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_hrs.h	Wed Aug 20 13:41:01 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,194 +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_hrs Heart Rate Service
- * @{
- * @ingroup ble_sdk_srv
- * @brief Heart Rate Service module.
- *
- * @details This module implements the Heart Rate Service with the Heart Rate Measurement,
- *          Body Sensor Location and Heart Rate Control Point characteristics.
- *          During initialization it adds the Heart Rate Service and Heart Rate Measurement
- *          characteristic to the BLE stack database. Optionally it also adds the
- *          Body Sensor Location and Heart Rate Control Point characteristics.
- *
- *          If enabled, notification of the Heart Rate Measurement characteristic is performed
- *          when the application calls ble_hrs_heart_rate_measurement_send().
- *
- *          The Heart Rate Service also provides a set of functions for manipulating the
- *          various fields in the Heart Rate Measurement characteristic, as well as setting
- *          the Body Sensor Location characteristic value.
- *
- *          If an event handler is supplied by the application, the Heart Rate Service will
- *          generate Heart Rate Service events to the application.
- *
- * @note The application must propagate BLE stack events to the Heart Rate Service module by calling
- *       ble_hrs_on_ble_evt() from the from the @ref ble_stack_handler callback.
- *
- * @note Attention! 
- *  To maintain compliance with Nordic Semiconductor ASA Bluetooth profile 
- *  qualification listings, this section of source code must not be modified.
- */
-
-#ifndef BLE_HRS_H__
-#define BLE_HRS_H__
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "ble.h"
-#include "ble_srv_common.h"
-
-// Body Sensor Location values
-#define BLE_HRS_BODY_SENSOR_LOCATION_OTHER      0
-#define BLE_HRS_BODY_SENSOR_LOCATION_CHEST      1
-#define BLE_HRS_BODY_SENSOR_LOCATION_WRIST      2
-#define BLE_HRS_BODY_SENSOR_LOCATION_FINGER     3
-#define BLE_HRS_BODY_SENSOR_LOCATION_HAND       4
-#define BLE_HRS_BODY_SENSOR_LOCATION_EAR_LOBE   5
-#define BLE_HRS_BODY_SENSOR_LOCATION_FOOT       6
-
-#define BLE_HRS_MAX_BUFFERED_RR_INTERVALS       20      /**< Size of RR Interval buffer inside service. */
-
-/**@brief Heart Rate Service event type. */
-typedef enum
-{
-    BLE_HRS_EVT_NOTIFICATION_ENABLED,                   /**< Heart Rate value notification enabled event. */
-    BLE_HRS_EVT_NOTIFICATION_DISABLED                   /**< Heart Rate value notification disabled event. */
-} ble_hrs_evt_type_t;
-
-/**@brief Heart Rate Service event. */
-typedef struct
-{
-    ble_hrs_evt_type_t evt_type;                        /**< Type of event. */
-} ble_hrs_evt_t;
-
-// Forward declaration of the ble_hrs_t type. 
-typedef struct ble_hrs_s ble_hrs_t;
-
-/**@brief Heart Rate Service event handler type. */
-typedef void (*ble_hrs_evt_handler_t) (ble_hrs_t * p_hrs, ble_hrs_evt_t * p_evt);
-
-/**@brief Heart Rate Service init structure. This contains all options and data needed for
- *        initialization of the service. */
-typedef struct
-{
-    ble_hrs_evt_handler_t        evt_handler;                                          /**< Event handler to be called for handling events in the Heart Rate Service. */
-    bool                         is_sensor_contact_supported;                          /**< Determines if sensor contact detection is to be supported. */
-    uint8_t *                    p_body_sensor_location;                               /**< If not NULL, initial value of the Body Sensor Location characteristic. */
-    ble_srv_cccd_security_mode_t hrs_hrm_attr_md;                                      /**< Initial security level for heart rate service measurement attribute */
-    ble_srv_security_mode_t      hrs_bsl_attr_md;                                      /**< Initial security level for body sensor location attribute */
-} ble_hrs_init_t;
-
-/**@brief Heart Rate Service structure. This contains various status information for the service. */
-typedef struct ble_hrs_s
-{
-    ble_hrs_evt_handler_t        evt_handler;                                          /**< Event handler to be called for handling events in the Heart Rate Service. */
-    bool                         is_expended_energy_supported;                         /**< TRUE if Expended Energy measurement is supported. */
-    bool                         is_sensor_contact_supported;                          /**< TRUE if sensor contact detection is supported. */
-    uint16_t                     service_handle;                                       /**< Handle of Heart Rate Service (as provided by the BLE stack). */
-    ble_gatts_char_handles_t     hrm_handles;                                          /**< Handles related to the Heart Rate Measurement characteristic. */
-    ble_gatts_char_handles_t     bsl_handles;                                          /**< Handles related to the Body Sensor Location characteristic. */
-    ble_gatts_char_handles_t     hrcp_handles;                                         /**< Handles related to the Heart Rate Control Point 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). */
-    bool                         is_sensor_contact_detected;                           /**< TRUE if sensor contact has been detected. */
-    uint16_t                     rr_interval[BLE_HRS_MAX_BUFFERED_RR_INTERVALS];       /**< Set of RR Interval measurements since the last Heart Rate Measurement transmission. */
-    uint16_t                     rr_interval_count;                                    /**< Number of RR Interval measurements since the last Heart Rate Measurement transmission. */
-} ble_hrs_t;
-
-/**@brief Function for initializing the Heart Rate Service.
