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ojisan/WiFi_Udp.rb

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WiFi_Udp
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WiFi_Udp.rb
#!mruby
#GR-CITRUS Version 2.15
#ここには全体で使用する変数を定義しています
@Usb = Serial.new(0,115200)
#################################
# I2C L3GD20
#################################
@L3GD20 = 0x6A # 0b01101011 ジャイロセンサのアドレス ADDRESS-> 0x6A or 0x6B
@L3GD20_dps = 0.0175 # 00:0.00875, 10:0.0175, 30:0.07 ジャイロセンサの分解能(deg/s)
@Interval = 500 # 間隔処理の間隔時間が入る(ms)
@Usb = Serial.new(0, 115200) #USBシリアル通信の初期化
@Dev = I2c.new(1) #I2C1 pin0,1を選択
#ESP8266を一度停止させる(リセットと同じ)
pinMode(5,1)
digitalWrite(5,0) # LOW:Disable
delay 500
digitalWrite(5,1) # HIGH:Enable
if( System.useWiFi() == 0)then
@Usb.println "WiFi Card can't use."
System.exit()
end
@Usb.println "WiFi Ready"
@Usb.println "WiFi Get Version"
@Usb.println WiFi.version
@Usb.println "WiFi disconnect"
@Usb.println WiFi.disconnect
@Usb.println "WiFi connecting"
#Usb.println WiFi.connect("TAROSAY","37000")
@Usb.println WiFi.connect("xxxxxxxxxx","xxxxxxxxxx")
@Usb.println "WiFi ipconfig"
@Usb.println WiFi.ipconfig
@Usb.println "Set wifi mode"
@Usb.println WiFi.setMode 3 #Station-Mode & SoftAPI-Mode
@Usb.println "Enable multiple connection"
@Usb.println WiFi.multiConnect 1
@Usb.println "Create a UDP transmission, for example, id is 4"
#UDP通信,WAMIKAN受信:5555, 送信: 5556
@Usb.println WiFi.udpOpen(4,"192.168.1.3",5555,5556)
#// Motor setup
def set_up()
#//L Motor PinSET
pinMode(14, 1)
pinMode(15, 1)
#//R Motor PinSET
pinMode(16, 1)
pinMode(17, 1)
end
def motor_stop()
pwm(14, 0)
pwm(15,0)
pwm(16, 0)
pwm(17, 0)
end
def l_motorf()
pwm(14, 0)
pwm(15, 255)
end
def l_motorb()
pwm(14, 255)
pwm(15, 0)
end
def r_motorf()
pwm(16, 0)
pwm(17, 255)
end
def r_motorb()
pwm(16, 255)
pwm(17, 0)
end
###################################
# I2CのWrite
###################################
def I2cWrite(id, add, dat)
@Dev.begin(id)
@Dev.lwrite(add)
@Dev.lwrite(dat)
@Dev.end(1)
end
###################################
# ジャイロセンサの初期化
###################################
def initGyro()
L3GD20_CTRL_REG1 = 0x20 # Control register
L3GD20_ENABLE = 0x0F
L3GD20_CTRL_REG4 = 0x23 # Control register
L3GD20_CTRL_REG3 = 0x22 # Control register
L3GD20_RANGE = 0x10 # 00:+-250dps, 10:+-500dps, 30:+-2000dps
#@L3GD20_dps = 0.0175 # 00:0.00875, 10:0.0175, 30:0.07
# Turn on all axes, disable power down
I2cWrite(@L3GD20, L3GD20_CTRL_REG1, L3GD20_ENABLE)
delay(100) #100ms待つ
# +-500dps
I2cWrite(@L3GD20, L3GD20_CTRL_REG4, L3GD20_RANGE)
delay(100) #100ms待つ
end
###################################
# I2CのREAD1
###################################
def I2cRead1(id, addL)
@Dev.begin(id)
@Dev.lwrite(addL)
@Dev.end(1)
@Dev.request(id, 1)
dl = @Dev.lread()
return dl
end
###################################
# I2CのREAD2
###################################
def I2cRead2(id, addL, addH)
@Dev.begin(id)
@Dev.lwrite(addL)
@Dev.end(1)
@Dev.request(id, 1)
dl = @Dev.lread()
@Dev.begin(id)
@Dev.lwrite(addH)
@Dev.end(1)
@Dev.request(id, 1)
dh = @Dev.lread()
return dh*256 + dl
end
#// main start
