FOrk
Dependencies: Servo AX12_final MX106_not_working comunication_1
main.cpp@22:ffb26af4d5d8, 2019-07-29 (annotated)
- Committer:
- gidiana
- Date:
- Mon Jul 29 22:34:34 2019 +0000
- Revision:
- 22:ffb26af4d5d8
- Parent:
- 21:43740448011a
refactor complete
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 | 22:ffb26af4d5d8 | 5 | #include <stdio.h> |
gidiana | 22:ffb26af4d5d8 | 6 | #include <string.h> |
gidiana | 22:ffb26af4d5d8 | 7 | |
gidiana | 22:ffb26af4d5d8 | 8 | |
gidiana | 22:ffb26af4d5d8 | 9 | #define VERBOSE 1 |
stebonicelli | 18:841ab8c1bdbd | 10 | |
gidiana | 22:ffb26af4d5d8 | 11 | #define CAN_FREQUENCY 125000 |
gidiana | 22:ffb26af4d5d8 | 12 | #define BAUDRATE 57600 |
gidiana | 22:ffb26af4d5d8 | 13 | #define SLEEP 0.02 |
gidiana | 22:ffb26af4d5d8 | 14 | #define JOINT_SET_POSITION 20 |
gidiana | 22:ffb26af4d5d8 | 15 | #define JOINT_STATUS 30 |
gidiana | 22:ffb26af4d5d8 | 16 | #define JOINT_ERROR 40 |
gidiana | 21:43740448011a | 17 | #define JOINT1_ID 4 |
gidiana | 21:43740448011a | 18 | #define JOINT2_ID 5 |
gidiana | 21:43740448011a | 19 | #define JOINT3_ID 6 |
gidiana | 21:43740448011a | 20 | #define JOINT4_ID 7 |
gidiana | 21:43740448011a | 21 | |
gidiana | 22:ffb26af4d5d8 | 22 | |
gidiana | 22:ffb26af4d5d8 | 23 | int dxl_id[]={1,2,3,4}; |
gidiana | 22:ffb26af4d5d8 | 24 | int joint_id[]={4,5,6,7}; |
gidiana | 22:ffb26af4d5d8 | 25 | int dxl_speed[]={50,25,50,50}; |
gidiana | 22:ffb26af4d5d8 | 26 | float dxl_gear[]={3,2,3,1}; |
gidiana | 22:ffb26af4d5d8 | 27 | float dxl_present_position[] = {0,0,0,0}; |
gidiana | 22:ffb26af4d5d8 | 28 | float dxl_goal_position[] = {0,0,0,0}; |
gidiana | 22:ffb26af4d5d8 | 29 | float dxl_offset[] = {0,0,0,0}; |
gidiana | 22:ffb26af4d5d8 | 30 | float dxl_current[] = {0,0,0,0}; |
gidiana | 22:ffb26af4d5d8 | 31 | float dxl_torque[] = {0,0,0,0}; |
gidiana | 22:ffb26af4d5d8 | 32 | float dxl_max_torque[] = {0,0,0,0}; |
gidiana | 22:ffb26af4d5d8 | 33 | float dxl_reset[]={0,0,0,0}; |
gidiana | 22:ffb26af4d5d8 | 34 | uint16_t dxl_temperature[]={0,0,0,0}; |
gidiana | 22:ffb26af4d5d8 | 35 | uint16_t dxl_limit[]={0,0,0,0}; |
gidiana | 22:ffb26af4d5d8 | 36 | int present, current, torque, temperature; |
gidiana | 22:ffb26af4d5d8 | 37 | int status; |
gidiana | 22:ffb26af4d5d8 | 38 | |
stebonicelli | 13:698bd4df9702 | 39 | DigitalOut led(LED1); |
stebonicelli | 13:698bd4df9702 | 40 | |
gidiana | 22:ffb26af4d5d8 | 41 | communication_1 wire(PA_9, PA_10, BAUDRATE); |
stebonicelli | 18:841ab8c1bdbd | 42 | |
gidiana | 22:ffb26af4d5d8 | 43 | MX106 w_1(wire, dxl_id[0], dxl_gear[0]); |
gidiana | 22:ffb26af4d5d8 | 44 | MX106 w_2(wire, dxl_id[1], dxl_gear[1]); |
gidiana | 22:ffb26af4d5d8 | 45 | MX106 w_3(wire, dxl_id[2], dxl_gear[2]); |
gidiana | 22:ffb26af4d5d8 | 46 | AX12 a_1(wire, dxl_id[3], dxl_gear[3]); |
stebonicelli | 18:841ab8c1bdbd | 47 | |
gidiana | 21:43740448011a | 48 | CAN can1(PB_5, PB_6); // RX, TX |
stebonicelli | 13:698bd4df9702 | 49 | |
stebonicelli | 13:698bd4df9702 | 50 | CANMessage messageIn; |
