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2013 3


...................................................................................................................................... 3
1
1.1

..................................................................................................................... 4
................................................................................................................. 4

1.1.1

................................................................... 4

1.1.2

............................................................................................... 6

1.2

........................................................................................................................ 7

1.3

.......................................................................................................... 9

2
2.1

........................................................................ 10
RC .................................................................................................. 10

2.1.1
2.2

RC ........................................................................................... 14

.................................................................................. 15

2.2.1

................................................................................................. 15

2.2.2

.......................................................................................... 17

........................................................................................................... 23

3.1

........................................................................... 23

3.2

RT-ADKmini ............................................................................................ 24

3.2.1

RT-ADKmini Android ........................................ 24

3.2.1

DA ......................................................................................................... 26

3.2.2

PIC ............................................................................... 26

3.2.3

SPI ........................................................................................................ 27

4
4.1

Android RC ............................................... 37
Android ........................................................................................................ 37

4.1.1

........................................................................................................ 37

4.2

........................................................................... 38

4.3

.................................................................................. 45

5
5.1

RC ..................................................................... 49
...................................................................................... 49

5.1.1

AD ......................................................................................................... 51

5.1.2

........................................................................................................ 52

5.1.3

........................................................................................................ 53

6
6.1

........................................................................... 55
WiFi ....................................................................................... 55

6.1.1

PCi WiFi .................................................................. 56


1

6.2

Android ............................................................. 58

6.2.1

Java .................................................................................... 59

6.2.2

JNI .................................................................................................... 62

6.3

RC ........................................................................ 66

6.3.1

PID ....................................................................................................... 68

6.3.2

P ............................................................................................................ 68

6.3.3

I ............................................................................................................. 71

6.3.4

PI .......................................................................................................... 71

6.4

............................................... 72

6.5

...................................................................................................................... 73

6.6

............................................................................................................... 75

................................................................................................................... 81

7.1

RC ........................................... 81

7.2

................................................................. 81

7.3

................................................................. 82

7.4

...................................................................................................................... 82

.................................................................................................................................... 83
I

............................................................................................................................. 84
I.I

PIC ........................................................................... 84

............................................................................................................................. 97
............................................................................................................................. 99
.................................................................................................................... 102

LSI

1.1

23 11 4,612 45
3 [1]

[2]

1.1.1

GPS Google
1.1 [3]2012
5
2012 8
48 [4]

1.1

Google
4

SARTRE
1.2

EU 7

200km
[5]

1.2

SARTRE

1.3 LS

GPS 360
[6]

1.3

1.1.2

20
[7]

1.2

1.1.1 1.1.2 Google

LSI LSI

LSI

1.1.1

1/10

Android
Android

1.4 WiFi
WiFi
Bluetooth

1.4

1.3

3
DA

4 AndroidOS
Bluetooth

6 WiFi

2
2.1

RC

RC 1RC

R/C RC
RC RC
RC

[8]

RC

2.1

RC

10

2.2

RC

RC 2.1 1/10RC RC
DC

2 2.2 RC
ESC 4
1

2.3

2.3
DC 2 1
1ESC

11

FM RC
27MHz 40MHz 2
RC 2
FM27MHz 26.995MHz

ESC
DC PWM

2.4 PWM
[9]

ESC RC
2.4 PWM
RC
ESC

ESC [10]

40MHz ()

