{"id":829,"date":"2020-01-01T16:24:56","date_gmt":"2020-01-01T07:24:56","guid":{"rendered":"https:\/\/dalomo.net\/blog\/?p=829"},"modified":"2020-01-01T16:37:38","modified_gmt":"2020-01-01T07:37:38","slug":"%e8%87%aa%e5%8b%95%e8%b5%b0%e8%a1%8c%e8%bb%8a%e3%81%abbluetooth%e3%81%ae%e6%a9%9f%e8%83%bd%e3%82%92%e8%bf%bd%e5%8a%a0%e3%81%97%e3%81%a6%e3%83%a9%e3%82%b8%e3%82%b3%e3%83%b3%e5%8c%96%e3%81%97%e3%81%9f","status":"publish","type":"post","link":"https:\/\/dalomo.net\/blog\/2020\/01\/01\/829\/","title":{"rendered":"\u81ea\u52d5\u8d70\u884c\u8eca\u306bBluetooth\u306e\u6a5f\u80fd\u3092\u8ffd\u52a0\u3057\u3066\u30e9\u30b8\u30b3\u30f3\u5316\u3057\u305f\u3044"},"content":{"rendered":"

Bluetooth\u30e9\u30b8\u30b3\u30f3<\/h1>\n

\u30bf\u30a4\u30c8\u30eb\u304c\u9577\u3044\u3002Bluetooth\u304c\u4f7f\u3048\u308b\u3053\u3068\u304c\u5206\u304b\u3063\u305f\u306e\u3067\u3001\u81ea\u52d5\u8d70\u884c\u8eca\u306b\u7d44\u307f\u8fbc\u3093\u3067\u3044\u304f\u3002<\/p>\n

basicMotion()<\/h2>\n
void basicMotion(char c) {\r\n\r\n  String s = String(c);\r\n\r\n  mySerial.println(s);\r\n  \r\n  if (s == \"8\") {\r\n    forward();\r\n  } else if (s == \"2\") {\r\n    reverse();\r\n  } else if (s == \"7\") {\r\n    turnLeft();\r\n  } else if (s == \"9\") {\r\n    turnRight();\r\n  } else if (s == \"4\") {\r\n    rotateLeft();\r\n  } else if (s == \"6\") {\r\n    rotateRight();\r\n  } else if (s == \"5\") {\r\n    brake();\r\n  }\r\n}<\/code><\/pre>\n
switch\u6587\u304b\u3089if\u6587\u306b\u5909\u3048\u305f\u3002switch\u6587\u3067\u306fint\u3068char\u3057\u304b\u6271\u3048\u306a\u3044\u307f\u305f\u3044\u3067\u3001\u6bd4\u8f03\u6f14\u7b97\u5b50\u3067\u3069\u3046\u3084\u3063\u3066\u6bd4\u8f03\u3059\u308a\u3083\u3044\u3044\u306e\u304b\u3088\u304f\u5206\u304b\u3089\u3093\u304b\u3063\u305f\u3002\u3067\u3001if\u6587\u306a\u3089\u6587\u5b57\u5217\u3082\u6271\u3048\u308b\u3060\u3057\u3053\u3063\u3061\u306b\u3057\u3088\u30fc\u3068\u601d\u3063\u3066\u66f8\u304d\u63db\u3048\u3066\u307f\u305f\u3082\u306e\u306e\u3001char\u306e\u307e\u307e\u3060\u3068\u5224\u5b9a\u306b\u5f15\u3063\u304b\u304b\u3063\u3066\u304f\u308c\u306a\u3044\u3002\u306a\u3093\u3067\u3084\u306d\u3093\u3068\u601d\u3063\u305f\u3089String()\u4f7f\u3048\u3063\u3066\u3053\u3068\u3060\u3063\u305f\u306e\u3067\u3001\u305d\u3046\u3057\u3066\u307f\u305f\u3089\u4e0a\u624b\u304f\u3044\u3063\u305f\u3002\u3042\u3068\u3001\u524d\u9032\u30fb\u5f8c\u9000\u30fb\u53f3\u6298\u30fb\u5de6\u6298\u30fb\u53f3\u65cb\u56de\u30fb\u5de6\u65cb\u56de\u3092\u305d\u308c\u305e\u308cf, r, tr, tl, rr, rl\u3068\u3057\u3066\u305d\u308c\u3092\u30b9\u30de\u30db\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u6253\u3061basicMotion\u5185\u3067\u5224\u65ad\u3057\u3066\u52d5\u304d\u3092\u6c7a\u3081\u308b\u307f\u305f\u3044\u306b\u3057\u305f\u3002<\/p>\n
