle of Cycling Speed and Cadence Service (as provided by the BLE stack). */
-    ble_gatts_char_handles_t     meas_handles;                          /**< Handles related to the Cycling Speed and Cadence Measurement characteristic. */
-    ble_gatts_char_handles_t     feature_handles;                       /**< Handles related to the Cycling Speed and Cadence feature characteristic. */
-    ble_gatts_char_handles_t     sensor_loc_handles;                    /**< Handles related to the Cycling Speed and Cadence Sensor Location characteristic. */
-    uint16_t                     conn_handle;                           /**< Handle of the current connection (as provided by the BLE stack, is BLE_CONN_HANDLE_INVALID if not in a connection). */
-    uint16_t                     feature;                               /**< Bit mask of features available on sensor. */
-    ble_sc_ctrlpt_t              ctrl_pt;                               /**< data for speed and cadence control point */
-} ble_cscs_t;
-
-/**@brief Cycling Speed and Cadence Service measurement structure. This contains a Cycling Speed and
- *        Cadence Service measurement. */
-typedef struct ble_cscs_meas_s
-{
-    bool        is_wheel_rev_data_present;                              /**< True if Wheel Revolution Data is present in the measurement. */
-    bool        is_crank_rev_data_present;                              /**< True if Crank Revolution Data is present in the measurement. */
-    uint32_t    cumulative_wheel_revs;                                  /**< Cumulative Wheel Revolutions. */
-    uint16_t    last_wheel_event_time;                                  /**< Last Wheel Event Time. */
-    uint16_t    cumulative_crank_revs;                                  /**< Cumulative Crank Revolutions. */
-    uint16_t    last_crank_event_time;                                  /**< Last Crank Event Time. */
-} ble_cscs_meas_t;
-
-/**@brief Function for initializing the Cycling Speed and Cadence Service.
- *
- * @param[out]  p_cscs      Cycling Speed and Cadence Service structure. This structure will have to
- *                          be supplied by the application. It will be initialized by this function,
- *                          and will later be used to identify this particular service instance.
- * @param[in]   p_cscs_init Information needed to initialize the service.
- *
- * @return      NRF_SUCCESS on successful initialization of service, otherwise an error code.
- */
-uint32_t ble_cscs_init(ble_cscs_t * p_cscs, const ble_cscs_init_t * p_cscs_init);
-
-/**@brief Function for handling the Application's BLE Stack events.
- *
- * @details Handles all events from the BLE stack of interest to the Cycling Speed and Cadence
- *          Service.
- *
- * @param[in]   p_cscs     Cycling Speed and Cadence Service structure.
- * @param[in]   p_ble_evt  Event received from the BLE stack.
- */
-void ble_cscs_on_ble_evt(ble_cscs_t * p_cscs, ble_evt_t * p_ble_evt);
-
-/**@brief Function for sending cycling speed and cadence measurement if notification has been enabled.
- *
- * @details The application calls this function after having performed a Cycling Speed and Cadence
- *          Service measurement. If notification has been enabled, the measurement data is encoded
- *          and sent to the client.
- *
- * @param[in]   p_cscs         Cycling Speed and Cadence Service structure.
- * @param[in]   p_measurement  Pointer to new cycling speed and cadence measurement.
- *
- * @return      NRF_SUCCESS on success, otherwise an error code.
- */
-uint32_t ble_cscs_measurement_send(ble_cscs_t * p_cscs, ble_cscs_meas_t * p_measurement);
-
-#endif // BLE_CSCS_H__
-
-/** @} */