12

ESC TEU-104BK 2.5


LED
LED

LED

2.5

ESC

13

TEU-104BK

2.1.1

RC

RC
2.1

1/10RC

431mm

187mm

125mm

251mm

FR3
3
4
FR

FR27/67mm

8:35:01

540

4WD

ESC

2.1

14

2.2

ESC

ON/OFF

2.2.1

RC
RC

2.6

15

2.7

2.7 3

RC
RC

16

2.2.2

2.9
2.9 2.9

2.8

2.8

2.2 3
2.2

2.74V

4.16V

2.98V

2.57V

3.12V

1.09V

17


RC

RC

2.9

2.9
3
RC
2.2
2.9V RC
RC
4

18

2.10

2.10 2.9V RC

2.7V

2.11

19

2.11 2.7V
2.1 ESC LED
3.1V

2.12

2.9V
2.12 3.1V

2.5V

20

2.13

2.13 2.5V

4.1V

2.14

21

2.14 4.1V
1.0V

2.15

2.5V
2.15 1.0V
ESC LED

2.2
RC

22

3
3.1

3.1

3.1

WiFi
RC
Bluetooth

RC

RC

23

RT-ADKmini

3.2

RT-ADKmini CPU PIC24FJ64GB002-I/ML RT


Bluetooth USB

3.1

RT-ADKmini

RT-ADKminiRT-ADKmini

21W62D18H

11g

CPU

PIC24FJ64GB002-I/ML

I/O

15

USB A

3.1 RT-ADKmini [11] ADK Android


USB Android
ADK 28
MPLAB

3.2.1

RT-ADKmini Android
AndroidOS Bluetooth

3.2 RT-ADKmini ADK


USB Bluetooth hrdakinori
Bluetooth [12]

USB
3.2

PIC24FJ64GB002

Bluetooth RT-ADKmini

24

Android RT-ADKmini
hrdakinori

RT-ADKmini
RC
RT-ADKmini PIC
RT-ADKmini DA DA
RT-ADKmini SPI

3.3

DA

25

3.2.1

DA
DA MAN525ACPP DA

12 RT-ADKmini
MAX525ACPP SPI DA
MAX525ACPP SPI
DA MAX525ACPP
[13]
3.2.2

PIC
RT-ADKmini PIC DA

3.4

1 3.4 1

[14]
RT-ADKmini DA
SPISerial Peripheral Interface

26

3.2.3

SPI
MAX525ACPP SPI

RT-ADKmini PIC PIC24F


SPI 2
SPI 4
4 Serial ClockSCKSerial Data InputSDISerial Data
OutputSDOSerial SlaveSS 3.2
3.2

SPI

Serial ClockSCK

Serial Data InputSDI

Serial Data OutputSDO

Serial SlaveSS

SPI 3.5

3.5

SPI [15]
27

PIC24F SPI 8 16
8
SPI
SCKx SPI
SCKx PIC DC
SSx
SSx

SPIxSR
SCKx
SDIx SDOx
SPIxBUF SPIxRXB
SPIxTXB
SPIxBUF SPIxSR

SPIxSR SPIxRXB
SPIxBUF
SPIxBUF [15]

3.6

3.6 SPI

28

3.7 RT-ADKmini MAX525ACPP AD

3.7

RT-ADKmini
MAX525ACPP 5V

4 Android RC

29

3.8 RT-ADKmini SPI

3.8

SPI

16 1
0 2 16 3.7 SPI
RP2RP3RP5RP6
0x3 0011 PortA RA0 RA1
3.2
RP5 SDORP6 SCKRP3 SS
SDI

3.9

SPI

30

3.9 3.8 SPI


[16] [17]
CLK_POL_ACTIVE_LOW

MASTER_ENABLE_ON RT-ADKnimi SPI


MAX525ACPP SPI

SS
SCK
SDI

3.10

SPI

3.10 SPI
LOW 2

31


Bluetooth MAX525ACPP
2

3.11

3.11

32

3.11 25.6mV
2.29V

3.12

33


3.12
MAX525ACPP 2.2

1+

3.13

3.13
560 1k
1.56

34

3.14

35

3.15

3.14 3.15 2.2

36

4 Android RC
Android

4.1

Android Google
Open Handest
Alliance(OHA)
AndroidOS
Android OS
Android

4.1
4.1.1

AndroidOS

Android Java

Eclipse
Java
JDKJava Developer Toolkit
AndroidSDK Android SDK Tool Android
Eclipse

