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_hts.h	Wed Aug 20 13:41:01 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,160 +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_hts Health Thermometer Service
- * @{
- * @ingroup ble_sdk_srv
- * @brief Health Thermometer Service module.
- *
- * @details This module implements the Health Thermometer Service.
- *
- *          If an event handler is supplied by the application, the Health Thermometer 
- *          Service will generate Health Thermometer Service events to the application.
- *
- * @note The application must propagate BLE stack events to the Health Thermometer Service
- *       module by calling ble_hts_on_ble_evt() from the from the @ref ble_stack_handler function.
- *
- * @note Attention! 
- *  To maintain compliance with Nordic Semiconductor ASA Bluetooth profile 
- *  qualification listings, this section of source code must not be modified.
- */
-
-#ifndef BLE_HTS_H__
-#define BLE_HTS_H__
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "ble.h"
-#include "ble_srv_common.h"
-#include "ble_date_time.h"
-
-// Temperature Type measurement locations
-#define BLE_HTS_TEMP_TYPE_ARMPIT      1
-#define BLE_HTS_TEMP_TYPE_BODY        2
-#define BLE_HTS_TEMP_TYPE_EAR         3
-#define BLE_HTS_TEMP_TYPE_FINGER      4
-#define BLE_HTS_TEMP_TYPE_GI_TRACT    5
-#define BLE_HTS_TEMP_TYPE_MOUTH       6
-#define BLE_HTS_TEMP_TYPE_RECTUM      7
-#define BLE_HTS_TEMP_TYPE_TOE         8
-#define BLE_HTS_TEMP_TYPE_EAR_DRUM    9
-
-/**@brief Health Thermometer Service event type. */
-typedef enum
-{
-    BLE_HTS_EVT_INDICATION_ENABLED,                                         /**< Health Thermometer value indication enabled event. */
-    BLE_HTS_EVT_INDICATION_DISABLED,                                        /**< Health Thermometer value indication disabled event. */
-    BLE_HTS_EVT_INDICATION_CONFIRMED                                        /**< Confirmation of a temperature measurement indication has been received. */
-} ble_hts_evt_type_t;
-
-/**@brief Health Thermometer Service event. */
-typedef struct
-{
-    ble_hts_evt_type_t evt_type;                                            /**< Type of event. */
-} ble_hts_evt_t;
-
-// Forward declaration of the ble_hts_t type. 
-typedef struct ble_hts_s ble_hts_t;
-
-/**@brief Health Thermometer Service event handler type. */
-typedef void (*ble_hts_evt_handler_t) (ble_hts_t * p_hts, ble_hts_evt_t * p_evt);
-
-/**@brief FLOAT format (IEEE-11073 32-bit FLOAT, defined as a 32-bit value with a 24-bit mantissa
- *        and an 8-bit exponent. */
-typedef struct
-{
-  int8_t  exponent;                                                         /**< Base 10 exponent */
-  int32_t mantissa;                                                         /**< Mantissa, should be using only 24 bits */
-} ieee_float32_t;
-
-/**@brief Health Thermometer Service init structure. This contains all options and data
- *        needed for initialization of the service. */
-typedef struct
-{
-    ble_hts_evt_handler_t        evt_handler;                               /**< Event handler to be called for handling events in the Health Thermometer Service. */
-    ble_srv_cccd_security_mode_t hts_meas_attr_md;                          /**< Initial security level for health thermometer measurement attribute */
-    ble_srv_security_mode_t      hts_temp_type_attr_md;                     /**< Initial security level for health thermometer tempearture type attribute */
-    uint8_t                      temp_type_as_characteristic;               /**< Set non-zero if temp type given as characteristic */
-    uint8_t                      temp_type;                                 /**< Temperature type if temperature characteristic is used */
-} ble_hts_init_t;
-
-/**@brief Health Thermometer Service structure. This contains various status information for
- *        the service. */
-typedef struct ble_hts_s
-{
-    ble_hts_evt_handler_t        evt_handler;                               /**< Event handler to be called for handling events in the Health Thermometer Service. */
-    uint16_t                     service_handle;                            /**< Handle of Health Thermometer Service (as provided by the BLE stack). */
-    ble_gatts_char_handles_t     meas_handles;                              /**< Handles related to the Health Thermometer Measurement characteristic. */
-    ble_gatts_char_handles_t     temp_type_handles;                         /**< Handles related to the Health Thermometer Temperature Type 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). */
-    uint8_t                      temp_type;                                 /**< Temperature type indicates where the measurement was taken. */
-} ble_hts_t;
-
-/**@brief Health Thermometer Service measurement structure. This contains a Health Thermometer
- *        measurement. */
-typedef struct ble_hts_meas_s
-{
-    bool                         temp_in_fahr_units;                        /**< True if Temperature is in Fahrenheit units, Celcius otherwise. */
-    bool                         time_stamp_present;                        /**< True if Time Stamp is present. */
-    bool                         temp_type_present;                         /**< True if Temperature Type is present. */
-    ieee_float32_t               temp_in_celcius;                           /**< Temperature Measurement Value (Celcius). */
-    ieee_float32_t               temp_in_fahr;                              /**< Temperature Measurement Value (Fahrenheit). */
-    ble_date_time_t              time_stamp;                                /**< Time Stamp. */
-    uint8_t                      temp_type;                                 /**< Temperature Type. */
-} ble_hts_meas_t;
-
-/**@brief Function for initializing the Health Thermometer Service.
- *
- * @param[out]  p_hts       Health Thermometer 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_hts_init  Information needed to initialize the service.
- *
- * @return      NRF_SUCCESS on successful initialization of service, otherwise an error code.
- */
-uint32_t ble_hts_init(ble_hts_t * p_hts, const ble_hts_init_t * p_hts_init);
-
-/**@brief Function for handling the Application's BLE Stack events.
- *
- * @details Handles all events from the BLE stack of interest to the Health Thermometer Service.
- *
- * @param[in]   p_hts      Health Thermometer Service structure.
- * @param[in]   p_ble_evt  Event received from the BLE stack.
- */
-void ble_hts_on_ble_evt(ble_hts_t * p_hts, ble_evt_t * p_ble_evt);
-
-/**@brief Function for sending health thermometer measurement if indication has been enabled.
- *
- * @details The application calls this function after having performed a Health Thermometer
- *          measurement. If indication has been enabled, the measurement data is encoded and
- *          sent to the client.
- *
- * @param[in]   p_hts       Health Thermometer Service structure.
- * @param[in]   p_hts_meas  Pointer to new health thermometer measurement.
- *
- * @return      NRF_SUCCESS on success, otherwise an error code.
- */
-uint32_t ble_hts_measurement_send(ble_hts_t * p_hts, ble_hts_meas_t * p_hts_meas);
-
-/**@brief Function for checking if indication of Temperature Measurement is currently enabled.
- *
- * @param[in]   p_hts                  Health Thermometer Service structure.
- * @param[out]  p_indication_enabled   TRUE if indication is enabled, FALSE otherwise.
- *
- * @return      NRF_SUCCESS on success, otherwise an error code.
- */
-uint32_t ble_hts_is_indication_enabled(ble_hts_t * p_hts, bool * p_indication_enabled);
-
-#endif // BLE_HTS_H__
-
-/** @} */