stebonicelli | 13:698bd4df9702 | 51 | CANMessage messageOut; |
stebonicelli | 13:698bd4df9702 | 52 | |
gidiana | 22:ffb26af4d5d8 | 53 | |
stebonicelli | 18:841ab8c1bdbd | 54 | |
gidiana | 22:ffb26af4d5d8 | 55 | int main () |
stebonicelli | 13:698bd4df9702 | 56 | { |
gidiana | 22:ffb26af4d5d8 | 57 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 58 | printf("START \n\r"); |
gidiana | 22:ffb26af4d5d8 | 59 | #endif |
gidiana | 22:ffb26af4d5d8 | 60 | can1.frequency(CAN_FREQUENCY); |
gidiana | 22:ffb26af4d5d8 | 61 | messageIn.format=CANExtended; |
gidiana | 22:ffb26af4d5d8 | 62 | messageOut.format=CANExtended; |
gidiana | 22:ffb26af4d5d8 | 63 | |
gidiana | 22:ffb26af4d5d8 | 64 | wire.trigger(); |
gidiana | 22:ffb26af4d5d8 | 65 | wire.trigger(); |
gidiana | 22:ffb26af4d5d8 | 66 | wire.trigger(); |
gidiana | 22:ffb26af4d5d8 | 67 | wire.trigger(); |
gidiana | 22:ffb26af4d5d8 | 68 | |
gidiana | 22:ffb26af4d5d8 | 69 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 70 | printf("DYNAMIXEL: Init START \n\r"); |
gidiana | 22:ffb26af4d5d8 | 71 | #endif |
gidiana | 22:ffb26af4d5d8 | 72 | w_1.setMotorEnabled(1); |
gidiana | 22:ffb26af4d5d8 | 73 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 74 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 75 | printf("DYNAMIXEL: Init 1 \n\r"); |
gidiana | 22:ffb26af4d5d8 | 76 | #endif |
gidiana | 22:ffb26af4d5d8 | 77 | w_2.setMotorEnabled(1); |
gidiana | 22:ffb26af4d5d8 | 78 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 79 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 80 | printf("DYNAMIXEL: Init 2 \n\r"); |
gidiana | 22:ffb26af4d5d8 | 81 | #endif |
gidiana | 22:ffb26af4d5d8 | 82 | w_3.setMotorEnabled(1); |
gidiana | 22:ffb26af4d5d8 | 83 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 84 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 85 | printf("DYNAMIXEL: Init 3\n\r"); |
gidiana | 22:ffb26af4d5d8 | 86 | #endif |
gidiana | 22:ffb26af4d5d8 | 87 | a_1.setMotorEnabled(1); |
gidiana | 22:ffb26af4d5d8 | 88 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 89 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 90 | printf("DYNAMIXEL: Init 4\n\r"); |
gidiana | 22:ffb26af4d5d8 | 91 | #endif |
stebonicelli | 19:7f8c174448d0 | 92 | |
gidiana | 22:ffb26af4d5d8 | 93 | w_1.setMode(2); |
gidiana | 22:ffb26af4d5d8 | 94 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 95 | w_1.setMaxSpeed(dxl_speed[0]); |
gidiana | 22:ffb26af4d5d8 | 96 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 97 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 98 | printf("DYNAMIXEL 1: SET MODE\n\r"); |
gidiana | 22:ffb26af4d5d8 | 99 | #endif |
gidiana | 22:ffb26af4d5d8 | 100 | w_2.setMode(2); |
gidiana | 22:ffb26af4d5d8 | 101 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 102 | w_2.setMaxSpeed(dxl_speed[1]); |
gidiana | 22:ffb26af4d5d8 | 103 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 104 | w_2.setCWLimitUnits(1900); |
gidiana | 22:ffb26af4d5d8 | 105 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 106 | w_2.setCCWLimitUnits(-1900); |
