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_sc_ctrlpt.h	Wed Aug 20 13:41:01 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,206 +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 ble_sdk_srv_sc_ctrlpt Speed and Cadence Control Point
- * @{
- * @ingroup ble_sdk_srv
- * @brief Speed and Cadence Control Point module.
- *
- * @details This module implements the Speed and Cadence control point behavior. It is used
- *          by the @ref ble_sdk_srv_csc module and the ble_sdk_srv_rsc module for control point
- *          mechanisms like setting a cumulative value, Start an automatic calibration,
- *          Update the sensor location or request the supported locations.
- *
- * @note Attention! 
- *  To maintain compliance with Nordic Semiconductor ASA Bluetooth profile 
- *  qualification listings, this section of source code must not be modified.
- */
-
-#ifndef BLE_SC_CTRLPT_H__
-#define BLE_SC_CTRLPT_H__
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "ble.h"
-#include "ble_srv_common.h"
-#include "ble_sensor_location.h"
-
-#define BLE_SC_CTRLPT_MAX_LEN                                      19                     /**< maximum lenght for Speed and cadence control point characteristic value. */
-#define BLE_SC_CTRLPT_MIN_LEN                                      1                      /**< minimum length for Speed and cadence control point characteristic value. */
-
-// Forward declaration of the ble_sc_ctrlpt_t type.
-typedef struct ble_sc_ctrlpt_s ble_sc_ctrlpt_t;
-
-
-/**@brief Speed and Cadence Control Point event type. */
-typedef enum
-{
-    BLE_SC_CTRLPT_EVT_UPDATE_LOCATION,                                                    /**< rcvd update location opcode (the control point handles the change of location automatically, the event just informs the application in case it needs to adjust its algorithm). */
-    BLE_SC_CTRLPT_EVT_SET_CUMUL_VALUE,                                                    /**< rcvd set cumulative value opcode, it is then up to the application to use the new cumulative value. */
-    BLE_SC_CTRLPT_EVT_START_CALIBRATION,                                                  /**< rcvd start calibration opcode, the application needs, at the end ot the calibration to call ble_sc_ctrlpt_send_rsp. */
-} ble_sc_ctrlpt_evt_type_t;
-
-
-/**@brief Speed and Cadence Control point event. */
-typedef struct
-{
-    ble_sc_ctrlpt_evt_type_t evt_type;                                                    /**< Type of event. */
-    union
-    {
-        ble_sensor_location_t update_location;
-        uint32_t              cumulative_value;
-    }params;
-} ble_sc_ctrlpt_evt_t;
-
-
-/** Speed and Cadence Control Point operator code  (see RSC service specification)*/
-typedef enum {
-    BLE_SCPT_SET_CUMULATIVE_VALUE                   = 0x01,                               /**< Operator to set a given cumulative value. */
-    BLE_SCPT_START_AUTOMATIC_CALIBRATION            = 0x02,                               /**< Operator to start automatic calibration. */
-    BLE_SCPT_UPDATE_SENSOR_LOCATION                 = 0x03,                               /**< Operator to update the sensor location. */
-    BLE_SCPT_REQUEST_SUPPORTED_SENSOR_LOCATIONS     = 0x04,                               /**< Operator to request the supported sensor locations. */
-    BLE_SCPT_RESPONSE_CODE                          = 0x10,                               /**< Response Code. */
-} ble_scpt_operator_t;
-
-
-/** Speed and Cadence Control Point response parameter  (see RSC service specification)*/
-typedef enum {
-    BLE_SCPT_SUCCESS                                = 0x01,                               /**< Sucess Response. */
-    BLE_SCPT_OP_CODE_NOT_SUPPORTED                  = 0x02,                               /**< Error Response received opcode not supported. */
-    BLE_SCPT_INVALID_PARAMETER                      = 0x03,                               /**< Error Response received parameter invalid. */
-    BLE_SCPT_OPERATION_FAILED                       = 0x04,                               /**< Error Response operation failed. */
-} ble_scpt_response_t;
-
-
-/** Speed and Cadence Control Point procedure status (indicates is a procedure is in progress or not and which procedure is in progress*/
-typedef enum {
-    BLE_SCPT_NO_PROC_IN_PROGRESS                    = 0x00,                               /**< No procedure in progress. */
-    BLE_SCPT_AUTOMATIC_CALIB_IN_PROGRESS            = 0x01,                               /**< Automatic Calibration is in progress. */
-    BLE_SCPT_INDICATION_PENDING                     = 0x02,                               /**< Control Point Indication is pending. */
-    BLE_SCPT_IND_CONFIRM_PENDING                    = 0x03,                               /**< Waiting for the indication confirmation. */
-}ble_scpt_procedure_status_t;
-
-/**@brief Speed and Cadence Control point event handler type. */
-typedef ble_scpt_response_t (*ble_sc_ctrlpt_evt_handler_t) (ble_sc_ctrlpt_t * p_sc_ctrlpt,
-                                             ble_sc_ctrlpt_evt_t * p_evt);
-
-
-typedef struct{
-    ble_scpt_operator_t   opcode;
-    uint32_t              cumulative_value;
-    ble_sensor_location_t location;
-}ble_sc_ctrlpt_val_t;
-
-
-typedef struct{
-    ble_scpt_operator_t   opcode;
-    ble_scpt_response_t   status;
-    ble_sensor_location_t location_list[BLE_NB_MAX_SENSOR_LOCATIONS];
-}ble_sc_ctrlpt_rsp_t;
-
-
-
-#define BLE_SRV_SC_CTRLPT_SENSOR_LOCATIONS_OP_SUPPORTED  0x01                             /**< Support for sensor location related operations */
-#define BLE_SRV_SC_CTRLPT_CUM_VAL_OP_SUPPORTED           0x02                             /**< Support for setting cumulative value related operations */
-#define BLE_SRV_SC_CTRLPT_START_CALIB_OP_SUPPORTED       0x04                             /**< Support for starting calibration related operations */
-
-
