{"id":3609,"date":"2016-02-16T19:00:54","date_gmt":"2016-02-16T10:00:54","guid":{"rendered":"https:\/\/okiraku-camera.tokyo\/blog\/?p=3609"},"modified":"2016-10-08T16:17:43","modified_gmt":"2016-10-08T07:17:43","slug":"esp-wroom-02%e3%81%aeweb%e3%82%b5%e3%83%bc%e3%83%90%e3%83%bc%e3%81%a7%e9%9b%bb%e5%8b%95%e3%82%b5%e3%83%bc%e3%83%9c%e9%9b%b2%e5%8f%b0","status":"publish","type":"post","link":"https:\/\/okiraku-camera.tokyo\/blog\/?p=3609","title":{"rendered":"ESP-WROOM-02\u306eWEB\u30b5\u30fc\u30d0\u30fc\u3067\u96fb\u52d5\u30b5\u30fc\u30dc\u96f2\u53f0"},"content":{"rendered":"

ESP-WROOM-02\u306e\u6c4e\u7528I\/O\u3092\u4f7f\u3044\u3001http\u30ea\u30af\u30a8\u30b9\u30c8\u3067\u3082\u3063\u3066\u5c0f\u578b\u96fb\u52d5\u96f2\u53f0\u3092\u69cb\u6210\u3059\u308b2\u3064\u306e\u30b5\u30fc\u30dc\u3092\u99c6\u52d5\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u3063\u305f\u3002\u5f53\u521d\u306fArduino ADK + WROOM-02\u3067\u3084\u3063\u3066\u3044\u305f<\/a>\u3053\u3068\u3092\u3001WROOM-02\u5358\u72ec\u3067\u5b9f\u73fe\u3067\u304d\u305f\u308f\u3051\u3067\u3001\u305a\u3044\u3076\u3093\u5b89\u4e0a\u304c\u308a\u306b\u306a\u3063\u305f\u3002<\/p>\n

\u56de\u8def\u69cb\u6210<\/h3>\n

WROOM-02\u5358\u72ec\u3067\u306e\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u3092\u884c\u3046\u305f\u3081\u306b\u4f5c\u3063\u305f\u56de\u8def<\/a>\u3092\u57fa\u306b\u3057\u3066\u3001\u30b5\u30fc\u30dc\u3092\u99c6\u52d5\u3059\u308b\u305f\u3081\u306e\u30c8\u30e9\u30f3\u30b8\u30b9\u30bf\u306a\u3069\u3092\u8ffd\u52a0\u3057\u305f\u308a\u4f59\u8a08\u306a\u3082\u306e\u3092\u6574\u7406\u3057\u305f\u308a\u3057\u305f\u3002\u305b\u3063\u304b\u304f\u306a\u306e\u3067\u3001\u6c34\u9b5a\u5802\u3055\u3093\u306e\u56de\u8def\u56f3\u30a8\u30c7\u30a3\u30bf<\/a>\u3092\u4f7f\u3063\u3066\u63cf\u304d\u76f4\u3057\u3066\u307f\u305f\u3002<\/p>\n

\"wroom02-servo1\"<\/a><\/p>\n

\u56de\u8def\u56f3\u3067\u306f\u3001\u53f3\u5074\u306b\u30b5\u30fc\u30dc\u7528\u306e\u51fa\u529b\u7aef\u5b50\uff08\u5b9f\u969b\u306b\u306f\u30d4\u30f3\u30dd\u30b9\u30c8\uff09\u3092\u8868\u3059R-SERVO\uff08\u56de\u8ee2\u7528\uff09\u3068T-SERVO\uff08\u30c6\u30a3\u30eb\u30c8\u7528\uff09\u3092\u914d\u7f6e\u3057\u3066\u304a\u308a\u3001R-SERVO\u306e\u5236\u5fa1\u306fGPIO5\u3001T-SERVO\u306e\u5236\u5fa1\u306fGPIO4\u306e\u51fa\u529b\u3067\u884c\u3046\u3002\u5404GPIO\u51fa\u529b\u306f+5V\u306e\u30aa\u30f3\uff0f\u30aa\u30d5\u7528\u