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

HRM1017/common/assertion.h

Committer:
jksoft
Date:
2014-08-20
Revision:
4:ebda47d22091
Parent:
nRF51822/common/assertion.h@ 1:48f6e08a3ac2

File content as of revision 4:ebda47d22091:

/**************************************************************************/
/*!
    @file     assertion.h
    @author   hathach (tinyusb.org)

    @section LICENSE

    Software License Agreement (BSD License)

    Copyright (c) 2013, K. Townsend (microBuilder.eu)
    All rights reserved.

    Redistribution and use in source and binary forms, with or without
    modification, are permitted provided that the following conditions are met:
    1. Redistributions of source code must retain the above copyright
    notice, this list of conditions and the following disclaimer.
    2. Redistributions in binary form must reproduce the above copyright
    notice, this list of conditions and the following disclaimer in the
    documentation and/or other materials provided with the distribution.
    3. Neither the name of the copyright holders nor the
    names of its contributors may be used to endorse or promote products
    derived from this software without specific prior written permission.

    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
    EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION HOWEVER CAUSED AND
    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS
    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**************************************************************************/

/** \file
 *  \brief TBD
 *
 *  \note TBD
 */

/** \ingroup TBD
 *  \defgroup TBD
 *  \brief TBD
 *
 *  @{
 */

#ifndef _ASSERTION_H_
#define _ASSERTION_H_

#include "projectconfig.h"

#ifdef __cplusplus
extern "C"
{
#endif

static inline void debugger_breakpoint(void) ATTR_ALWAYS_INLINE;
static inline void debugger_breakpoint(void)
{
#ifndef _TEST_
  __asm("BKPT #0\n");
#endif
}

//--------------------------------------------------------------------+
// Compile-time Assert
//--------------------------------------------------------------------+
#if defined __COUNTER__ && __COUNTER__ != __COUNTER__
  #define _ASSERT_COUNTER __COUNTER__
#else
  #define _ASSERT_COUNTER __LINE__
#endif

#define ASSERT_STATIC(const_expr, message) enum { XSTRING_CONCAT_(static_assert_, _ASSERT_COUNTER) = 1/(!!(const_expr)) }

//--------------------------------------------------------------------+
// Assert Helper
//--------------------------------------------------------------------+
//#ifndef _TEST_
//  #define ASSERT_MESSAGE(format, ...)\
//    _PRINTF("Assert at %s: %s: %d: " format "\n", __BASE_FILE__, __PRETTY_FUNCTION__, __LINE__, __VA_ARGS__)
//#else
//  #define ASSERT_MESSAGE(format, ...)\
//    _PRINTF("%d:note: Assert " format "\n", __LINE__, __VA_ARGS__)
//#endif

#if CFG_DEBUG == 3
  #define ASSERT_MESSAGE(format, ...) debugger_breakpoint()
#elif CFG_DEBUG == 2
  #define ASSERT_MESSAGE(format, ...) printf("Assert at %s: %s: %d: " format "\n", __BASE_FILE__, __PRETTY_FUNCTION__, __LINE__, __VA_ARGS__)
#else
  #define ASSERT_MESSAGE(format, ...)
#endif

#define ASSERT_ERROR_HANDLER(x, para)  \
    return (x)

#define ASSERT_DEFINE_WITH_HANDLER(error_handler, handler_para, setup_statement, condition, error, format, ...) \
  do{\
    setup_statement;\
	  if (!(condition)) {\
	    ASSERT_MESSAGE(format, __VA_ARGS__);\
	    error_handler(error, handler_para);\
	  }\
	}while(0)

#define ASSERT_DEFINE(...) ASSERT_DEFINE_WITH_HANDLER(ASSERT_ERROR_HANDLER, NULL, __VA_ARGS__)

//--------------------------------------------------------------------+
// error_t Status Assert TODO use ASSERT_DEFINE
//--------------------------------------------------------------------+
#define ASSERT_STATUS_MESSAGE(sts, message) \
    ASSERT_DEFINE(error_t status = (error_t)(sts),\
                  ERROR_NONE == status, status, "%s: %s", ErrorStr[status], message)

#define ASSERT_STATUS(sts) \
    ASSERT_DEFINE(error_t status = (error_t)(sts),\
                  ERROR_NONE == status, status, "error = %d", status)

