Created
February 1, 2016 13:02
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高専ロボコン2015 (福島 「ぐる輪」) コントローラー用プログラム(ロボット側)
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#include <ESP8266WiFi.h> | |
#include <WiFiClient.h> | |
#include <WiFiUDP.h> | |
// Variable setting | |
int DATA; | |
char rcvBUFF_Serial[40]; | |
char WiFibuff[10]; | |
// UDP setting | |
WiFiUDP UDP; | |
// WiFi setting | |
IPAddress myIP(192, 168, 4, 1); | |
IPAddress EsakaIP (192, 168, 4, 5); | |
IPAddress HOSTIP (192, 168, 4, 3); | |
const char *ssid = "GURURIN_NITFC_B"; | |
const char *password = "1145141919"; | |
void rcvWiFi() { | |
UDP.read(WiFibuff, 40); | |
Serial.print(WiFibuff); | |
Serial.write(0x0A); | |
UDP.flush(); | |
} | |
void sendWiFi(char byteData[], int host = 0) { | |
switch (host) { | |
case 1: | |
if (UDP.beginPacket(EsakaIP, 893)) { | |
UDP.write(byteData); | |
UDP.endPacket(); | |
} | |
default: | |
if (UDP.beginPacket(HOSTIP, 893)) { | |
UDP.write(byteData); | |
UDP.endPacket(); | |
} | |
} | |
} | |
inline void rcvSerial() { | |
char rcvDATA; | |
static int rcvCOUNT = 0; | |
rcvDATA = Serial.read(); | |
rcvBUFF_Serial[rcvCOUNT] = rcvDATA; | |
rcvCOUNT++; | |
if (rcvDATA == 0x0A) { | |
sendWiFi(rcvBUFF_Serial); | |
rcvCOUNT = 0; | |
memset(rcvBUFF_Serial, '\0', 40); | |
} | |
else if (rcvCOUNT >= 40) { | |
rcvCOUNT = 0; | |
memset(rcvBUFF_Serial, '\0', 40); | |
} | |
} | |
void setup() { | |
pinMode(4, OUTPUT); | |
delay(1000); // waitTime | |
WiFi.softAP(ssid, password); // setting SSID and Password | |
WiFi.config(myIP, WiFi.gatewayIP(), WiFi.subnetMask()); // setting IP Address | |
UDP.begin(893); // setting UDP port | |
Serial.begin(115200, SERIAL_8E1); | |
digitalWrite(4, HIGH); | |
} | |
void loop() { | |
if (Serial.available() > 0) { | |
rcvSerial(); | |
} | |
if (UDP.parsePacket() > 0) { | |
rcvWiFi(); | |
} | |
} |
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