To be tested
Dependencies: Servo AX12_final MX106_not_working comunication_1
main.cpp@13:698bd4df9702, 2019-02-08 (annotated)
- Committer:
- stebonicelli
- Date:
- Fri Feb 08 15:23:40 2019 +0000
- Revision:
- 13:698bd4df9702
- Parent:
- 11:19e8022f60ea
- Child:
- 14:c51c4e0f3bc9
First
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
clynamen | 0:23acabab7c11 | 1 | #include "mbed.h" |
mattiasub | 6:941fdda9d110 | 2 | #include "communication_1.h" |
dconsoli | 4:6450eb95727d | 3 | #include "MX106.h" |
stebonicelli | 13:698bd4df9702 | 4 | |
stebonicelli | 13:698bd4df9702 | 5 | // Utility |
stebonicelli | 13:698bd4df9702 | 6 | InterruptIn button(USER_BUTTON); |
stebonicelli | 13:698bd4df9702 | 7 | DigitalOut led(LED1); |
stebonicelli | 13:698bd4df9702 | 8 | |
stebonicelli | 13:698bd4df9702 | 9 | // Motor Control |
stebonicelli | 13:698bd4df9702 | 10 | Serial pc(USBTX, USBRX); |
stebonicelli | 13:698bd4df9702 | 11 | communication_1 wire(PA_9, PA_10, 200000); |
stebonicelli | 13:698bd4df9702 | 12 | MX106 motor_1(wire, 1, 1); |
stebonicelli | 13:698bd4df9702 | 13 | MX106 motor_2(wire, 2, 1); |
stebonicelli | 13:698bd4df9702 | 14 | MX106 motor_3(wire, 3, 1); |
clynamen | 11:19e8022f60ea | 15 | |
stebonicelli | 13:698bd4df9702 | 16 | void button_int_handler() |
stebonicelli | 13:698bd4df9702 | 17 | { |
stebonicelli | 13:698bd4df9702 | 18 | |
stebonicelli | 13:698bd4df9702 | 19 | } |
stebonicelli | 13:698bd4df9702 | 20 | |
stebonicelli | 13:698bd4df9702 | 21 | // CAN |
stebonicelli | 13:698bd4df9702 | 22 | Thread canrxa; |
stebonicelli | 13:698bd4df9702 | 23 | |
stebonicelli | 13:698bd4df9702 | 24 | CAN can1(PA_11, PA_12); // RX, TX |
stebonicelli | 13:698bd4df9702 | 25 | |
stebonicelli | 13:698bd4df9702 | 26 | CANMessage messageIn; |
stebonicelli | 13:698bd4df9702 | 27 | CANMessage messageOut; |
stebonicelli | 13:698bd4df9702 | 28 | |
stebonicelli | 13:698bd4df9702 | 29 | int filter = can1.filter(0x000, 0x400, CANStandard); |
dconsoli | 4:6450eb95727d | 30 | |
stebonicelli | 13:698bd4df9702 | 31 | void canrx() |
stebonicelli | 13:698bd4df9702 | 32 | { |
stebonicelli | 13:698bd4df9702 | 33 | while(1) |
stebonicelli | 13:698bd4df9702 | 34 | { |
stebonicelli | 13:698bd4df9702 | 35 | if(can1.read(messageIn, filter)) |
stebonicelli | 13:698bd4df9702 | 36 | { |
stebonicelli | 13:698bd4df9702 | 37 | printf("CAN: mess %d\n\r", (messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24))); |
stebonicelli | 13:698bd4df9702 | 38 | printf("CANaacc: id %x \n\r ",messageIn.id); |
stebonicelli | 13:698bd4df9702 | 39 | |
stebonicelli | 13:698bd4df9702 | 40 | if((messageIn.id & 0x0FF) == 0x40) |
stebonicelli | 13:698bd4df9702 | 41 | { |
stebonicelli | 13:698bd4df9702 | 42 | |
stebonicelli | 13:698bd4df9702 | 43 | } |
stebonicelli | 13:698bd4df9702 | 44 | else if((messageIn.id & 0x0FF) == 0x50) |
stebonicelli | 13:698bd4df9702 | 45 | { |
stebonicelli | 13:698bd4df9702 | 46 | |
stebonicelli | 13:698bd4df9702 | 47 | } |
