To be tested
Dependencies: Servo AX12_final MX106_not_working comunication_1
main.cpp@15:d058877eb501, 2019-02-08 (annotated)
- Committer:
- gidiana
- Date:
- Fri Feb 08 19:31:04 2019 +0000
- Revision:
- 15:d058877eb501
- Parent:
- 14:c51c4e0f3bc9
- Child:
- 16:5454456b36f7
error fix
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" |
gidiana | 14:c51c4e0f3bc9 | 4 | #include "AX12.h" |
gidiana | 14:c51c4e0f3bc9 | 5 | #define SPEED 100 |
stebonicelli | 13:698bd4df9702 | 6 | // Utility |
stebonicelli | 13:698bd4df9702 | 7 | InterruptIn button(USER_BUTTON); |
stebonicelli | 13:698bd4df9702 | 8 | DigitalOut led(LED1); |
stebonicelli | 13:698bd4df9702 | 9 | |
stebonicelli | 13:698bd4df9702 | 10 | // Motor Control |
stebonicelli | 13:698bd4df9702 | 11 | Serial pc(USBTX, USBRX); |
stebonicelli | 13:698bd4df9702 | 12 | communication_1 wire(PA_9, PA_10, 200000); |
stebonicelli | 13:698bd4df9702 | 13 | MX106 motor_1(wire, 1, 1); |
stebonicelli | 13:698bd4df9702 | 14 | MX106 motor_2(wire, 2, 1); |
stebonicelli | 13:698bd4df9702 | 15 | MX106 motor_3(wire, 3, 1); |
gidiana | 14:c51c4e0f3bc9 | 16 | AX12 motor_4(wire, 4, 1); |
clynamen | 11:19e8022f60ea | 17 | |
stebonicelli | 13:698bd4df9702 | 18 | void button_int_handler() |
stebonicelli | 13:698bd4df9702 | 19 | { |
stebonicelli | 13:698bd4df9702 | 20 | |
stebonicelli | 13:698bd4df9702 | 21 | } |
stebonicelli | 13:698bd4df9702 | 22 | |
stebonicelli | 13:698bd4df9702 | 23 | // CAN |
stebonicelli | 13:698bd4df9702 | 24 | Thread canrxa; |
stebonicelli | 13:698bd4df9702 | 25 | |
stebonicelli | 13:698bd4df9702 | 26 | CAN can1(PA_11, PA_12); // RX, TX |
stebonicelli | 13:698bd4df9702 | 27 | |
stebonicelli | 13:698bd4df9702 | 28 | CANMessage messageIn; |
stebonicelli | 13:698bd4df9702 | 29 | CANMessage messageOut; |
stebonicelli | 13:698bd4df9702 | 30 | |
stebonicelli | 13:698bd4df9702 | 31 | int filter = can1.filter(0x000, 0x400, CANStandard); |
gidiana | 14:c51c4e0f3bc9 | 32 | int pose; |
stebonicelli | 13:698bd4df9702 | 33 | void canrx() |
stebonicelli | 13:698bd4df9702 | 34 | { |
stebonicelli | 13:698bd4df9702 | 35 | while(1) |
stebonicelli | 13:698bd4df9702 | 36 | { |
stebonicelli | 13:698bd4df9702 | 37 | if(can1.read(messageIn, filter)) |
stebonicelli | 13:698bd4df9702 | 38 | { |
gidiana | 14:c51c4e0f3bc9 | 39 | pose=messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24); |
gidiana | 14:c51c4e0f3bc9 | 40 | printf("CAN: mess %d\n\r", pose); |
gidiana | 14:c51c4e0f3bc9 | 41 | printf("CAN: id %x \n\r ",messageIn.id); |
stebonicelli | 13:698bd4df9702 | 42 | |
stebonicelli | 13:698bd4df9702 | 43 | if((messageIn.id & 0x0FF) == 0x40) |
stebonicelli | 13:698bd4df9702 | 44 | { |
gidiana | 14:c51c4e0f3bc9 | 45 | if (pose==0) |
gidiana | 14:c51c4e0f3bc9 | 46 | { |
