{"id":1507,"date":"2019-07-10T14:55:34","date_gmt":"2019-07-10T05:55:34","guid":{"rendered":"https:\/\/www.media.lab.uec.ac.jp\/?page_id=1507"},"modified":"2020-12-22T13:16:51","modified_gmt":"2020-12-22T04:16:51","slug":"roomba-esp32-bluetooth","status":"publish","type":"page","link":"https:\/\/www.media.lab.uec.ac.jp\/?page_id=1507","title":{"rendered":"\u30eb\u30f3\u30d0\u3092ESP32\u3067Bluetooth\u901a\u4fe1\u3067\u52d5\u304b\u3059\u65b9\u6cd5"},"content":{"rendered":"\n<div class=\"twitter-share\"><a href=\"https:\/\/twitter.com\/intent\/tweet\" class=\"twitter-share-button\">\u30c4\u30a4\u30fc\u30c8<\/a><\/div>\n<h1><\/h1>\n<h1 style=\"text-align: center;\"><span style=\"color: #33cccc;\"><strong>\u30eb\u30f3\u30d0\u3092ESP32\u3067Bluetooth\u901a\u4fe1\u3067\u52d5\u304b\u3059\u65b9\u6cd5<\/strong><\/span><\/h1>\n<hr \/>\n<p>\u66f4\u65b0\u60c5\u5831\uff1a\u3000\u6700\u7d42\u66f4\u65b0\u65e5\u30002019\/07\/24\u3000\u8a18\u4e8b\u3092\u8ffd\u52a0<\/p>\n<p>2019\u5e74\u5ea6\u306e\u30a2\u30eb\u30d0\u30a4\u30c8\u5b66\u751f\u3055\u3093\u304c\u307e\u3068\u3081\u3066\u304f\u308c\u305f\u5185\u5bb9\u3067\u3059\u3002\u9593\u9055\u3044\u7b49\u304c\u3042\u308b\u304b\u3082\u77e5\u308c\u307e\u305b\u3093\u3002\u304a\u6c17\u3065\u304d\u306e\u70b9\u304c\u3054\u3056\u3044\u307e\u3057\u305f\u3089\u3001\u3054\u9023\u7d61\u4e0b\u3055\u3044\u3002<\/p>\n<hr \/>\n<p>PC\u304b\u3089ESP32\u3092\u4ecb\u3057\u3066\u3001Bluetooth\u901a\u4fe1\u3067\u30eb\u30f3\u30d0\u3092\u52d5\u304b\u3059\u65b9\u6cd5\u306b\u3064\u3044\u3066\u66f8\u304f\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1509 aligncenter\" src=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/roomba_connecter_esp-300x77.jpg\" alt=\"\" width=\"584\" height=\"150\" srcset=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/roomba_connecter_esp-300x77.jpg 300w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/roomba_connecter_esp-768x196.jpg 768w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/roomba_connecter_esp-1024x261.jpg 1024w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/roomba_connecter_esp-960x245.jpg 960w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/roomba_connecter_esp.jpg 1776w\" sizes=\"auto, (max-width: 584px) 100vw, 584px\" \/><\/p>\n<p>\u74b0\u5883<\/p>\n<ul>\n<li>\u30eb\u30f3\u30d0\uff1aiRobot Create 2<\/li>\n<li>ESP32\uff1aESP32\uff0dDevKitC\u3000ESP\uff0dWROOM\uff0d32\u958b\u767a\u30dc\u30fc\u30c9<br \/>\n\uff08<a href=\"http:\/\/akizukidenshi.com\/catalog\/g\/gM-11819\/\">\u79cb\u6708\u96fb\u5b50\u901a\u5546\u30da\u30fc\u30b8<\/a>\uff08\u901a\u8ca9\u30b3\u30fc\u30c9\uff1aM-11819\uff09\uff09<\/li>\n<li>ESP32\u306e\u30b3\u30fc\u30c9\u30a8\u30c7\u30a3\u30bf\uff08\u30d0\u30fc\u30b8\u30e7\u30f3\uff09\uff1aArduinoIDE\uff08Arduino 1.8.9\uff09<\/li>\n<li>\u30e9\u30a4\u30d6\u30e9\u30ea\uff1aArduino-esp32\uff08\u30d0\u30fc\u30b8\u30e7\u30f3 1.0.2\uff09\u306eBluetoothSerial<\/li>\n<li>PC\u306eOS\uff1aWindows10<\/li>\n<\/ul>\n<p>\u30eb\u30f3\u30d0\u306e\u30de\u30cb\u30e5\u30a2\u30eb\uff1a<a href=\"https:\/\/www.irobotweb.com\/-\/media\/MainSite\/PDFs\/About\/STEM\/Create\/iRobot_Roomba_600_Open_Interface_Spec.pdf?la=en\"><a href=\"https:\/\/www.irobotweb.com\/-\/media\/MainSite\/PDFs\/About\/STEM\/Create\/iRobot_Roomba_600_Open_Interface_Spec.pdf?la=en\">https:\/\/www.irobotweb.com\/-\/media\/MainSite\/PDFs\/About\/STEM\/Create\/iRobot_Roomba_600_Open_Interface_Spec.pdf?la=en<\/a><\/a><\/p>\n<p>\u30eb\u30f3\u30d0\u3092\u52d5\u304b\u3059\u306b\u3042\u305f\u308a\u3001\u5fc5\u8981\u306a\u77e5\u8b58\u306f\uff15\u3064\uff01<\/p>\n<ul>\n<li><a href=\"https:\/\/www.media.lab.uec.ac.jp\/?page_id=1507&amp;preview=true#i\">\u30eb\u30f3\u30d0\u306e\u30b7\u30ea\u30a2\u30eb\u30dd\u30fc\u30c8<\/a><\/li>\n<li><a href=\"https:\/\/www.media.lab.uec.ac.jp\/?page_id=1507&amp;preview=true#OIManual_p7\">\uff14\u3064\u306eOI(Open Interface)\u30e2\u30fc\u30c9<\/a><\/li>\n<li><a href=\"https:\/\/www.media.lab.uec.ac.jp\/?page_id=1507&amp;preview=true#i-2\">\u30b3\u30de\u30f3\u30c9\u306e\u4ed5\u7d44\u307f<\/a><\/li>\n<li><a href=\"https:\/\/www.media.lab.uec.ac.jp\/?page_id=1507&amp;preview=true#i-3\">\u4e3b\u306a\u30b3\u30de\u30f3\u30c9<\/a><\/li>\n<li><a href=\"https:\/\/www.media.lab.uec.ac.jp\/?page_id=1507&amp;preview=true#i-4\">\u30b3\u30de\u30f3\u30c9\u9001\u4fe1\u524d\u306b\u5fc5\u8981\u306a\u51e6\u7406<\/a><\/li>\n<\/ul>\n<p>\u3053\u308c\u3089\u306e\u8aac\u660e\u306e\u5f8c\u306b\u3001<a href=\"https:\/\/www.media.lab.uec.ac.jp\/?page_id=1507&amp;preview=true#i-5\">\u5168\u4f53\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u30b3\u30fc\u30c9<\/a>\u3068<a href=\"https:\/\/www.media.lab.uec.ac.jp\/?page_id=1507&amp;preview=true#Bluetooth\">\u624b\u9806<\/a>\u3092\u66f8\u304f\u3002<\/p>\n<hr \/>\n<h2>\u30eb\u30f3\u30d0\u306e\u30b7\u30ea\u30a2\u30eb\u30dd\u30fc\u30c8<\/h2>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-1517\" src=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/\u30eb\u30f3\u30d0\uff3f\u30d4\u30f3\u3068\u30b3\u30cd\u30af\u30bf\u306e\u8a73\u7d30\u56f3\uff11-300x240.png\" alt=\"\" width=\"580\" height=\"464\" srcset=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/\u30eb\u30f3\u30d0\uff3f\u30d4\u30f3\u3068\u30b3\u30cd\u30af\u30bf\u306e\u8a73\u7d30\u56f3\uff11-300x240.png 300w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/\u30eb\u30f3\u30d0\uff3f\u30d4\u30f3\u3068\u30b3\u30cd\u30af\u30bf\u306e\u8a73\u7d30\u56f3\uff11-768x614.png 