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

nRF51822/nRF51GattServer.h

Committer:
jksoft
Date:
2014-08-20
Revision:
1:48f6e08a3ac2

File content as of revision 1:48f6e08a3ac2:

/* mbed Microcontroller Library
 * Copyright (c) 2006-2013 ARM Limited
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef __NRF51822_GATT_SERVER_H__
#define __NRF51822_GATT_SERVER_H__

#include "mbed.h"
#include "blecommon.h"
#include "ble.h" /* nordic ble */
#include "GattService.h"
#include "public/GattServer.h"

#define BLE_TOTAL_CHARACTERISTICS 10

class nRF51GattServer : public GattServer
{
public:
    static nRF51GattServer &getInstance() {
        static nRF51GattServer m_instance;
        return m_instance;
    }

    /* Functions that must be implemented from GattServer */
    virtual ble_error_t addService(GattService &);
    virtual ble_error_t readValue(uint16_t handle, uint8_t buffer[], uint16_t *const lengthP);
    virtual ble_error_t updateValue(uint16_t, uint8_t[], uint16_t, bool localOnly = false);

    virtual ble_error_t setDeviceName(const uint8_t *deviceName);
    virtual ble_error_t getDeviceName(uint8_t *deviceName, unsigned *lengthP);
    virtual ble_error_t setAppearance(uint16_t appearance);
    virtual ble_error_t getAppearance(uint16_t *appearanceP);

    /* nRF51 Functions */
    void eventCallback(void);
    void hwCallback(ble_evt_t *p_ble_evt);

private:
    GattCharacteristic *p_characteristics[BLE_TOTAL_CHARACTERISTICS];
    ble_gatts_char_handles_t nrfCharacteristicHandles[BLE_TOTAL_CHARACTERISTICS];

    nRF51GattServer() {
        serviceCount = 0;
        characteristicCount = 0;
    };

    nRF51GattServer(nRF51GattServer const &);
    void operator=(nRF51GattServer const &);
};

#endif