{"id":9171,"date":"2016-08-02T08:44:22","date_gmt":"2016-08-01T23:44:22","guid":{"rendered":"https:\/\/www.appliot.co.jp\/lazurite-jp\/?p=9171"},"modified":"2016-08-02T08:44:22","modified_gmt":"2016-08-01T23:44:22","slug":"%e3%82%89%e3%81%9a%e3%82%89%e3%81%84%e3%81%a8%e5%a7%ab%e3%81%ae%e6%8c%91%e6%88%a6%e6%97%a5%e8%a8%98%ef%bc%88%e7%ac%ac17%e5%9b%9e%ef%bc%89%e3%83%a2%e3%83%bc%e3%82%bf%e3%83%bc%e3%82%92%e5%8b%95","status":"publish","type":"post","link":"https:\/\/www.appliot.co.jp\/lazurite-jp\/lazurite\/9171.html","title":{"rendered":"\u3089\u305a\u3089\u3044\u3068\u59eb\u306e\u6311\u6226\u65e5\u8a18\uff08\u7b2c17\u56de\uff09~\u30e2\u30fc\u30bf\u30fc\u3092\u52d5\u304b\u3057\u3066\u307f\u3088\u3046\u2461~"},"content":{"rendered":"

\"2\"<\/a><\/p>\n

\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u3063\u3066\uff1f<\/h2>\n

\u30cd\u30c3\u30c8\u3067\u8abf\u3079\u308b\u3068\u3001\u30b5\u30fc\u30dc\u306f\u300c\u8ffd\u5f93\u300d\u306e\u610f\u5473\u3067\u3001\u30b5\u30fc\u30dc\u30fb\u30e2\u30fc\u30bf\u30fc\u306f\u3001\u56de\u8ee2\u6570\uff08\uff1d\u901f\u5ea6\uff09\u306e\u5236\u5fa1\u3001\u505c\u6b62\u4f4d\u7f6e\uff08\uff1d\u89d2\u5ea6\uff09\u306e\u5236\u5fa1\u3092\u3059\u308b\u305f\u3081\u306e\u30e2\u30fc\u30bf\u30fc\u3001\u3068\u306e\u4e8b\u3067\u3059\u3002<\/p>\n

\u6700\u8fd1\u306e\u7528\u9014\u3068\u3057\u3066\u3001\u4e8c\u8db3\u6b69\u884c\u306e\u30ed\u30dc\u30c3\u30c8\u7b49\u306b\u4f7f\u7528\u3055\u308c\u308b\u3053\u3068\u304c\u591a\u3044\u305d\u3046\u3067\u3059\u3002<\/p>\n

\u8eca\u306e\u30bf\u30a4\u30e4\u306a\u3089\u3001\u524d\u9032\u30fb\u30d0\u30c3\u30af\u304cDC\u30e2\u30fc\u30bf\u30fc\u3067\u3001\u30cf\u30f3\u30c9\u30eb\u3092\u64cd\u4f5c\u3057\u3066\u5de6\u53f3\u306e\u65b9\u5411\u3092\u6c7a\u3081\u308b\u306e\u304c\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u3067\u3059\u3002<\/p>\n

\"stamp19\"<\/a>\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u306f\u3001\u9001\u3089\u308c\u308b\u4fe1\u53f7\u306e\u6642\u9593\u306e\u9577\u3055\u3067\u89d2\u5ea6\u304c\u6c7a\u307e\u308b\uff01<\/h3>\n

\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u306f\u3001\u9001\u3089\u308c\u305f\u4fe1\u53f7\u3092\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30fc\u3067\u51e6\u7406\u3059\u308b\u306e\u306b\u9069\u3057\u305f\u4fe1\u53f7\u306b\u5909\u63db\u3059\u308b\u88c5\u7f6e\u3084\u56de\u8def\u3092\u5185\u90e8\u306b\u5099\u3048\u3066\u3044\u307e\u3059\u3002<\/p>\n

\u306a\u306e\u3067\u3001\uff11ms\u306e\u4fe1\u53f7\u306e\u6642\u3092\u4e2d\u5fc3\u3068\u3059\u308b\u3068\u30010.5ms\u3067\u5de6\u3078\u6700\u5927\u50be\u304d\u30011.5\uff4d\uff53\u3067\u53f3\u306b\u6700\u5927\u50be\u304f\u3088\u3046\u306b\u51fa\u6765\u3066\u3044\u308b\u3093\u3067\u3059\u3002<\/p>\n

