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
diff -r ebda47d22091 -r 1c04bd9f8457 HRM1017/common/common.h
--- a/HRM1017/common/common.h	Wed Aug 20 13:41:01 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,236 +0,0 @@
-/**************************************************************************/
-/*!
-    @file     common.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.
-*/
-/**************************************************************************/
-
-/** \defgroup Group_Common Common Files
- * @{
- *
- *  \defgroup Group_CommonH common.h
- *
- *  @{
- */
-
-#ifndef _COMMON_H_
-#define _COMMON_H_
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-//--------------------------------------------------------------------+
-// INCLUDES
-//--------------------------------------------------------------------+
-
-//------------- Standard Header -------------//
-#include <stdint.h>
-#include <stdbool.h>
-#include <stddef.h>
-#include <string.h>
-#include <stdio.h>
-
-//------------- General Header -------------//
-#include "projectconfig.h"
-#include "compiler.h"
-#include "assertion.h"
-#include "binary.h"
-#include "ble_error.h"
-
-//------------- MCU header -------------//
-//#include "nrf.h"
-
-//--------------------------------------------------------------------+
-// TYPEDEFS
-//--------------------------------------------------------------------+
-typedef unsigned char byte_t;
-typedef float  float32_t;
-typedef double float64_t;
-
-//--------------------------------------------------------------------+
-// MACROS
-//--------------------------------------------------------------------+
-#define STRING_(x)  #x                             // stringify without expand
-#define XSTRING_(x) STRING_(x)                     // expand then stringify
-#define STRING_CONCAT_(a, b) a##b                  // concat without expand
-#define XSTRING_CONCAT_(a, b) STRING_CONCAT_(a, b) // expand then concat
-
-#define U16_HIGH_U8(u16) ((uint8_t) (((u16) >> 8) & 0x00ff))
-#define U16_LOW_U8(u16)  ((uint8_t) ((u16)       & 0x00ff))
-#define U16_TO_U8S_BE(u16)  U16_HIGH_U8(u16), U16_LOW_U8(u16)
-#define U16_TO_U8S_LE(u16)  U16_LOW_U8(u16), U16_HIGH_U8(u16)
-
-#define U32_B1_U8(u32) ((uint8_t) (((u32) >> 24) & 0x000000ff)) // MSB
-#define U32_B2_U8(u32) ((uint8_t) (((u32) >> 16) & 0x000000ff))
-#define U32_B3_U8(u32) ((uint8_t) (((u32) >>  8) & 0x000000ff))
-#define U32_B4_U8(u32) ((uint8_t) ((u32)        & 0x000000ff)) // LSB
-
-#define U32_TO_U8S_BE(u32) U32_B1_U8(u32), U32_B2_U8(u32), U32_B3_U8(u32), U32_B4_U8(u32)
-#define U32_TO_U8S_LE(u32) U32_B4_U8(u32), U32_B3_U8(u32), U32_B2_U8(u32), U32_B1_U8(u32)
-
-//--------------------------------------------------------------------+
-// INLINE FUNCTION
-//--------------------------------------------------------------------+
-#define memclr_(buffer, size)  memset(buffer, 0, size)
-
-//------------- Conversion -------------//
-/// form an uint32_t from 4 x uint8_t
-static inline uint32_t u32_from_u8(uint8_t b1, uint8_t b2, uint8_t b3, uint8_t b4) ATTR_ALWAYS_INLINE ATTR_CONST;
-static inline uint32_t u32_from_u8(uint8_t b1, uint8_t b2, uint8_t b3, uint8_t b4)
-{
-  return (b1 << 24) + (b2 << 16) + (b3 << 8) + b4;
-}
-
-static inline uint8_t u16_high_u8(uint16_t u16) ATTR_CONST ATTR_ALWAYS_INLINE;
-static inline uint8_t u16_high_u8(uint16_t u16)
-{
-  return (uint8_t) ((u16 >> 8) & 0x00ff);
-}
-
-static inline uint8_t u16_low_u8(uint16_t u16) ATTR_CONST ATTR_ALWAYS_INLINE;
-static inline uint8_t u16_low_u8(uint16_t u16)
-{
-  return (uint8_t) (u16 & 0x00ff);
-}
-
-//------------- Min -------------//