#define ASSERT_STATUS_RET_VOID(sts) \
    ASSERT_DEFINE(error_t status = (error_t)(sts),\
                  ERROR_NONE == status, (void) 0, "error = %d", status)

//--------------------------------------------------------------------+
// Logical Assert
//--------------------------------------------------------------------+
#define ASSERT(...)                      ASSERT_TRUE(__VA_ARGS__)
#define ASSERT_TRUE(condition  , error)  ASSERT_DEFINE( , (condition), error, "%s", "evaluated to false")
#define ASSERT_FALSE(condition , error)  ASSERT_DEFINE( ,!(condition), error, "%s", "evaluated to true")

//--------------------------------------------------------------------+
// Pointer Assert
//--------------------------------------------------------------------+
#define ASSERT_PTR(...)                    ASSERT_PTR_NOT_NULL(__VA_ARGS__)
#define ASSERT_PTR_NOT_NULL(pointer, error) ASSERT_DEFINE( , NULL != (pointer), error, "%s", "pointer is NULL")
#define ASSERT_PTR_NULL(pointer, error)    ASSERT_DEFINE( , NULL == (pointer), error, "%s", "pointer is not NULL")

//--------------------------------------------------------------------+
// Integral Assert
//--------------------------------------------------------------------+
#define ASSERT_XXX_EQUAL(type_format, expected, actual, error) \
    ASSERT_DEFINE(\
                  uint32_t exp = (expected); uint32_t act = (actual),\
                  exp==act,\
                  error,\
                  "expected " type_format ", actual " type_format, exp, act)

#define ASSERT_XXX_WITHIN(type_format, lower, upper, actual, error) \
    ASSERT_DEFINE(\
                  uint32_t low = (lower); uint32_t up = (upper); uint32_t act = (actual),\
                  (low <= act) && (act <= up),\
                  error,\
                  "expected within " type_format " - " type_format ", actual " type_format, low, up, act)

//--------------------------------------------------------------------+
// Integer Assert
//--------------------------------------------------------------------+
#define ASSERT_INT(...)        ASSERT_INT_EQUAL(__VA_ARGS__)
#define ASSERT_INT_EQUAL(...)  ASSERT_XXX_EQUAL("%d", __VA_ARGS__)
#define ASSERT_INT_WITHIN(...) ASSERT_XXX_WITHIN("%d", __VA_ARGS__)

//--------------------------------------------------------------------+
// Hex Assert
//--------------------------------------------------------------------+
#define ASSERT_HEX(...)        ASSERT_HEX_EQUAL(__VA_ARGS__)
#define ASSERT_HEX_EQUAL(...)  ASSERT_XXX_EQUAL("0x%x", __VA_ARGS__)
#define ASSERT_HEX_WITHIN(...) ASSERT_XXX_WITHIN("0x%x", __VA_ARGS__)

//--------------------------------------------------------------------+
// Bin Assert
//--------------------------------------------------------------------+
#define BIN8_PRINTF_PATTERN "%d%d%d%d%d%d%d%d"
#define BIN8_PRINTF_CONVERT(byte)  \
  ((byte) & 0x80 ? 1 : 0), \
  ((byte) & 0x40 ? 1 : 0), \
  ((byte) & 0x20 ? 1 : 0), \
  ((byte) & 0x10 ? 1 : 0), \
  ((byte) & 0x08 ? 1 : 0), \
  ((byte) & 0x04 ? 1 : 0), \
  ((byte) & 0x02 ? 1 : 0), \
  ((byte) & 0x01 ? 1 : 0)

#define ASSERT_BIN8(...)        ASSERT_BIN8_EQUAL(__VA_ARGS__)
#define ASSERT_BIN8_EQUAL(expected, actual, error)\
    ASSERT_DEFINE(\
                  uint8_t exp = (expected); uint8_t act = (actual),\
                  exp==act,\
                  error,\
                  "expected " BIN8_PRINTF_PATTERN ", actual " BIN8_PRINTF_PATTERN, BIN8_PRINTF_CONVERT(exp), BIN8_PRINTF_CONVERT(act) )

#ifdef __cplusplus
}
#endif

#endif /* _ASSERTION_H_ */

/** @} */