@Usb.println("main")
set_up()
motor_stop()
initGyro()
sw = 1
#UDP 送受信開始
#Usb.println "UDP受信した分がarray配列で返ります"
while (true) do
#500.times do
#角速度を取得します --------------------------------------
v0 = I2cRead2(@L3GD20, 0x28, 0x29)
v1 = I2cRead2(@L3GD20, 0x2A, 0x2B)
v2 = I2cRead2(@L3GD20, 0x2C, 0x2D)
if v0 > 32767
v0 = v0 - 65536
end
if v1 > 32767
v1 = v1 - 65536
end
if v2 > 32767
v2 = v2 - 65536
end
v0 = (v0 * @L3GD20_dps).round(1)
v1 = (v1 * @L3GD20_dps).round(1)
v2 = (v2 * @L3GD20_dps).round(1)
@Usb.print("gyairo:" + v0.to_s + "," + v1.to_s + "," + v2.to_s + "\n\r")
#---------------------------------------------------------
array = WiFi.recv 4 #受信データがない場合は array[0]に -1 が返ります
if(array[0] >= 0)then
@Usb.println array[0].to_s
if(array[0] == 0x66) then #//"f"
WiFi.send 4, "MC11"
l_motorf()
r_motorf()
@Usb.println("motor FF")
end
if(array[0] == 0x62) then #//"b"
WiFi.send 4, "MC21"
l_motorb()
r_motorb()
@Usb.println("motor back")
end
if(array[0] == 0x6C) then #//"l"
WiFi.send 4, "MC31"
l_motorb()
r_motorf()
@Usb.println("motor left")
end
if(array[0] == 0x72) then #//"r"
WiFi.send 4, "MC41"
l_motorf()
r_motorb()
@Usb.println("motor right")
end
if(array[0] == 0x73) then #//"s"
WiFi.send 4, "MC51"
motor_stop()
@Usb.println("motor stop")
end
if(array[0] == 0x6D) then #//"m"
@Usb.println WiFi.send(4, "MA" + 0x20.chr + v0.to_s + 0x20.chr + v1.to_s + 0x20.chr + v2.to_s + "\r\n").to_s
end
if(array[0] == 0x65) then #//"e"
@Usb.println WiFi.cClose 4
@Usb.println WiFi.disconnect
break
end
end
#LEDを点滅させます
led(sw)
sw = 1 - sw
delay 100
end
Raw
WiFi_Udp.vb
'Socketクラスの呼び出し
Imports System
Imports System.Text
Imports System.IO
Imports System.Net
Imports System.Net.Sockets
Imports Microsoft.VisualBasic
Public Class Form1
'共通変数の定義
Dim returnData As String
Dim temp As Long
'送信コマンドデータ定義
Dim Forward As Byte() = Encoding.ASCII.GetBytes("f")
Dim Back As Byte() = Encoding.ASCII.GetBytes("b")
Dim L_turn As Byte() = Encoding.ASCII.GetBytes("l")
Dim R_turn As Byte() = Encoding.ASCII.GetBytes("r")
Dim Stp As Byte() = Encoding.ASCII.GetBytes("s")
Dim Measure As Byte() = Encoding.ASCII.GetBytes("m")
Dim Shut As Byte() = Encoding.ASCII.GetBytes("e")
'Receiving Dimension
Dim threads1 As New System.Threading.Thread(AddressOf Receive)
Dim x_gyairo As String
Dim y_gyairo As String
Dim z_gyairo As String
Dim str As String = ""
Dim LoopFlag As Boolean = True
'Socketクラス インスタンス生成
Dim udpClient As New UdpClient(5555) 'ローカルポート5555でインスタンス生成
'リモートホスト定義（任意アドレス）
Dim RemoteIPEndPoint As IPEndPoint = Nothing '相手は特に決めない
Private Sub Form1_Load(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MyBase.Load
threads1.Start()
Timer1.Enabled = False 'タイマは停止させる
Timer3.Enabled = False
End Sub
Private Sub Timer3_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer1.Tick
Timer3.Enabled = False
TextBox2.Text = str
TextBox6.Text = x_gyairo
TextBox7.Text = y_gyairo
TextBox8.Text = z_gyairo
Timer3.Enabled = True
End Sub
Private Sub Button1_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button1.Click
'リモートの接続（IPアドレスで指定）
Try
udpClient.Connect("192.168.1.5", 5556) '通信相手を特定する
TextBox1.Text = "接続成功!"
