Dev/block split

main/.gitignore

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+.vscode
+.DS_Store

main/BlockModel.cpp

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+#include "Arduino.h"
+#include "BlockModel.h"
+
+BlockModel::BlockModel(){}
+BlockModel::BlockModel(int block_state, int right_speed, int left_speed, int time)
+{
+    set_block_state(block_state);
+    set_right_speed(right_speed);
+    set_left_speed(left_speed);
+    set_time(time);
+}
+
+int BlockModel::get_block_state()
+{
+    return this->block_state;
+}
+
+void BlockModel::set_block_state(int block_state)
+{
+    this->block_state = block_state;
+}
+
+int BlockModel::get_right_speed()
+{
+    return this->right_speed;
+}
+
+void BlockModel::set_right_speed(int right_speed)
+{
+    this->right_speed = right_speed;
+}
+
+int BlockModel::get_left_speed()
+{
+    return this->left_speed;
+}
+
+void BlockModel::set_left_speed(int left_speed)
+{
+    this->left_speed = left_speed;
+}
+
+int BlockModel::get_time()
+{
+    return this->time;
+}
+
+void BlockModel::set_time(int time)
+{
+    this->time = time;
+}
+
+int BlockModel::get_loop_count()
+{
+    return this->loop_count;
+}
+
+void BlockModel::set_loop_count(int loop_count)
+{
+    this->loop_count = loop_count;
+}

main/BlockModel.h

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+#ifndef _BlockModel_h
+#define _BlockModel_h
+
+#include "Arduino.h"
+
+class BlockModel
+{
+private:
+  int block_state;
+  int left_speed;
+  int right_speed;
+  int time;
+  int loop_count;
+
+public:
+  BlockModel();
+  BlockModel(int block_state, int right_speed, int left_speed, int time);
+  int get_block_state();
+  void set_block_state(int block_state);
+  int get_right_speed();
+  void set_right_speed(int right_speed);
+  int get_left_speed();
+  void set_left_speed(int left_speed);
+  int get_time();
+  void set_time(int time);
+  int get_loop_count();
+  void set_loop_count(int loop_count);
+};
+
+#endif

main/Motor.cpp

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+#include "Arduino.h"
+#include "Motor.h"
+
+Motor::Motor()
+{
+
+    pinMode(IN1, OUTPUT); // IN1
+    pinMode(IN2, OUTPUT); // IN2
+    pinMode(IN3, OUTPUT); // IN3
+    pinMode(IN4, OUTPUT); // IN4
+
+    // ピンのセットアップ
+    ledcSetup(CHANNEL_0, LEDC_BASE_FREQ, LEDC_TIMER_BIT);
+    ledcSetup(CHANNEL_1, LEDC_BASE_FREQ, LEDC_TIMER_BIT);
+    ledcSetup(CHANNEL_2, LEDC_BASE_FREQ, LEDC_TIMER_BIT);
+    ledcSetup(CHANNEL_3, LEDC_BASE_FREQ, LEDC_TIMER_BIT);
+
+    // ピンのチャンネルをセット
+    ledcAttachPin(IN1, CHANNEL_0);
+    ledcAttachPin(IN2, CHANNEL_1);
+    ledcAttachPin(IN3, CHANNEL_2);
+    ledcAttachPin(IN4, CHANNEL_3);
+
+    delay(100);
+}
+
+void Motor::run_motor(String state, uint32_t left_pwm, uint32_t right_pwm, int time)
+{
+    if (state.equals(""))
+    {
+    }
+    //TODO forward, left, right, backごとにコマンドチェック -> 実行
+
+    delay(time);
+    coast(); //空転
+}
+
+void Motor::forward(uint32_t left_pwm, uint32_t right_pwm)
+{
+    if (left_pwm > VALUE_MAX)
+    {
+        left_pwm = VALUE_MAX;
+    }
+    if (right_pwm > VALUE_MAX)
+    {
+        right_pwm = VALUE_MAX;
+    }
+
+    ledcWrite(CHANNEL_0, 0);
+    ledcWrite(CHANNEL_1, left_pwm);
+    ledcWrite(CHANNEL_2, 0);
+    ledcWrite(CHANNEL_3, right_pwm);
+}
+
+void Motor::back(uint32_t left_pwm, uint32_t right_pwm)
+{
+    if (left_pwm > VALUE_MAX)
+    {
+        left_pwm = VALUE_MAX;
+    }
+    if (right_pwm > VALUE_MAX)
+    {
+        right_pwm = VALUE_MAX;
+    }
+
+    ledcWrite(CHANNEL_0, left_pwm);
+    ledcWrite(CHANNEL_1, 0);
+    ledcWrite(CHANNEL_2, right_pwm);
+    ledcWrite(CHANNEL_3, 0);
+}
+
+void Motor::right(uint32_t pwm)
+{
+    if (pwm > VALUE_MAX)
+    {
+        pwm = VALUE_MAX;
+    }
+    ledcWrite(CHANNEL_0, 0);
+    ledcWrite(CHANNEL_1, pwm);
+    ledcWrite(CHANNEL_2, VALUE_MAX);
+    ledcWrite(CHANNEL_3, VALUE_MAX);
+}
+
+void Motor::left(uint32_t pwm)
+{
+    if (pwm > VALUE_MAX)
+    {
+        pwm = VALUE_MAX;
+    }
+    ledcWrite(CHANNEL_0, VALUE_MAX);
+    ledcWrite(CHANNEL_1, VALUE_MAX);
+    ledcWrite(CHANNEL_2, 0);
+    ledcWrite(CHANNEL_3, pwm);
+}
+
+void Motor::brake()
+{
+    ledcWrite(CHANNEL_0, VALUE_MAX);
+    ledcWrite(CHANNEL_1, VALUE_MAX);
+    ledcWrite(CHANNEL_2, VALUE_MAX);
+    ledcWrite(CHANNEL_3, VALUE_MAX);
+}
+
+void Motor::coast()
+{
+    ledcWrite(CHANNEL_0, 0);
+    ledcWrite(CHANNEL_1, 0);
+    ledcWrite(CHANNEL_2, 0);
+    ledcWrite(CHANNEL_3, 0);
+}

