CRAC Team
AX12 gros robot
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command_AX12_gros_robot
by 
CRAC Team
Diff: main.cpp
- Revision:
- 0:a2a44c043932
- Child:
- 1:b3ff77670606
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Mar 15 16:36:50 2017 +0000
@@ -0,0 +1,194 @@
+#include "mbed.h"
+#include "AX12.h"
+#include "cmsis.h"
+
+ /* DECLARATION VARIABLES */
+Timer t;
+Ticker flipper;
+static char TAB[25]= {0x01,0x9A, 0x02, 0xFF, 0x00, // socle
+ 0x02,0x0A, 0x01, 0xFF, 0x00, // bas
+ 0x05,0xC8, 0x00, 0xFF, 0x00, // milieu
+ 0x0D,0x90, 0x01, 0xFF, 0x00, // haut
+ 0x09,0xD2, 0x01, 0xFF, 0x00}; //ventouse
+
+static char TAB2[25]= {0x01,0xE9, 0x00,0xFF, 0x00, // socle
+ 0x02,0x2C, 0x01, 0xFF, 0x00, // bas
+ 0x05,0xA6, 0x00, 0xFF, 0x00, // milieu
+ 0x0D,0xD2, 0x01, 0xFF, 0x00, // haut
+ 0x09,0xFF, 0x03, 0xFF, 0x00}; //ventouse
+
+static char TAB3[25]= {0x01,0xA6, 0x00,0xFF, 0x00, // socle
+ 0x02,0x6E, 0x01, 0xFF, 0x00, // bas
+ 0x05,0xE9, 0x00, 0xFF, 0x00, // milieu
+ 0x0D,0x90, 0x01, 0xFF, 0x00, // haut
+ 0x09,0xDD, 0x02, 0xFF, 0x00}; //ventouse
+
+ /* ANGLE */
+
+/* 10° = 0x21, 0x00 | 110°= 0x6E, 0x01 | 210°= 0xBC, 0x02
+ 20° = 0x42, 0x00 | 120°= 0x90, 0x01 | 220°= 0xDD, 0x02
+ 30° = 0x64, 0x00 | 130°= 0xB1, 0x01
+ 40° = 0x85, 0x00 | 140°= 0xD2, 0x01
+ 50° = 0xA6, 0x00 | 150°= 0xF4, 0x01
+ 60° = 0xC8, 0x00 | 160°= 0x15, 0x02
+ 70° = 0xE9, 0x00 | 170°= 0x36, 0x02
+ 80° = 0x0A, 0x01 | 180°= 0x58, 0x02
+ 90° = 0x2C, 0x01 | 190°= 0x79, 0x02
+ 100°= 0x4D, 0x01 | 200°= 0x9A, 0x02 */
+
+
+ /*static char Tab1[5]={ 0x09,
+ 0x5E,
+ 0x01,
+ 0x70,
+ 0x01};*/
+
+ /*static char Tab2[5]={ 0x05,
+ 0x96,
+ 0x01,
+ 0x85,
+ 0x05};*/
+float angle=0.0;
+float test_socle=0.0,test_bas=0.0,test_milieu=0.0,test_haut=0.0,test_ventouse=0.0, test_calcul=0.0, valeur_test=0.0;
+int torque_socle=0, torque_bas=0, torque_milieu=0, torque_haut=0, torque_ventouse=0;
+int error_torque_socle=0, error_torque_bas=0, error_torque_milieu=0, error_torque_haut=0, error_torque_ventouse=0;
+
+ /* DECLARATION PROTOTYPES & POINTEURS */
+
+short vitesse=700; // Vitesse angulaire (0-1023)
+AX12 *ventouse_myAX12, *haut_myAX12, *milieu_myAX12, *bas_myAX12, *socle_myAX12, *multiple_AX12 ;
+void Init_AX12(void);
+void Lecture(void);
+void Flip(void);
+
+
+
+
+ /* FONCTIONS */
+
+void Init_AX12() // Initialisation des différents paramétres
+{
+
+ ventouse_myAX12-> Set_Goal_speed(vitesse); // vitesse (0-1023)
+ haut_myAX12-> Set_Goal_speed(vitesse); // vitesse (0-1023)
+ milieu_myAX12-> Set_Goal_speed(vitesse); // vitesse (0-1023)
+ bas_myAX12-> Set_Goal_speed(vitesse); // vitesse (0-1023)
+ socle_myAX12-> Set_Goal_speed(vitesse); // vitesse (0-1023)
+
+ ventouse_myAX12->Set_Mode(0); // Mode Position(0) Mode Continu(1)
+ haut_myAX12-> Set_Mode(0); // Mode Position(0) Mode Continu(1)
+ milieu_myAX12-> Set_Mode(0); // Mode Position(0) Mode Continu(1)
+ bas_myAX12-> Set_Mode(0); // Mode Position(0) Mode Continu(1)