-static inline uint8_t min8_of(uint8_t x, uint8_t y) ATTR_ALWAYS_INLINE ATTR_CONST;
-static inline uint8_t min8_of(uint8_t x, uint8_t y)
-{
-  return (x < y) ? x : y;
-}
-
-static inline uint16_t min16_of(uint16_t x, uint16_t y) ATTR_ALWAYS_INLINE ATTR_CONST;
-static inline uint16_t min16_of(uint16_t x, uint16_t y)
-{
-  return (x < y) ? x : y;
-}
-
-static inline uint32_t min32_of(uint32_t x, uint32_t y) ATTR_ALWAYS_INLINE ATTR_CONST;
-static inline uint32_t min32_of(uint32_t x, uint32_t y)
-{
-  return (x < y) ? x : y;
-}
-
-//------------- Max -------------//
-static inline uint32_t max32_of(uint32_t x, uint32_t y) ATTR_ALWAYS_INLINE ATTR_CONST;
-static inline uint32_t max32_of(uint32_t x, uint32_t y)
-{
-  return (x > y) ? x : y;
-}
-
-//------------- Align -------------//
-static inline uint32_t align32 (uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST;
-static inline uint32_t align32 (uint32_t value)
-{
-	return (value & 0xFFFFFFE0UL);
-}
-
-static inline uint32_t align16 (uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST;
-static inline uint32_t align16 (uint32_t value)
-{
-	return (value & 0xFFFFFFF0UL);
-}
-
-static inline uint32_t align_n (uint32_t alignment, uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST;
-static inline uint32_t align_n (uint32_t alignment, uint32_t value)
-{
-	return value & (~(alignment-1));
-}
-
-static inline uint32_t align4k (uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST;
-static inline uint32_t align4k (uint32_t value)
-{
-	return (value & 0xFFFFF000UL);
-}
-
-static inline uint32_t offset4k(uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST;
-static inline uint32_t offset4k(uint32_t value)
-{
-	return (value & 0xFFFUL);
-}
-
-//------------- Mathematics -------------//
-/// inclusive range checking
-static inline bool is_in_range(uint32_t lower, uint32_t value, uint32_t upper) ATTR_ALWAYS_INLINE ATTR_CONST;
-static inline bool is_in_range(uint32_t lower, uint32_t value, uint32_t upper)
-{
-  return (lower <= value) && (value <= upper);
-}
-
-/// exclusive range checking
-static inline bool is_in_range_exclusive(uint32_t lower, uint32_t value, uint32_t upper) ATTR_ALWAYS_INLINE ATTR_CONST;
-static inline bool is_in_range_exclusive(uint32_t lower, uint32_t value, uint32_t upper)
-{
-  return (lower < value) && (value < upper);
-}
-
-static inline uint8_t log2_of(uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST;
-static inline uint8_t log2_of(uint32_t value)
-{
-  uint8_t result = 0; // log2 of a value is its MSB's position
-
-  while (value >>= 1)
-  {
-    result++;
-  }
-  return result;
-}
-
-// return the number of set bits in value
-static inline uint8_t cardinality_of(uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST;
-static inline uint8_t cardinality_of(uint32_t value)
-{
-  // Brian Kernighan's method goes through as many iterations as there are set bits. So if we have a 32-bit word with only
-  // the high bit set, then it will only go once through the loop
-  // Published in 1988, the C Programming Language 2nd Ed. (by Brian W. Kernighan and Dennis M. Ritchie)
-  // mentions this in exercise 2-9. On April 19, 2006 Don Knuth pointed out to me that this method
-  // "was first published by Peter Wegner in CACM 3 (1960), 322. (Also discovered independently by Derrick Lehmer and
-  // published in 1964 in a book edited by Beckenbach.)"
-  uint8_t count;
-  for (count = 0; value; count++)
-  {
-    value &= value - 1; // clear the least significant bit set
-  }
-
-  return count;
-}
-
-#ifdef __cplusplus
- }
-#endif
-
-#endif /* _COMMON_H_ */
-
-/**  @} */
-/**  @} */