-/**@brief Speed and Cadence Control Point init structure. This contains all options and data
-*         needed for initialization of the Speed and Cadence Control Point module. */
-typedef struct
-{
-    ble_srv_cccd_security_mode_t sc_ctrlpt_attr_md;                                       /**< Initial security level for cycling speed and cadence control point attribute */
-    uint8_t                      supported_functions;                                     /**< supported control point functionnalities see @ref BLE_SRV_SC_CTRLPT_SUPP_FUNC. */
-    uint16_t                     service_handle;                                          /**< Handle of the parent service (as provided by the BLE stack). */
-    ble_sc_ctrlpt_evt_handler_t  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.*/
-    uint16_t                     sensor_location_handle;                                  /**< handle for the sensor location characteristic (if sensor_location related operation are supported).*/
-    ble_srv_error_handler_t      error_handler;                                           /**< Function to be called in case of an error. */
-} ble_cs_ctrlpt_init_t;
-
-
-/**@brief Speed and Cadence Control Point response indication structure. */
-typedef struct
-{
-    ble_scpt_response_t          status;                                                  /**< control point response status .*/
-    uint8_t                      len;                                                     /**< control point response length .*/
-    uint8_t                      encoded_ctrl_rsp[BLE_SC_CTRLPT_MAX_LEN];                 /**< control point encoded response.*/
-}ble_sc_ctrlpt_resp_t;
-
-
-/**@brief Speed and Cadence Control Point structure. This contains various status information for
- *        the Speed and Cadence Control Point behavior. */
-typedef struct ble_sc_ctrlpt_s
-{
-    uint8_t                      supported_functions;                                     /**< supported control point functionnalities see @ref BLE_SRV_SC_CTRLPT_SUPP_FUNC. */
-    uint16_t                     service_handle;                                          /**< Handle of the parent service (as provided by the BLE stack). */
-    ble_gatts_char_handles_t     sc_ctrlpt_handles;                                       /**< Handles related to the Speed and Cadence 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). */
-    ble_sensor_location_t        list_supported_locations[BLE_NB_MAX_SENSOR_LOCATIONS];   /**< list of supported sensor locations.*/
-    uint8_t                      size_list_supported_locations;                           /**< number of supported sensor locations in the list.*/
-    ble_sc_ctrlpt_evt_handler_t  evt_handler;                                             /**< Handle of the parent service (as provided by the BLE stack). */
-    uint16_t                     sensor_location_handle;                                  /**< handle for the sensor location characteristic (if sensor_location related operation are supported).*/
-    ble_scpt_procedure_status_t  procedure_status;                                        /**< status of possible procedure*/
-    ble_srv_error_handler_t      error_handler;                                           /**< Function to be called in case of an error. */
-    ble_sc_ctrlpt_resp_t         response;                                                /**< pending response data.*/
-} ble_sc_ctrlpt_t;
-
-#define SCPT_OPCODE_POS                   0                                               /**< Request opcode position. */
-#define SCPT_PARAMETER_POS                1                                               /**< Request parameter position. */
-
-#define SCPT_RESPONSE_REQUEST_OPCODE_POS  1                                               /**< Response position of requested opcode. */
-#define SCPT_RESPONSE_CODE_POS            2                                               /**< Response position of response code. */
-#define SCPT_RESPONSE_PARAMETER           3                                               /**< Response position of response parameter. */
-
-#define SCPT_MIN_RESPONSE_SIZE            3                                               /**< Minimum size for control point response. */
-#define SCPT_MAX_RESPONSE_SIZE  (SCPT_MIN_RESPONSE_SIZE + NB_MAX_SENSOR_LOCATIONS)        /**< Maximum size for control point response. */
-
-
-/**@brief Function for Initializing the Speed and Cadence Control Point.
- *
- * @details Function for Initializing the Speed and Cadence Control Point.
- * @param[in]   p_sc_ctrlpt   Speed and Cadence Control Point structure.
- * @param[in]   p_cscs_init   Information needed to initialize the control point behavior.
- *
- * @return      NRF_SUCCESS on successful initialization of service, otherwise an error code.
- */
-uint32_t ble_sc_ctrlpt_init(ble_sc_ctrlpt_t *            p_sc_ctrlpt,
-                            const ble_cs_ctrlpt_init_t * p_sc_ctrlpt_init);
-
-
-/**@brief Function for sending a control point response.
- *
- * @details Function for sending a control point response when the control point received was
- *          BLE_SCPT_START_AUTOMATIC_CALIBRATION. To be called after the calibration procedure is finished.
- *
- * @param[in]   p_sc_ctrlpt      Speed and Cadence Control Point structure.
- * @param[in]   response_status  status to include in the control point response.
- */
-uint32_t ble_sc_ctrlpt_rsp_send(ble_sc_ctrlpt_t * p_sc_ctrlpt, ble_scpt_response_t response_status);
-
-
-/**@brief Speed and Cadence Control Point BLE stack event handler.
- *
- * @details Handles all events from the BLE stack of interest to the Speed and Cadence Control Point.
- *
- * @param[in]   p_sc_ctrlpt   Speed and Cadence Control Point structure.
- * @param[in]   p_ble_evt  Event received from the BLE stack.
- */
-void ble_sc_ctrlpt_on_ble_evt(ble_sc_ctrlpt_t * p_sc_ctrlpt, ble_evt_t * p_ble_evt);
-
-
-#endif // BLE_SC_CTRLPT_H__
-
-/** @} */