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ROBO2_CONT.cpp@2:71b3736a1bd7, 2022-10-21 (annotated)
- Committer:
- js
- Date:
- Fri Oct 21 10:54:03 2022 +0000
- Revision:
- 2:71b3736a1bd7
test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
js | 2:71b3736a1bd7 | 1 | #include "mbed.h" |
js | 2:71b3736a1bd7 | 2 | #include "main.h" |
js | 2:71b3736a1bd7 | 3 | #include "nextion_lcd.h" |
js | 2:71b3736a1bd7 | 4 | #include "APP.h" |
js | 2:71b3736a1bd7 | 5 | #include "ROBO2_CONT.h" |
js | 2:71b3736a1bd7 | 6 | #include "SAVE_CONT.h" |
js | 2:71b3736a1bd7 | 7 | /////////////////////// |
js | 2:71b3736a1bd7 | 8 | #include "WIZnetInterface.h" |
js | 2:71b3736a1bd7 | 9 | #define USE_DHCP 0 |
js | 2:71b3736a1bd7 | 10 | #define LOOPBACKPORT 7 |
js | 2:71b3736a1bd7 | 11 | Ticker RB2_RX_TIME_OUT; |
js | 2:71b3736a1bd7 | 12 | |
js | 2:71b3736a1bd7 | 13 | extern const char * IP_Subnet; |
js | 2:71b3736a1bd7 | 14 | extern const char * IP_Gateway; |
js | 2:71b3736a1bd7 | 15 | extern unsigned char MAC_Addr[6]; |
js | 2:71b3736a1bd7 | 16 | |
js | 2:71b3736a1bd7 | 17 | const char *RB2_SV_Addr = "192.168.2.8"; |
js | 2:71b3736a1bd7 | 18 | const int RB2_SV_port =30003; |
js | 2:71b3736a1bd7 | 19 | //const int SV_port =30005; |
js | 2:71b3736a1bd7 | 20 | extern SPI spi; |
js | 2:71b3736a1bd7 | 21 | WIZnetInterface RB2_ethernet(&spi,PB_1, PB_2);//CONT BOARD MINIは、PA_15,PB_2 |
js | 2:71b3736a1bd7 | 22 | TCPSocketConnection RB2_server; |
js | 2:71b3736a1bd7 | 23 | |
js | 2:71b3736a1bd7 | 24 | /////////////////////// |
js | 2:71b3736a1bd7 | 25 | char RB2_rob_tx_buffer[128]; |
js | 2:71b3736a1bd7 | 26 | char RB2_rob_rx_buffer[128]; |
js | 2:71b3736a1bd7 | 27 | |
js | 2:71b3736a1bd7 | 28 | |
js | 2:71b3736a1bd7 | 29 | double RB2_Q1SET=0.0; |
js | 2:71b3736a1bd7 | 30 | double RB2_Q2SET=0.0; |
js | 2:71b3736a1bd7 | 31 | double RB2_Q3SET=0.0; |
js | 2:71b3736a1bd7 | 32 | double RB2_Q4SET=0.0; |
js | 2:71b3736a1bd7 | 33 | double RB2_Q5SET=0.0; |
js | 2:71b3736a1bd7 | 34 | double RB2_Q6SET=0.0; |
js | 2:71b3736a1bd7 | 35 | |
js | 2:71b3736a1bd7 | 36 | |
js | 2:71b3736a1bd7 | 37 | double RB2_X_SET=0.0; |
js | 2:71b3736a1bd7 | 38 | double RB2_Y_SET=0.0; |
js | 2:71b3736a1bd7 | 39 | double RB2_Z_SET=0.0; |
js | 2:71b3736a1bd7 | 40 | double RB2_A_SET=0.0; |
js | 2:71b3736a1bd7 | 41 | double RB2_B_SET=0.0; |
js | 2:71b3736a1bd7 | 42 | double RB2_C_SET=0.0; |
js | 2:71b3736a1bd7 | 43 | |
js | 2:71b3736a1bd7 | 44 | extern double RB2_POINT_RD[32][4]; |
