#include <SPI.h> // for Ethernet.h #include <Ethernet.h> // for Ethernet #include <Servo.h> #define SERVOPIN1 (7) #define SERVOPIN2 (8) #define LINEBUFFERSIZE (128) #define DELIMITER ("&") Servo myservo1; // create servo object to control a servo Servo myservo2; // create servo object to control a servo unsigned char MACADDRESS[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED }; unsigned char IPADDRESS[] = { 192, 168, 1, 177 }; EthernetServer g_server(80); void setup() { Ethernet.begin(MACADDRESS, IPADDRESS); g_server.begin(); myservo1.attach(SERVOPIN1); // attaches the servo on pin to the servo object myservo2.attach(SERVOPIN2); Serial.begin(9600); } // HTML出力 void PrintHtml( EthernetClient& client, boolean sw1, boolean sw2, boolean sw1_off, boolean sw2_off) { client.println("HTTP/1.1 200 OK"); client.println("Content-Type: text/html"); client.println(); client.println("<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.01 Transitional//EN\" \"http://www.w3.org/TR/html4/loose.dtd\">"); client.println("<html lang=\"ja\">"); client.println("<head>"); client.println("<meta http-equiv=\"Content-Type\" content=\"text/html; charset=UTF-8\">"); client.println("<meta http-equiv=\"Content-Style-Type\" content=\"text/css\">"); client.println("<title></title>"); client.println("</head>"); client.println("<body>"); client.println("<p>"); client.print("SW1 : "); client.print( sw1 ? "ON" : "off" ); client.println("<br>"); client.print("SW2 : "); client.print( sw2 ? "ON" : "off" ); client.println("<br>"); client.println("<br>"); client.println("<hr>"); client.println("<form method=\"post\" action=\"\">"); client.print("<input type=\"radio\" name=\"sw1\" value=\"0\""); client.println(">SW1 OFF"); client.print("<input type=\"radio\" name=\"sw1\" value=\"1\"" ); client.println(">SW1 ON<br>"); client.print("<input type=\"radio\" name=\"sw2\" value=\"0\""); client.println(">SW2 OFF"); client.print("<input type=\"radio\" name=\"sw2\" value=\"1\"" ); client.println(">SW2 ON<br>"); client.println("<br>"); client.println("<input type=\"submit\" value=\"送信\">"); client.println("<input type=\"reset\" value=\"リセット\"></form>"); client.println("<hr>"); client.println("</body>"); client.println("</html>"); } boolean AnalyzeLineString( char* pszLine, boolean& rbSw1, boolean& rbSw2, boolean& rbSw1_off, boolean& rbSw2_off) { char* pszToken = strtok(pszLine, DELIMITER); while(pszToken) { if( 5 == strlen(pszToken) && 0 == strncmp(pszToken, "sw", 2) ) { Serial.println(pszToken); Serial.println(pszToken[2]); Serial.println(pszToken[4]); if('1' == pszToken[2] && '1' == pszToken[4]){ Serial.println('rbsw1 fired.'); rbSw1 = true; rbSw1_off = false; } else if('1' == pszToken[2] && '0' == pszToken[4]){ rbSw1_off = true; rbSw1 = false; } else if( '2' == pszToken[2] && '1' == pszToken[4]){ rbSw2 = true; rbSw2_off = false; } else if( '2' == pszToken[2] && '0' == pszToken[4]){ rbSw2_off = true; rbSw2 = false; } } pszToken = strtok(NULL, DELIMITER); } return true; } boolean readHttpRequest( EthernetClient& client, boolean& rbSw1, boolean& rbSw2, boolean& rbSw1_off, boolean& rbSw2_off) { if( !client ) { return false; } // HTTPリクエスト空行（\r\n\r\n）で終わる。ので、空行を探す。 boolean foundRNRN = false; boolean currentLineIsBlank = true; char szLine[LINEBUFFERSIZE]; int iIndex = 0; while( client.connected() ) { if( !client.available() ) { //continue; break; } char c = client.read(); //Serial.print(c); if( '\n' == c && currentLineIsBlank ) { // 空行発見。 foundRNRN = true; } if( '\n' == c ) { // httpリクエストの１行の解析 if( foundRNRN && 0 != iIndex ) { szLine[iIndex] = '\0'; AnalyzeLineString( szLine, rbSw1, rbSw2, rbSw1_off, rbSw2_off); } // 新しい行の始まり。 currentLineIsBlank = true; iIndex = 0; } else if( '\r' != c ) { // この行は空行ではなかった。 currentLineIsBlank = false; if( foundRNRN ) { if( LINEBUFFERSIZE - 1 > iIndex ) { szLine[iIndex] = c; ++iIndex; } } } } // httpリクエストの終端行の解析 if( foundRNRN && 0 != iIndex ) { szLine[iIndex] = '\0'; AnalyzeLineString( szLine, rbSw1, rbSw2,rbSw1_off,rbSw2_off); } return foundRNRN; } void loop() { static boolean s_sw1 = false; static boolean s_sw2 = false; static boolean s_sw1_off = false; static boolean s_sw2_off = false; EthernetClient client = g_server.available(); boolean sw1 = false; boolean sw2 = false; boolean sw1_off = false; boolean sw2_off = false; if( readHttpRequest(client, sw1, sw2,sw1_off,sw2_off) ) { // Html出力 PrintHtml(client, sw1, sw2,sw1_off,sw2_off); // Webブラウザに対して、データを取得するための時間を与える。 delay(1); // コネクションを閉じる。 client.stop(); s_sw1 = sw1; s_sw2 = sw2; s_sw1_off = sw1_off; s_sw2_off = sw2_off; } //SW1がONのとき、右サーボの上部を動かす if( s_sw1 ){ Serial.println("s_sw1 true"); myservo1.write(78); delay(200); myservo1.write(105); delay(1000); } //SW1がOFFのとき、左サーボの上部を動かす if( s_sw1_off ){ Serial.println("s_sw1_off true"); myservo2.write(135); delay(200); // waits for the servo to get there myservo2.write(110); delay(1000); } //SW2がONのとき、右サーボの下部を動かす if( s_sw2 ){ Serial.println("s_sw2 true"); myservo1.write(130); delay(200); // waits for the servo to get there myservo1.write(105); delay(1000); } //SW2がOFFのとき、右サーボの下部を動かす if( s_sw2_off ) { Serial.println("s_sw2_off true"); myservo2.write(80); delay(200); myservo2.write(110); delay(1000); } }
こんな感じ。