\"4\"<\/a><\/p>\n

ORIZURU\u306e\u5834\u5408\u3001\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306e\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3092\u64cd\u4f5c\u3057\u3066\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u3092\u52d5\u304b\u3057\u3066\u3044\u307e\u3059\u3002\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u306e\u5024\u3092\u6700\u5c0f\uff15\uff10\uff10\u03bc\uff53\u3001\u4e2d\u5fc3\uff11\uff10\uff10\uff10\u03bc\uff53\u3001\u6700\u5927\uff11\uff15\uff10\uff10\u03bc\uff53\u306b\u6307\u5b9a\u3055\u308c\u3066\u3044\u3066\u3001\u305d\u306e\u9593\u306e\u7d30\u304b\u3044\u5024\u306f\u30ec\u30d0\u30fc\u306e\u4f4d\u7f6e\u306b\u3088\u3063\u3066\u6c7a\u307e\u308a\u307e\u3059\u3002<\/p>\n

\u4fe1\u53f7\u306e\u9577\u3055\u3092\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u306b\u3069\u3046\u4f1d\u3048\u308c\u3070\u3088\u3044\u306e\u30fb\u30fb\u30fb\"stamp28\"<\/a><\/h3>\n

Lazurite\u3067\u306f\u305d\u306e\u96e3\u89e3\u306a\u64cd\u4f5c\u3092\u3001\u5c02\u7528\u306e\u30e2\u30fc\u30bf\u30fc\u95a2\u6570\u3092\u4f7f\u3063\u3066\u3001\u56de\u8def\u756a\u53f7\u30fb\u30d4\u30f3\u756a\u53f7\u3084\u6570\u5024\u3092\u5165\u529b\u3059\u308b\u3060\u3051\u3067\u7c21\u5358\u306b\u30e2\u30fc\u30bf\u30fc\u3092\u52d5\u304b\u305b\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u266aDC\u30e2\u30fc\u30bf\u30fc\u306e\u6642\u540c\u69d8\u3001\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u3067\u3082\u5c02\u7528\u95a2\u6570\u3092\u4f7f\u3044\u3001\u6570\u5024\u3092\u5165\u529b\u3057\u3066\u3001\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n

2\u3064\u306e\u30e2\u30fc\u30bf\u30fc\u3092\u52d5\u304b\u3059\u30d7\u30ed\u30b0\u30e9\u30e0<\/h2>\n

ORIZURU\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u304b\u3089\u7121\u7dda\u3067\u9001\u4fe1\u3055\u308c\u305f\u5024\u3092\u53d7\u4fe1\u3057\u3066\u3001\u30e2\u30fc\u30bf\u30fc\u3092\u52d5\u304b\u3059\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u3059\u2193\u2193\u2193<\/p>\n

[c]<\/p>\n

#define DEBUG<\/p>\n

#define SUBGHZ_CH 36
\n#define SUBGHZ_PANID 0xABCD
\nuint8_t rx_data[256];
\nuint32_t last_recv_time = 0;
\nSUBGHZ_STATUS rx;<\/p>\n

#define MOTOR_PS 17
\n#define MOTOR_PWM 2<\/p>\n

void setup(void)
\n{
\n SUBGHZ_MSG msg;
\n long myAddress;
\n#ifdef DEBUG
\n Serial.begin(115200);
\n#endif<\/p>\n

msg = SubGHz.init();
\n if(msg != SUBGHZ_OK)
\n {
\n SubGHz.msgOut(msg);
\n while(1){ }
\n }<\/p>\n

#ifdef DEBUG
\n myAddress = SubGHz.getMyAddress();
\n Serial.print("myAddress1 = ");
\n Serial.println_long(myAddress,HEX);
\n#endif
\n msg = SubGHz.begin(SUBGHZ_CH, SUBGHZ_PANID, SUBGHZ_100KBPS, SUBGHZ_PWR_1MW);
\n if(msg != SUBGHZ_OK)
\n {
\n SubGHz.msgOut(msg);
\n while(1){ }
\n }
\n msg = SubGHz.rxEnable(NULL);
\n if(msg != SUBGHZ_OK)
\n {
\n SubGHz.msgOut(msg);
\n while(1){ }
\n }
\n pinMode(25,OUTPUT);
\n digitalWrite(25,HIGH);<\/p>\n