gidiana | 22:ffb26af4d5d8 | 107 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 108 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 109 | printf("DYNAMIXEL 2: SET MODE\n\r"); |
gidiana | 22:ffb26af4d5d8 | 110 | #endif |
gidiana | 22:ffb26af4d5d8 | 111 | w_3.setMode(2); |
gidiana | 22:ffb26af4d5d8 | 112 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 113 | w_3.setMaxSpeed(dxl_speed[2]); |
gidiana | 22:ffb26af4d5d8 | 114 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 115 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 116 | printf("DYNAMIXEL 3: SET MODE\n\r"); |
gidiana | 22:ffb26af4d5d8 | 117 | #endif |
gidiana | 22:ffb26af4d5d8 | 118 | a_1.setMode(1); |
gidiana | 22:ffb26af4d5d8 | 119 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 120 | a_1.setMaxSpeed(dxl_speed[3]); |
gidiana | 22:ffb26af4d5d8 | 121 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 122 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 123 | printf("DYNAMIXEL 4: SET MODE\n\r"); |
gidiana | 22:ffb26af4d5d8 | 124 | #endif |
gidiana | 22:ffb26af4d5d8 | 125 | |
gidiana | 22:ffb26af4d5d8 | 126 | w_1.setGoal((dxl_goal_position[0]-dxl_offset[0])); |
gidiana | 22:ffb26af4d5d8 | 127 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 128 | w_2.setGoal((dxl_goal_position[1]-dxl_offset[1])); |
gidiana | 22:ffb26af4d5d8 | 129 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 130 | w_3.setGoal((dxl_goal_position[2]-dxl_offset[2])); |
gidiana | 22:ffb26af4d5d8 | 131 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 132 | a_1.setGoal((dxl_goal_position[3]-dxl_offset[3])); |
gidiana | 22:ffb26af4d5d8 | 133 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 134 | |
gidiana | 22:ffb26af4d5d8 | 135 | wait(1); |
stebonicelli | 19:7f8c174448d0 | 136 | |
gidiana | 22:ffb26af4d5d8 | 137 | while (1) |
gidiana | 22:ffb26af4d5d8 | 138 | { |
gidiana | 22:ffb26af4d5d8 | 139 | if(can1.read(messageIn)) |
gidiana | 22:ffb26af4d5d8 | 140 | { |
gidiana | 22:ffb26af4d5d8 | 141 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 142 | printf("CAN: Message passed!\tId: %d\n\r", messageIn.id); |
gidiana | 22:ffb26af4d5d8 | 143 | #endif |
gidiana | 22:ffb26af4d5d8 | 144 | led!=led; |
gidiana | 22:ffb26af4d5d8 | 145 | if(messageIn.id == ((JOINT_SET_POSITION << 8) + JOINT1_ID)) |
gidiana | 22:ffb26af4d5d8 | 146 | { |
gidiana | 22:ffb26af4d5d8 | 147 | dxl_goal_position[0] = (messageIn.data[0] << 24) | (messageIn.data[1] << 16) | (messageIn.data[2] << 8) | (messageIn.data[3]); |
gidiana | 22:ffb26af4d5d8 | 148 | } |
gidiana | 22:ffb26af4d5d8 | 149 | if(messageIn.id == ((JOINT_SET_POSITION << 8) + JOINT2_ID)) |
gidiana | 22:ffb26af4d5d8 | 150 | { |
gidiana | 22:ffb26af4d5d8 | 151 | dxl_goal_position[1] = (messageIn.data[0] << 24) | (messageIn.data[1] << 16) | (messageIn.data[2] << 8) | (messageIn.data[3]); |
gidiana | 22:ffb26af4d5d8 | 152 | } |
gidiana | 22:ffb26af4d5d8 | 153 | if(messageIn.id == ((JOINT_SET_POSITION << 8) + JOINT3_ID)) |