Eclipse

37

4.2

PIC

RC

4.2

4.3

38

4.2 X Y
Z 2
X Y Z 2 4.3

4.4

0255
4.1

39

4.1

0255

91

41

153

100

186

161

Java Log Eclipse LogCat

4.5

Log

4.5
Log
3 Log
Log Eclipse LogCat 4.6

40

4.6
4.2.1

LogCat Log

4.7 4.8

4.7

4.8

41


PWM

4.9

angle Z slope Y event


values 4.1
4.9 pwm_width1 angle
pwm_width2 slope

4.10

Bluetooth
4.10

42

4.11

4.11

not connected Bluetooth


Bluetooth

4.12

4.12 Connect device


Bluetooth 5

Bluetooth ON
Bluetooth

43

4.13

Bluetooth

4.13 Bluetooth
4.13 PIC24F---117

4.14
4.14 not connected
Bluetooth

4.15

Bluetooth

4.15 SEND

44

4.3

RC
Z
Z Y
Y

RC RC
1
1
6
4.16

4.16

[18]

RC

45

4.17

46

4.17

4.18

4.18

47

4.19
4.17

4.19

RC

RC
4.20 RT-ADKmini Main

4.20

48

5 RC
5.1

RC 2

5.1

5.1

80cm
2 2
5.1

49

SHARP GP2Y0A02YK
5.2

5.2

[19]

PIC RC
30cm 5.2 2V
30cm~10cm

50

5.1.1

AD
PIC AD

AD 5.3
AD 1 1 AD
AD 500ksps
10 16
7 [15]

5.3

AD

PIC

51

5.1.2

AD RC

AD

5.4

AD

RC

5.5

RC

5.5 RC
itp_data12
bar_val1 PIC

52

5.1.3

5.6 RP0RP1 AD

5.6

5.7

5.7
RC
RC

53

5.8

5.8 3.7 3.13 5.6

54

6
6.1

WiFi
RC Bluetooth
RC
RC
CS-W07G-CY WiFi 8
LAN

6.1

WiFi

USB
RT-ADKmini

Trek

55

WiFi

6.1.1

WiFi
6.1

WiFI

1/9CMOS

F2.820cm

60/30

VGA640480QVGA320240QQVGA160120

Motion-JPEG

JPEG

30fps

IPDHCP

IEEE802.11gIEEE802.11b

113ch

2.4GHz2,4122,472MHz

IEEE802.11g54483624181296Mbps
IEEE802.11b115.521Mbps
IEEE802.11gOFDM
IEEE802.11bDSSS

11T1R

20m7.5m

WEP/WPA-PSK/WPA2-PSK

56

6.2

WiFi

LED/

Power/ON/OFF/

CR2)13V 750Ah

300mA

5V 1A

30W)30H35D

56W63H56D
32W93H20D

10g

17g

050

-1060

30g

590%
590%

Windows732bit/64bit Vista32bit/64bit XP32bit


OS

Mac OSX 10.6/10.5/10.4Intel/PowerPC


iOS

Android 2.2

Internet Explorer 6.0Safari 4.0Firefox 3.6

6.1 6.2 VGA 640480


30fps WiFi

57

6.2

Android
Android Android
WiFi Java JNI
2

WiFi

6.2

WiFi

6.3

WiFi

58

6.2 6.3
WiFi 1 30
6.3 14fps
WiFi
6.2.1

Java

RC 6.4

6.4

59

6.4

6.5

6.5

Java

for XX+=2YY+=2 2
1/4 6.5
SxSy

60

6.6

Java

6.6 6.5 x
Gx Java Activity

6.7

Java

6.7 Java
2

fps 9 2fps
5 RC

fps
WiFi
9

61

6.2.2

JNI
JNI Java Native Interface Java

C
[20]
JNI
Java

JNI

6.8

C Java

62

6.8 C Java
C
Java
Java Virtual Machine

WiFi
JNI
[21]