306e\u30b9\u30a4\u30c3\u30c1\u3068\u3057\u3066\u52d5\u4f5c\u3059\u308b\u30c8\u30e9\u30f3\u30b8\u30b9\u30bf\u306b\u63a5\u7d9a\u3057\u3066\u3044\u308b\u3002\u524d\u56de\u306e\u56de\u8def\u304b\u3089\u5927\u304d\u304f\u5909\u308f\u3063\u305f\u306e\u306f\u30b5\u30fc\u30dc\u7528\u306e\u30c8\u30e9\u30f3\u30b8\u30b9\u30bf\u306e\u8ffd\u52a0\u304f\u3089\u3044\u306a\u306e\u3067\u3001\u7c21\u5358\u306b\u8aac\u660e\u66f8\u304d\u3092\u3002<\/p>\n

\"2SC1815GR\"<\/a>\u30c8\u30e9\u30f3\u30b8\u30b9\u30bf\u3060\u306a\u3093\u3066\u7d30\u304b\u3044\u90e8\u54c1\u306f\u4f7f\u3044\u305f\u304f\u306a\u3063\u305f\u306e\u3060\u3051\u3069\u3001\u5b89\u4e0a\u304c\u308a\u306a\u30b9\u30a4\u30c3\u30c1\u30f3\u30b0\u7d20\u5b50\u3068\u3057\u3066\u5229\u7528\u3057\u305f\u3002\u30c8\u30e9\u30f3\u30b8\u30b9\u30bf\u306e\u30d9\u30fc\u30b9\u3092+3.3V\u306b\u63a5\u7d9a\u3057\u3066\u3044\u308b\u304b\u3089\u3001GPIO\u304cH(+3.3V)\u306a\u3089\u3070\u30d9\u30fc\u30b9\uff0d\u30a8\u30df\u30c3\u30bf\u9593\u306b\u306f\u96fb\u5727\u304c\u304b\u304b\u3089\u306a\u3044\u306e\u3067\u30b3\u30ec\u30af\u30bf\u306b\u306f\u96fb\u6d41\u306f\u6d41\u308c\u306a\u3044\u3002\u3057\u305f\u304c\u3063\u3066\u30b5\u30fc\u30dc\u306eSIGNAL\u306e\u96fb\u5727\u306f\u3001\u30d7\u30eb\u30a2\u30c3\u30d7\u62b5\u6297\u3092\u4ecb\u3057\u3066+5V\u96fb\u6e90\u306b\u63a5\u7d9a\u3055\u308c\u3066\u3044\u308b\u304b\u3089H\u30ec\u30d9\u30eb\u306b\u306a\u308b\u3002\u4e00\u65b9GPIO\u304cL\u306e\u3068\u304d\u306b\u306f\u30a8\u30df\u30c3\u30bf\u304c\u63a5\u5730\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u306b\u306a\u308a\u3001\u3044\u308f\u3070\u30b3\u30ec\u30af\u30bf\uff0d\u30a8\u30df\u30c3\u30bf\u9593\u306f\u5c0e\u901a\u3059\u308b\u3002\u306a\u306e\u3067\u3001+5V\u96fb\u6e90\u304b\u308910K\u03a9\u306e\u30d7\u30eb\u30a2\u30c3\u30d7\u62b5\u6297\u3092\u4ecb\u3057\u3066\u30c8\u30e9\u30f3\u30b8\u30b9\u30bf\u306b\u96fb\u6d41\u304c\u6d41\u308c\u8fbc\u3080\u306e\u3067\u3001SIGNAL\u306e\u96fb\u5727\u306fL\u30ec\u30d9\u30eb\u3068\u306a\u308b\u3002<\/p>\n

PC\u304b\u3089\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u9001\u308a\u8fbc\u307f\uff08USB-FT231X\u7d4c\u7531\uff09\u3001\u30d5\u30e9\u30c3\u30b7\u30e5\u30e1\u30e2\u30ea\u306b\u683c\u7d0d\u3059\u308b\u306b\u306f\u3001GPIO0\u306b\u3064\u306a\u304c\u308bMODE\u7aef\u5b50\u3092GND\u306b\u63a5\u7d9a\u3057\u3066RESET\u3092\u62bc\u3057\u3066UART\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