+ socle_myAX12-> Set_Mode(0); // Mode Position(0) Mode Continu(1)
+}
+
+void Lecture()
+{
+ angle= socle_myAX12-> Get_Position();
+ test_socle = socle_myAX12 -> read_and_test(angle,TAB);
+
+ angle= bas_myAX12-> Get_Position();
+ test_bas = bas_myAX12-> read_and_test(angle,TAB);
+
+ angle= milieu_myAX12-> Get_Position();
+ test_milieu = milieu_myAX12-> read_and_test(angle,TAB);
+
+ angle= haut_myAX12-> Get_Position();
+ test_haut = haut_myAX12-> read_and_test(angle,TAB);
+
+ angle= ventouse_myAX12-> Get_Position();
+ test_ventouse = ventouse_myAX12-> read_and_test(angle,TAB);
+
+ valeur_test=test_bas+test_milieu+test_haut+test_socle+test_ventouse;
+
+ #ifdef AX12_DEBUG
+ printf("\ntest_socle = %f",test_socle);
+ #endif
+ #ifdef AX12_DEBUG
+ printf("\ntest_bas = %f",test_bas);
+ #endif
+ #ifdef AX12_DEBUG
+ printf("\ntest_milieu = %f",test_milieu);
+ #endif
+ #ifdef AX12_DEBUG
+ printf("\ntest_haut = %f",test_haut);
+ #endif
+ #ifdef AX12_DEBUG
+ printf("\ntest_ventouse = %f",test_ventouse);
+ #endif
+ #ifdef AX12_DEBUG
+ printf("\nvaleur_test = %f",valeur_test);
+ #endif
+}
+
+ /* PROGRAMME PRINCIPAL*/
+
+int main()
+{
+ flipper.attach(&Flip, 2.0);
+
+ ventouse_myAX12 = new AX12(p9, p10, 9, 1000000); // Création objet : data pin 9&10, ID moteur 9, baud
+ haut_myAX12 = new AX12(p9, p10,13, 1000000); // Création objet : data pin 9&10, ID moteur 13, baud
+ milieu_myAX12 = new AX12(p9, p10, 5, 1000000); // Création objet : data pin 9&10, ID moteur 5, baud
+ bas_myAX12 = new AX12(p9, p10, 2, 1000000); // Création objet : data pin 9&10, ID moteur 2, baud
+ socle_myAX12 = new AX12(p9, p10, 1, 1000000); // Création objet : data pin 9&10, ID moteur 1, baud
+ multiple_AX12 = new AX12(p9,p10,0xFE,1000000); // Création objet : data pin 9&10, ID Broadcast, baud
+
+ multiple_AX12->multiple_goal_and_speed(5,TAB);
+
+
+ while(valeur_test<4)
+ {
+ Lecture();
+ }
+
+
+ multiple_AX12->multiple_goal_and_speed(5,TAB2);
+
+
+
+}
+
+void Flip ()
+{
+
+ #ifdef AX12_DEBUG
+ printf("\ntorque_ventouse avant = %d",torque_ventouse);
+ #endif
+
+ torque_socle= socle_myAX12 -> Get_Torque_Enable();
+ torque_bas= bas_myAX12 -> Get_Torque_Enable();
+ torque_milieu= milieu_myAX12 -> Get_Torque_Enable();
+ torque_haut= haut_myAX12 -> Get_Torque_Enable();
+ torque_ventouse=ventouse_myAX12 -> Get_Torque_Enable();
+
+
+
+ /*if(torque_socle==1)
+ {
+ error_torque_socle=socle_myAX12 -> Set_Torque_Enable(0);
+
+ }
+ if(torque_bas==1)
+ {
+ error_torque_bas=bas_myAX12 -> Set_Torque_Enable(0);
+
+ }
+ if(torque_milieu==1)
+ {
+ error_torque_milieu=milieu_myAX12-> Set_Torque_Enable(0);
+
+ }
+ if(torque_haut==1)
+ {
+ error_torque_haut=haut_myAX12 -> Set_Torque_Enable(0);
+
+ } */
+
+ error_torque_ventouse=ventouse_myAX12 -> Set_Torque_Enable(0);
+ //error_torque_ventouse=ventouse_myAX12 -> Set_Torque_Enable(1);
+ #ifdef AX12_DEBUG
+ printf("\ntorque_ventouse apres = %d",torque_ventouse);
+ #endif
+
+}