js | 2:71b3736a1bd7 | 45 | |
js | 2:71b3736a1bd7 | 46 | |
js | 2:71b3736a1bd7 | 47 | unsigned char RB2_SPEED_ADJ=100; |
js | 2:71b3736a1bd7 | 48 | unsigned char RB2_ACC_ADJ=80; |
js | 2:71b3736a1bd7 | 49 | |
js | 2:71b3736a1bd7 | 50 | unsigned char RB2_PSEL_BAK=0xFF; |
js | 2:71b3736a1bd7 | 51 | |
js | 2:71b3736a1bd7 | 52 | |
js | 2:71b3736a1bd7 | 53 | unsigned char RB2_RX_TIME_OUT_F=0; |
js | 2:71b3736a1bd7 | 54 | |
js | 2:71b3736a1bd7 | 55 | unsigned char RB2_HAND_ST=RB2_HAND_OPEN; |
js | 2:71b3736a1bd7 | 56 | |
js | 2:71b3736a1bd7 | 57 | char RB2_J1_DAT[32]; |
js | 2:71b3736a1bd7 | 58 | char RB2_J2_DAT[32]; |
js | 2:71b3736a1bd7 | 59 | char RB2_J3_DAT[32]; |
js | 2:71b3736a1bd7 | 60 | char RB2_J4_DAT[32]; |
js | 2:71b3736a1bd7 | 61 | char RB2_XDAT[32]; |
js | 2:71b3736a1bd7 | 62 | char RB2_YDAT[32]; |
js | 2:71b3736a1bd7 | 63 | char RB2_ZDAT[32]; |
js | 2:71b3736a1bd7 | 64 | char RB2_RDAT[32]; |
js | 2:71b3736a1bd7 | 65 | |
js | 2:71b3736a1bd7 | 66 | double RB2_J1_GET=0.0; |
js | 2:71b3736a1bd7 | 67 | double RB2_J2_GET=0.0; |
js | 2:71b3736a1bd7 | 68 | double RB2_J3_GET=0.0; |
js | 2:71b3736a1bd7 | 69 | double RB2_J4_GET=0.0; |
js | 2:71b3736a1bd7 | 70 | |
js | 2:71b3736a1bd7 | 71 | double RB2_X_GET=0.0; |
js | 2:71b3736a1bd7 | 72 | double RB2_Y_GET=0.0; |
js | 2:71b3736a1bd7 | 73 | double RB2_Z_GET=0.0; |
js | 2:71b3736a1bd7 | 74 | double RB2_R_GET=0.0; |
js | 2:71b3736a1bd7 | 75 | |
js | 2:71b3736a1bd7 | 76 | |
js | 2:71b3736a1bd7 | 77 | unsigned char R2_WAIT_MASK=0;//1でマスク 現在位置への移動指定時WAITをマスクする |
js | 2:71b3736a1bd7 | 78 | |
js | 2:71b3736a1bd7 | 79 | void RB2_RX_TIME_OUT_IRQ(){ |
js | 2:71b3736a1bd7 | 80 | RB2_RX_TIME_OUT_F=1; |
js | 2:71b3736a1bd7 | 81 | RB2_RX_TIME_OUT.detach();//シリアル受信タイムアウトカウンタ停止 |
js | 2:71b3736a1bd7 | 82 | RB2_eth_buf_clr(); |
js | 2:71b3736a1bd7 | 83 | |
js | 2:71b3736a1bd7 | 84 | } |
js | 2:71b3736a1bd7 | 85 | |
js | 2:71b3736a1bd7 | 86 | void RB2_eth_buf_clr(){ |
js | 2:71b3736a1bd7 | 87 | |
js | 2:71b3736a1bd7 | 88 | for(unsigned long clcnt=0; clcnt<sizeof(RB2_rob_tx_buffer); clcnt++){ |
js | 2:71b3736a1bd7 | 89 | RB2_rob_tx_buffer[clcnt]=0; |
js | 2:71b3736a1bd7 | 90 | } |
js | 2:71b3736a1bd7 | 91 | for(unsigned long clcnt=0; clcnt<sizeof(RB2_rob_rx_buffer); clcnt++){ |
js | 2:71b3736a1bd7 | 92 | RB2_rob_rx_buffer[clcnt]=0; |
js | 2:71b3736a1bd7 | 93 | } |
js | 2:71b3736a1bd7 | 94 | } |
js | 2:71b3736a1bd7 | 95 | void RB2_POS_CLR(){ |