u30e2\u30fc\u30c9\u3068\u3057\u3066WROOM-02\u3092\u8d77\u52d5\u3059\u308b\u3002\u96fb\u6e90\u30aa\u30f3\u6642\u304b\u3089\u30d5\u30e9\u30c3\u30b7\u30e5\u30e1\u30e2\u30ea\u306e\u5185\u5bb9\u3092\u5b9f\u884c\u3059\u308b\u3068\u304d\u306b\u306f\u3001MODE\u7aef\u5b50\u3092+3.3V\u306b\u63a5\u7d9a\u3057\u3066\u304a\u304f\u3002\u307e\u3060\u30d6\u30ec\u30c3\u30c9\u30dc\u30fc\u30c9\u306e\u4e0a\u306b\u3053\u3057\u3089\u3048\u3066\u3044\u308b\u306e\u3067\u3001MODE\u7aef\u5b50\u306e\u63a5\u7d9a\u5909\u3048\u306f\u3001\u30b8\u30e3\u30f3\u30d1\u30ef\u30a4\u30e4\u306e\u5dee\u3057\u76f4\u3057\u3067\u5b9f\u73fe\u3057\u3066\u3044\u308b\uff08\u4e00\u756a\u697d\uff09\u3002<\/p>\n

\"ESP-HTTPD_SERVO1\"<\/a>\u4e0a\u8a18\u306e\u56de\u8def\u3092\u30d6\u30ec\u30c3\u30c9\u30dc\u30fc\u30c9\u306e\u4e0a\u306b\u8f09\u305b\u308b\u3068\u3053\u3093\u306a\u5177\u5408\u306b\u306a\u3063\u3066\u304a\u308a\u3001\u601d\u3063\u3066\u3044\u305f\u3088\u308a\u6df7\u307f\u5408\u3063\u3066\u3057\u307e\u3063\u305f\u3002<\/p>\n

\u3053\u306e\u5199\u771f\u306e\u30d6\u30ec\u30c3\u30c9\u30dc\u30fc\u30c9\u306f\u3001\u5de6\u53f3\u7aef\u306b\u3042\u308b\u96fb\u6e90\u30e9\u30a4\u30f3\u304c\u72ec\u7acb\u3057\u3066\u3044\u308b\u3002\u3064\u307e\u308a\u4e8c\u7cfb\u7d71\u306e\u96fb\u6e90\u3092\u5b9f\u73fe\u3067\u304d\u308b\u4fbf\u5229\u306a\u30dc\u30fc\u30c9\u306a\u306e\u3060\u3051\u3069\u3001\u5f53\u521d\u305d\u306e\u3053\u3068\u306b\u6c17\u304c\u4ed8\u304b\u305a\u306b\u7d44\u3093\u3067\u3057\u307e\u3044\u3001\u307e\u3063\u305f\u304f\u52d5\u4f5c\u3057\u306a\u304f\u3066\u9996\u3092\u304b\u3057\u3052\u3066\u3057\u307e\u3063\u305f\u3002\u6700\u521d\u306b\u30c6\u30b9\u30bf\u30fc\u3067\u8abf\u3079\u3066\u304a\u304f\u3079\u304d\u3067\u3057\u305f\u3002<\/p>\n

\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2<\/h3>\n

\u307b\u307c\u540c\u3058\u56de\u8def\u69cb\u6210\u3092\u4f7f\u3063\u3066\u3001http\u30ea\u30af\u30a8\u30b9\u30c8\u3067LED\u3092\u30c1\u30ab\u30c1\u30ab\u3055\u305b\u305f<\/a>\u3068\u304d\u3068\u540c\u69d8\u306b\u3001ESP8266 Community\u304c\u7528\u610f\u3057\u3066\u304f\u308c\u3066\u3044\u308bWEB\u30b5\u30fc\u30d0\u30fc\u30e9\u30a4\u30d6\u30e9\u30ea(ESP8266WebServer)<\/a>\u3092\u5229\u7528\u3057\u3001WROOM-02\u306e\u30d5\u30e9\u30c3\u30b7\u30e5\u30e1\u30e2\u30ea\u306bweb\u30b5\u30fc\u30d0\u30fc\u306e\u5b9f\u88c5\u3092\u8f09\u305b\u308b\u3002\u4eca\u56de\u306f\u3001http\u30ea\u30af\u30a8\u30b9\u30c8\u306b\u5fdc\u3058\u3066\u30b5\u30fc\u30dc\u3092\u99c6\u52d5\u3059\u308b\u3060\u3051\u306e\u9055\u3044\u306a\u306e\u3060\u304c\u3001\u82e5\u5e72\u9577\u304f\u306a\u3063\u305f\u3002<\/p>\n