\/\/ initializing motor
\n digitalWrite(MOTOR_PWM, LOW);
\n digitalWrite(MOTOR_PS, HIGH);<\/p>\n

pinMode(MOTOR_PWM,OUTPUT);
\n pinMode(MOTOR_PS,OUTPUT);<\/p>\n

hhb.init(3,1023);
\n hhb.attach(3,4,5);
\n hhb.attach(3,6,7);
\n hhb.write(3,0);
\n hhb.start(3);<\/p>\n

hsv.init(4, 24000);
\n hsv.attach(0,9);
\n hsv.attach(1,3);
\n hsv.attach(2,16);
\n hsv.attach(3,20);
\n hsv.write(0,map(0,-512,511,500,1500));
\n hsv.write(1,1);
\n hsv.write(2,map(0,-512,511,500,1500));
\n hsv.write(3,1);
\n hsv.start();<\/p>\n

return;
\n}<\/p>\n

void loop(void)
\n{
\n uint32_t get_time;
\n uint32_t delta_time;
\n short len;
\n short motor[3];<\/p>\n

do
\n {
\n len = SubGHz.readData(rx_data,sizeof(rx_data));
\n } while (len <= 0);
\n memcpy(motor,&rx_data[7],6);<\/p>\n

#ifdef DEBUG
\n \/\/ Serial Output
\n get_time = millis();
\n SubGHz.getStatus(NULL,&rx);
\n delta_time = get_time – last_recv_time;
\n last_recv_time = get_time;
\n Serial.print_long(delta_time,DEC);<\/p>\n

Serial.print(" ");
\n Serial.print_long((long)rx.rssi,DEC);<\/p>\n

Serial.print(" ");
\n Serial.print_long((long)rx.status,DEC);<\/p>\n

Serial.print(" ");
\n Serial.print_long(map(motor[0],-512,511,1000,2000),DEC);
\n Serial.print(" ");
\n Serial.print_long(map(motor[1],-512,511,1000,2000),DEC);
\n Serial.print(" ");
\n Serial.print_long((long)motor[2],DEC);<\/p>\n

Serial.println("");
\n#endif
\n hsv.write(0,map(motor[0],-512,511,1000,2000));
\n hsv.write(2,map(motor[1],-512,511,1000,2000));
\n hhb.write(3,(unsigned short)motor[2]);
\n hhb.update();
\n return;
\n}
\n[\/c]<\/p>\n

\u300e\uff48sv\u300f\u304c\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u7528\u306eLazurite\u5c02\u7528\u95a2\u6570\u3067\u3059\u3002<\/p>\n

Hardware H-Bridge\u30e9\u30a4\u30d6\u30e9\u30ea: hsv<\/h3>\n

\u30e2\u30fc\u30bf\u30fc\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u521d\u671f\u5316\uff1a<\/h4>\n

60\u884c\u76ee\uff1ahsv.init(4, 24000)\uff1b<\/p>\n

\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u3092\uff14\u500b\u4f7f\u3044\u3001\u5468\u671f\uff08\u9593\u9694\uff09\u306f\uff12\uff14\uff10\uff10\uff10\u03bc\uff53\uff08\uff12\uff14\uff4d\uff53\uff09\u3068\u3044\u3046\u5ba3\u8a00\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n

61\uff5e64\u884c\u76ee\uff1ahsv.attach(0,9)\uff1b\u3000hsv.attach(1,3)\uff1b\u3000hsv.attach(2,16)\uff1b\u3000hsv.attach(3,20)\uff1b<\/p>\n

\uff10\u756a\u56de\u8def\u306e\u51fa\u529b\u3092\uff19pin\uff1b\u3000\uff11\u756a\u30923pin\uff1b\u3000\uff12\u756a\u309216pin\uff1b\u3000\uff13\u756a\u309220pin\u306b\u3059\u308b<\/p>\n

65\u884c\u76ee\uff1ahsv.write(0,map(0,-512,511,500,1500));\/\/X\u8ef8<\/p>\n

67\u884c\u76ee\uff1ahsv.write(2,map(0,-512,511,500,1500));\/\/Y\u8ef8<\/p>\n

\uff10\u756a\u56de\u8def\u3068\uff12\u756a\u56de\u8def\u306e\u51fa\u529b\u3092\uff10\u306b\u3059\u308b\uff08\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u304c\uff10\u306e\u5024\u306e\u6642\u306b\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u3092\u4e2d\u5fc3\u4f4d\u7f6e\u306b\u8a2d\u5b9a\u3059\u308b\uff09<\/p>\n

66\u30fb68\u884c\u76ee\uff1ahsv.write(1,1)\uff1b\u3000hsv.write(3,1);<\/p>\n

\u30c0\u30df\u30fc<\/p>\n

map\u3068\u306f\uff1f \"stamp14\"<\/a><\/h3>\n

\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u3092\u64cd\u4f5c\u3057\u3066\u9001\u4fe1\u3055\u308c\u3066\u304f\u308b\u5024\u306f-512\uff5e511\u3067\u3001\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u306f500\uff5e1500\u3067\u3001\u7570\u306a\u3063\u3066\u3044\u307e\u3059\u3002\u305d\u3053\u3067\u3001\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u5074\u306e\u5024-512\uff5e511\u3092\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u5074\u306e\u5024500\uff5e1500\u306b\u7f6e\u304d\u63db\u3048\u3066\u304f\u308c\u308bmap\u95a2\u6570\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002<\/p>\n