768w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/\u30eb\u30f3\u30d0\uff3f\u30d4\u30f3\u3068\u30b3\u30cd\u30af\u30bf\u306e\u8a73\u7d30\u56f3\uff11-1024x819.png 1024w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/\u30eb\u30f3\u30d0\uff3f\u30d4\u30f3\u3068\u30b3\u30cd\u30af\u30bf\u306e\u8a73\u7d30\u56f3\uff11-960x767.png 960w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/\u30eb\u30f3\u30d0\uff3f\u30d4\u30f3\u3068\u30b3\u30cd\u30af\u30bf\u306e\u8a73\u7d30\u56f3\uff11.png 1386w\" sizes=\"auto, (max-width: 580px) 100vw, 580px\" \/><\/p>\n<p>\u30eb\u30f3\u30d0\u306e\u30b7\u30ea\u30a2\u30eb\u30dd\u30fc\u30c8\u306f\uff17\u30d4\u30f3\u3042\u308b\u304c\u3001\u6a5f\u80fd\u306f\uff15\u7a2e\u985e\u3002<\/p>\n<ul>\n<li>\u30d4\u30f31(, 2)\uff1a\u96fb\u6e90\u4f9b\u7d66\u306b\u4f7f\u3046\u30d4\u30f3\u3002\u30eb\u30f3\u30d0\u306e\u5145\u96fb\u72b6\u6cc1\u306b\u3088\u3063\u3066\u51fa\u3066\u304f\u308b\u96fb\u5727\u5024\u304c\u7570\u306a\u308b\u306e\u3067\u3001\u30ec\u30ae\u30e5\u30ec\u30fc\u30bf\u3092\u631f\u3093\u30675V\u306b\u6574\u3048\u3066\u304b\u3089ESP32\u306e5V\u30d4\u30f3\u306b\u3064\u306a\u3050\u3002\uff08PC\u3068ESP32 \u3092\u6709\u7dda\u3067\u3064\u306a\u3050\u5834\u5408\u306f\u3001\u3064\u306a\u304c\u306a\u3044\uff09<\/li>\n<li>\u30d4\u30f33\uff1a\u30eb\u30f3\u30d0\u3078\u306e\u30a4\u30f3\u30d7\u30c3\u30c8\u3002ESP32\u304b\u3089\u306e\u6ce2\u5f62\u3092\u305d\u306e\u307e\u307e\u5165\u308c\u3066\u3082\u3088\u3044\uff08HIGH\u3068\u8a8d\u8b58\u3055\u308c\u308b\u6700\u4f4e\u96fb\u5727\u304c2.0V\u306e\u305f\u3081\uff09\u3057\u3001\u30c8\u30e9\u30f3\u30b8\u30b9\u30bf\u306a\u3069\u3067\u30ec\u30d9\u30eb\u5909\u63db\u3057\u30665V\u306e\u6ce2\u5f62\u306b\u3057\u3066\u304b\u3089\u5165\u308c\u3066\u3082\u3088\u3044\u3002<\/li>\n<li>\u30d4\u30f34\uff1a\u30eb\u30f3\u30d0\u304b\u3089\u306e\u30a2\u30a6\u30c8\u30d7\u30c3\u30c8\u3002\u62b5\u6297\u3092\u631f\u3080\u306a\u3069\u3057\u30665V\u304b\u30893.3V\u306b\u843d\u3068\u3057\u3001ESP32\u306b\u5165\u308c\u308b\u3002<\/li>\n<li>\u30d4\u30f35\uff1a\u30dc\u30fc\u30ec\u30fc\u30c8\u5909\u66f4\u7528\u306e\u30d4\u30f3\u3002Sleep\u72b6\u614b\u304b\u3089\u30eb\u30f3\u30d0\u3092\u8d77\u3053\u3059\u306e\u306b\u3082\u4f7f\u3046\u3002\u30d4\u30f3\uff13\u3068\u540c\u69d8\u306b\u3001ESP32\u304b\u30893.3V\u306e\u6ce2\u5f62\u3092\u305d\u306e\u307e\u307e\u5165\u308c\u308b\u304b\u30015V\u306b\u30ec\u30d9\u30eb\u5909\u63db\u3057\u3066\u5165\u308c\u308b\u3002<\/li>\n<li>\u30d4\u30f36(, 7)\uff1a\u30b0\u30e9\u30a6\u30f3\u30c9\u3002ESP32\u306eGND\u30d4\u30f3\u3068\u3064\u306a\u3050\u3002<\/li>\n<\/ul>\n<p>\u5168\u4f53\u306e\u56de\u8def\u3068\u3057\u3066\u306f\u4f8b\u3048\u3070\u3053\u3093\u306a\u611f\u3058\u306b\u306a\u308b\u3002<\/p>\n<p><img decoding=\"async\" class=\"wp-image-1600 size-large aligncenter\" src=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/schematic-3-1024x445.png\" alt=\"\" width=\"800\" srcset=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/schematic-3-1024x445.png 1024w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/schematic-3-300x130.png 300w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/schematic-3-768x334.png 768w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/schematic-3-960x417.png 960w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/p>\n<ul>\n<li>\u4f7f\u7528\u3057\u3066\u3044\u308b\u96fb\u5b50\u90e8\u54c1\n<ul>\n<li>\u4e09\u7aef\u5b50\u30ec\u30ae\u30e5\u30ec\u30fc\u30bf\uff1aROHM BP5293-50\uff08<a href=\"http:\/\/akizukidenshi.com\/catalog\/g\/gM-11188\/\">\u79cb\u6708\u96fb\u5b50\u901a\u5546\u30da\u30fc\u30b8<\/a>\uff08\u901a\u8ca9\u30b3\u30fc\u30c9\uff1aM-11188\uff09\uff09<\/li>\n<li>\u30c8\u30e9\u30f3\u30b8\u30b9\u30bf\uff1a2SC1815L-GR-T92-K\uff08<a href=\"http:\/\/akizukidenshi.com\/catalog\/g\/gI-06477\/\">\u79cb\u6708\u96fb\u5b50\u901a\u5546\u30da\u30fc\u30b8<\/a>\uff08\u901a\u8ca9\u30b3\u30fc\u30c9\uff1aI-06477\uff09\uff09<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<hr \/>\n<h2>\u30eb\u30f3\u30d0\u306eOI\u30e2\u30fc\u30c9\uff14\u3064\uff08Manual p.7\uff09<\/h2>\n<p>\u30eb\u30f3\u30d0\u306eOpen Interface(OI)\u30e2\u30fc\u30c9\u306b\u306f\u30014\u3064\u306e\u30e2\u30fc\u30c9\u304c\u3042\u308b\u3002<\/p>\n<ul>\n<li>Off Mode\n<ul>\n<li>\u30d0\u30c3\u30c6\u30ea\u30fc\u4ea4\u63db\u5f8c\u3084\u96fb\u6e90\u3092\u5165\u308c\u305f\u3068\u304d\u306e\u30e2\u30fc\u30c9<\/li>\n<li>115200 bps \u3067\u306eStart\u30b3\u30de\u30f3\u30c9\u306e\u307f\u53d7\u3051\u4ed8\u3051\u308b<\/li>\n<li>\uff08Manual p.4\u306e\u65b9\u6cd5\u3067\u30c7\u30d5\u30a9\u30eb\u30c8\u306e\u30dc\u30fc\u30ec\u30fc\u30c8\u3092\u5909\u66f4\u3057\u305f\u5834\u5408\u306f\u300119200bps\u3067\u306eStart\u30b3\u30de\u30f3\u30c9\uff09<\/li>\n<\/ul>\n<\/li>\n<li>Passive Mode\n<ul>\n<li>\u30bb\u30f3\u30b5\u30fc\u5024\u304c\u53d7\u3051\u53d6\u308c\u308b<\/li>\n<li>\u30e2\u30fc\u30bf\u30fc\u7b49\u306e\u30a2\u30af\u30c1\u30e5\u30a8\u30fc\u30bf\u304c\u52d5\u304b\u305b\u306a\u3044<\/li>\n<li>5\u5206\u9593\u5165\u529b\u304c\u306a\u3044\u3068\u3001\u7bc0\u96fb\u306e\u305f\u3081Sleep\u72b6\u614b\u306b\u306a\u308b\u3002BRC\u30d4\u30f3\u3078\u306e\u30d1\u30eb\u30b9\u5165\u529b\u3067Sleep\u304b\u3089\u8d77\u3053\u305b\u308b\u3002<\/li>\n<\/ul>\n<\/li>\n<li>Safe Mode\n<ul>\n<li>\u30bf\u30a4\u30e4\u304c\u6d6e\u3044\u3066\u3044\u308b\u306a\u3069\u306e\u4e00\u90e8\u306e\u72b6\u6cc1\u3092\u9664\u3044\u3066\u3001\u30eb\u30f3\u30d0\u3092\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3067\u304d\u308b<\/li>\n<li>\u5145\u96fb\u3055\u308c\u306a\u3044\n<ul>\n<li>\u4f7f\u3044\u7d42\u308f\u3063\u305f\u3089\u3001\u30eb\u30f3\u30d0\u3092\u6301\u3061\u4e0a\u3052\u3066\u30bf\u30a4\u30e4\u3092\u6d6e\u304b\u305b\u3001Passive