gidiana | 14:c51c4e0f3bc9 | 47 | motor_1.setSpeed(-SPEED); |
gidiana | 14:c51c4e0f3bc9 | 48 | printf("Dynamixel 1 Position : %f \n\r ", motor_1.getPosition()); |
gidiana | 14:c51c4e0f3bc9 | 49 | } |
gidiana | 14:c51c4e0f3bc9 | 50 | |
gidiana | 14:c51c4e0f3bc9 | 51 | else if (pose==50) |
gidiana | 14:c51c4e0f3bc9 | 52 | { |
gidiana | 14:c51c4e0f3bc9 | 53 | motor_1.setSpeed(0); |
gidiana | 14:c51c4e0f3bc9 | 54 | printf("Dynamixel 1 Position : %f \n\r ", motor_1.getPosition()); |
gidiana | 14:c51c4e0f3bc9 | 55 | } |
gidiana | 14:c51c4e0f3bc9 | 56 | else if (pose==100) |
gidiana | 14:c51c4e0f3bc9 | 57 | { |
gidiana | 14:c51c4e0f3bc9 | 58 | |
gidiana | 15:d058877eb501 | 59 | motor_1.setSpeed(SPEED); |
gidiana | 14:c51c4e0f3bc9 | 60 | printf("Dynamixel 1 Position : %f \n\r ", motor_1.getPosition()); |
gidiana | 14:c51c4e0f3bc9 | 61 | |
gidiana | 14:c51c4e0f3bc9 | 62 | } |
gidiana | 14:c51c4e0f3bc9 | 63 | else |
gidiana | 14:c51c4e0f3bc9 | 64 | motor_1.setSpeed(0); |
stebonicelli | 13:698bd4df9702 | 65 | } |
stebonicelli | 13:698bd4df9702 | 66 | else if((messageIn.id & 0x0FF) == 0x50) |
stebonicelli | 13:698bd4df9702 | 67 | { |
gidiana | 14:c51c4e0f3bc9 | 68 | if (pose==0) |
gidiana | 14:c51c4e0f3bc9 | 69 | { |
gidiana | 14:c51c4e0f3bc9 | 70 | motor_2.setSpeed(-SPEED); |
gidiana | 14:c51c4e0f3bc9 | 71 | printf("Dynamixel 2 Position : %f \n\r ", motor_2.getPosition()); |
gidiana | 14:c51c4e0f3bc9 | 72 | if (motor_2.getPosition()<-90) motor_2.setSpeed(0); |
gidiana | 14:c51c4e0f3bc9 | 73 | } |
gidiana | 14:c51c4e0f3bc9 | 74 | |
gidiana | 14:c51c4e0f3bc9 | 75 | else if (pose==50) |
gidiana | 14:c51c4e0f3bc9 | 76 | { |
gidiana | 14:c51c4e0f3bc9 | 77 | motor_2.setSpeed(0); |
gidiana | 14:c51c4e0f3bc9 | 78 | printf("Dynamixel 2 Position : %f \n\r ", motor_2.getPosition()); |
gidiana | 14:c51c4e0f3bc9 | 79 | } |
gidiana | 14:c51c4e0f3bc9 | 80 | else if (pose==100) |
gidiana | 14:c51c4e0f3bc9 | 81 | { |
gidiana | 14:c51c4e0f3bc9 | 82 | |
gidiana | 15:d058877eb501 | 83 | motor_2.setSpeed(SPEED); |
gidiana | 14:c51c4e0f3bc9 | 84 | printf("Dynamixel 2 Position : %f \n\r ", motor_2.getPosition()); |
gidiana | 14:c51c4e0f3bc9 | 85 | if (motor_2.getPosition()>90) motor_2.setSpeed(0); |
gidiana | 14:c51c4e0f3bc9 | 86 | } |
gidiana | 14:c51c4e0f3bc9 | 87 | else |
gidiana | 14:c51c4e0f3bc9 | 88 | motor_1.setSpeed(0); |
gidiana | 14:c51c4e0f3bc9 | 89 | } |
stebonicelli | 13:698bd4df9702 | 90 | else if((messageIn.id & 0x0FF) == 0x60) |
stebonicelli | 13:698bd4df9702 | 91 | { |
gidiana | 14:c51c4e0f3bc9 | 92 | |
gidiana | 14:c51c4e0f3bc9 | 93 | if (pose==0) |
gidiana | 14:c51c4e0f3bc9 | 94 | { |
gidiana | 14:c51c4e0f3bc9 | 95 | motor_3.setSpeed(-SPEED); |
gidiana | 14:c51c4e0f3bc9 | 96 | printf("Dynamixel 3 Position : %f \n\r ", motor_3.getPosition()); |