6.9
Java JNI
x JNI x
Gx 6.9 int Gx JNI
JNI x Java Activity

JNI C

63

6.10

JNI C

6.10 C 1
Java
i+=2j+=2 2
2
6 4 3

64

6.11

6.11 6.10 3
X Gx Java Gx

6.12

JNI

6.12 JNI

14fps
Java 6.7
2fps

65

6.3

RC
RC
WiFi
WiFi
WiFi 640480 X 320

6.13

WiFi

WiFi X

66

6.14

6.14 X 320
ON/OFF

ON/OFF

PID
67

6.3.1

PID
PID

PID ProportionalIntegralDifferential
[22]
6.3.2

P
ON/OFF

6.15

ON/OFF

68

PID P

6.16

69

6.17

6.17 P

70

6.3.3

I
I

6.3.4

PI
6.3.2 6.3.3 PI PI

P I

6.18

P I PI

6.18 P I PI Java
P JNI x cog x
dispcenter I P PI
PI
Pseekf Iseekf
I PIval 0.01 I

71

6.19

PI

6.19 PI

PI
100 PI 0 0

PI P I

6.4

RC
P I 5

I
P

6.20

[23]

72

6.5

WiFi RC

6.21

RT-ADKmini WiFi 5V
12V

WiFi

73

6.23

WiFi

6.22

74

6.6

6.24

WiFi

RC P I 0.0~0.3
0.1
I 4.18 0.01 0~0.0003
P I

6.25

RC

WiFi

75

SD
PI

10

200
150
100

50
0

-50
-100
-150
-200
0

P=0.1,I=0.000

6.26

6
(s)
P=0.2,I=0.000

10

12

P=0.3,I=0.000

6.26 P P=0.1

P=0.2 P=0.1
2

P=0.3

P I 0.001~0.003 I

76

200
150
100

50
0

-50
-100
-150
-200
0

2
P=0.1,I=0.000

6
8
(s)
P=0.1,I=0.001
P=0.1,I=0.002

6.27

10

12

P=0.1,I=0.003

P=0.1 I

6.27 P=0.1 I 0.000~0.003

I=0.001 8
P
I=0.002 I=0.001
6~8

I=0.003 P I
P=0.1 I=0.001 0.002

77

200
150
100

50
0

-50
-100
-150
-200
0

2
P=0.2,I=0.000

6
8
(s)
P=0.2,I=0.001
P=0.2,I=0.002

6.28

10

12

P=0.2,I=0.003

P=0.2 I

6.28 P=0.2 I 0.000~0.003

I=0.0010.002 I=0.002 I=0.001

I=0.003 I
P=0.2
I=0.002

78

200
150
100

50
0

-50
-100
-150
-200
0

2
P=0.3,I=0.000

4
P=0.3,I=0.001

6.29

6
(s)

8
P=0.3,I=0.002

10

12

P=0.3,I=0.003

P=0.3 I

6.29 P=0.3 I 0.000~0.003

P=0.3

P=0.1I=0.0010.002
P=0.2I=0.002
P=0.2I=0.002
P=0.2I=0.002

79

200

150
100

50
0

-50

-100
-150
-200
0
5
P=0.2,I=0.002

6.30

10

15
(s)

20

25

6.30 10

15
PI
P=0.2I=0.002

80

30

7
7.1

RC
RC
WiFi

Y 80 Z
80
WiFi
RC

7.2

RC

81

7.3

WiFi
JNI
PI
P I

RC

7.4

82

RT-ADKmini Android
Bluetooth
hrdakinori

4
4

83

MPLAB JNI

I.I

PIC
PIC PIC Microchip
Technology IC CPU ROM
IC
2.5V6.0V
PIC
Linux OS

PIC MPLAB IDEIntegrated Development Environment


PIC
PICkit3 PIC
MPLAB IDE I.1 [24]