gidiana | 22:ffb26af4d5d8 | 154 | { |
gidiana | 22:ffb26af4d5d8 | 155 | dxl_goal_position[2] = (messageIn.data[0] << 24) | (messageIn.data[1] << 16) | (messageIn.data[2] << 8) | (messageIn.data[3]); |
gidiana | 22:ffb26af4d5d8 | 156 | } |
gidiana | 22:ffb26af4d5d8 | 157 | if(messageIn.id == ((JOINT_SET_POSITION << 8) + JOINT4_ID)) |
gidiana | 22:ffb26af4d5d8 | 158 | { |
gidiana | 22:ffb26af4d5d8 | 159 | dxl_goal_position[3] = (messageIn.data[0] << 24) | (messageIn.data[1] << 16) | (messageIn.data[2] << 8) | (messageIn.data[3]); |
gidiana | 22:ffb26af4d5d8 | 160 | } |
clynamen | 11:19e8022f60ea | 161 | |
gidiana | 22:ffb26af4d5d8 | 162 | if(messageIn.id == ((JOINT_ERROR << 8) + JOINT1_ID)) |
gidiana | 22:ffb26af4d5d8 | 163 | { |
gidiana | 22:ffb26af4d5d8 | 164 | dxl_reset[0] = ((messageIn.data[2] << 8) + (messageIn.data[3])); |
gidiana | 22:ffb26af4d5d8 | 165 | } |
gidiana | 22:ffb26af4d5d8 | 166 | if(messageIn.id == ((JOINT_ERROR << 8) + JOINT2_ID)) |
gidiana | 22:ffb26af4d5d8 | 167 | { |
gidiana | 22:ffb26af4d5d8 | 168 | dxl_reset[1] = ((messageIn.data[2] << 8) + (messageIn.data[3])); |
gidiana | 22:ffb26af4d5d8 | 169 | } |
gidiana | 22:ffb26af4d5d8 | 170 | if(messageIn.id == ((JOINT_ERROR << 8) + JOINT3_ID)) |
gidiana | 22:ffb26af4d5d8 | 171 | { |
gidiana | 22:ffb26af4d5d8 | 172 | dxl_reset[2] = ((messageIn.data[2] << 8) + (messageIn.data[3])); |
gidiana | 22:ffb26af4d5d8 | 173 | } |
gidiana | 22:ffb26af4d5d8 | 174 | if(messageIn.id == ((JOINT_ERROR << 8) + JOINT4_ID)) |
gidiana | 22:ffb26af4d5d8 | 175 | { |
gidiana | 22:ffb26af4d5d8 | 176 | dxl_reset[3] = ((messageIn.data[2] << 8) + (messageIn.data[3])); |
gidiana | 22:ffb26af4d5d8 | 177 | } |
gidiana | 22:ffb26af4d5d8 | 178 | } |
stebonicelli | 19:7f8c174448d0 | 179 | |
gidiana | 22:ffb26af4d5d8 | 180 | w_1.setGoal((dxl_goal_position[0]-dxl_offset[0])); |
gidiana | 22:ffb26af4d5d8 | 181 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 182 | w_2.setGoal((dxl_goal_position[1]-dxl_offset[1])); |
gidiana | 22:ffb26af4d5d8 | 183 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 184 | w_3.setGoal((dxl_goal_position[2]-dxl_offset[2])); |
gidiana | 22:ffb26af4d5d8 | 185 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 186 | a_1.setGoal((dxl_goal_position[3]-dxl_offset[3])); |
gidiana | 22:ffb26af4d5d8 | 187 | wait(SLEEP); |
stebonicelli | 19:7f8c174448d0 | 188 | |
gidiana | 22:ffb26af4d5d8 | 189 | dxl_present_position[0]=w_1.getPosition(); |
gidiana | 22:ffb26af4d5d8 | 190 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 191 | dxl_present_position[1]=w_2.getPosition(); |
gidiana | 22:ffb26af4d5d8 | 192 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 193 | dxl_present_position[2]=w_3.getPosition(); |
gidiana | 22:ffb26af4d5d8 | 194 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 195 | dxl_present_position[3]=a_1.getPosition(); |
gidiana | 22:ffb26af4d5d8 | 196 | wait(SLEEP); |
stebonicelli | 19:7f8c174448d0 | 197 | |
