IRラジコン作成回答

注意

リモコン内のボタンの区別はできません。操作の数の５つのリモコンを用意する必要があります。ラズベリーパイに重たい動作をさせている場合、赤外線受信がうまくいかなくなります。不要な処理は起動していない状態で実施してください。

赤外線読み取りメソッドを追加します。

def read_ir(ir_receiver, signal)
  # puts "IR read start ... "
  captureTimings = []
  pre_time = Time.now
  while Time.now - pre_time < RECORDING_TIMEOUT
    if ir_receiver.read != signal
      now_time = Time.now
      captureTimings << now_time - pre_time
      pre_time = now_time
      signal ^= 1
    end
  end
  
  # 先頭のタイミングは削除
  # captureTimings.shift
  captureTimings = captureTimings.map { |timing| (timing*1000000).floor}
  puts "receive result:"
  puts "[#{captureTimings.join(',')}]"
  puts "IR read complete."
  
  return captureTimings
end

赤外線監視メソッドを追加します。

def watch_ir()
  ir_receiver = PiPiper::Pin.new :pin => 4

  puts "watch IR Changed ..."
  before_signal = ir_receiver.read
  loop do
    signal = ir_receiver.read
    if signal != before_signal
      # puts "signal changed."
      captureTimings = read_ir(ir_receiver, signal)
      mortor_order =  convert_ir_to_mortor_order(captureTimings)
      if mortor_order != ""
        send_request(mortor_order)
      end

      puts "watch IR Changed ..."
    end

    before_signal = signal
    # sleep 0.000000001
  end
end

前回と値が異なる場合は、赤外線受信されたと判断し赤外線読み取りメソッドを呼び出します。 OnOffの周期の時間差を記録する仕組み上赤外線読み取りまでにインターバルを挟む動作、コンソールログ出力などはしないようにしています。

各赤外線学習

赤外線の学習を行います。

以下コマンドを実行します。

cd ~/IRMortorControl
rbenv sudo bundle exec ruby ir_mortor_control.rb

赤外線送信します。

以下のような画面が表示されるため、receive result:~IR read complete. までをコピーします。

watch IR Changed ...
receive result:
[1963,997,5491,996,1590,530,655,342,534,531,533,757,276,467,538,463,533,533,529,468,533,468,631,406,535,531,532,497,533,469,533,496,537,533,468,535,531,466,1602,467,533,467,562,465,601,466,531,466,976,87,538,467,536,469,599,467,556,468,532,468,535,534,561,463,501,527,530,467,1578,470,577,463,530,473,1579,510,1578,448,568,468,1560,542,467,533,593,11203,11078,494,552,481,553,481,554,482,547,416,619,417,551,548,485,488,546,530,547,471,546,491,547,448,517,531,541,449,588,449,556,460,597,444,1562,521,526,445,589,463,520,524,519,530,531,445,590,442,615,445,525,513,527,451,598,440,592,444,533,515,514,450,597,464,1547,536,531,517,522,437,1649,447,1578,442,587,451,1617,460,530,445,601,11267,2009,955,5499,1034,1556,442,582,444,593,520,512,510,538,441,596,438,603,455,520,515,526,454,602,441,580,441,526,523,515,517,518,454,590,445,578,443,810,229,1553,522,586,438,584,447,520,517,509,532,512,455,592,446,578,438,591,439,598,430,596,439,578,436,584,441,591,503,499,506,1606,439,589,428,592,1177,875,473,1534,470,602,660,1329,536,538,468,534]
IR read complete.

各赤外線設定

各モーター起動の赤外線学習内容に学習した赤外線を上書きします。

# 前進   
FORWARD_TIMINGS = [335,465,339,476,340,407,406,637,139,468,335,463,401,372,409,405,341,499,339,464,334,469,536,276,406,408,333,467,336,588,206,469,334,431....]
# 左     
LEFT_TIMINGS = [399,401,650,989,569,275,405,405,403,1214,467,338,453,337,481,332,467,402,406,403,405,1203,463,335,500,340,456,1186,430,1191,407,1210,467,1189,405,411,406,420,401,400,463,499,276,407,408,407,435,336,464....]
# 右     
RIGHT_TIMINGS = [9,533,465,538,470,700,337,1601,472,537,583,469,467,533,466,600,469,532,469,535,467,600,468,535,510,497,539,541,472,539,514,487,593,472,467,533,467,589,465,529,465,1594,767,283,470,1588,436,1586,496,535,459,1632,471,510,468,604....]
# バック  
BACK_TIMINGS = [9,533,465,538,470,700,337,1601,472,537,583,469,467,533,466,600,469,532,469,535,467,600,468,535,510,497,539,541,472,539,514,487,593,472,467,533,467,589,465,529,465,1594,767,283,470,1588,436,1586,496,535,459,1632,471,510,468,604....]
# ブレーキ 
BREAKE_TIMINGS = [542,1757,525,600,476,1788,524,596,458,1789,517,656,457,658,463,772,337,657,527,1710,529,654,464,1787,488,652,460,1761,655,1634,459,1768,528,1740,495,40183,8975,2307,531,96622,9163,2135,466....]

動作確認

動作確認をします。ターミナルを2つ立ち上げます。

１つ目

cd ~/IRMortorControl
rbenv sudo bundle exec rails ir_mortorcontrol_server:wake_up

２つ目

cd ~/IRMortorControl
rbenv sudo bundle exec ruby ir_mortor_control.rb

リモコンを送信し、割り当てた学習内容でモーターが想定通りに動くことを確認します。

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