#include <ESP8266WiFi.h>\r\n#include <ESP8266WebServer.h>\r\n#include <Ticker.h>\r\n\r\n\/**\r\n * ESP-WROOM-2 driving dual RC-Servos.\r\n * Copyright (c) 2016 okiraku-camera.tokyo.\r\n *\/\r\n\r\nconst char* ssid = \"ESP8266AP2\";\r\nconst char* password = \"password\";\r\nESP8266WebServer server(80);\r\n\r\n\/\/ gpio  \r\n#define RED_LED 12 \r\n#define ROTATE_SERVO  5\r\n#define TILT_SERVO  4\r\n\r\ntypedef struct {\r\n  int angle;\r\n  int current_angle;\r\n  int servo_pin;\r\n  byte finished;\r\n  int servo_counter; \r\n} servo_t;\r\n\r\nservo_t r_servo = {90, 90, ROTATE_SERVO,  0, 10};\r\nservo_t t_servo = {90, 90, TILT_SERVO,  0, 10};\r\n\r\nTicker ticker;\r\nlong tick_counter = 0;\r\n\r\nenum  led_style {led_off = 0, led_on = 1, slow_blink = 2, fast_blink = 3 } ;\r\nvolatile enum led_style red_led = led_off;\r\n\r\n\/\/ generate driving pulse.\r\n\/\/  ANGLE  HIGE_PULSE_WIDTH\r\n\/\/  0      2400us\r\n\/\/  90     1500us\r\n\/\/  180    600us\r\nvoid drive_servo(int angle, int servo_pin) {\r\n  long pulse_width = (180 - angle) * 10 + 600;\r\n  digitalWrite(servo_pin, HIGH);\r\n  delayMicroseconds(pulse_width);\r\n  digitalWrite(servo_pin, LOW);\r\n}\r\n\r\nvoid servo_func(servo_t* p) {\r\n  if (p->servo_counter > 0) {\r\n    p->servo_counter--;\r\n    drive_servo(p->angle, p->servo_pin);\r\n    return;  \r\n  }\r\n  if (p->angle < p->current_angle)\r\n    p->current_angle--;\r\n  else if (p->angle > p->current_angle)\r\n    p->current_angle++;\r\n  else \r\n    p->finished = 1;\r\n  drive_servo(p->current_angle, p->servo_pin);\r\n}\r\n\r\nvoid led_func() {\r\n  static byte led_state = 0;\r\n  if (red_led == led_off)\r\n    led_state = 0;\r\n  else if  (red_led == led_on)\r\n    led_state = 1;\r\n  else if ((red_led == slow_blink && (tick_counter % 100 == 0)) || \r\n      (red_led == fast_blink && (tick_counter % 30 == 0)))\r\n    led_state ^= 1;    \r\n  digitalWrite(RED_LED, led_state);\r\n}\r\n\r\nvoid ticker_func() {\r\n  tick_counter++;\r\n  led_func();\r\n  servo_func(&r_servo);\r\n  servo_func(&t_servo);\r\n}\r\n\r\nstatic const char* cpResponseMenu = \r\n    \"<HTML><BODY><h1>ESP_HTTPD_SERVO1<\/h1><TABLE