\"\"<\/a><\/p>\n
\u3053\u3093\u306a\u611f\u3058\u3067\u30de\u30af\u30ed\u3092\u767b\u9332\u3057\u305f\u3002\u3067\u3082\u9001\u4fe1\u6587\u5b57\u5217\u304c2\u6587\u5b57\u306b\u306a\u308b\u3068\u3001\u5f8c\u9000\u3057\u304b\u3057\u3066\u304f\u308c\u306a\u304f\u306a\u3063\u305f\u3002\u306a\u3093\u3067\u3060\u308d\u30fc\u3068\u4e00\u65e6println\u3067\u8868\u793a\u3057\u3066\u307f\u305f\u3089<\/p>\n
\"\"<\/a><\/p>\n
\u3053\u3093\u306a\u611f\u3058\u3067\u30012\u6587\u5b57\u4e00\u7dd2\u306b\u9001\u4fe1\u3057\u3066\u308b\u3064\u3082\u308a\u304c1\u6587\u5b57\u305a\u3064\u306b\u306a\u3063\u3066\u305f\u3002\u305d\u308a\u3083\u52d5\u304d\u5909\u308f\u3089\u3093\u308f\u3002\u5206\u89e3\u3055\u308c\u305fr\u306e\u6587\u5b57\u3067\u5224\u5b9a\u3057\u3066\u308b\u304b\u3089\u5f8c\u9000\u3057\u304b\u3057\u306a\u304b\u3063\u305f\u3093\u3060\u306a\u3068\u308f\u304b\u3063\u305f\u3002\u3068\u3044\u3046\u3053\u3068\u3067\u524d\u9032\u30fb\u5f8c\u9000\u30fb\u53f3\u6298\u30fb\u5de6\u6298\u30fb\u53f3\u65cb\u56de\u30fb\u5de6\u65cb\u56de\u30928, 9, 7, 6, 4\u306b\u3059\u308b\u3068\u306a\u3093\u3060\u304b\u4e0a\u624b\u304f\u3044\u3063\u305f\u3002<\/p>\n
\"\"<\/a><\/p>\n
\u306a\u3093\u3067?<\/h3>\n
\u3042\u3084\u3075\u3084\u3060\u304c\u3001\u30b7\u30ea\u30a2\u30eb\u901a\u4fe1\u306eUART\u306e\u5834\u5408\u3001\u30c7\u30fc\u30bf\u306e\u3084\u308a\u53d6\u308a\u306f\u5927\u4f53<\/p>\n
\u30c7\u30fc\u30bf : 8bit
\n\u30d1\u30ea\u30c6\u30a3 : \u306a\u3057
\n\u30b9\u30c8\u30c3\u30d7\u30d3\u30c3\u30c8 : 1bit<\/p>\n
http:\/\/tri-s.world.coocan.jp\/SfStS_N64\/SfStS_Common\/UART\/Explain_UART.html#Data_Format<\/a><\/p><\/blockquote>\n
\u3068\u3044\u3046\u5f62\u5f0f\u3067\u3084\u308a\u53d6\u308a\u3055\u308c\u308b\u3002Bluetooth\u30e2\u30b8\u30e5\u30fc\u30eb\u3068\u30b9\u30de\u30db\u306e\u9593\u306e\u30b7\u30ea\u30a2\u30eb\u901a\u4fe1\u3067\u306f\u3001\u6587\u5b57\u306fASCII\u30b3\u30fc\u30c9\u306e\u5f62\u5f0f\u3067\u3084\u308a\u53d6\u308a\u3057\u3066\u3044\u308b\u307f\u305f\u3044\u3002ASCII\u30b3\u30fc\u30c9\u306f10\u9032\u308416\u9032\u306e\u5f62\u5f0f\u306b\u5909\u63db\u3055\u308c\u308b\u3002\u4f8b\u3048\u3070f\u3068\u3044\u30461\u6587\u5b57\u306f10\u9032\u3060\u3068102\u300116\u9032\u3060\u306866\u3068\u306a\u308b\u3002\u3053\u308c\u30922\u9032\u6570\u306b\u3059\u308b\u30681100110\u30677bit\u3001\u3067\u3001\u30b9\u30c8\u30c3\u30d7\u30d3\u30c3\u30c8\u30921bit\u3064\u3051\u30668bit\u306e\u30c7\u30fc\u30bf\u3068\u3057\u3066\u3084\u308a\u53d6\u308a\u3057\u3066\u308b\u3063\u3066\u3053\u3068\u306b\u306a\u308b\u3002\u305f\u3076\u3093\u3002\u306a\u306e\u30671\u6587\u5b57\u305a\u3064\u3057\u304b\u9001\u308c\u306a\u3044\u3063\u3066\u3053\u3068\u306b\u306a\u308b\u3093\u304b\u306a\u3002\u3067\u3001\u3053\u308c\u30