gidiana | 22:ffb26af4d5d8 | 198 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 199 | printf("DYNAMIXEL PRESENT POSITION %f %f %f %f\n\r", dxl_present_position[0],dxl_present_position[1], dxl_present_position[2] ,dxl_present_position[3] ); |
gidiana | 22:ffb26af4d5d8 | 200 | #endif |
gidiana | 22:ffb26af4d5d8 | 201 | |
gidiana | 22:ffb26af4d5d8 | 202 | dxl_current[0]=w_1.getCurrent(); |
gidiana | 22:ffb26af4d5d8 | 203 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 204 | dxl_current[1]=w_2.getCurrent(); |
gidiana | 22:ffb26af4d5d8 | 205 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 206 | dxl_current[2]=w_3.getCurrent(); |
gidiana | 22:ffb26af4d5d8 | 207 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 208 | //dxl_current[3]=a_1.getCurrent(); |
gidiana | 22:ffb26af4d5d8 | 209 | //wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 210 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 211 | printf("DYNAMIXEL CURRENT %f %f %f %f\n\r", dxl_current[0],dxl_current[1], dxl_current[2] ,dxl_current[3] ); |
gidiana | 22:ffb26af4d5d8 | 212 | #endif |
gidiana | 22:ffb26af4d5d8 | 213 | |
gidiana | 22:ffb26af4d5d8 | 214 | dxl_torque[0]=dxl_current[0]*0.875; |
gidiana | 22:ffb26af4d5d8 | 215 | dxl_torque[1]=dxl_current[1]*0.875; |
gidiana | 22:ffb26af4d5d8 | 216 | dxl_torque[2]=dxl_current[2]*0.875; |
gidiana | 22:ffb26af4d5d8 | 217 | //dxl_torque[3]=dxl_current[3]*0.875; |
gidiana | 22:ffb26af4d5d8 | 218 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 219 | printf("DYNAMIXEL TORQUE %f %f %f %f\n\r", dxl_torque[0],dxl_torque[1], dxl_torque[2] ,dxl_torque[3] ); |
gidiana | 22:ffb26af4d5d8 | 220 | #endif |
gidiana | 22:ffb26af4d5d8 | 221 | |
gidiana | 22:ffb26af4d5d8 | 222 | dxl_temperature[0]=w_1.getTemp(); |
gidiana | 22:ffb26af4d5d8 | 223 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 224 | dxl_temperature[1]=w_2.getTemp(); |
gidiana | 22:ffb26af4d5d8 | 225 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 226 | dxl_temperature[2]=w_3.getTemp(); |
gidiana | 22:ffb26af4d5d8 | 227 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 228 | dxl_temperature[3]=a_1.getTemp(); |
gidiana | 22:ffb26af4d5d8 | 229 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 230 | |
gidiana | 22:ffb26af4d5d8 | 231 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 232 | printf("DYNAMIXEL TEMPERATURE %d %d %d %d\n\r", dxl_temperature[0],dxl_temperature[1], dxl_temperature[2] ,dxl_temperature[3] ); |
gidiana | 22:ffb26af4d5d8 | 233 | #endif |
gidiana | 22:ffb26af4d5d8 | 234 | |
gidiana | 22:ffb26af4d5d8 | 235 | for(int i=0; i<( sizeof(dxl_id) / sizeof(dxl_id[0])); i++) |
gidiana | 22:ffb26af4d5d8 | 236 | { |
gidiana | 22:ffb26af4d5d8 | 237 | messageOut.len = 8; |
gidiana | 22:ffb26af4d5d8 | 238 | present=(int)(dxl_present_position[i]*100); |
gidiana | 22:ffb26af4d5d8 | 239 | current=(int)(dxl_current[i]*100); |
gidiana | 22:ffb26af4d5d8 | 240 | torque=(int)(dxl_torque[i]*100); |
gidiana | 22:ffb26af4d5d8 | 241 | temperature=(int)(dxl_temperature[i]*100); |