style='font-size:40px;width:100%'>\"\r\n    \"<tr><td width='40%'><a href=\/LED?cmd=on&menu=1>LED on<\/a><\/td><td><a href=\/LED?cmd=blink2&menu=1>LED blink2<\/a><\/td><\/tr>\"\r\n    \"<tr><td><a href=\/SERVO?RA=0&TA=0&menu=1>0\/0<\/a><\/td><td><a href=\/SERVO?RA2=0&TA2=0&menu=1>FAST 0\/0<\/a><\/td><\/tr>\"\r\n    \"<tr><td><a href=\/SERVO?RA=180&TA=180&menu=1>180\/180<\/a><\/td><td><a href=\/SERVO?RA2=180&TA2=180&menu=1>FAST 180\/180<\/a><\/td><\/tr>\"\r\n    \"<tr><td colspan='2'><a href=\/SERVO?HOME=1&menu=1>HOME<\/a><\/td><\/tr>\"\r\n    \"<\/TABLE><\/BODY><\/HTML>\\r\\n\";\r\nvoid handleMenu() {\r\n  server.send(200, \"text\/html\", cpResponseMenu);\r\n}\r\nstatic const char* cpResponse200 = \"<HTML><BODY>OK<\/BODY><\/HTML>\\r\\n\";\r\n\r\nvoid handleLed() {\r\n  String cmd = server.arg(\"cmd\");\r\n  Serial.println(\"handleLed() cmd=\" + cmd);\r\n  if (cmd == \"on\")  \r\n    red_led = led_on;\r\n  else if (cmd == \"blink1\")\r\n    red_led = slow_blink;\r\n  else if (cmd == \"blink2\")\r\n    red_led = fast_blink;\r\n  else\r\n    red_led = led_off;\r\n  server.send(200, \"text\/html\", server.hasArg(\"menu\") ? cpResponseMenu : cpResponse200);\r\n}\r\n\r\nvoid setup_servo(servo_t* p, int angle, bool immediately) {\r\n  if (angle < 5)\r\n    angle = 5;\r\n  else if (angle > 175)\r\n    angle = 175;  \r\n  p->angle = angle;\r\n  if (p->angle == p->current_angle) {\r\n    p->finished = 1;\r\n    return;\r\n  }\r\n  p->finished = 0;\r\n  if (immediately) {\r\n    p->current_angle = p->angle;\r\n    p->servo_counter = 1;\r\n  }\r\n}\r\n\r\nvoid handleServo() {\r\n  if (server.hasArg(\"HOME\")) {\r\n    setup_servo(&r_servo, 90, true);\r\n    setup_servo(&t_servo, 90, true);\r\n  } else {\r\n    int i;\r\n    for(i = 0; i < server.args(); i++) {\r\n      String key = server.argName(i);\r\n      if (key.startsWith(\"RA\") || key.startsWith(\"TA\") || key.startsWith(\"RR\")|| key.startsWith(\"TR\")) {\r\n        servo_t* p = key.startsWith(\"R\") ? &r_servo : &t_servo;\r\n        String value = server.arg((const char*)key.c_str());\r\n        \/\/ Serial.println(String(\"DEBUG: handleServo() key = \") + key + String(\", value = \") + value );\r\n        int angle = atoi(value.c_str());                        \r\n        if (key == \"RR\" || key == \"TR\") \/\/ relative.\r\n          angle += p->current_angle;\r\n        setup_servo(p, angle, key.endsWith(\"2\"));          \r\n      }\r\n    }          \r\n  }\r\n\r\n  \/\/ wait finished. max 3 secs.