js | 2:71b3736a1bd7 | 96 | RB2_Q1SET=0.0; |
js | 2:71b3736a1bd7 | 97 | RB2_Q2SET=0.0; |
js | 2:71b3736a1bd7 | 98 | RB2_Q3SET=0.0; |
js | 2:71b3736a1bd7 | 99 | RB2_Q4SET=0.0; |
js | 2:71b3736a1bd7 | 100 | RB2_Q5SET=0.0; |
js | 2:71b3736a1bd7 | 101 | RB2_Q6SET=0.0; |
js | 2:71b3736a1bd7 | 102 | |
js | 2:71b3736a1bd7 | 103 | |
js | 2:71b3736a1bd7 | 104 | RB2_X_SET=0.0; |
js | 2:71b3736a1bd7 | 105 | RB2_Y_SET=0.0; |
js | 2:71b3736a1bd7 | 106 | RB2_Z_SET=0.0; |
js | 2:71b3736a1bd7 | 107 | RB2_A_SET=0.0; |
js | 2:71b3736a1bd7 | 108 | RB2_B_SET=0.0; |
js | 2:71b3736a1bd7 | 109 | RB2_C_SET=0.0; |
js | 2:71b3736a1bd7 | 110 | } |
js | 2:71b3736a1bd7 | 111 | char RB2_ETH_CONECT_CHK(){ |
js | 2:71b3736a1bd7 | 112 | |
js | 2:71b3736a1bd7 | 113 | if(RB2_server.is_connected()==true){ |
js | 2:71b3736a1bd7 | 114 | return 0; |
js | 2:71b3736a1bd7 | 115 | }else{ |
js | 2:71b3736a1bd7 | 116 | lcd_print("t0","LAN切断中です。再接続してください。"); |
js | 2:71b3736a1bd7 | 117 | return -1; |
js | 2:71b3736a1bd7 | 118 | } |
js | 2:71b3736a1bd7 | 119 | |
js | 2:71b3736a1bd7 | 120 | } |
js | 2:71b3736a1bd7 | 121 | |
js | 2:71b3736a1bd7 | 122 | |
js | 2:71b3736a1bd7 | 123 | |
js | 2:71b3736a1bd7 | 124 | char RB2_CONNECT(){ |
js | 2:71b3736a1bd7 | 125 | unsigned long timeout=0; |
js | 2:71b3736a1bd7 | 126 | sprintf(lcd_print_buf,"ロボット2(%s) 接続開始...",RB2_SV_Addr); |
js | 2:71b3736a1bd7 | 127 | lcd_print("t1",lcd_print_buf); |
js | 2:71b3736a1bd7 | 128 | |
js | 2:71b3736a1bd7 | 129 | int ret =RB2_server.connect(RB2_SV_Addr,RB2_SV_port); |
js | 2:71b3736a1bd7 | 130 | |
js | 2:71b3736a1bd7 | 131 | if(ret !=0){ |
js | 2:71b3736a1bd7 | 132 | sprintf(lcd_print_buf,"ロボット2(%s) 接続待機中...",RB2_SV_Addr); |
js | 2:71b3736a1bd7 | 133 | lcd_print("t1",lcd_print_buf); |
js | 2:71b3736a1bd7 | 134 | } |
js | 2:71b3736a1bd7 | 135 | while(ret !=0 && timeout<100){ |
js | 2:71b3736a1bd7 | 136 | ret =RB2_server.connect(RB2_SV_Addr,RB2_SV_port); |
js | 2:71b3736a1bd7 | 137 | wait_ms(100); |
js | 2:71b3736a1bd7 | 138 | } |
js | 2:71b3736a1bd7 | 139 | if(timeout<100){ |
js | 2:71b3736a1bd7 | 140 | printf("connect end\r\n"); |
js | 2:71b3736a1bd7 | 141 | sprintf(lcd_print_buf,"ロボット2(%s) 接続完了",RB2_SV_Addr); |
js | 2:71b3736a1bd7 | 142 | lcd_print("t1",lcd_print_buf); |
js | 2:71b3736a1bd7 | 143 | return 0; |
js | 2:71b3736a1bd7 | 144 | }else{ |
js | 2:71b3736a1bd7 | 145 | sprintf(lcd_print_buf,"ロボット2(%s) 接続異常",RB2_SV_Addr); |