922\u6587\u5b57\u4ee5\u4e0a\u3068\u3057\u3066\u51e6\u7406\u3059\u308b\u306b\u306f\u7d42\u4e86\u6587\u5b57\u304b\u306a\u3093\u304b\u3092\u3064\u3051\u308b\u3088\u3046\u306b\u3057\u3066\u3001\u7d42\u4e86\u6587\u5b57\u304c\u6765\u308b\u307e\u3067\u30c7\u30fc\u30bf\u3092\u5f85\u3064\u307f\u305f\u3044\u306a\u611f\u3058\u3067\u52d5\u304f\u3088\u3046\u306b\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u3057\u306a\u304d\u3083\u306a\u3089\u3093\u3068\u601d\u308f\u308c\u308b\u3002\u305d\u308c\u306f\u3081\u3093\u3069\u304f\u3055\u3044\u3002\u306a\u306e\u3067\u6570\u5b57\u306b\u3057\u305f\u3002<\/p>\n
\u3067\u3082\u3055\u3001serial.println()\u3068\u304b\u3067\u3084\u308a\u53d6\u308a\u3059\u308b\u3068\u304d\u306f\u305d\u3046\u3044\u3046\u306e\u610f\u8b58\u3057\u306a\u304f\u3066\u3082\u3061\u3083\u3093\u3068\u8907\u6570\u6587\u5b57\u304c\u8fd4\u3063\u3066\u304f\u308b\u3093\u3088\u306d\u3002\u6700\u521d\u3001\u8a66\u3057\u306bdelay(1000); serial.println(“hello”);\u3068\u304b\u306b\u3057\u305f\u3089\u3061\u3083\u3093\u3068\u9001\u3089\u308c\u3066\u304d\u305f\u3057\u3002\u3053\u306e\u9055\u3044\u306f\u4f55\u306a\u3093\u3060\u308d\u3046\u3001\u8b0e\u306f\u6df1\u307e\u308b\u3070\u304b\u308a\u3067\u3059\u306d\u3002wikipedia\u306eASCII\u3082\u53c2\u7167<\/a>\u3002<\/p>\n
loop()<\/h2>\n
\u3068\u3044\u3046\u3053\u3068\u3067loop()\u5185\u3082\u3061\u3087\u3063\u3068\u5909\u3048\u305f\u3002<\/p>\n
void loop() {\r\n  \r\n  if (mySerial.available() > 0) {\r\n    char c = mySerial.read();\r\n    basicMotion(c);\r\n  }\r\n  if (withinDistance()) {\r\n    avoid();\r\n  }\r\n\r\n}<\/code><\/pre>\n
\u524d\u306bcollisionAvoid()\u3092\u4f5c\u3063\u3066\u307f\u305f\u306f\u3044\u3044\u3051\u3069\u3082\u3001\u305d\u306e\u307e\u307e\u3060\u3068\u4f55\u3084\u4e0a\u624b\u304f\u52d5\u304b\u306a\u3044\u3002collisionAvoid()\u5185\u3067delay\u3092\u4f7f\u3063\u3066\u3044\u305f\u306e\u3067\u3001\u305d\u306e\u9593\u306f\u64cd\u4f5c\u3092\u53d7\u3051\u4ed8\u3051\u306a\u3044\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u305f\u308f\u3051\u3060\u3002\u3053\u306e\u30e1\u30bd\u30c3\u30c9\u306f\u81ea\u52d5\u8d70\u884c\u306e\u6642\u306b\u5fc5\u8981\u3060\u3063\u305f\u308f\u3051\u306a\u306e\u3067\u3001\u601d\u3044\u5207\u3063\u3066\u6d88\u3057\u305f\u3002\u3067\u4e0a\u8a18\u306e\u3088\u3046\u306b\u306a\u3063\u305f\u3002\u610f\u56f3\u3068\u3057\u3066\u306f\u3001\u30bb\u30f3\u30b5\u30fc\u3092\u8aad\u307f\u3064\u3064\u3001\u64cd\u4f5c\u3082\u53d7\u3051\u3064\u3064\u3001\u3063\u3066\u306e\u3092\u64ec\u4f3c\u7684\u306b\u3067\u3082\u540c\u6642\u306b\u3084\u308a\u305f\u3044!\u3066\u3044\u3046\u611f\u3058\u3002\u5168\u4f53\u56f3\u306f\u6b21\u30da\u30fc\u30b8\u3002<\/p>\n
\u914d\u7dda<\/h2>\n
\"\"<\/a><\/p>\n