gidiana | 14:c51c4e0f3bc9 | 97 | } |
gidiana | 14:c51c4e0f3bc9 | 98 | |
gidiana | 14:c51c4e0f3bc9 | 99 | else if (pose==50) |
gidiana | 14:c51c4e0f3bc9 | 100 | { |
gidiana | 14:c51c4e0f3bc9 | 101 | motor_3.setSpeed(0); |
gidiana | 14:c51c4e0f3bc9 | 102 | printf("Dynamixel 3 Position : %f \n\r ", motor_3.getPosition()); |
gidiana | 14:c51c4e0f3bc9 | 103 | } |
gidiana | 14:c51c4e0f3bc9 | 104 | else if (pose==100) |
gidiana | 14:c51c4e0f3bc9 | 105 | { |
gidiana | 14:c51c4e0f3bc9 | 106 | |
gidiana | 15:d058877eb501 | 107 | motor_3.setSpeed(SPEED); |
gidiana | 14:c51c4e0f3bc9 | 108 | printf("Dynamixel 3 Position : %f \n\r ", motor_3.getPosition()); |
gidiana | 14:c51c4e0f3bc9 | 109 | |
gidiana | 14:c51c4e0f3bc9 | 110 | } |
gidiana | 14:c51c4e0f3bc9 | 111 | else |
gidiana | 14:c51c4e0f3bc9 | 112 | motor_3.setSpeed(0); |
stebonicelli | 13:698bd4df9702 | 113 | } |
stebonicelli | 13:698bd4df9702 | 114 | else if((messageIn.id & 0x0FF) == 0x70) |
stebonicelli | 13:698bd4df9702 | 115 | { |
stebonicelli | 13:698bd4df9702 | 116 | |
gidiana | 14:c51c4e0f3bc9 | 117 | if (pose==0) |
gidiana | 14:c51c4e0f3bc9 | 118 | { |
gidiana | 14:c51c4e0f3bc9 | 119 | motor_4.setSpeed(-SPEED); |
gidiana | 14:c51c4e0f3bc9 | 120 | printf("Dynamixel 4 Position : %f \n\r ", motor_4.getPosition()); |
gidiana | 14:c51c4e0f3bc9 | 121 | } |
gidiana | 14:c51c4e0f3bc9 | 122 | |
gidiana | 14:c51c4e0f3bc9 | 123 | else if (pose==50) |
gidiana | 14:c51c4e0f3bc9 | 124 | { |
gidiana | 14:c51c4e0f3bc9 | 125 | motor_1.setSpeed(0); |
gidiana | 14:c51c4e0f3bc9 | 126 | printf("Dynamixel 4 Position : %f \n\r ", motor_1.getPosition()); |
gidiana | 14:c51c4e0f3bc9 | 127 | } |
gidiana | 14:c51c4e0f3bc9 | 128 | else if (pose==100) |
gidiana | 14:c51c4e0f3bc9 | 129 | { |
gidiana | 14:c51c4e0f3bc9 | 130 | |
gidiana | 15:d058877eb501 | 131 | motor_1.setSpeed(SPEED); |
gidiana | 14:c51c4e0f3bc9 | 132 | printf("Dynamixel 4 Position : %f \n\r ", motor_4.getPosition()); |
gidiana | 14:c51c4e0f3bc9 | 133 | |
gidiana | 14:c51c4e0f3bc9 | 134 | } |
gidiana | 14:c51c4e0f3bc9 | 135 | else |
gidiana | 14:c51c4e0f3bc9 | 136 | motor_4.setSpeed(0); |
stebonicelli | 13:698bd4df9702 | 137 | } |
stebonicelli | 13:698bd4df9702 | 138 | } |
stebonicelli | 13:698bd4df9702 | 139 | } |
stebonicelli | 13:698bd4df9702 | 140 | } |
ilaria | 1:946c65496383 | 141 | |
stebonicelli | 13:698bd4df9702 | 142 | int main() |
stebonicelli | 13:698bd4df9702 | 143 | { |
clynamen | 11:19e8022f60ea | 144 | wire.trigger(); |
clynamen | 11:19e8022f60ea | 145 | wire.trigger(); |
clynamen | 11:19e8022f60ea | 146 | wire.trigger(); |
clynamen | 11:19e8022f60ea | 147 | wire.trigger(); |
clynamen | 11:19e8022f60ea | 148 | |
stebonicelli | 13:698bd4df9702 | 149 | // Setup Motor1 MultiTurn |