main/Motor.h

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+#ifndef _Motor_h
+#define _Motor_h
+
+#include "Arduino.h"
+
+class Motor
+{
+private:
+  // 使うピンの定義
+  int IN1 = 25;
+  int IN2 = 26;
+  int IN3 = 16;
+  int IN4 = 17;
+
+  // チャンネルの定義
+  int CHANNEL_0 = 0;
+  int CHANNEL_1 = 1;
+  int CHANNEL_2 = 2;
+  int CHANNEL_3 = 3;
+
+  int LEDC_TIMER_BIT = 8;   // PWMの範囲(8bitなら0〜255、10bitなら0〜1023)
+  int LEDC_BASE_FREQ = 490; // 周波数(Hz)
+  int VALUE_MAX = 255;      // PWMの最大値
+
+public:
+  Motor();
+  void run_motor(String state, uint32_t left_pwm, uint32_t right_pwm, int time);
+  void forward(uint32_t left_pwm, uint32_t right_pwm);
+  void back(uint32_t left_pwm, uint32_t right_pwm);
+  void right(uint32_t pwm);
+  void left(uint32_t pwm);
+  void brake();
+  void coast();
+};
+
+#endif

main/Sensor.cpp

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+#include "Arduino.h"
+#include "Sensor.h"
+
+Sensor::Sensor()
+{
+    //TODO ピンのセットアップ
+}

main/Sensor.h

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+#ifndef _Sensor_h
+#define _Sensor_h
+
+#include "Arduino.h"
+
+class Sensor
+{
+  private:
+    //TODO 使うピンの定義
+
+    public:
+    Sensor();
+};
+
+#endif

main/Udp.cpp

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+#include "Udp.h"
+#include "Arduino.h"
+#include <WiFi.h>
+#include <WiFiUdp.h>
+
+Udp::Udp(){}
+
+void Udp::setup_udp(char ssid[], char password[], String ip)
+{
+  IPAddress local_IP(192, 168, 1, 19);
+  IPAddress gateway(192, 168, 0, 1);
+  IPAddress subnet(255, 255, 255, 0);
+
+  WiFi.config(local_IP, gateway, subnet);
+  delay(100);
+
+  WiFi.begin(ssid, password);
+  delay(100);
+
+  Serial.print("WiFi connecting");
+  while (WiFi.status() != WL_CONNECTED)
+  {
+    Serial.print(".");
+    delay(100);
+  }
+  Serial.println(" connected");
+  Serial.println(WiFi.localIP());
+
+   Serial.println("Starting UDP");
+   wifi_udp.begin(local_port); // UDP通信の開始(引数はポート番号)
+   Serial.print("Local port: ");
+   Serial.println(local_port);
+}
+
+void Udp::recieve_packet()
+{
+  int packet_size = wifi_udp.parsePacket();
+
+  if (packet_size)
+  {
+    //UDP情報の表示
+    Serial.print("Received packet of size ");
+    Serial.println(packet_size);
+
+    // 実際にパケットを読む
+    wifi_udp.read(packet_buffer, UDP_TX_PACKET_MAX_SIZE);
+    Serial.println("Contents:");
+    Serial.println(packet_buffer);
+  }
+}
+
+String Udp::get_packet_buffer()
+{
+  return String(this->packet_buffer);
+}
+
+void Udp::clear_packet_buffer()
+{
+  int packetBuffer_length = strlen(this->packet_buffer);
+  memset(this->packet_buffer ,'\0',packetBuffer_length);
+}
+
+void Udp::send_data(IPAddress ip_send,String text)
+{ 
+  Serial.print("send...");
+  IPAddress remote_ip(192, 168, 1, 10);
+  char remote[] = "192.168.1.10";
+  //char message[] = "test";
+
+  wifi_udp.beginPacket(remote, local_port);
+  wifi_udp.printf("from ESP8266\r\n");
+  wifi_udp.endPacket();
+  delay(1000);
+}

main/Udp.h

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+#ifndef _Udp_h
+#define _Udp_h
+
+#include "Arduino.h"
+#include <WiFi.h>
+#include <WiFiUdp.h>
+
+#define UDP_TX_PACKET_MAX_SIZE 500
+
+class Udp
+{
+  private:
+    // wifiの設定
+
+    WiFiUDP wifi_udp;
+    int local_port = 10000; // ポート番号
+    char packet_buffer[UDP_TX_PACKET_MAX_SIZE];
+    String cmd_plus_split[UDP_TX_PACKET_MAX_SIZE] = {"\0"};
+    String cmd_and_split[UDP_TX_PACKET_MAX_SIZE] = {"\0"};
+
+  public:
+    Udp();
+    void setup_udp(char ssid[], char password[], String ip);
+    void recieve_packet();
+    void send_data(IPAddress ip_send,String text);
+    String get_packet_buffer();
+    void clear_packet_buffer();
+};
+
+#endif