I.1

MPLAB
84

PIC

MPLINK

MPLIB

PIC PIC

PIC
MICROCHIP PICkit3
MPLAB IDE
PICkit3
POWERACTIVESTATUS LED

I.2

PICkit3

85

PICkit3 PICkit3

MPLAB

I.3

MPLAB

MPLAB I.3 Project


Project Wizard Project Wizard

86

I.4

Project Wizard

I.4

I.5

87

I.5 PIC PIC


PIC24FJ64GB002

I.6

I.6
Microchip C30 Toolsuite

Show all installed toolsuites

88

I.7

I.8

I.7 Browse
I.8

MPLAB

89

I.9

I.9 I.8

I.10

I.10
Add

90

I.11

I.12

MPLAB Project
Open Project Save Project

91

MPLAB
MPLAB Project Build All

I.13

Ctrl+F10

I.14

I.14 BUILD SUCCEEDED

92

I.15

I.15 BUILD FAILED

93

MPLAB PICkit3

I.16

MPLAB

MPLAB Programmer Select Programmer


PICkit3
I.17 Output
Device ID Revision = XXXX

XXXX

PIC

I.17

PICkit3 PIC

94

I.18

PICkit3

PICkit3 PIC
Programmer Program I.18 PICkit3
PIC Program
I.18 Output You must connect a target device to use
PICkit PICkit3

95

I.19

PICkit3

I.19 PICkit3 PIC Output


Target Detected Programmer Program
Programmer Program
PIC

I.20

I.20 Output
PICkit3 PIC

96


1.

. . .

http://www8.cao.go.jp/koutu/taisaku/h24kou_haku/pdf/zenbun/gen1_1_1_01.pdf.
2. . . .
http://www8.cao.go.jp/koutu/taisaku/h24kou_haku/pdf/zenbun/gen1_1_2_01.pdf.
3. . AFPBBNews.
http://www.afpbb.com/article/environment-science-it/science-technology/2903873/95841
03.
4. . CNET.
http://japan.cnet.com/news/business/35012071/.
5. SARTRE. VOLVO.
http://www.volvocars.com/jp/top/about/news-events/pages/default.aspx?itemid=102.
6. [CES 13].
http://response.jp/article/2013/01/08/188367.html.
7. TECHNOLOGY STORY. SUBAARU.
http://www.subaru.jp/about/technology/story/eyesight/eyesight01.html.
8. RC . .
http://www.tamiya.com/japan/rc/index.html.
9. . RC . TAMIYA INC.

http://www.tamiya.com/japan/cms/rcstartguide.html.
10. RC . RCT .
http://www.rct.jp/cgi/bbs/beginner/raib.cgi?md=tv&pn=99&ln=2161.
11. RT-ADK. RT CORPORATION.
http://rt-net.jp/product/rtadkseries/.
12. hrdakinori/BT_DROID.
https://github.com/hrdakinori/BT_DROID.
13. 2008

14. .
http://www.picfun.com/cpu12.html.
15. 2007C PIC24F
16. m . SPI . PIC .
http://www2.ocn.ne.jp/~mhage/PIC_Trap/SPI.html.
17. PIC

SPI . .

http://www.ys-labo.com/pic/pic%20chips/pic%20chips%20contets/061009%20SPI%20ht
ml.html#1CHAR%20%20INT%20%20C30%20dsPIC.
97

18. TAMIYA. RC

FM RC

.
19. SHARP GP2Y0A02YK.
http://sharp-world.com/products/device/lineup/data/pdf/datasheet/gp2y0a02_e.pdf.
20. 2012
AndroidOS

21. neuralassembly. Android WiFi 1


. neuralassembly .
http://neuralassembly.blogspot.jp/2012/12/androidwifi.html.
22. PID . .
http://www.picfun.com/motor05.html.
23. 2012Android

98


1.1

Google ................................................................................... 4

1.2

SARTRE ....................................................... 5

1.3 ..................................................................................... 6
1.4 ..................................................................................... 8
2.1

RC ....................................................................................... 10

2.2

RC ......................................................................... 11

2.3 ............................................................................ 11
2.4 PWM .................................................................... 12
2.5 ESC

TEU-104BK .................................................................... 13

2.6 .......................................................................................... 15
2.7 .............................................................................................. 16
2.8 .............................................................................................. 17
2.9 ............................................................................... 18
2.10 ................................................................... 19
2.11 ............................................................ 19
2.12 ........................................................... 20
2.13 ............................... 21
2.14 ................................................. 21
2.15 ................................................. 22
3.1 .............................................................................................. 23
3.2