js | 2:71b3736a1bd7 | 146 | lcd_print("t1",lcd_print_buf); |
js | 2:71b3736a1bd7 | 147 | return -1; |
js | 2:71b3736a1bd7 | 148 | } |
js | 2:71b3736a1bd7 | 149 | |
js | 2:71b3736a1bd7 | 150 | } |
js | 2:71b3736a1bd7 | 151 | |
js | 2:71b3736a1bd7 | 152 | char RB2_DISCONNECT(){ |
js | 2:71b3736a1bd7 | 153 | lcd_print("t0","R2 Disconnect"); |
js | 2:71b3736a1bd7 | 154 | int ret =RB2_ethernet.disconnect(); |
js | 2:71b3736a1bd7 | 155 | wait_ms(2000); |
js | 2:71b3736a1bd7 | 156 | if(ret==0){ |
js | 2:71b3736a1bd7 | 157 | lcd_print("t0","R2 Disconnect End"); |
js | 2:71b3736a1bd7 | 158 | return 0; |
js | 2:71b3736a1bd7 | 159 | }else{ |
js | 2:71b3736a1bd7 | 160 | lcd_print("t0","R2 Disconnect ERR"); |
js | 2:71b3736a1bd7 | 161 | return -1; |
js | 2:71b3736a1bd7 | 162 | } |
js | 2:71b3736a1bd7 | 163 | |
js | 2:71b3736a1bd7 | 164 | |
js | 2:71b3736a1bd7 | 165 | } |
js | 2:71b3736a1bd7 | 166 | /* |
js | 2:71b3736a1bd7 | 167 | ロボットのタイムアウト検出は割り込みを使用して行う。 |
js | 2:71b3736a1bd7 | 168 | 通常のwaitをカウントする方法では、時間が大きくずれる為 |
js | 2:71b3736a1bd7 | 169 | *Etherの受信処理にもタイムアウト設定がある為 |
js | 2:71b3736a1bd7 | 170 | WIZnet_Socket.hの以下の設定 下記だと一度ETHER受信しタイムアウトまで300msかかる |
js | 2:71b3736a1bd7 | 171 | set_blocking(bool blocking, unsigned int timeout=300);//1500 |
js | 2:71b3736a1bd7 | 172 | |
js | 2:71b3736a1bd7 | 173 | */ |
js | 2:71b3736a1bd7 | 174 | void RB2_GETANG(unsigned long tout_ms){ |
js | 2:71b3736a1bd7 | 175 | char *cmp1_txt="GetAngle();"; |
js | 2:71b3736a1bd7 | 176 | unsigned char DAT_GET_F=0; |
js | 2:71b3736a1bd7 | 177 | |
js | 2:71b3736a1bd7 | 178 | RB2_SEND_CMD("GetAngle()"); |
js | 2:71b3736a1bd7 | 179 | RB2_RX_TIME_OUT_F=0; |
js | 2:71b3736a1bd7 | 180 | RB2_RX_TIME_OUT.attach_us(&RB2_RX_TIME_OUT_IRQ,tout_ms*1000); |
js | 2:71b3736a1bd7 | 181 | while(RB2_RX_TIME_OUT_F==0 && DAT_GET_F==0){ |
js | 2:71b3736a1bd7 | 182 | if(RB2_RX_DATA()>0){ |
js | 2:71b3736a1bd7 | 183 | //移動開始確認/// |
js | 2:71b3736a1bd7 | 184 | if(strstr(RB2_rob_rx_buffer,cmp1_txt) !=NULL){ |
js | 2:71b3736a1bd7 | 185 | DAT_GET_F=1; |
js | 2:71b3736a1bd7 | 186 | }else{ |
js | 2:71b3736a1bd7 | 187 | RB2_SEND_CMD("GetAngle()"); |
js | 2:71b3736a1bd7 | 188 | } |
js | 2:71b3736a1bd7 | 189 | } |
js | 2:71b3736a1bd7 | 190 | wait_us(10*1000); |
js | 2:71b3736a1bd7 | 191 | } |
js | 2:71b3736a1bd7 | 192 | unsigned char DAT_CNT=0; |
js | 2:71b3736a1bd7 | 193 | unsigned char DAT_CNT_T=3; |
js | 2:71b3736a1bd7 | 194 | if(RB2_RX_TIME_OUT_F==1){ |
