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
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
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
HRM1017の電源はうおーるぼっとのUSBコネクタからとります。
Diff: HRM1017/nRF51822n.cpp
- Revision:
- 5:1c04bd9f8457
- Parent:
- 4:ebda47d22091
diff -r ebda47d22091 -r 1c04bd9f8457 HRM1017/nRF51822n.cpp --- a/HRM1017/nRF51822n.cpp Wed Aug 20 13:41:01 2014 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,148 +0,0 @@ -/* 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. - */ - -#include "mbed.h" -#include "nRF51822n.h" -#include "nrf_soc.h" - -#include "btle/btle.h" - -/** - * The singleton which represents the nRF51822 transport for the BLEDevice. - */ -static nRF51822n deviceInstance; - -/** - * BLE-API requires an implementation of the following function in order to - * obtain its transport handle. - */ -BLEDeviceInstanceBase * -createBLEDeviceInstance(void) -{ - return (&deviceInstance); -} - -/**************************************************************************/ -/*! - @brief Constructor -*/ -/**************************************************************************/ -nRF51822n::nRF51822n(void) -{ -} - -/**************************************************************************/ -/*! - @brief Destructor -*/ -/**************************************************************************/ -nRF51822n::~nRF51822n(void) -{ -} - -const char *nRF51822n::getVersion(void) -{ - static char versionString[10]; - static bool versionFetched = false; - - if (!versionFetched) { - ble_version_t version; - if (sd_ble_version_get(&version) == NRF_SUCCESS) { - snprintf(versionString, sizeof(versionString), "%u.%u", version.version_number, version.subversion_number); - versionFetched = true; - } else { - strncpy(versionString, "unknown", sizeof(versionString)); - } - } - - return versionString; -} - -/* (Valid values are -40, -20, -16, -12, -8, -4, 0, 4) */ -ble_error_t nRF51822n::setTxPower(int8_t txPower) -{ - unsigned rc; - if ((rc = sd_ble_gap_tx_power_set(txPower)) != NRF_SUCCESS) { - switch (rc) { - case NRF_ERROR_BUSY: - return BLE_STACK_BUSY; - case NRF_ERROR_INVALID_PARAM: - default: - return BLE_ERROR_PARAM_OUT_OF_RANGE; - } - } - - return BLE_ERROR_NONE; -} - -/**************************************************************************/ -/*! - @brief Initialises anything required to start using BLE - - @returns ble_error_t - - @retval BLE_ERROR_NONE - Everything executed properly - - @section EXAMPLE - - @code - - @endcode -*/ -/**************************************************************************/ -ble_error_t nRF51822n::init(void) -{ - /* ToDo: Clear memory contents, reset the SD, etc. */ - btle_init(); - - reset(); - - return BLE_ERROR_NONE; -} - -/**************************************************************************/ -/*! - @brief Resets the BLE HW, removing any existing services and - characteristics - - @returns ble_error_t - - @retval BLE_ERROR_NONE - Everything executed properly - - @section EXAMPLE - - @code - - @endcode -*/ -/**************************************************************************/ -ble_error_t nRF51822n::reset(void) -{ - wait(0.5); - - /* Wait for the radio to come back up */ - wait(1); - - return BLE_ERROR_NONE; -} - -void -nRF51822n::waitForEvent(void) -{ - sd_app_evt_wait(); -}