X-Git-Url: http://git.osdn.net/view?a=blobdiff_plain;f=main.cpp;fp=main.cpp;h=071126130d626f74cf4c04ec010de796226da829;hb=4ed3a2c7224fe2866f3f732f9a0c9a8c8bc5b493;hp=7645d2c1ff45b18e51b9897c6de182b1ac7bc7fe;hpb=7cc1ef62597aac91cb73bf1b1671ddf719329e7b;p=tondenhei%2Fet2013.git

diff --git a/main.cpp b/main.cpp
index 7645d2c..0711261 100644
--- a/main.cpp
+++ b/main.cpp
@@ -3,6 +3,7 @@
 // ECRobot++ API
 #include "Lcd.h"
 #include "Bluetooth.h"
+#include "BTConnection.h"
 #include "Clock.h"
 #include "GyroSensor.h"
 #include "LightSensor.h"
@@ -23,7 +24,7 @@ using namespace ecrobot;
 
 /* sample_c4ƒ}ƒNƒ */
 #define DEVICE_NAME       "ET277"  /* Bluetooth’ʐM—pƒfƒoƒCƒX–¼ */					/* ƒ`[ƒ€ID‚ɕύX‚µ‚Ä‚­‚¾‚³‚¢ */
-#define PASS_KEY          "2345" /* Bluetooth’ʐM—pƒpƒXƒL[ */						/* ŒÅ—L‚̃pƒXƒL[‚ðÝ’肵‚Ä‚­‚¾‚³‚¢ */
+#define PASS_KEY          "1234" /* Bluetooth’ʐM—pƒpƒXƒL[ */						/* ŒÅ—L‚̃pƒXƒL[‚ðÝ’肵‚Ä‚­‚¾‚³‚¢ */
 #define CMD_START         '1'    /* ƒŠƒ‚[ƒgƒXƒ^[ƒgƒRƒ}ƒ“ƒh */
 #define CMD_STOP          '9'    /* ƒŠƒ‚[ƒgƒXƒgƒbƒvƒRƒ}ƒ“ƒh */
 
@@ -57,18 +58,6 @@ ETLineTracer tracer(linepos,runner);
 ETTailControl tailcontroler(motorT,0);
 ContextStuff::Context context;
 
-/* ƒfƒoƒCƒX‰Šú‰»—pƒtƒbƒNŠÖ” */
-/* ‚±‚̊֐”‚ÍnxtOSEK‹N“®Žž‚ÉŽÀs‚³‚ê‚Ü‚·B */
-void ecrobot_device_initialize()
-{
-	/* ƒZƒ“ƒTAƒ‚[ƒ^‚È‚Ç‚ÌŠeƒfƒoƒCƒX‚̏‰Šú‰»ŠÖ”‚ð
-	 * ‚±‚±‚ÅŽÀ‘•‚·‚邱‚Æ‚ª‚Å‚«‚Ü‚·
-	 * Ë@ŒõƒZƒ“ƒTÔFLED‚ðON‚É‚·‚é
-	 */
-	//ecrobot_set_light_sensor_active(SENSOR_LIGHT);
-	ecrobot_init_bt_slave(PASS_KEY); /* Bluetooth’ʐM‰Šú‰» */						//ex4
-}
-
 /* ƒfƒoƒCƒXI—¹—pƒtƒbƒNŠÖ” */
 /* ‚±‚̊֐”‚ÍSTOP‚Ü‚½‚ÍEXITƒ{ƒ^ƒ“‚ª‰Ÿ‚³‚ꂽŽž‚ÉŽÀs‚³‚ê‚Ü‚·B */
 void ecrobot_device_terminate()
@@ -130,10 +119,39 @@ BOOL Bluetooth_isReceived(char cmd)
 	return (BOOL)come;
 }
 
+bool is_touched(TouchSensor& touch,ETTailControl& tailcontroler)
+{
+    tailcontroler.Control();
+    if(touch.isPressed()){
+	    systick_wait_ms(30);
+        while(touch.isPressed()){
+            tailcontroler.Control();
+        }
+	    systick_wait_ms(30);
+        return true;
+    }
+    return false;
+}
+
+
+void waitstart(TouchSensor& touch,ETTailControl& tailcontroler,char cmd)
+{
+    /* ƒ^ƒbƒ`ƒZƒ“ƒT‚ª‰Ÿ‚³‚ê‚é‚܂ŁA‘Ò‚¿‘±‚¯‚é */
+    while(1){
+	    if (is_touched(touch,tailcontroler)){
+		    break;
+	    }
+	    if (Bluetooth_isReceived(CMD_START)){									
+		    break;
+	    }
+    }
+}
 
 TASK(TaskMain)
 {
-    bt.setFriendlyName(DEVICE_NAME);
+    //bt.setFriendlyName(DEVICE_NAME);
+	BTConnection btConnection(bt, lcd, nxt);
+	btConnection.connect(PASS_KEY);
 	lcd.clear();
 	lcd.putf("s", "Hello World");
 	lcd.disp();
@@ -146,11 +164,7 @@ TASK(TaskMain)
 	unsigned long sum = 0;
 	char str[16+1];
 	// ƒWƒƒƒCƒ
-	while(!touch.isPressed()){
-        tailcontroler.Control();
-	}
-	while(touch.isPressed()){
-	}
+	while(!is_touched(touch,tailcontroler)) {}
 	for(int i=0;i<sum_num;i++){
 		sum += gyro.get();
 		clock.wait(10);
@@ -164,11 +178,7 @@ TASK(TaskMain)
 	speaker.playTone(1000,100,50);
 
 	// ”’
-	while(!touch.isPressed()){
-        tailcontroler.Control();
-	}
-	while(touch.isPressed()){
-	}
+	while(!is_touched(touch,tailcontroler)) {}
 	sum = 0;
 	for(int i=0;i<sum_num;i++){
 		sum += light.getBrightness();
@@ -183,11 +193,7 @@ TASK(TaskMain)
 	speaker.playTone(1200,100,50);
 
 	// •
-	while(!touch.isPressed()){
-        tailcontroler.Control();
-	}
-	while(touch.isPressed()){
-	}
+	while(!is_touched(touch,tailcontroler)) {}
 	sum = 0;
 	for(int i=0;i<sum_num;i++){
 		sum += light.getBrightness();
@@ -201,19 +207,9 @@ TASK(TaskMain)
 	lcd.disp();
 	speaker.playTone(1400,100,50);
 
+    //wait for touch or bluetooth.
+    waitstart(touch,tailcontroler,CMD_START);
 
-	while(!touch.isPressed()){
-        tailcontroler.Control();
-	}
-	while(touch.isPressed()){
-	}
-/*    while(1){
-        tailcontroler.Control();
-        if(Bluetooth_isReceived(CMD_START)){
-            break;
-        }
-    }
-*/
 	tailcontroler.SetAngle(ETTailControl::ANGLE_DRIVE);
     context.SetETLineTracer(&tracer);
 	TerminateTask();