Bluetooth RT-ADKmini ...................................... 24

3.3

DA ......................................................................... 25

3.4 ................................................................................... 26
3.5

SPI [15] .................................................................... 27

3.6

4 .................................................................................... 28

3.7 ................................................................................................. 29
3.8

SPI .............................................................. 30

3.9

SPI ................................................................. 30

3.10

SPI ...................................................... 31

3.11 ........................................................ 32
3.12 ........................................................ 33
3.13 ........................................................ 34
3.14 ............................................................................. 35
3.15 ............................................................................. 36
4.1

AndroidOS ................................................................ 37
99

4.2 .......................................................... 38
4.3 ................................................... 38
4.4 ............................................................................... 39
4.5 Log ................................................................ 40
4.6 LogCat Log .................................................................. 41
4.7 ................................................... 41
4.8 ............................................ 41
4.9 ............................................................................... 42
4.10 .......................................... 42
4.11 ...................................... 43
4.12 ................................................................... 43
4.13 Bluetooth ........................................................... 44
4.14 ........................................................................................ 44
4.15

Bluetooth ....................................... 44

4.16 [31] .......................................................... 45


4.17 ........................ 46
4.18 ........................... 47
4.19 ........................................................... 48
4.20 ............................................................................................... 48
5.1 ...................................................................................... 49
5.2 [30] ........................................................................... 50
5.3

AD .................................................................................... 51

5.4

AD ............................................................................. 52

5.5 RC ...................................................... 52
5.6 ........................................................................ 53
5.7 ........................................................................ 53
5.8 ..................................................................................................... 54
6.1 WiFi .................................. 55
6.2 WiFi ................................................................................. 58
6.3 WiFi ............................................ 58
6.4 ................................................................. 59
6.5

Java .............................................................. 60

6.6

Java ........................................................................ 61

6.7

Java ............................................. 61

6.8

C Java ............................................................... 62

6.9

Java JNI .................................................................................. 63


100

6.10

JNI C ............................................ 64

6.11 ............................................................................................ 65
6.12

JNI ...................................... 65

6.13 ............................................................................................... 66
6.14 .................................................... 67
6.15

ON/OFF .................................................................................... 68

6.16

P ............................................................................................... 69

6.17

P ............................................................................................... 70

6.18

P I PI ......................................................................... 71

6.19

PI .......................................................................................... 72

6.20 ...................................... 72
6.21 ................................................................................. 73
6.22 ...................................................................................................... 74
6.23 ................................................................................. 74
6.24 WiFi ..................................................... 75
6.25 RC .................................................... 75
6.26

P ............................................................ 76

6.27

P=0.1 I ....................................................................... 77

6.28

P=0.2 I .................................................................. 78

6.29

P=0.3 I .................................................................. 79

6.30 ................................................................... 80
2.1

1/10RC ........................................................................................ 14

2.2 ............................................................. 17
3.1

RT-ADKmini ..................................................................................... 24

3.2

SPI .............................................................. 27

4.1

0255 ..................................................................................... 40

6.1 WiFI .................................................................................... 56


6.2 WiFi ..................................................................................... 57

101


I.1

MPLAB ....................................................................................... 84

I.2 PICkit3 .............................................................................................. 85


I.3

MPLAB .............................................................. 86

I.4 Project Wizard ................................................................................... 87


I.5 ................................................................................ 87
I.6 ....................................................................................... 88
I.7 .......................................................................................... 89
I.8 ................................................................................ 89
I.9 ................................................................................ 90
I.10 .............................................................................. 90
I.11 ................................................................ 91
I.12 ..................................................... 91
I.13 .............................................................................. 92
I.14 ................................................................................................ 92
I.15 .......................................................................... 93
I.16

MPLAB ......................................................................................... 94

I.17

PICkit3 PIC ........................................................... 94

I.18

PICkit3 .................................................................................. 95

I.19

PICkit3 .................................................................................. 96

I.20 .............................................................................. 96

102