\r\n  int i;\r\n  for( i = 0; i < 3000; i++) {\r\n    if (r_servo.finished && t_servo.finished)\r\n      break;\r\n    delay(1);    \r\n  }\r\n  server.send(200, \"text\/html\", server.hasArg(\"menu\") ? cpResponseMenu : cpResponse200);\r\n  Serial.print(\"DEBUG: handleServo() completed\\r\\n\");\r\n}\r\n\r\nvoid setup() {\r\n  Serial.begin(115200);\r\n  pinMode(RED_LED, OUTPUT);\r\n  digitalWrite(RED_LED, 0);\r\n  pinMode(ROTATE_SERVO, OUTPUT);\r\n  pinMode(TILT_SERVO, OUTPUT);\r\n  digitalWrite(ROTATE_SERVO, 0);\r\n  digitalWrite(TILT_SERVO, 0);\r\n\r\n  WiFi.softAP(ssid, password);\r\n  IPAddress ip = WiFi.softAPIP();\r\n  Serial.println(\"\");\r\n  Serial.println(ssid + String(\" starts..\")); \r\n  Serial.print(\"this AP : \"); \r\n  Serial.println(ip);\r\n  ticker.attach_ms(12, ticker_func);\r\n  server.on(\"\/LED\", handleLed);\r\n  server.on(\"\/SERVO\", handleServo);\r\n  server.on(\"\/MENU\", handleMenu);\r\n  server.begin();\r\n  Serial.println(\"HTTP server started\");\r\n  red_led = slow_blink;\r\n}\r\nvoid loop() {\r\n  server.handleClient();\r\n  delay(1);\r\n}\r\n<\/pre>\n
Ticker\u30e9\u30a4\u30d6\u30e9\u30ea<\/h6>\n
\u4eca\u56de\u3082Ticker\u30e9\u30a4\u30d6\u30e9\u30ea\u306b\u3088\u308b\u5b9a\u5468\u671f\u547c\u3073\u51fa\u3057\u306b\u4f9d\u5b58\u3057\u3066\u304a\u308a\u3001\u547c\u3073\u51fa\u3057\u5468\u671f\u306f\u30b5\u30fc\u30dc\u306b\u4e0e\u3048\u308b\u99c6\u52d5\u30d1\u30eb\u30b9\u306e\u5468\u671f\u3092\u610f\u8b58\u3057\u306612msec\u3068\u3057\u305f( setup()\u5185\u306e\u00a0ticker.attach_ms(12, ticker_func);<\/em> )\u300210\uff5e20msec\u7a0b\u5ea6\u306e\u7bc4\u56f2\u3067\u3001\u52d5\u304d\u304c\u3088\u3055\u305d\u3046\u306a\u5024\u3092\u9078\u629e\u3059\u308c\u3070\u3088\u3044\u3088\u3046\u3067\u3042\u308b\u3002\u5b9a\u5468\u671f\u306b\u547c\u3073\u51fa\u3055\u308c\u308bvoid ticker_func()<\/em>\u3067\u306f\u3001\u30b0\u30ed\u30fc\u30d0\u30eb\u30ab\u30a6\u30f3\u30bf\u306e\u30a4\u30f3\u30af\u30ea\u30e1\u30f3\u30c8\u306e\u5f8c\u3067\u3001<\/p>\n
led_func();<\/em>
\n servo_func(&r_servo);<\/em>
\n servo_func(&t_servo);<\/em><\/p>\n