Mode\u306b\u3059\u308b\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u5145\u96fb\u30c9\u30c3\u30af\u306b\u5165\u308c\u308b\u3068\u5145\u96fb\u3055\u308c\u308b\u3088\u3046\u306b\u306a\u308b\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<li>Full Mode\n<ul>\n<li>\u30eb\u30f3\u30d0\u3092\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3067\u304d\u308b<\/li>\n<li>\u5145\u96fb\u3055\u308c\u306a\u3044<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>\u3064\u307e\u308a\u3001<strong>\u30eb\u30f3\u30d0\u3092\u8d70\u3089\u305b\u305f\u3044\u306a\u3089 Safe Mode \u306b\u3059\u308b\uff01\u5145\u96fb\u3057\u305f\u3044\u306a\u3089 Passive Mode \u306b\u3059\u308b\uff01<\/strong>\u3068\u3044\u3046\u3053\u3068\u3002<\/p>\n<hr \/>\n<h2>\u30eb\u30f3\u30d0\u306b\u9001\u308b\u30b3\u30de\u30f3\u30c9\u306e\u4ed5\u7d44\u307f<\/h2>\n<p>ESP32\u304b\u3089\u30eb\u30f3\u30d0\u3078\u9001\u308b\u547d\u4ee4\u306b\u306f\u3001\u30b3\u30de\u30f3\u30c9\u3092\u4f7f\u3046\u3002<\/p>\n<p>\u30b3\u30de\u30f3\u30c9\u3067\u306f\u3001\u6700\u521d\u306b 1 byte \u306e opcode\uff08\u30b3\u30de\u30f3\u30c9\u756a\u53f7\uff09\u3092\u9001\u308b\u3002\u30b3\u30de\u30f3\u30c9\u306b\u3088\u3063\u3066\u306f\u3001\u5f8c\u306b\u7d9a\u3051\u3066\u88dc\u8db3\u60c5\u5831 1~4 byte \u3092\u9001\u308b\u3082\u306e\u3082\u3042\u308b\u3002<\/p>\n<p>\u30b3\u30de\u30f3\u30c9\u306f<a href=\"https:\/\/www.irobotweb.com\/-\/media\/MainSite\/PDFs\/About\/STEM\/Create\/iRobot_Roomba_600_Open_Interface_Spec.pdf?la=en\">\u30eb\u30f3\u30d0\u306e\u30de\u30cb\u30e5\u30a2\u30eb<\/a>\u306b\u8f09\u3063\u3066\u3044\u308b\u3002<\/p>\n<p>\u4f8b\uff09Drive Direct\u30b3\u30de\u30f3\u30c9\uff08Manual p.14, Opcode: 145\uff09\u306e\u5834\u5408<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1512 aligncenter\" src=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/\u30eb\u30f3\u30d0\u30de\u30cb\u30e5\u30a2\u30ebDriveDirect\u547d\u4ee4-300x147.png\" alt=\"\" width=\"569\" height=\"279\" srcset=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/\u30eb\u30f3\u30d0\u30de\u30cb\u30e5\u30a2\u30ebDriveDirect\u547d\u4ee4-300x147.png 300w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/\u30eb\u30f3\u30d0\u30de\u30cb\u30e5\u30a2\u30ebDriveDirect\u547d\u4ee4-768x377.png 768w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/\u30eb\u30f3\u30d0\u30de\u30cb\u30e5\u30a2\u30ebDriveDirect\u547d\u4ee4-1024x503.png 1024w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/\u30eb\u30f3\u30d0\u30de\u30cb\u30e5\u30a2\u30ebDriveDirect\u547d\u4ee4-960x471.png 960w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/\u30eb\u30f3\u30d0\u30de\u30cb\u30e5\u30a2\u30ebDriveDirect\u547d\u4ee4.png 1916w\" sizes=\"auto, (max-width: 569px) 100vw, 569px\" \/><\/p>\n<p style=\"text-align: right;\">\uff08\u30de\u30cb\u30e5\u30a2\u30eb p.14\u3088\u308a\uff09<\/p>\n<p>\u6587\u7ae0\u304b\u3089\u3001\u3053\u306e\u30b3\u30de\u30f3\u30c9\u306f\u5de6\u53f3\u306e\u30bf\u30a4\u30e4\u306b\u3064\u3044\u3066\u5225\u3005\u306b\u901f\u5ea6\uff08\u5358\u4f4d mm\/s\uff09\u3092\u6307\u5b9a\u3057\u3066\u52d5\u304b\u3059\u30b3\u30de\u30f3\u30c9\u3060\u3068\u308f\u304b\u308b\u3002<\/p>\n<p>\u4e0a\u90e8\u306eOpcode\u3068Data Bytes\u3088\u308a\u3001\u3053\u306e\u30b3\u30de\u30f3\u30c9\u306f 5 byte \u304b\u3089\u6210\u308b\u3068\u308f\u304b\u308b\u3002\u4e2d\u592e\u90e8\u306eSerial sequence\u3092\u898b\u308b\u3068\u3001 5 byte \u306e\u5185\u8a33\u304c\u308f\u304b\u308b\u3002<\/p>\n<ul>\n<li>1 byte \u76ee\u3000Opcode \u306e\u300c145\u300d<\/li>\n<li>2 byte \u76ee\u3000\u53f3\u30bf\u30a4\u30e4\u306e\u901f\u5ea6\u306e\u4e0a\u4f4d 1 byte<\/li>\n<li>3 byte \u76ee\u3000\u53f3\u30bf\u30a4\u30e4\u306e\u901f\u5ea6\u306e\u4e0b\u4f4d 1 byte<\/li>\n<li>4 byte \u76ee\u3000\u5de6\u30bf\u30a4\u30e4\u306e\u901f\u5ea6\u306e\u4e0a\u4f4d 1 byte<\/li>\n<li>5 byte \u76ee\u3000\u5de6\u30bf\u30a4\u30e4\u306e\u901f\u5ea6\u306e\u4e0b\u4f4d 1 byte<\/li>\n<\/ul>\n<p>\u3053\u306e\u3088\u3046\u306b\u3001\u30b3\u30de\u30f3\u30c9\u3067\u306f 16 bit \u306e\u6570\u5024\u3092\u4e0a\u4f4d 8 bit \u3068\u4e0b\u4f4d 8 bit \u306b\u5206\u3051\u3066\u9001\u308b\u3002\u30b3\u30de\u30f3\u30c9\u3092\u9001\u308b\u5ea6\u306b\u9010\u4e00\u5206\u3051\u308b\u306e\u306f\u9762\u5012\u306a\u306e\u3067\u3001\u95a2\u6570\u5316\u3059\u308b\u3002<\/p>\n<p><pre class=\"brush: cpp; title: ; notranslate\" title=\"\">\r\n\r\nHardwareSerial Roomba(2); \/\/ ESP to Roomba, rx:16, tx:17\r\n\r\nvoid roomba_send_num(int num){  \/\/num\u3092\u4e8c\u3064\u306e8bit\u306b\u5909\u63db\u3057\u3066\u30eb\u30f3\u30d0\u306b\u9001\u4fe1 \r\n  Roomba.write(hex_convert_to8_high(num));\r\n  Roomba.write(hex_convert_to8_low(num));\r\n}\r\n\r\n\/\/\u6574\u6570\u30928bit\u306b\u5206\u3051\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u3000\u30d3\u30c3\u30c8\u30b7\u30d5\u30c8\u3092\u4f7f\u3063\u3066\u3044\u308b\r\nunsigned int hex_convert_to16(int a, int b){\r\n  return (unsigned int)(a &lt;&lt; 8)|(int)(b);\r\n}\r\n \r\nunsigned int hex_convert_to8_high(int a){\r\n  return (unsigned int)(a &gt;&gt; 8)&amp;0x00FF;\r\n}\r\n \r\nunsigned int hex_convert_to8_low(int a){\r\n  return a^(hex_convert_to8_high(a) &lt;&lt; 8);\r\n}\r\n<\/pre>\n<\/p>\n<p>\u3053\u308c\u3089\u306e\u95a2\u6570\u3092\u7528\u3044\u3066\u3001\u5148\u307b\u3069\u306e Drive