stebonicelli | 13:698bd4df9702 | 48 | else if((messageIn.id & 0x0FF) == 0x60) |
stebonicelli | 13:698bd4df9702 | 49 | { |
stebonicelli | 13:698bd4df9702 | 50 | |
stebonicelli | 13:698bd4df9702 | 51 | } |
stebonicelli | 13:698bd4df9702 | 52 | else if((messageIn.id & 0x0FF) == 0x70) |
stebonicelli | 13:698bd4df9702 | 53 | { |
stebonicelli | 13:698bd4df9702 | 54 | |
stebonicelli | 13:698bd4df9702 | 55 | } |
stebonicelli | 13:698bd4df9702 | 56 | } |
stebonicelli | 13:698bd4df9702 | 57 | } |
stebonicelli | 13:698bd4df9702 | 58 | } |
ilaria | 1:946c65496383 | 59 | |
stebonicelli | 13:698bd4df9702 | 60 | int main() |
stebonicelli | 13:698bd4df9702 | 61 | { |
clynamen | 11:19e8022f60ea | 62 | wire.trigger(); |
clynamen | 11:19e8022f60ea | 63 | wire.trigger(); |
clynamen | 11:19e8022f60ea | 64 | wire.trigger(); |
clynamen | 11:19e8022f60ea | 65 | wire.trigger(); |
clynamen | 11:19e8022f60ea | 66 | |
stebonicelli | 13:698bd4df9702 | 67 | // Setup Motor1 MultiTurn |
stebonicelli | 13:698bd4df9702 | 68 | motor_1.setMotorEnabled(1); |
stebonicelli | 13:698bd4df9702 | 69 | motor_1.setMode(2); |
stebonicelli | 13:698bd4df9702 | 70 | motor_1.setSpeed(90); |
stebonicelli | 13:698bd4df9702 | 71 | //motor_1.setGoalPosition(0); |
stebonicelli | 13:698bd4df9702 | 72 | wait(10); |
clynamen | 11:19e8022f60ea | 73 | |
stebonicelli | 13:698bd4df9702 | 74 | // Setup Motor2 MultiTurn |
stebonicelli | 13:698bd4df9702 | 75 | motor_2.setMotorEnabled(1); |
stebonicelli | 13:698bd4df9702 | 76 | motor_2.setMode(2); |
stebonicelli | 13:698bd4df9702 | 77 | motor_2.setSpeed(90); |
stebonicelli | 13:698bd4df9702 | 78 | //motor_2.setGoalPosition(0); |
stebonicelli | 13:698bd4df9702 | 79 | wait(10); |
clynamen | 11:19e8022f60ea | 80 | |
stebonicelli | 13:698bd4df9702 | 81 | // Setup Motor3 MultiTurn |
stebonicelli | 13:698bd4df9702 | 82 | motor_3.setMotorEnabled(1); |
stebonicelli | 13:698bd4df9702 | 83 | motor_3.setMode(2); |
stebonicelli | 13:698bd4df9702 | 84 | motor_3.setSpeed(90); |
stebonicelli | 13:698bd4df9702 | 85 | //motor_3.setGoalPosition(0); |
stebonicelli | 13:698bd4df9702 | 86 | wait(10); |
clynamen | 11:19e8022f60ea | 87 | |
stebonicelli | 13:698bd4df9702 | 88 | printf("DYNAMIXEL: Init DONE\n\r"); |
clynamen | 11:19e8022f60ea | 89 | |
stebonicelli | 13:698bd4df9702 | 90 | button.rise(&button_int_handler); |
stebonicelli | 13:698bd4df9702 | 91 | |
stebonicelli | 13:698bd4df9702 | 92 | // CAN Initialization |
stebonicelli | 13:698bd4df9702 | 93 | canrxa.start(canrx); |
clynamen | 11:19e8022f60ea | 94 | |
stebonicelli | 13:698bd4df9702 | 95 | printf("DONE: CAN Init\n\r"); |
stebonicelli | 13:698bd4df9702 | 96 | |
stebonicelli | 13:698bd4df9702 | 97 | |
stebonicelli | 13:698bd4df9702 | 98 | printf("Running!\n\r"); |
stebonicelli | 13:698bd4df9702 | 99 | |
stebonicelli | 13:698bd4df9702 | 100 | while(true) |
stebonicelli | 13:698bd4df9702 | 101 | { |
stebonicelli | 13:698bd4df9702 | 102 | wait(1000); |
clynamen | 11:19e8022f60ea | 103 | } |
clynamen | 10:2acfa1a84c96 | 104 | } |