gidiana | 22:ffb26af4d5d8 | 242 | |
gidiana | 22:ffb26af4d5d8 | 243 | messageOut.id = (JOINT_STATUS << 8) + joint_id[i]; |
gidiana | 22:ffb26af4d5d8 | 244 | |
gidiana | 22:ffb26af4d5d8 | 245 | messageOut.data[0] = (present >> 8); |
gidiana | 22:ffb26af4d5d8 | 246 | messageOut.data[1] = (present); |
gidiana | 22:ffb26af4d5d8 | 247 | messageOut.data[2] = (current >> 8); |
gidiana | 22:ffb26af4d5d8 | 248 | messageOut.data[3] = (current); |
gidiana | 22:ffb26af4d5d8 | 249 | messageOut.data[4] = (torque >> 8); |
gidiana | 22:ffb26af4d5d8 | 250 | messageOut.data[5] = (torque); |
gidiana | 22:ffb26af4d5d8 | 251 | messageOut.data[6] = (temperature >> 8); |
gidiana | 22:ffb26af4d5d8 | 252 | messageOut.data[7] = (temperature); |
gidiana | 22:ffb26af4d5d8 | 253 | |
gidiana | 22:ffb26af4d5d8 | 254 | status = can1.write(messageOut); |
gidiana | 22:ffb26af4d5d8 | 255 | |
gidiana | 22:ffb26af4d5d8 | 256 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 257 | printf("CAN send status Joint %d : %d", joint_id[i] , status ); |
gidiana | 22:ffb26af4d5d8 | 258 | #endif |
gidiana | 22:ffb26af4d5d8 | 259 | } |
gidiana | 22:ffb26af4d5d8 | 260 | |
gidiana | 22:ffb26af4d5d8 | 261 | |
gidiana | 22:ffb26af4d5d8 | 262 | |
gidiana | 22:ffb26af4d5d8 | 263 | dxl_max_torque[0]=w_1.getTorqueMax(); |
gidiana | 22:ffb26af4d5d8 | 264 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 265 | dxl_max_torque[1]=w_2.getTorqueMax(); |
gidiana | 22:ffb26af4d5d8 | 266 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 267 | dxl_max_torque[2]=w_3.getTorqueMax(); |
gidiana | 22:ffb26af4d5d8 | 268 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 269 | dxl_max_torque[3]=a_1.getTorqueMax(); |
gidiana | 22:ffb26af4d5d8 | 270 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 271 | |
gidiana | 22:ffb26af4d5d8 | 272 | for (int i=0; i<( sizeof(dxl_id) / sizeof(dxl_id[0])); i++ ) |
gidiana | 22:ffb26af4d5d8 | 273 | { |
gidiana | 22:ffb26af4d5d8 | 274 | |
gidiana | 22:ffb26af4d5d8 | 275 | messageOut.len = 4; |
gidiana | 22:ffb26af4d5d8 | 276 | messageOut.id= ( JOINT_ERROR << 8 ) + joint_id[i]; |
gidiana | 22:ffb26af4d5d8 | 277 | |
gidiana | 22:ffb26af4d5d8 | 278 | messageOut.data[0]=(((int)(dxl_max_torque[i]))>>8); |
gidiana | 22:ffb26af4d5d8 | 279 | messageOut.data[1]= ((int)(dxl_max_torque[i])); |
gidiana | 22:ffb26af4d5d8 | 280 | status = can1.write(messageOut); |
gidiana | 22:ffb26af4d5d8 | 281 | |
gidiana | 22:ffb26af4d5d8 | 282 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 283 | printf("CAN send status ERROR Joint %d : %d", joint_id[i] , status ); |
gidiana | 22:ffb26af4d5d8 | 284 | #endif |
gidiana | 22:ffb26af4d5d8 | 285 | |
gidiana | 22:ffb26af4d5d8 | 286 | } |
gidiana | 22:ffb26af4d5d8 | 287 | if(dxl_reset[0]!=0) |
gidiana | 22:ffb26af4d5d8 | 288 | { |
gidiana | 22:ffb26af4d5d8 | 289 | w_1.setMotorEnabled(0); |
gidiana | 22:ffb26af4d5d8 | 290 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 291 | w_1.setMaxTorque(1); |
gidiana | 22:ffb26af4d5d8 | 292 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 293 | w_1.setMotorEnabled(1); |