Direct \u30b3\u30de\u30f3\u30c9\u3082\u95a2\u6570\u5316\u3057\u3066\u3057\u307e\u3046\u3068\u3053\u3093\u306a\u611f\u3058\u3002<\/p>\n<p><pre class=\"brush: cpp; title: ; notranslate\" title=\"\">\r\n\r\nvoid roomba_drive(int right,int left){ \/\/\u76f4\u9032\r\n    Roomba.write(byte(145));\r\n    roomba_send_num(right);  \/\/Velocity right\r\n    roomba_send_num(left);  \/\/Velocity left\r\n    delay(100);\r\n}\r\n\r\n<\/pre>\n<\/p>\n<hr \/>\n<h2>\u30eb\u30f3\u30d0\u306e\u4e3b\u306a\u30b3\u30de\u30f3\u30c9<\/h2>\n<p>\u30eb\u30f3\u30d0\u3092\u524d\u9032\u30fb\u5f8c\u9032\u3001\u56de\u8ee2\u3055\u305b\u308b\u306b\u3042\u305f\u308a\u3001\u3053\u306e\u30da\u30fc\u30b8\u306b\u8a18\u8f09\u306e\u30b3\u30fc\u30c9\u3067\u306f\u6b21\u306e\u30b3\u30de\u30f3\u30c9\u3092\u7528\u3044\u3066\u3044\u308b\u3002<\/p>\n<ul>\n<li>Start\u30b3\u30de\u30f3\u30c9\u3000\uff08Manual p.8, Opcode: 128\uff09\n<ul>\n<li>OI\u3092\u30b9\u30bf\u30fc\u30c8\u3059\u308b\u547d\u4ee4\u3002<\/li>\n<li>\u4ed6\u306e\u3059\u3079\u3066\u306e\u30b3\u30de\u30f3\u30c9\u3088\u308a\u3082\u5148\u306b\u9001\u3089\u306a\u304f\u3066\u306f\u3044\u3051\u306a\u3044\u3002<\/li>\n<\/ul>\n<\/li>\n<li>Baud\u30b3\u30de\u30f3\u30c9\uff08Manual p.9, Opcode: 129\uff09\n<ul>\n<li>\u30dc\u30fc\u30ec\u30fc\u30c8\u3092\u5909\u3048\u308b\u547d\u4ee4\u3002<\/li>\n<li>\u30eb\u30f3\u30d0\u306e\u30dc\u30fc\u30ec\u30fc\u30c8\u306f\u30c7\u30d5\u30a9\u30eb\u30c8\u3067115200bps\u3067\u3042\u308b\u304c\u3001ESP32\u306f115200bps\u3067\u901a\u4fe1\u3067\u304d\u306a\u3044\u3002\u305d\u306e\u305f\u3081\u3001Baud\u30b3\u30de\u30f3\u30c9\u3067\u30eb\u30f3\u30d0\u306e\u30dc\u30fc\u30ec\u30fc\u30c8\u3092\u5909\u3048\u308b\u3002<\/li>\n<li>\u30c7\u30d5\u30a9\u30eb\u30c8\u306e\u30dc\u30fc\u30ec\u30fc\u30c8\u3092115200bps\u304b\u308919200bps\u306b\u5909\u3048\u308b\u624b\u6cd5\u304c\u4ed6\u306b\u3042\u308b\u3002\uff08Manual p.4\uff09<\/li>\n<\/ul>\n<\/li>\n<li>Safe\u30b3\u30de\u30f3\u30c9\uff08Manual p.10, Opcode: 131\uff09\n<ul>\n<li>\u30eb\u30f3\u30d0\u306eOI\u30e2\u30fc\u30c9\u3092Safe Mode\u306b\u3059\u308b\u547d\u4ee4\u3002<\/li>\n<li>\u8d77\u52d5\u6642\u3084\u5145\u96fb\u5f8c\u306a\u3069\u306ePassive Mode\u304b\u3089Safe Mode\u306b\u5909\u3048\u308b\u306e\u306b\u4f7f\u3046\u3002<\/li>\n<\/ul>\n<\/li>\n<li>Drive Direct\u30b3\u30de\u30f3\u30c9\uff08Manual p.14, Opcode: 145\uff09\n<ul>\n<li>\u5de6\u53f3\u306e\u30bf\u30a4\u30e4\u306e\u305d\u308c\u305e\u308c\u306b\u5bfe\u3057\u3066\u901f\u5ea6\u3092\u6307\u5b9a\u3057\u3001\u8d70\u3089\u305b\u308b\u547d\u4ee4\u3002<\/li>\n<li>\u5de6\u53f3\u540c\u3058\u5024\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\u76f4\u9032<\/li>\n<\/ul>\n<\/li>\n<li>Drive\u30b3\u30de\u30f3\u30c9\uff08Manual p.13, Opcode: 137\uff09\n<ul>\n<li>\u901f\u5ea6\u3068\u534a\u5f84\u3092\u6307\u5b9a\u3057\u3066\u56de\u8ee2\u3055\u305b\u308b\u547d\u4ee4\u3002<\/li>\n<li>\u901f\u5ea6\u306b0\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\u3001\u79fb\u52d5\u4e2d\u306e\u30eb\u30f3\u30d0\u3092\u30b9\u30c8\u30c3\u30d7\u3055\u305b\u308b\u306e\u306b\u4f7f\u7528\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>\u4ed6\u306b\u3082\u3001\u97f3\u3092\u9cf4\u3089\u3059\u306a\u3069\u8272\u3005\u306a\u30b3\u30de\u30f3\u30c9\u304c\u3042\u308b\u3002<\/p>\n<hr \/>\n<h2>\u30eb\u30f3\u30d0\u306b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u308b\u524d\u306b\u5fc5\u8981\u306a\u51e6\u7406<\/h2>\n<p><strong>\u2460 Passive Mode\u306eSleep\u304b\u3089\u8d77\u3053\u3059<\/strong><\/p>\n<ul>\n<li>\"To disable sleep, pulse the BRC pin low\"\uff08Manual p.7, Passive \u5185\u53c2\u7167\uff09<\/li>\n<li>\u3053\u306e\u30da\u30fc\u30b8\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u306f500ms\u306elow\u30d1\u30eb\u30b9\u3092\u9001\u4fe1\u3057\u3066\u3044\u308b<\/li>\n<\/ul>\n<p><a id=\"user-content--\u30dc\u30fc\u30ec\u30fc\u30c8\u5909\u66f4115200--19200\" class=\"anchor\" href=\"https:\/\/github.com\/uec-media-design-lab\/Roomba-ESP32\/blob\/master\/README.md#-%E3%83%9C%E3%83%BC%E3%83%AC%E3%83%BC%E3%83%88%E5%A4%89%E6%9B%B4115200--19200\" aria-hidden=\"true\"><\/a><strong>\u2461 \u30dc\u30fc\u30ec\u30fc\u30c8\u5909\u66f4\uff08115200 \u2192 19200\uff09<\/strong><\/p>\n<p>(\u4efb\u610f\u3002\u3053\u306e\u30da\u30fc\u30b8\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u306f\u884c\u308f\u306a\u3044\u300219200 bps\u4ee5\u5916\u306ebaud rate\u306b\u3059\u308b\u306a\u3089\u624b\u9806\u2464\u3067115200\u304b\u3089\u76f4\u63a5\u5909\u3048\u3066OK)<\/p>\n<ul>\n<li>\"After turning on Roomba, wait 2 seconds and then pulse the BRC pin low three times.\"\uff08Manual p.4, Method 2 \u5185\u53c2\u7167\uff09<\/li>\n<\/ul>\n<p><a id=\"user-content--start\u30b3\u30de\u30f3\u30c9\u3067oi\u958b\u59cb\u91cd\u8981\u3059\u3079\u3066\u306e\u30b3\u30de\u30f3\u30c9\u3088\u308a\u3082\u524d\u306b\u9001\u308b\u5fc5\u8981\u3042\u308a\" class=\"anchor\" href=\"https:\/\/github.com\/uec-media-design-lab\/Roomba-ESP32\/blob\/master\/README.md#-start%E3%82%B3%E3%83%9E%E3%83%B3%E3%83%89%E3%81%A7oi%E9%96%8B%E5%A7%8B%E9%87%8D%E8%A6%81%E3%81%99%E3%81%B9%E3%81%A6%E3%81%AE%E3%82%B3%E3%83%9E%E3%83%B3%E3%83%89%E3%82%88%E3%82%8A%E3%82%82%E5%89%8D%E3%81%AB%E9%80%81%E3%82%8B%E5%BF%85%E8%A6%81%E3%81%82%E3%82%8A\" aria-hidden=\"true\"><\/a><strong>\u2462 Start\u30b3\u30de\u30f3\u30c9\u3067OI\u958b\u59cb\u3000\u3000<span style=\"color: #ff0000;\">\u2190\u91cd\u8981\uff01\u3059\u3079\u3066\u306e\u30b3\u30de\u30f3\u30c9\u3088\u308a\u3082\u524d\u306b\u9001\u308b\u5fc5\u8981\u3042\u308a<\/span><\/strong><\/p>\n<ul>\n<li>Start\u30b3\u30de\u30f3\u30c9\uff08Manual