\u3068\u3044\u30463\u3064\u306e\u95a2\u6570\u3092\u547c\u3073\u51fa\u3057\u3066\u3044\u308b\u304c\u3001\u304a\u306e\u304a\u306e\u3067LED\u3001\u56de\u8ee2\u7528\u30b5\u30fc\u30dc\u3001\u30c6\u30a3\u30eb\u30c8\u7528\u30b5\u30fc\u30dc\u3092\u99c6\u52d5\u3057\u3066\u3044\u308b\u3002\u5404\u95a2\u6570\u5185\u3067\u3042\u307e\u308a\u6642\u9593\u304c\u304b\u304b\u308b\u3068\u3001ticker_func()<\/em>\u00a0\u304c\u547c\u3070\u308c\u308b\u30a4\u30f3\u30bf\u30fc\u30d0\u30eb\u3092\u8d85\u3048\u3066\u3057\u307e\u3046\u3068\u4e88\u5b9a\u901a\u308a\u306b\u52d5\u304b\u306a\u3044\u3053\u3068\u306b\u306a\u308b\u306e\u3067\u3001\u6ce8\u610f\u304c\u5fc5\u8981\u3002<\/p>\n
servo_t\u3068servo_func,\u00a0drive_servo<\/h6>\n
\u3053\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u306f\u3001servo_func()<\/em>\u306e\u5b9a\u671f\u7684\u306a\u547c\u3073\u51fa\u3057\u3068\u3001\u56de\u8ee2\u7528\u3068\u30c6\u30a3\u30eb\u30c8\u7528\u30b5\u30fc\u30dc\u306e\u72ec\u7acb\u3057\u305f\u99c6\u52d5\u6307\u793a\u306b\u3088\u308a\u3001\u96f2\u53f0\u306e\u56de\u8ee2\u3068\u50be\u659c\u304c\u898b\u305f\u76ee\u540c\u6642\u306b\u884c\u308f\u308c\u308b\u3053\u3068\u3092\u610f\u56f3\u3057\u3066\u3044\u308b\u3002<\/p>\n
servo_t\u306f\u3001\u30b5\u30fc\u30dc\u306e\u52d5\u304d\u3092\u3064\u304b\u3055\u3069\u308b\u69cb\u9020\u4f53\u3067\u3001\u76ee\u6a19\u89d2\u5ea6(angle)\u3001\u73fe\u5728\u89d2\u5ea6(current_angle)\u3001IO\u30d4\u30f3(servo_pin)\u3068\u3044\u3063\u305f\u30e1\u30f3\u30d0\u3092\u3082\u3064\u3002\u3053\u306e\u69cb\u9020\u4f53\u306e\u5909\u6570 r_servo\u3068t_servo\u306e\u521d\u671f\u5024\u306b\u306f\u3001\u96fb\u6e90\u30aa\u30f3\u6642\u307e\u305f\u306f\u30ea\u30bb\u30c3\u30c8\u6642\u306b\u30db\u30fc\u30e0\u4f4d\u7f6e\uff08\u3044\u305a\u308c\u308290\u5ea6\uff09\u3092\u6307\u5b9a\u3057\u3066\u3044\u308b\u3002<\/p>\n
drive_servo()<\/em>\u306f\u3001\u6307\u5b9a\u306e\u89d2\u5ea6\u306b\u5fdc\u3058\u305f\u30b5\u30fc\u30dc\u99c6\u52d5\u7528H\u30d1\u30eb\u30b9\u3092delayMicroseconds()<\/em>\u3092\u4f7f\u3063\u3066\u4f5c\u3063\u3066\u3044\u308b\u3002\u3044\u3061\u304a\u3046\u3001\u30db\u30fc\u30e0\u4f4d\u7f6e\uff08\u4e2d\u7acb\u4f4d\u7f6e=90\u5ea6\uff09\u30921500\u03bcsec\u3068\u898b\u306a\u3057\u3066\u3001<\/p>\n
long pulse_width = (180 – angle) * 10 + 600;<\/em><\/p>\n
\u306b\u3088\u3063\u3066\u30d1\u30eb\u30b9\u5e45\u3092\u5f97\u3066\u3044\u308b\u304c\u3001RC\u30b5\u30fc\u30dc\u306e\u7a2e\u985e\u306b\u3088\u3063\u3066\u306f\u5fae\u5999\u306a\u8abf\u6574\u304c\u5fc5\u8981\u306a\u306e\u304b\u3082\u3057\u308c\u306a\u3044\u3002<\/p>\n
