robo 8080
iOSのBLEコントローラアプリ「RCBController」とmbed HRM1017を接続し、RCサーボモータを操作するテストプログラムです。
Dependencies: BLE_API Servo mbed nRF51822
Fork of
BLE_RCBController2
by 
Junichi Katsu
• ライブラリ類はUpdateしないでください。コンパイルエラーになります。
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。
Diff: main.cpp
- Revision:
- 5:d6d898857b2a
- Parent:
- 2:dd85fdc18224
--- a/main.cpp Wed Aug 20 13:41:01 2014 +0000
+++ b/main.cpp Fri Sep 19 04:04:05 2014 +0000
@@ -1,8 +1,9 @@
#include "mbed.h"
#include "BLEDevice.h"
#include "RCBController.h"
+#include "Servo.h"
-#define DBG 1
+#define DBG 0
BLEDevice ble;
Serial pc(USBTX, USBRX);
@@ -10,6 +11,7 @@
DigitalOut ConnectStateLed(LED1);
PwmOut ControllerStateLed(LED2);
+Servo servo1(P0_28), servo2(P0_29);
/* RCBController Service */
static const uint16_t RCBController_service_uuid = 0xFFF0;
@@ -24,7 +26,7 @@
RCBController controller;
-void onConnected(uint16_t h)
+void onConnected(Gap::Handle_t handle, const Gap::ConnectionParams_t *params)
{
ConnectStateLed = 0;
#if DBG
@@ -32,7 +34,7 @@
#endif
}
-void onDisconnected(uint16_t h)
+void onDisconnected(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
{
ble.startAdvertising();
ConnectStateLed = 1;
@@ -43,11 +45,11 @@
// GattEvent
-void onDataWritten(uint16_t charHandle)
+void onDataWritten(uint16_t charHandle, const GattCharacteristicWriteCBParams *params)
{
- if (charHandle == ControllerChar.getHandle()) {
+ if (charHandle == ControllerChar.getValueAttribute().getHandle()) {
uint16_t bytesRead;
- ble.readCharacteristicValue(ControllerChar.getHandle(),RCBControllerPayload, &bytesRead);
+ ble.readCharacteristicValue(ControllerChar.getValueAttribute().getHandle(),RCBControllerPayload, &bytesRead);
memcpy( &controller.data[0], RCBControllerPayload, sizeof(controller));
#if DBG
@@ -55,6 +57,8 @@
controller.data[5],controller.data[6],controller.data[7],controller.data[8],controller.data[9]);
#endif
ControllerStateLed = (float)controller.status.LeftAnalogLR / 255.0;
+ servo1 = (float)controller.status.LeftAnalogUD / 255.0;
+ servo2 = (float)controller.status.LeftAnalogLR / 255.0;
}
}
@@ -69,6 +73,11 @@
#if DBG
pc.printf("Start\n\r");
#endif
+ ConnectStateLed = 1;
+ servo1.calibrate(0.001,180.0);
+ servo2.calibrate(0.001,180.0);
+ servo1 = 0.5;
+ servo2 = 0.5;
ble.init();
ble.onConnection(onConnected);