p.8, Opcode: 128\uff09<\/li>\n<li>Baud\u30b3\u30de\u30f3\u30c9\u542b\u3081\u3001\u5168\u30b3\u30de\u30f3\u30c9\u3088\u308a\u3082\u524d\u306bStart\u30b3\u30de\u30f3\u30c9\u3092\u9001\u308b\u306e\u304c\u3068\u3066\u3082\u5927\u5207\u3002\n<ul>\n<li><strong><span style=\"color: #000000;\">\u00d7\u3000Baud\u30b3\u30de\u30f3\u30c9 \u2192 Start\u30b3\u30de\u30f3\u30c9<\/span><\/strong>\n<ul>\n<li><span style=\"color: #ff0000;\"><strong><span style=\"color: #000000;\">\u305d\u3082\u305d\u3082OI\u304c\u958b\u59cb\u3055\u308c\u3066\u3044\u306a\u3044\u306e\u3067Baud\u30b3\u30de\u30f3\u30c9\u304c\u53d7\u3051\u4ed8\u3051\u3089\u308c\u306a\u3044\u3002\u30dc\u30fc\u30ec\u30fc\u30c8\u304c\u5909\u66f4\u3055\u308c\u306a\u3044\u306e\u3067\u3001\u5909\u66f4\u5f8c\u306e\u30dc\u30fc\u30ec\u30fc\u30c8\u3067Start\u30b3\u30de\u30f3\u30c9\u3092\u9001\u3063\u3066\u3082\u6b63\u3057\u304f\u5c4a\u304b\u306a<\/span><span style=\"color: #000000;\">\u3044<\/span><span style=\"color: #000000;\">\u3002<\/span><\/strong><\/span><\/li>\n<\/ul>\n<\/li>\n<li>\u3007\u3000Start\u30b3\u30de\u30f3\u30c9 \u2192 Baud\u30b3\u30de\u30f3\u30c9\n<ul>\n<li>OI\u304c\u958b\u59cb\u3055\u308c\u3066\u304b\u3089Baud\u30b3\u30de\u30f3\u30c9\u304c\u5c4a\u3051\u3089\u308c\u3001\u30dc\u30fc\u30ec\u30fc\u30c8\u304c\u304d\u3061\u3093\u3068\u5909\u66f4\u3055\u308c\u308b\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p><a id=\"user-content--safe-mode\u306b\u3059\u308b\" class=\"anchor\" href=\"https:\/\/github.com\/uec-media-design-lab\/Roomba-ESP32\/blob\/master\/README.md#-safe-mode%E3%81%AB%E3%81%99%E3%82%8B\" aria-hidden=\"true\"><\/a><strong>\u2463 Safe Mode\u306b\u3059\u308b<\/strong><\/p>\n<ul>\n<li>Safe\u30b3\u30de\u30f3\u30c9\uff08Manual p.10, Opcode: 131\uff09<\/li>\n<li>\u30eb\u30f3\u30d0\u3092\u8d70\u3089\u305b\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308b<\/li>\n<\/ul>\n<p><a id=\"user-content--\u30dc\u30fc\u30ec\u30fc\u30c8\u5909\u66f419200--9600\" class=\"anchor\" href=\"https:\/\/github.com\/uec-media-design-lab\/Roomba-ESP32\/blob\/master\/README.md#-%E3%83%9C%E3%83%BC%E3%83%AC%E3%83%BC%E3%83%88%E5%A4%89%E6%9B%B419200--9600\" aria-hidden=\"true\"><\/a><strong>\u2464 \u30dc\u30fc\u30ec\u30fc\u30c8\u5909\u66f4<\/strong><\/p>\n<p>\uff08\u4efb\u610f\u3002\u3053\u306e\u30da\u30fc\u30b8\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u306f\u3001115200 \u2192 9600\u3002\uff09<\/p>\n<ul>\n<li>Baud\u30b3\u30de\u30f3\u30c9\uff08Manual p.9, Opcode: 129\uff09<\/li>\n<li>\u30dc\u30fc\u30ec\u30fc\u30c8\u5909\u66f4\u5f8c\u3001\u4e00\u65e6\u30eb\u30f3\u30d0\u3068\u306e\u30b7\u30ea\u30a2\u30eb\u901a\u4fe1\u3092\u5207\u3063\u3066\u518d\u5ea6\u63a5\u7d9a<\/li>\n<\/ul>\n<p><a id=\"user-content--\u3092\u518d\u5ea6\u884c\u3046\" class=\"anchor\" href=\"https:\/\/github.com\/uec-media-design-lab\/Roomba-ESP32\/blob\/master\/README.md#-%E3%82%92%E5%86%8D%E5%BA%A6%E8%A1%8C%E3%81%86\" aria-hidden=\"true\"><\/a><strong>\u2465 \u2460,\u2462,\u2463\u3092\u518d\u5ea6\u884c\u3046<\/strong><\/p>\n<p>\uff08\u2464\u306e\u30dc\u30fc\u30ec\u30fc\u30c8\u5909\u66f4\u3092\u884c\u3063\u305f\u5834\u5408\u306e\u307f\uff09<\/p>\n<hr \/>\n<h2>\u30eb\u30f3\u30d0\u3092\u52d5\u304b\u3059\u30d7\u30ed\u30b0\u30e9\u30e0<\/h2>\n<p>\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\u6b21\u306e\uff12\u3064\u306e\u30d5\u30a1\u30a4\u30eb\u306b\u5206\u304b\u308c\u3066\u3044\u308b\u3002<\/p>\n<ul>\n<li>roomba_esp_Bluetooth.ino\u3000\uff1a\u3000\u30e1\u30a4\u30f3\u90e8\u5206<\/li>\n<li>roomba_function.ino\u3000\uff1a\u3000\u30eb\u30f3\u30d0\u3078\u306e\u547d\u4ee4\u306e\u95a2\u6570\u7fa4<\/li>\n<\/ul>\n<p><strong>roomba_esp_Bluetooth.ino\uff1a<\/strong><\/p>\n<p><pre class=\"brush: cpp; title: ; notranslate\" title=\"\">\r\n\r\n\/* roomba_esp_Bluetooth.ino(\u6700\u7d42\u66f4\u65b0\u65e5\uff1a2019\/07\/23) *\/\r\n \r\n\/* ESP32\u3068Bluetooth\u901a\u4fe1\u3057\u3066\u30eb\u30f3\u30d0\u3092\u52d5\u304b\u3059\u30d7\u30ed\u30b0\u30e9\u30e0\u3002\r\n * roomba_function.ino \u3068\u540c\u3058\u30d5\u30a9\u30eb\u30c0\u306b\u5165\u308c\u3066\u304f\u3060\u3055\u3044\u3002\r\n * BluetoothSerial bt: PC to ESP32\r\n * HardwareSerial Roomba: ESP32 to Roomba\r\n *\/\r\n#include &lt;BluetoothSerial.h&gt;;\r\n \r\n\/* Bluetooth\u901a\u4fe1 *\/\r\nBluetoothSerial bt; \/\/ PC to ESP. Alternative to &quot;Serial&quot; after Serial.begin()\r\nconst char* bt_name = &quot;ESP32_BluetoothSerial&quot;;\r\n \r\n\/* ESP32\u3068\u30eb\u30f3\u30d0\u306e\u901a\u4fe1 *\/\r\nHardwareSerial Roomba(2); \/\/ ESP to Roomba, rx:16, tx:17\r\nint ddPin = 4;\r\nint iB;\r\nint v = 100; \/\/ \u901f\u5ea6\r\n \r\nvoid setup() {\r\n  Roomba.begin(115200); \/\/ \u30eb\u30f3\u30d0\u306f\u30c7\u30d5\u30a9\u30eb\u30c8\u304c115200bps\r\n  Serial.begin(9600);\r\n  bt.begin(bt_name);\r\n \r\n  pinMode(ddPin, OUTPUT);\r\n \r\n  bt.println(&quot;start&quot;);\r\n \r\n  wakeUp(); \/\/ Passive Mode\u3067\u306eSleep\u304b\u3089\u8d77\u3053\u3059 \r\n  startSafe(); \/\/ Start\u30b3\u30de\u30f3\u30c9\u3067OI\u958b\u59cb \uff06 Safe Mode\u306b\u3059\u308b\u3053\u3068\u3067\u3001\u79fb\u52d5\u6307\u793a\u53ef\u80fd\u306b\u3059\u308b\r\n  \r\n  \/\/baud rate\u306e\u5909\u66f4(115200\u21929600)\r\n  Roomba.write(129); \/\/ \u5fc5\u305aStart\u30b3\u30de\u30f3\u30c9\uff08128\uff09\u306e\u5f8c\u306b\u884c\u3046\uff01\r\n  Roomba.write(byte(5)); \/\/9600\u306b\u5909\u66f4\r\n  