stebonicelli | 13:698bd4df9702 | 150 | motor_1.setMotorEnabled(1); |
gidiana | 14:c51c4e0f3bc9 | 151 | motor_1.setMode(0); |
gidiana | 14:c51c4e0f3bc9 | 152 | motor_1.setSpeed(0); |
gidiana | 14:c51c4e0f3bc9 | 153 | printf("Dynamixel 1 Position init: %f \n\r ", motor_1.getPosition()); |
stebonicelli | 13:698bd4df9702 | 154 | //motor_1.setGoalPosition(0); |
stebonicelli | 13:698bd4df9702 | 155 | wait(10); |
clynamen | 11:19e8022f60ea | 156 | |
stebonicelli | 13:698bd4df9702 | 157 | // Setup Motor2 MultiTurn |
stebonicelli | 13:698bd4df9702 | 158 | motor_2.setMotorEnabled(1); |
gidiana | 14:c51c4e0f3bc9 | 159 | motor_2.setMode(0); |
gidiana | 14:c51c4e0f3bc9 | 160 | motor_2.setSpeed(0); |
gidiana | 14:c51c4e0f3bc9 | 161 | printf("Dynamixel 2 Position init: %f \n\r ", motor_2.getPosition()); |
stebonicelli | 13:698bd4df9702 | 162 | //motor_2.setGoalPosition(0); |
stebonicelli | 13:698bd4df9702 | 163 | wait(10); |
clynamen | 11:19e8022f60ea | 164 | |
stebonicelli | 13:698bd4df9702 | 165 | // Setup Motor3 MultiTurn |
stebonicelli | 13:698bd4df9702 | 166 | motor_3.setMotorEnabled(1); |
gidiana | 14:c51c4e0f3bc9 | 167 | motor_3.setMode(0); |
gidiana | 14:c51c4e0f3bc9 | 168 | motor_3.setSpeed(0); |
gidiana | 14:c51c4e0f3bc9 | 169 | printf("Dynamixel 3 Position init: %f \n\r ", motor_3.getPosition()); |
gidiana | 14:c51c4e0f3bc9 | 170 | wait(10); |
stebonicelli | 13:698bd4df9702 | 171 | //motor_3.setGoalPosition(0); |
gidiana | 14:c51c4e0f3bc9 | 172 | // Setup Motor4 MultiTurn |
gidiana | 14:c51c4e0f3bc9 | 173 | motor_4.setMotorEnabled(1); |
gidiana | 14:c51c4e0f3bc9 | 174 | motor_4.setMode(0); |
gidiana | 14:c51c4e0f3bc9 | 175 | motor_4.setSpeed(0); |
gidiana | 14:c51c4e0f3bc9 | 176 | printf("Dynamixel 4 Position init: %f \n\r ", motor_4.getPosition()); |
stebonicelli | 13:698bd4df9702 | 177 | wait(10); |
clynamen | 11:19e8022f60ea | 178 | |
stebonicelli | 13:698bd4df9702 | 179 | printf("DYNAMIXEL: Init DONE\n\r"); |
clynamen | 11:19e8022f60ea | 180 | |
stebonicelli | 13:698bd4df9702 | 181 | button.rise(&button_int_handler); |
stebonicelli | 13:698bd4df9702 | 182 | |
stebonicelli | 13:698bd4df9702 | 183 | // CAN Initialization |
stebonicelli | 13:698bd4df9702 | 184 | canrxa.start(canrx); |
clynamen | 11:19e8022f60ea | 185 | |
stebonicelli | 13:698bd4df9702 | 186 | printf("DONE: CAN Init\n\r"); |
stebonicelli | 13:698bd4df9702 | 187 | |
stebonicelli | 13:698bd4df9702 | 188 | |
stebonicelli | 13:698bd4df9702 | 189 | printf("Running!\n\r"); |
stebonicelli | 13:698bd4df9702 | 190 | |
stebonicelli | 13:698bd4df9702 | 191 | while(true) |
stebonicelli | 13:698bd4df9702 | 192 | { |
stebonicelli | 13:698bd4df9702 | 193 | wait(1000); |
clynamen | 11:19e8022f60ea | 194 | } |
clynamen | 10:2acfa1a84c96 | 195 | } |