- *
- * @param[out]  p_hrs       Heart Rate 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_hrs_init  Information needed to initialize the service.
- *
- * @return      NRF_SUCCESS on successful initialization of service, otherwise an error code.
- */
-uint32_t ble_hrs_init(ble_hrs_t * p_hrs, const ble_hrs_init_t * p_hrs_init);
-
-/**@brief Function for handling the Application's BLE Stack events.
- *
- * @details Handles all events from the BLE stack of interest to the Heart Rate Service.
- *
- * @param[in]   p_hrs      Heart Rate Service structure.
- * @param[in]   p_ble_evt  Event received from the BLE stack.
- */
-void ble_hrs_on_ble_evt(ble_hrs_t * p_hrs, ble_evt_t * p_ble_evt);
-
-/**@brief Function for sending heart rate measurement if notification has been enabled.
- *
- * @details The application calls this function after having performed a heart rate measurement.
- *          If notification has been enabled, the heart rate measurement data is encoded and sent to
- *          the client.
- *
- * @param[in]   p_hrs                    Heart Rate Service structure.
- * @param[in]   heart_rate               New heart rate measurement.
- * @param[in]   include_expended_energy  Determines if expended energy will be included in the
- *                                       heart rate measurement data.
- *
- * @return      NRF_SUCCESS on success, otherwise an error code.
- */
-uint32_t ble_hrs_heart_rate_measurement_send(ble_hrs_t * p_hrs, uint16_t heart_rate);
-
-/**@brief Function for adding a RR Interval measurement to the RR Interval buffer.
- *
- * @details All buffered RR Interval measurements will be included in the next heart rate
- *          measurement message, up to the maximum number of measurements that will fit into the
- *          message. If the buffer is full, the oldest measurement in the buffer will be deleted.
- *
- * @param[in]   p_hrs        Heart Rate Service structure.
- * @param[in]   rr_interval  New RR Interval measurement (will be buffered until the next
- *                           transmission of Heart Rate Measurement).
- */
-void ble_hrs_rr_interval_add(ble_hrs_t * p_hrs, uint16_t rr_interval);
-
-/**@brief Function for checking if RR Interval buffer is full.
- *
- * @param[in]   p_hrs        Heart Rate Service structure.
- *
- * @return      true if RR Interval buffer is full, false otherwise.
- */
-bool ble_hrs_rr_interval_buffer_is_full(ble_hrs_t * p_hrs);
-
-/**@brief Function for setting the state of the Sensor Contact Supported bit.
- *
- * @param[in]   p_hrs                        Heart Rate Service structure.
- * @param[in]   is_sensor_contact_supported  New state of the Sensor Contact Supported bit.
- *
- * @return      NRF_SUCCESS on success, otherwise an error code.
- */
-uint32_t ble_hrs_sensor_contact_supported_set(ble_hrs_t * p_hrs, bool is_sensor_contact_supported);
-
-/**@brief Function for setting the state of the Sensor Contact Detected bit.
- *
- * @param[in]   p_hrs                        Heart Rate Service structure.
- * @param[in]   is_sensor_contact_detected   TRUE if sensor contact is detected, FALSE otherwise.
- */
-void ble_hrs_sensor_contact_detected_update(ble_hrs_t * p_hrs, bool is_sensor_contact_detected);
-
-/**@brief Function for setting the Body Sensor Location.
- *
- * @details Sets a new value of the Body Sensor Location characteristic. The new value will be sent
- *          to the client the next time the client reads the Body Sensor Location characteristic.
- *
- * @param[in]   p_hrs                 Heart Rate Service structure.
- * @param[in]   body_sensor_location  New Body Sensor Location.
- *
- * @return      NRF_SUCCESS on success, otherwise an error code.
- */
-uint32_t ble_hrs_body_sensor_location_set(ble_hrs_t * p_hrs, uint8_t body_sensor_location);
-
-#endif // BLE_HRS_H__
-
-/** @} */