Roomba.end(); \/\/\u4e00\u65e6\u5207\u308b\r\n  Roomba.begin(9600); \/\/9600\u3067\u30b9\u30bf\u30fc\u30c8\r\n \r\n  wakeUp(); \/\/ Passive Mode\u3067\u306eSleep\u304b\u3089\u8d77\u3053\u3059 \r\n  startSafe(); \/\/ Start\u30b3\u30de\u30f3\u30c9\u3067OI\u958b\u59cb \uff06 Safe Mode\u306b\u3059\u308b\u3053\u3068\u3067\u3001\u79fb\u52d5\u6307\u793a\u53ef\u80fd\u306b\u3059\u308b\r\n  \r\n  bt.println(&quot;setup completed\u3000-------&quot;);\r\n}\r\n \r\nvoid loop() {     \r\n  \/\/ ESP32 to Roomba\r\n   \r\n  if (bt.available() &amp;amp;amp;amp;amp;gt; 0){\r\n    iB = bt.read();\r\n    if (iB == 'a'){\r\n      roomba_drive(v, v);\r\n      \/*Roomba.write(145);\r\n      Roomba.write(255);\r\n      Roomba.write(56);\r\n      Roomba.write(255);\r\n      Roomba.write(56);*\/\r\n      bt.println(&quot;ahead&quot;);\r\n    }else if(iB == 'b'){\r\n      roomba_drive(-v, -v);\r\n      bt.println(&quot;back&quot;);\r\n    }else if(iB == 'c'){\r\n       roomba_moter_stop();\r\n       bt.println(&quot;stop&quot;);\r\n    }else if(iB == 'r'){\r\n      roomba_drive_turn_clockwise(v);\r\n      bt.println(&quot;turn right&quot;);\r\n    }else if(iB == 'l'){\r\n      roomba_drive_turn_counterclockwise(v);\r\n      bt.println(&quot;turn left&quot;);\r\n    }else if(iB == 's'){\r\n      startSafe();\r\n      bt.println(&quot;safe&quot;);\r\n    }else if(iB == 'p'){\r\n      startPassive();\r\n      bt.println(&quot;passive&quot;);\r\n    }else if(iB == 'w'){\r\n      setup();\r\n      bt.println(&quot;wakeup&quot;);\r\n    }\r\n  }\r\n}\r\n\r\n<\/pre>\n<\/p>\n<p><strong>roomba_function.ino\uff1a<\/strong><\/p>\n<p><pre class=\"brush: cpp; title: ; notranslate\" title=\"\">\r\n\r\n\/* roomba_function.ino *\/\r\n \r\n\/* \u30eb\u30f3\u30d0\u3078\u306e\u52d5\u4f5c\u547d\u4ee4\u306a\u3069\u306e\u95a2\u6570\u7fa4\u3002\r\n * roomba_esp_Bluetooth.ino \u3068\u540c\u3058\u30d5\u30a9\u30eb\u30c0\u306b\u5165\u308c\u3066\u304f\u3060\u3055\u3044\u3002\r\n *\/\r\nvoid wakeUp(void){  \/\/\u8d77\u52d5\r\n  digitalWrite(ddPin, HIGH);\r\n  delay(100);\r\n  digitalWrite(ddPin, LOW);\r\n  delay(500);\r\n  digitalWrite(ddPin, HIGH);\r\n  delay(2000);\r\n}\r\n \r\nvoid startSafe(){  \/\/ Start\u30b3\u30de\u30f3\u30c9\uff08128\uff09\u3067OI\u958b\u59cb\u3000\uff06\u3000Safe Mode\u306b\u3059\u308b\uff08131\uff09\r\n  Roomba.write(128); \/\/start\r\n  Roomba.write(131); \/\/safe mode\r\n  bt.println(&quot;changed to SAFE mode&quot;);\r\n  delay(100);\r\n}\r\n   \r\nvoid startPassive(){  \/\/passivemode\u306b\u79fb\u884c\r\n  Roomba.write(128); \/\/start\r\n  delay(100);\r\n  \/\/bt.println(&quot;startPassive\u958b\u59cb\u3057\u305f\u3088&quot;);\r\n}\r\n \r\nvoid roomba_drive(int right,int left){ \/\/\u76f4\u9032\r\n  Roomba.write(byte(145));\r\n  roomba_send_num(right);  \/\/Velocity right \r\n  roomba_send_num(left);  \/\/Velocity left \r\n  delay(100);\r\n}\r\n \r\nvoid roomba_moter_stop(){  \/\/\u30e2\u30fc\u30bf\u30fc\u3092\u6b62\u3081\u308b\r\n  Roomba.write(137);\r\n  roomba_send_num(0);  \/\/Velocity 0mm\/s\r\n  roomba_send_num(0);  \/\/Radius  0  \u901f\u5ea6\u304c0\u306a\u306e\u3067\u306a\u3093\u3067\u3082\u826f\u3044\r\n  \/\/bt.println(&quot;\u30e2\u30fc\u30bf\u30fc\u3092\u6b62\u3081\u308b&quot;);\r\n  delay(100);\r\n};\r\n \r\nvoid roomba_drive_turn_counterclockwise(int num){ \/\/\u53cd\u6642\u8a08\u56de\u308a \u5f15\u6570\u306f\u901f\u3055\r\n  Roomba.write(137);\r\n  roomba_send_num(num);  \/\/Velocity 100mm\/s\r\n  roomba_send_num(1);  \/\/Radius 1\r\n  \/\/bt.println(&quot;\u53cd\u6642\u8a08\u56de\u308a&quot;);\r\n  delay(100);\r\n};\r\n \r\nvoid roomba_drive_turn_clockwise(int num){ \/\/\u6642\u8a08\u56de\u308a \u5f15\u6570\u306f\u901f\u3055\r\n  Roomba.write(137);\r\n  roomba_send_num(num);  \/\/Velocity \r\n  roomba_send_num(-1);  \/\/Radius \r\n  \/\/bt.println(&quot;\u6642\u8a08\u56de\u308a&quot;);\r\n  delay(100);\r\n};\r\n \r\nvoid roomba_send_num(int num){  \/\/num\u3092\u4e8c\u3064\u306e8bit\u306b\u5909\u63db\u3057\u3066\u30eb\u30f3\u30d0\u306b\u9001\u4fe1 \r\n  Roomba.write(hex_convert_to8_high(num));\r\n  Roomba.write(hex_convert_to8_low(num));\r\n}\r\n \r\n\/\/\u6574\u6570\u30928bit\u306b\u5206\u3051\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u3000\u30d3\u30c3\u30c8\u30b7\u30d5\u30c8\u3092\u4f7f\u3063\u3066\u3044\u308b\r\nunsigned int hex_convert_to16(int a, int b){\r\n  return (unsigned int)(a &lt;&lt; 8)|(int)(b);\r\n}\r\nunsigned int hex_convert_to8_high(int a){\r\n  return (unsigned int)(a &gt;&gt; 8)&amp;0x00FF;\r\n}\r\n \r\nunsigned int hex_convert_to8_low(int a){\r\n  return a^(hex_convert_to8_high(a) &lt;&lt; 8);\r\n}\r\n\r\n<\/pre>\n<\/p>\n<p>\u3053\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u306f\u3001\u30eb\u30f3\u30d0\u3068ESP32\u306e\u901a\u4fe1\u306bHardwareSerial\u3092\u4f7f\u3063\u3066\u3044\u308b\u3002<\/p>\n<p>ESP32-DevKitC\u3067\u306f\u3001IO16\uff0cIO17\u30d4\u30f3\u304cUART2\u306erx, tx\u306b\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b\u3002HardwareSerial Roomba(2); \u3068\u5b9a\u7fa9\u3059\u308b\u3068\u3001IO16\u30d4\u30f3\u3067\u53d7\u4fe1\u3001IO17\u30d4\u30f3\u3067\u9001\u4fe1\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3002<\/p>\n<hr \/>\n<h2>\u30eb\u30f3\u30d0\u3092Bluetooth\u901a\u4fe1\u3067\u52d5\u304b\u3059\u624b\u9806<\/h2>\n<p>\u4e0a\u8a18\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\uff08roomba_esp_Bluetooth.ino, roomba_function.ino\uff09\u3092\u7528\u3044\u308b\u3002 \uff08Unity\u3092\u901a\u3058\u3066\u3082\u3001ArduinoIDE\u306e\u30b7\u30ea\u30a2\u30eb\u30e2\u30cb\u30bf\u3092\u901a\u3058\u3066\u3082\u30eb\u30f3\u30d0\u3092\u52d5\u304b\u3059\u3053\u3068\u304c\u3067\u304d\u308b\u3002Unity\u3092\u7528\u3044\u308b\u5834\u5408\u306f\u3001Unity\u5185\u306bESP32\u3068\u306e\u30b7\u30ea\u30a2\u30eb\u901a\u4fe1\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u5fc5\u8981\u3002\u307e\u305f\u3001Unity\u3067\u901a\u4fe1\u3059\u308b\u3068\u304d\u306bArduinoIDE\u306e\u30b7\u30ea\u30a2\u30eb\u30e2\u30cb\u30bf\u3092\u958b\u3044\u3066\u306f\u3044\u3051\u306a\u3044\uff08Port busy\u306b\u306a\u308b\uff09\u3002\uff09<\/p>\n<p><a id=\"user-content--\u30eb\u30f3\u30d0\u3092\u5145\u96fb\u3059\u308b\" class=\"anchor\" href=\"https:\/\/github.com\/uec-media-design-lab\/Roomba-ESP32\/blob\/master\/README.md#-%E3%83%AB%E3%83%B3%E3%83%90%E3%82%92%E5%85%85%E9%9B%BB%E3%81%99%E3%82%8B\" aria-hidden=\"true\"><\/a><strong>\u2460 \u30eb\u30f3\u30d0\u3092\u5145\u96fb\u3059\u308b<\/strong><\/p>\n<ul>\n<li>\u5145\u96fb\u30c9\u30c3\u30af\u306b\u5165\u308c\u3066\u3001\u30eb\u30f3\u30d0\u3092\u5145\u96fb\u3059\u308b\u3002<\/li>\n<li>\u30eb\u30f3\u30d0\u306fPassive Mode\u3067\u306a\u3044\u3068\u5145\u96fb\u3055\u308c\u306a\u3044\u3002Passive Mode\u306b\u3059\u308b\u306b\u306f\u3001\u30eb\u30f3\u30d0\u3092\u6301\u3061\u4e0a\u3052\u3066\u30bf\u30a4\u30e4\u3092\u6d6e\u304b\u305b\u308b\u306e\u304c\u624b\u3063\u53d6\u308a\u65e9\u3044\u3002<\/li>\n<\/ul>\n<p><a id=\"user-content--esp\u306e\u56de\u8def\u3092\u7528\u610f\u3059\u308b\" class=\"anchor\" href=\"https:\/\/github.com\/uec-media-design-lab\/Roomba-ESP32\/blob\/master\/README.md#-esp%E3%81%AE%E5%9B%9E%E8%B7%AF%E3%82%92%E7%94%A8%E6%84%8F%E3%81%99%E3%82%8B\" aria-hidden=\"true\"><\/a><strong>\u2461 ESP\u306e\u56de\u8def\u3068\u3001ESP32\uff0d\u30eb\u30f3\u30d0\u306e\u30b3\u30cd\u30af\u30bf\u3092\u7528\u610f\u3059\u308b<\/strong><\/p>\n<ul>\n<li>ESP32\u304c\u51fa\u3057\u305f3.3V\u6ce2\u5f62\u3092\u30015V\u306b\u30ec\u30d9\u30eb\u5909\u63db\u3057\u3066\u30eb\u30f3\u30d0\u306b\u9001\u308b\n<ul>\n<li>\u30eb\u30f3\u30d0\u306f0-5V\u306eTTL\u901a\u4fe1\uff08Manual p.3\uff09\uff0cESP32\u306f3.3V\u901a\u4fe1<\/li>\n<\/ul>\n<\/li>\n<li>\u30eb\u30f3\u30d0\u304b\u3089\u306e\u96fb\u6e90\u306f\u3001\u30ec\u30ae\u30e5\u30ec\u30fc\u30bf\u30675V\u306b\u3059\u308b\n<ul>\n<li>\u6574\u6d41\u3055\u308c\u3066\u304a\u3089\u305a\u3001\u30d0\u30c3\u30c6\u30ea\u30fc\u6b8b\u91cf\u306b\u3088\u3063\u3066\u96fb\u5727\u5024\u304c\u5909\u308f\u308b<\/li>\n<\/ul>\n<\/li>\n<li>\u300cESP32\u2192\u30eb\u30f3\u30d0\u300d\u304c2\u30d4\u30f3\uff08BRC, RXD\uff09\uff0c\u300c\u30eb\u30f3\u30d0\u2192ESP32\u300d\u304c1\u30d4\u30f3\uff08TXD\uff09\uff0c\u30eb\u30f3\u30d0\u304b\u3089\u306e\u96fb\u6e90\u4f9b\u7d66\u30d4\u30f3\uff08Vpwr, GND\uff09<\/li>\n<\/ul>\n<p><a id=\"user-content--esp\u306b\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u66f8\u304d\u3053\u3080\" class=\"anchor\" href=\"https:\/\/github.com\/uec-media-design-lab\/Roomba-ESP32\/blob\/master\/README.md#-esp%E3%81%AB%E3%83%97%E3%83%AD%E3%82%B0%E3%83%A9%E3%83%A0%E3%82%92%E6%9B%B8%E3%81%8D%E3%81%93%E3%82%80\" aria-hidden=\"true\"><\/a><strong>\u2462<span style=\"font-size: 1rem;\">ESP\u306b\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u66f8\u304d\u3053\u3080<\/span><span style=\"font-size: 1rem;\">\u00a0<\/span><\/strong><\/p>\n<p><a id=\"user-content--esp\u3092\u30eb\u30f3\u30d0\u3068\u3064\u306a\u3050\" class=\"anchor\" href=\"https:\/\/github.com\/uec-media-design-lab\/Roomba-ESP32\/blob\/master\/README.md#-esp%E3%82%92%E3%83%AB%E3%83%B3%E3%83%90%E3%81%A8%E3%81%A4%E3%81%AA%E3%81%90\" aria-hidden=\"true\"><\/a><strong>\u2463 ESP\u3092\u30eb\u30f3\u30d0\u3068\u3064\u306a\u3050<\/strong><\/p>\n<ul>\n<li>PC\u3068USB\u30b1\u30fc\u30d6\u30eb\u3067\u3064\u306a\u3044\u3060\u307e\u307e\u3001ESP32\u3092\u30eb\u30f3\u30d0\u306b\u3064\u306a\u304c\u306a\u3044\u3088\u3046\u306b\u6ce8\u610f\n<ul>\n<li>USB\u30b1\u30fc\u30d6\u30eb\u3092\u629c\u3044\u3066\u304b\u3089\u3001\u30eb\u30f3\u30d0\u3068\u30b3\u30cd\u30af\u30bf\u3067\u3064\u306a\u3050<\/li>\n<li>ESP32\u306bPC\u3068\u30eb\u30f3\u30d0\u306e\u53cc\u65b9\u304b\u3089\u96fb\u6e90\u4f9b\u7d66\u3055\u308c\u3066\u3057\u307e\u3046\u305f\u3081<\/li>\n<\/ul>\n<\/li>\n<li>\u3064\u306a\u3044\u3060\u3068\u304d\u306b\u3001\u30eb\u30f3\u30d0\u304c\u300c\u30d4\u30c3\u300d\u3068\u97f3\u3092\u9cf4\u3089\u3059\u3053\u3068\u304c\u3042\u308b\n<ul>\n<li>Start\u30b3\u30de\u30f3\u30c9\uff08Manual p.8\uff09\u306b\u3088\u308a\u3001Off Mode\u304b\u3089Passive Mode\u306b\u5909\u308f\u3063\u305f\u3068\u304d\u306b\u9cf4\u308b<\/li>\n<li>\u3059\u3067\u306bPassive Mode\u3060\u3068\u9cf4\u3089\u306a\u3044<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-1530 aligncenter\" src=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/roomba_connecter_esp-1-256x300.jpg\" alt=\"\" width=\"256\" height=\"300\" srcset=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/roomba_connecter_esp-1-256x300.jpg 256w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/roomba_connecter_esp-1-768x899.jpg 768w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/roomba_connecter_esp-1-875x1024.jpg 875w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/roomba_connecter_esp-1-960x1124.jpg 960w\" sizes=\"auto, (max-width: 256px) 100vw, 256px\" \/><\/p>\n<p><a