\"11\"<\/a>\"6\"<\/a>\"10\"<\/a><\/p>\n

65\u884c\u76ee\u300167\u884c\u76ee\u3067\u306f\u3001map(0,-512,511,500,1500)\u3001\u3068\u306a\u3063\u3066\u3044\u3066\u3001\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306e\u5024\u304c\uff10\u306e\u6642\u306e\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u306e\u5024\u3092\u6c42\u3081\u308b\u95a2\u6570\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n

\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u304b\u3089\u9001\u3089\u308c\u305f\u30e2\u30fc\u30bf\u30fc\u306e\u5024\u3092\u53cd\u6620\u3059\u308b<\/h4>\n

110\u884c\u76ee\uff1ahsv.write(0,map(motor[0],-512,511,1000,2000));\/\/X\u8ef8<\/p>\n

111\u884c\u76ee\uff1ahsv.write(2,map(motor[1],-512,511,1000,2000));\/\/Y\u8ef8<\/p>\n

\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u304b\u3089\u53d7\u4fe1\u3057\u305f\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u306e\u5024\u306fmotor[0]\u3068[1]\u306b\u683c\u7d0d\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u305d\u308c\u3092\u3001map\u95a2\u6570\u3067\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u306e\u5024\u3092\u6c42\u3081\u3001\uff10\u756a\u56de\u8def\uff08X\u8ef8\uff09\u3068\uff12\u756a\u56de\u8def\uff08Y\u8ef8\uff09\u306b\u66f8\u304d\u3053\u3093\u3067\u3044\u307e\u3059\u3002<\/p>\n

\u52d5\u304b\u3057\u3066\u307f\u3088\u3046\uff01<\/h2>\n

DC\u30e2\u30fc\u30bf\u30fc<\/h4>\n

\uff11\uff09DC\u30e2\u30fc\u30bf\u30fc\u3068Lazurite\u3092\u4e0b\u306e\u56f3\u306e\u756a\u53f7\u3088\u3046\u306b\u7e4b\u304e\u307e\u3059\u3002\u203b\u7e4b\u3050\u3068\u304d\u306b\uff27\uff2e\uff24\u3068\uff15\uff36\u3092\u9593\u9055\u3048\u306a\u3044\u3067\u4e0b\u3055\u3044\uff01<\/span><\/p>\n

\"8\"<\/a>\u3000\u3000\"13\"<\/p>\n

2)LazuriteIDE\u3092\u8d77\u52d5\u3057\u3066\u3001\u30e2\u30fc\u30bf\u30fc\u3092\u52d5\u304b\u3059\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u8cbc\u308a\u4ed8\u3051\u307e\u3059\u3002\u753b\u9762\u5de6\u3001\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u300cHardwareHBredge\u300d\u300cHardwareServo\u300d\u306e\uff12\u7b87\u6240\u306b\u30c1\u30a7\u30c3\u30af\u3092\u3044\u308c\u307e\u3059\u3002<\/p>\n

\"15\"<\/a><\/p>\n

\uff13\uff09\u3082\u3046\u4e00\u5ea6LazuriteIDE\u3092\u8d77\u52d5\u3057\u3066\u3001\u4ee5\u524d\u4f5c\u3063\u305fORIZURU\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u8cbc\u308a\u4ed8\u3051\u307e\u3059\u3002\u30e2\u30fc\u30bf\u30fc\u5074\u306eCH\u3068PANID\u3068\u3042\u308f\u305b\u3001HOST_ADDRESS\u3092\u5165\u529b\u3057\u307e\u3059\u3002<\/p>\n

\"16\"<\/a><\/p>\n

\uff14\uff09\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306e\u5024\u304c\uff10\u306b\u306a\u3063\u3066\u3044\u308b\u4e8b\u3092\u78ba\u8a8d\u5f8c\u3001\u30de\u30a4\u30b3\u30f3\u30dc\u30fc\u30c9\u3078\u8ee2\u9001\u3057\u307e\u3059\u3002<\/p>\n

\u203b\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306e\u5024\u304c\uff10\u306b\u306a\u3063\u3066\u3044\u306a\u3044\u3068\u3001\u901a\u4fe1\u3057\u305f\u77ac\u9593\u306b\u30e2\u30fc\u30bf\u30fc\u304c\u56de\u308a\u59cb\u3081\u3061\u3083\u3044\u307e\u3059\u3002<\/p>\n