\u6012\u9aea\u5929\u3092\u885d\u304f\u611f\u3058\u306b\u306a\u3063\u305f\u3002\u7dda\u3044\u3063\u3071\u3044\u3060\u30fc\u3002<\/p>\n
\u52d5\u753b\u306f\u3068\u308c\u3093\u304b\u3063\u305f\u3002\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u52d5\u304b\u3059\u306e\u3068\u52d5\u753b\u64ae\u5f71\u3092\u540c\u6642\u306b\u3084\u308c\u306a\u3044\u2026\u6b8b\u5ff5\u3002<\/p>\n
<\/p>\n
\u30b9\u30b1\u30c3\u30c1<\/h2>\n
#define PIN_IN_A1 9\r\n#define PIN_IN_A2 10\r\n#define PIN_IN_B1 15\r\n#define PIN_IN_B2 11\r\n#define TRG_PIN 2\r\n#define ECHO_PIN 3\r\nlong randomNum = 0;\r\ndouble Duration = 0;\r\ndouble Distance = 0;\r\n#include <SoftwareSerial.h>\r\nSoftwareSerial mySerial(16, 14);\/\/RX, TX\r\n\r\nvoid setup() {\r\n  pinMode(PIN_IN_A1, OUTPUT);\r\n  pinMode(PIN_IN_A2, OUTPUT);\r\n  pinMode(PIN_IN_B1, OUTPUT);\r\n  pinMode(PIN_IN_B2, OUTPUT);\r\n  pinMode(TRG_PIN, OUTPUT);\r\n  digitalWrite(TRG_PIN, LOW);\r\n  pinMode(ECHO_PIN, INPUT);\r\n  randomSeed(analogRead(0));\r\n  mySerial.begin(9600);\r\n}\r\n\r\nvoid forward() {\r\n  digitalWrite(PIN_IN_A1, HIGH);\r\n  digitalWrite(PIN_IN_A2, LOW);\r\n  digitalWrite(PIN_IN_B1, HIGH);\r\n  digitalWrite(PIN_IN_B2, LOW);\r\n}\r\n\r\nvoid brake() {\r\n  digitalWrite(PIN_IN_A1, LOW);\r\n  digitalWrite(PIN_IN_A2, LOW);\r\n  digitalWrite(PIN_IN_B1, LOW);\r\n  digitalWrite(PIN_IN_B2, LOW);\r\n}\r\n\r\nvoid reverse() {\r\n  digitalWrite(PIN_IN_A1, LOW);\r\n  digitalWrite(PIN_IN_A2, HIGH);\r\n  digitalWrite(PIN_IN_B1, LOW);\r\n  digitalWrite(PIN_IN_B2, HIGH);\r\n}\r\n\r\nvoid coast() {\r\n  digitalWrite(PIN_IN_A1, HIGH);\r\n  digitalWrite(PIN_IN_A2, HIGH);\r\n  digitalWrite(PIN_IN_B1, HIGH);\r\n  digitalWrite(PIN_IN_B2, HIGH);\r\n}\r\n\r\nvoid turnLeft() {\r\n  digitalWrite(PIN_IN_A1, LOW);\r\n  digitalWrite(PIN_IN_A2, LOW);\r\n  digitalWrite(PIN_IN_B1, HIGH);\r\n  digitalWrite(PIN_IN_B2, LOW);\r\n}\r\n\r\nvoid turnRight() {\r\n  digitalWrite(PIN_IN_A1, HIGH);\r\n  digitalWrite(PIN_IN_A2, LOW);\r\n  digitalWrite(PIN_IN_B1, LOW);\r\n  digitalWrite(PIN_IN_B2, LOW);\r\n}\r\n\r\nvoid rotateLeft() {\r\n  digitalWrite(PIN_IN_A1, LOW);\r\n  digitalWrite(PIN_IN_A2, HIGH);\r\n  digitalWrite(PIN_IN_B1, HIGH);\r\n  digitalWrite(PIN_IN_B2, LOW);\r\n}\r\n\r\nvoid rotateRight() {\r\n  digitalWrite(PIN_IN_A1, HIGH);\r\n  digitalWrite(PIN_IN_A2, LOW);\r\n  digitalWrite(PIN_IN_B1, LOW);\r\n  digitalWrite(PIN_IN_B2, HIGH);\r\n}\r\n\r\ndouble measureDistance() {\r\n  digitalWrite(TRG_PIN, HIGH);\r\n  delayMicroseconds(10);\r\n  digitalWrite(TRG_PIN, LOW);\r\n  Duration = pulseIn(ECHO_PIN, HIGH);\r\n  if (Duration > 0) {\r\n    Duration = Duration \/ 2; \/\/\u5f80\u5fa9\u8ddd\u96e2\u3092\u534a\u5206\u306b\u3059\u308b\r\n    Distance = Duration * 340 * 100 \/ 1000000; \/\/ \u97f3\u901f\u3092340m\/s\u306b\u8a2d\u5b9a\r\n  }\r\n  return Distance;\r\n}\r\n\r\nvoid avoid() {\r\n  reverse();\r\n  delay(1000);\r\n  coast();\r\n  rotateRight();\r\n  delay(500);\r\n  coast();\r\n}\r\n\r\nvoid basicMotion(char c) {\r\n\r\n  String s = String(c);\r\n\r\n  mySerial.println(s);\r\n  \r\n  if (s == \"8\") {\r\n    forward();\r\n  } else if (s == \"2\") {\r\n    reverse();\r\n  } else if (s == \"7\") {\r\n    turnLeft();\r\n  } else if (s == \"9\") {\r\n    turnRight();\r\n  } else if (s == \"4\") {\r\n    rotateLeft();\r\n  } else if (s == \"6\") {\r\n    rotateRight();\r\n  } else if (s == \"5\") {\r\n    brake();\r\n  }\r\n}\r\n\r\nboolean withinDistance() {\r\n  double d = 0;\r\n  d = measureDistance();\r\n  if (d < 10) {\r\n    return true;\r\n  } else {\r\n    return false;\r\n  }\r\n}\r\n\r\nvoid loop() {\r\n\r\n  if (mySerial.available() > 0) {\r\n    char c = mySerial.read();\r\n    basicMotion(c);\r\n  }\r\n  if (withinDistance()) {\r\n    avoid();\r\n  }\r\n}<\/code><\/pre>\n
 <\/p>\n","protected":false},"excerpt":{"rendered":"
Bluetooth\u30e9\u30b8\u30b3\u30f3 \u30bf\u30a4\u30c8\u30eb\u304c\u9577\u3044\u3002Bluetooth\u304c\u4f7f\u3048\u308b\u3053\u3068\u304c\u5206\u304b\u3063\u305f\u306e\u3067\u3001\u81ea\u52d5\u8d70\u884c\u8eca\u306b\u7d44\u307f\u8fbc\u3093\u3067\u3044\u304f\u3002 basicMotion() void basicMotion(char c) { String s  … \u7d9a\u304d\u3092\u8aad\u3080 →<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":832,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"inline_featured_image":false,"footnotes":""},"categories":[2],"tags":[69,78,54],"class_list":["post-829","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-2","tag-arduino","tag-bluetooth","tag-54"],"_links":{"self":[{"href":"https:\/\/dalomo.net\/blog\/wp-json\/wp\/v2\/posts\/829","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/dalomo.net\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/dalomo.net\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/dalomo.net\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/dalomo.net\/blog\/wp-json\/wp\/v2\/comments?post=829"}],"version-history":[{"count":5,"href":"https:\/\/dalomo.net\/blog\/wp-json\/wp\/v2\/posts\/829\/revisions"}],"predecessor-version":[{"id":838,"href":"https:\/\/dalomo.net\/blog\/wp-json\/wp\/v2\/posts\/829\/revisions\/838"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/dalomo.net\/blog\/wp-json\/wp\/v2\/media\/832"}],"wp:attachment":[{"href":"https:\/\/dalomo.net\/blog\/wp-json\/wp\/v2\/media?parent=829"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/dalomo.net\/blog\/wp-json\/wp\/v2\/categories?post=829"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/dalomo.net\/blog\/wp-json\/wp\/v2\/tags?post=829"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}