servo_func()<\/em>\u306fticker_func()<\/em>\u304b\u3089\u4e00\u5b9a\u306e\u5468\u671f\u3054\u3068\u306b\u547c\u3073\u51fa\u3055\u308c\u3001\u73fe\u5728\u89d2\u5ea6\u3068\u76ee\u6a19\u89d2\u5ea6\u304c\u7570\u306a\u308b\u3068\u304d\u3001drive_servo()<\/em>\u3092\u547c\u3073\u51fa\u3057\u30661\u5ea6\u305a\u3064\u30b5\u30fc\u30dc\u306b\u99c6\u52d5\u30d1\u30eb\u30b9\u3092\u4e0e\u3048\u308b\u3002
\n\u306a\u304a\u3001servo_t.servo_counter\u304c 1\u4ee5\u4e0a\u306e\u5834\u5408\u3001\u5373\u5ea7\u306b\u76ee\u6a19\u89d2\u5ea6\u3092\u8868\u3059\u99c6\u52d5\u30d1\u30eb\u30b9\u3092\u4e0e\u3048\u308b\u3088\u3046\u306b\u3057\u3066\u304a\u308a\u3001\u30db\u30fc\u30e0\u4f4d\u7f6e\u79fb\u52d5\u3084\u9ad8\u901f\u52d5\u4f5c\u6307\u5b9a\u6642\u306b\u7528\u3044\u3066\u3044\u308b\u3002
\n\u76ee\u6a19\u89d2\u5ea6\u306b\u5230\u9054\u3059\u308b\u3068\u305d\u306e\u3053\u3068\u3092\u8868\u3059 servo_t.finished = 1\u3068\u3059\u308b\u304c\u3001\u305d\u306e\u5f8c\u306e\u547c\u3073\u51fa\u3057\u6642\u3082drive_servo();\u00a0<\/em>\u306e\u547c\u3073\u51fa\u3057\u3092\u7d99\u7d9a\u3057\u3001\u30b5\u30fc\u30dc\u306b\u5bfe\u3057\u3066\u73fe\u5728\u306e\u89d2\u5ea6\u3092\u7dad\u6301\u3055\u305b\u3088\u3046\u3068\u3057\u3066\u3044\u308b\u3002<\/p>\n
httpd\u95a2\u4fc2<\/h6>\n
httpd\u3068\u3057\u3066\u306e\u8af8\u8a2d\u5b9a\u306f\u524d\u56de\u306eLED\u30c1\u30ab\u30c1\u30ab\u6642\u3068\u540c\u3058\u3088\u3046\u306a\u5177\u5408\u306b\u306a\u3063\u3066\u304a\u308a\u3001setup()\u5185\u3067\u306e\u3001<\/p>\n
server.on(“\/LED”, handleLed);<\/em>
\n server.on(“\/SERVO”, handleServo);<\/em>
\n server.on(“\/MENU”, handleMenu);<\/em>
\n server.begin();<\/em><\/p>\n
\u306b\u3088\u308a\u3001\u3053\u306ehttpd\u304c\u51e6\u7406\u3059\u3079\u304d3\u3064\u306eURI\u3092\u6307\u5b9a\u3057\u3001\u30b5\u30fc\u30d0\u30fc\u52d5\u4f5c\u3092\u958b\u59cb\u3055\u305b\u3066\u3044\u308b\u3002\u52d5\u4f5c\u306b\u3064\u3044\u3066\u306f\u304a\u306e\u304a\u306e\u306e handleXXXX()\u3092\u53c2\u7167\u3002<\/p>\n
\u30b5\u30fc\u30dc\u3092\u99c6\u52d5\u3059\u308b\u305f\u3081\u306eURI(\/SERVO)\u306f\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u3068\u308b\u3002\u5404\u30d1\u30e9\u30e1\u30fc\u30bf\u306e1\u6587\u5b57\u76ee\u304c”R”\u306e\u5834\u5408\u306f\u56de\u8ee2\u7528\u30b5\u30fc\u30dc\u3078\u306e\u6307\u793a\u3001”T”\u306e\u5834\u5408\u304c\u30c6\u30a3\u30eb\u30c8\u7528\u30b5\u30fc\u30dc\u3078\u306e\u6307\u793a\u3068\u306a\u3063\u3066\u3044\u308b\u3002<\/p>\n