Timer3.Interval() = 10 '10msecタイマ起動
Timer3.Enabled() = True 'タイマ１起動
Catch ex As Exception
TextBox1.Text = "接続失敗?"
End Try
End Sub
Private Sub Button2_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button2.Click
udpClient.Send(Shut, Shut.Length)
Timer3.Enabled = False
Timer1.Enabled = False 'タイマ１停止
udpClient.Close() 'UDPのクローズ
Close()
End Sub
Private Sub Button3_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button3.Click
'現在状態によりオンオフを反転制御
udpClient.Send(Forward, Forward.Length)
Button4.BackColor = Color.Green
Button5.BackColor = Color.Green
Button7.BackColor = Color.Green
Button8.BackColor = Color.Green
End Sub
Private Sub Button4_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button4.Click
'現在状態によりオンオフを反転制御
udpClient.Send(Back, Back.Length)
Button3.BackColor = Color.Green
Button5.BackColor = Color.Green
Button7.BackColor = Color.Green
Button8.BackColor = Color.Green
End Sub
Private Sub Button5_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button5.Click
udpClient.Send(L_turn, L_turn.Length)
Button3.BackColor = Color.Green
Button4.BackColor = Color.Green
Button7.BackColor = Color.Green
Button8.BackColor = Color.Green
End Sub
Private Sub Button7_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button7.Click
udpClient.Send(R_turn, R_turn.Length)
Button3.BackColor = Color.Green
Button4.BackColor = Color.Green
Button5.BackColor = Color.Green
Button8.BackColor = Color.Green
End Sub
Private Sub Button8_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button8.Click
udpClient.Send(Stp, Stp.Length)
Button3.BackColor = Color.Green
Button4.BackColor = Color.Green
Button5.BackColor = Color.Green
Button7.BackColor = Color.Green
End Sub
Private Sub Button6_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button6.Click
'計測要求用タイマ起動
If Timer1.Enabled = False Then
Timer1.Interval() = 500 '500msecタイマ起動
Timer1.Enabled() = True 'タイマ１起動
Button6.Text = "停止"
Else
Timer1.Enabled = False
Button6.Text = "計測"
End If
End Sub
Private Sub Timer1_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer1.Tick
'計測要求
udpClient.Send(Measure, Measure.Length)
End Sub
Private Sub Receive()
Do
Try
Dim receiveBytes As Byte() = udpClient.Receive(RemoteIPEndPoint)
'↑受信するまでこの行でとまっています。
Dim returnData As String = System.Text.Encoding.Default.GetString(receiveBytes)
str = returnData
'RemoteIpEndPoint.Address.ToString() '送信側のアドレスが格納されてます
'RemoteIpEndPoint.Port.ToString()　'送信側のポート番号が格納されてます
If receiveBytes(0) = &H4D Then 'Mの場合
' ***** motor 制御の応答の場合 *****
If receiveBytes(1) = &H43 Then 'Cの場合
If receiveBytes(2) = &H31 Then 'MC1前進の場合
'オンオフ状態により色とテキストを変更
If receiveBytes(3) = &H31 Then
Button3.BackColor = Color.Red
End If
ElseIf receiveBytes(2) = &H32 Then 'MC2後退の場合
'オンオフ状態により色とテキストを変更
If receiveBytes(3) = &H31 Then
Button4.BackColor = Color.Red
End If
ElseIf receiveBytes(2) = &H33 Then 'MC3左回転の場合
'オンオフ状態により色とテキストを変更
If receiveBytes(3) = &H31 Then
Button5.BackColor = Color.Red
End If
ElseIf receiveBytes(2) = &H34 Then 'MC4右回転の場合
'オンオフ状態により色とテキストを変更
If receiveBytes(3) = &H31 Then
Button7.BackColor = Color.Red
End If
ElseIf receiveBytes(2) = &H35 Then 'MC5STOPの場合
'オンオフ状態により色とテキストを変更
If receiveBytes(3) = &H31 Then
Button8.BackColor = Color.Red
End If
End If
' ***** ジャイロセンサ計測応答の場合 *****
ElseIf receiveBytes(1) = &H41 Then 'MAの場合
'ジャイロデータ変換と表示
Dim GyairoString As String = returnData
Dim GyairoArray() As String = Split(GyairoString)
x_gyairo = GyairoArray(1)
y_gyairo = GyairoArray(2)
z_gyairo = GyairoArray(3)
End If
End If
Catch err As Exception
'Console.WriteLine(err.ToString())
End Try
Loop While (LoopFlag)
End Sub
End Class
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