gidiana | 22:ffb26af4d5d8 | 294 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 295 | w_1.setGoal(0-dxl_offset[0]); |
gidiana | 22:ffb26af4d5d8 | 296 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 297 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 298 | printf("Dynamixel %d : RESET", joint_id[0] ); |
gidiana | 22:ffb26af4d5d8 | 299 | #endif |
gidiana | 22:ffb26af4d5d8 | 300 | } |
gidiana | 22:ffb26af4d5d8 | 301 | if(dxl_reset[1]!=0) |
gidiana | 22:ffb26af4d5d8 | 302 | { |
gidiana | 22:ffb26af4d5d8 | 303 | w_2.setMotorEnabled(0); |
gidiana | 22:ffb26af4d5d8 | 304 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 305 | w_2.setMaxTorque(1); |
gidiana | 22:ffb26af4d5d8 | 306 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 307 | w_2.setMotorEnabled(1); |
gidiana | 22:ffb26af4d5d8 | 308 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 309 | w_2.setGoal(0-dxl_offset[1]); |
gidiana | 22:ffb26af4d5d8 | 310 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 311 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 312 | printf("Dynamixel %d : RESET", joint_id[1] ); |
gidiana | 22:ffb26af4d5d8 | 313 | #endif |
gidiana | 22:ffb26af4d5d8 | 314 | } |
gidiana | 22:ffb26af4d5d8 | 315 | if(dxl_reset[2]!=0) |
gidiana | 22:ffb26af4d5d8 | 316 | { |
gidiana | 22:ffb26af4d5d8 | 317 | w_3.setMotorEnabled(0); |
gidiana | 22:ffb26af4d5d8 | 318 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 319 | w_3.setMaxTorque(1); |
gidiana | 22:ffb26af4d5d8 | 320 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 321 | w_3.setMotorEnabled(1); |
gidiana | 22:ffb26af4d5d8 | 322 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 323 | w_3.setGoal(0-dxl_offset[2]); |
gidiana | 22:ffb26af4d5d8 | 324 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 325 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 326 | printf("Dynamixel %d : RESET", joint_id[2] ); |
gidiana | 22:ffb26af4d5d8 | 327 | #endif |
gidiana | 22:ffb26af4d5d8 | 328 | } |
gidiana | 22:ffb26af4d5d8 | 329 | if(dxl_reset[3]!=0) |
gidiana | 22:ffb26af4d5d8 | 330 | { |
gidiana | 22:ffb26af4d5d8 | 331 | a_1.setMotorEnabled(0); |
gidiana | 22:ffb26af4d5d8 | 332 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 333 | a_1.setMaxTorque(1); |
gidiana | 22:ffb26af4d5d8 | 334 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 335 | a_1.setMotorEnabled(1); |
gidiana | 22:ffb26af4d5d8 | 336 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 337 | a_1.setGoal(0-dxl_offset[3]); |
gidiana | 22:ffb26af4d5d8 | 338 | wait(SLEEP); |
gidiana | 22:ffb26af4d5d8 | 339 | #if VERBOSE |
gidiana | 22:ffb26af4d5d8 | 340 | printf("Dynamixel %d : RESET", joint_id[3] ); |
gidiana | 22:ffb26af4d5d8 | 341 | #endif |
gidiana | 22:ffb26af4d5d8 | 342 | } |
gidiana | 22:ffb26af4d5d8 | 343 | |
gidiana | 22:ffb26af4d5d8 | 344 | |
gidiana | 21:43740448011a | 345 | } |
gidiana | 22:ffb26af4d5d8 | 346 | return 0; |
gidiana | 22:ffb26af4d5d8 | 347 | } |