id=\"user-content--bluetooth\u3067esp\u3068\u63a5\u7d9a\u3059\u308b\" class=\"anchor\" href=\"https:\/\/github.com\/uec-media-design-lab\/Roomba-ESP32\/blob\/master\/README.md#-bluetooth%E3%81%A7esp%E3%81%A8%E6%8E%A5%E7%B6%9A%E3%81%99%E3%82%8B\" aria-hidden=\"true\"><\/a><strong>\u2464 Bluetooth\u3067ESP32\u3068\u63a5\u7d9a\u3059\u308b<\/strong><\/p>\n<ul>\n<li>\u2465\u3067\u300cPort busy\u300d\u3068\u3044\u308f\u308c\u3066\u30b7\u30ea\u30a2\u30eb\u30e2\u30cb\u30bf\u3092\u958b\u3051\u306a\u304f\u306a\u3089\u306a\u3044\u3088\u3046\u306b\u3001ArduinoIDE\u3092\u5148\u306b\u958b\u3044\u305f\u72b6\u614b\u3067\u3001Bluetooth\u901a\u4fe1\u3092\u3064\u306a\u3050<\/li>\n<li>PC\u306eBluetooth\u3092\u30aa\u30f3\u306b\u3057\u3001Bluetooth\u30c7\u30d0\u30a4\u30b9\u306e\u8ffd\u52a0\u304b\u3089\u300cESP_BluetoothSerial\u300d\u3092\u63a2\u3057\u3066\u63a5\u7d9a<\/li>\n<\/ul>\n<p><a id=\"user-content--arduinoide\u3067\u30b7\u30ea\u30a2\u30eb\u30e2\u30cb\u30bf\u3092\u958b\u304f\" class=\"anchor\" href=\"https:\/\/github.com\/uec-media-design-lab\/Roomba-ESP32\/blob\/master\/README.md#-arduinoide%E3%81%A7%E3%82%B7%E3%83%AA%E3%82%A2%E3%83%AB%E3%83%A2%E3%83%8B%E3%82%BF%E3%82%92%E9%96%8B%E3%81%8F\" aria-hidden=\"true\"><\/a><strong>\u2465 ArduinoIDE\u3067\u30b7\u30ea\u30a2\u30eb\u30e2\u30cb\u30bf\u3092\u958b\u304f<\/strong><\/p>\n<ul>\n<li>ESP32\u3092Bluetooth\u63a5\u7d9a\u3059\u308b\u3068COM\u30dd\u30fc\u30c8\u304c\uff12\u3064\u8ffd\u52a0\u3055\u308c\u308b\u306e\u3067\u3001\u30b7\u30ea\u30a2\u30eb\u30e2\u30cb\u30bf\u3092\u958b\u304fCOM\u30dd\u30fc\u30c8\u756a\u53f7\u306f\u3069\u3061\u3089\u306a\u306e\u304b\u3092\u78ba\u8a8d\u3059\u308b\u3002\u78ba\u8a8d\u65b9\u6cd5\u306f\u6b21\u306e\u624b\u9806\u3002\n<ul>\n<li>Windows\u306e\u300c\u8a2d\u5b9a\u300d\u2192\u300c\u30c7\u30d0\u30a4\u30b9\u300d\uff08\u2192\u300cBluetooth\u3068\u305d\u306e\u4ed6\u306e\u30c7\u30d0\u30a4\u30b9\u300d\uff09\u2192\u300c\u305d\u306e\u4ed6\u306eBluetooth\u30aa\u30d7\u30b7\u30e7\u30f3\u300d\uff08\u95a2\u9023\u8a2d\u5b9a\u306e\u30ea\u30b9\u30c8\u5185\u306b\u9752\u3044\u5b57\u3067\u66f8\u3044\u3066\u3042\u308b\u3002PC\u306eBluetooth\u304c\u30aa\u30f3\u306b\u306a\u3063\u3066\u3044\u306a\u3044\u3068\u62bc\u305b\u306a\u3044\uff09<\/li>\n<li>Bluetooth\u8a2d\u5b9a\u306e\u30a6\u30a4\u30f3\u30c9\u30a6\u304c\u958b\u304f<\/li>\n<li>COM\u30dd\u30fc\u30c8\u306e\u30bf\u30d6\u3092\u958b\u304d\u3001\u30dd\u30fc\u30c8\u306e\u540d\u524d\u3092\u78ba\u8a8d\u3059\u308b\u3002\u672b\u5c3e\u306b'ESP32SPP'\u3068\u3064\u3044\u3066\u3044\u308b\u65b9\u304c\u3001\u30b7\u30ea\u30a2\u30eb\u30e2\u30cb\u30bf\u3092\u958b\u304f\u3068\u304d\u306eCOM\u30dd\u30fc\u30c8\u3002<br \/>\n\uff08\u4e0b\u306e\u56f3\u306e\u4f8b\u3067\u306f\u3001COM\uff19\uff09<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p style=\"text-align: center;\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-1609\" src=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/Bluetooth\u30b3\u30e0\u30dd\u30fc\u30c8-216x300.png\" alt=\"\" width=\"216\" height=\"300\" srcset=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/Bluetooth\u30b3\u30e0\u30dd\u30fc\u30c8-216x300.png 216w, https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2019\/07\/Bluetooth\u30b3\u30e0\u30dd\u30fc\u30c8.png 603w\" sizes=\"auto, (max-width: 216px) 100vw, 216px\" \/><\/p>\n<p><a id=\"user-content--\u30b7\u30ea\u30a2\u30eb\u901a\u4fe1\u3067esp\u306b\u547d\u4ee4\" class=\"anchor\" href=\"https:\/\/github.com\/uec-media-design-lab\/Roomba-ESP32\/blob\/master\/README.md#-%E3%82%B7%E3%83%AA%E3%82%A2%E3%83%AB%E9%80%9A%E4%BF%A1%E3%81%A7esp%E3%81%AB%E5%91%BD%E4%BB%A4\" aria-hidden=\"true\"><\/a><strong>\u2466 \u30b7\u30ea\u30a2\u30eb\u901a\u4fe1\u3067ESP\u306b\u547d\u4ee4<\/strong><\/p>\n<ul>\n<li>\u300ca\u300d\u9001\u4fe1\u3067\u3001ESP32\u304b\u3089\u300cahead\u300d\u3068\u3044\u3046\u8fd4\u4fe1\u304c\u8fd4\u3063\u3066\u304d\u3066\u30eb\u30f3\u30d0\u304c\u524d\u9032\u3059\u308b\uff08\u300cb\u300d\u2192\u5f8c\u9032\uff0c\u300cr\u300d\u2192\u53f3\u56de\u308a\uff0c\u300cl\u300d\u2192\u5de6\u56de\u308a\uff0c\u300cc\u300d\u2192\u505c\u6b62\uff09<\/li>\n<li>\u52d5\u304b\u306a\u3044\u5834\u5408\u306f\u300cw\u300d\u3092\u9001\u4fe1\u3057\u3066\u3001\u521d\u671f\u5316\u3059\u308b\uff08\u6570\u79d2\u304b\u304b\u308b\uff09<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>\u30eb\u30f3\u30d0\u3092ESP32\u3067Bluetooth\u901a\u4fe1\u3067\u52d5\u304b\u3059\u65b9\u6cd5 \u66f4\u65b0 <a class=\"more-link\" href=\"https:\/\/www.media.lab.uec.ac.jp\/?page_id=1507\">\u7d9a\u304d\u3092\u8aad\u3080 &rarr;<\/a><\/p>\n","protected":false},"author":8,"featured_media":0,"parent":209,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_s2mail":"yes","_locale":"ja","_original_post":"1507","footnotes":""},"class_list":["post-1507","page","type-page","status-publish","hentry","ja"],"aioseo_notices":[],"_links":{"self":[{"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=\/wp\/v2\/pages\/1507","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=\/wp\/v2\/users\/8"}],"replies":[{"embeddable":true,"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1507"}],"version-history":[{"count":71,"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=\/wp\/v2\/pages\/1507\/revisions"}],"predecessor-version":[{"id":2528,"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=\/wp\/v2\/pages\/1507\/revisions\/2528"}],"up":[{"embeddable":true,"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=\/wp\/v2\/pages\/209"}],"wp:attachment":[{"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1507"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}