js | 2:71b3736a1bd7 | 195 | lcd_print("t0","RB2 GetAngle TIMEOUT"); |
js | 2:71b3736a1bd7 | 196 | |
js | 2:71b3736a1bd7 | 197 | }else{ |
js | 2:71b3736a1bd7 | 198 | RB2_RX_TIME_OUT.detach();//タイムアウトカウンタ停止 |
js | 2:71b3736a1bd7 | 199 | while(RB2_rob_rx_buffer[DAT_CNT_T] !=0x2c && DAT_CNT<sizeof(RB2_J1_DAT)){ |
js | 2:71b3736a1bd7 | 200 | RB2_J1_DAT[DAT_CNT++]=RB2_rob_rx_buffer[DAT_CNT_T++]; |
js | 2:71b3736a1bd7 | 201 | } |
js | 2:71b3736a1bd7 | 202 | DAT_CNT_T++;//カンマを飛ばす |
js | 2:71b3736a1bd7 | 203 | DAT_CNT=0; |
js | 2:71b3736a1bd7 | 204 | while(RB2_rob_rx_buffer[DAT_CNT_T] !=0x2c && DAT_CNT<sizeof(RB2_J2_DAT)){ |
js | 2:71b3736a1bd7 | 205 | RB2_J2_DAT[DAT_CNT++]=RB2_rob_rx_buffer[DAT_CNT_T++]; |
js | 2:71b3736a1bd7 | 206 | } |
js | 2:71b3736a1bd7 | 207 | DAT_CNT_T++;//カンマを飛ばす |
js | 2:71b3736a1bd7 | 208 | DAT_CNT=0; |
js | 2:71b3736a1bd7 | 209 | while(RB2_rob_rx_buffer[DAT_CNT_T] !=0x2c && DAT_CNT<sizeof(RB2_J3_DAT)){ |
js | 2:71b3736a1bd7 | 210 | RB2_J3_DAT[DAT_CNT++]=RB2_rob_rx_buffer[DAT_CNT_T++]; |
js | 2:71b3736a1bd7 | 211 | } |
js | 2:71b3736a1bd7 | 212 | DAT_CNT_T++;//カンマを飛ばす |
js | 2:71b3736a1bd7 | 213 | DAT_CNT=0; |
js | 2:71b3736a1bd7 | 214 | while(RB2_rob_rx_buffer[DAT_CNT_T] !=0x2c && DAT_CNT<sizeof(RB2_J4_DAT)){ |
js | 2:71b3736a1bd7 | 215 | RB2_J4_DAT[DAT_CNT++]=RB2_rob_rx_buffer[DAT_CNT_T++]; |
js | 2:71b3736a1bd7 | 216 | } |
js | 2:71b3736a1bd7 | 217 | RB2_J1_GET=atof(RB2_J1_DAT); |
js | 2:71b3736a1bd7 | 218 | RB2_J2_GET=atof(RB2_J2_DAT); |
js | 2:71b3736a1bd7 | 219 | RB2_J3_GET=atof(RB2_J3_DAT); |
js | 2:71b3736a1bd7 | 220 | RB2_J4_GET=atof(RB2_J4_DAT); |
js | 2:71b3736a1bd7 | 221 | |
js | 2:71b3736a1bd7 | 222 | } |
js | 2:71b3736a1bd7 | 223 | |
js | 2:71b3736a1bd7 | 224 | |
js | 2:71b3736a1bd7 | 225 | RB2_eth_buf_clr(); |
js | 2:71b3736a1bd7 | 226 | } |
js | 2:71b3736a1bd7 | 227 | void RB2_GETPOS(unsigned long tout_ms){ |
js | 2:71b3736a1bd7 | 228 | char *cmp1_txt="GetPose();"; |
js | 2:71b3736a1bd7 | 229 | unsigned char DAT_GET_F=0; |
js | 2:71b3736a1bd7 | 230 | RB2_SEND_CMD("GetPose()"); |
js | 2:71b3736a1bd7 | 231 | RB2_RX_TIME_OUT_F=0; |
js | 2:71b3736a1bd7 | 232 | RB2_RX_TIME_OUT.attach_us(&RB2_RX_TIME_OUT_IRQ,tout_ms*1000); |
js | 2:71b3736a1bd7 | 233 | while(RB2_RX_TIME_OUT_F==0 && DAT_GET_F==0){ |
js | 2:71b3736a1bd7 | 234 | if(RB2_RX_DATA()>0){ |
js | 2:71b3736a1bd7 | 235 | //移動開始確認/// |
js | 2:71b3736a1bd7 | 236 | if(strstr(RB2_rob_rx_buffer,cmp1_txt) !=NULL){ |
js | 2:71b3736a1bd7 | 237 | DAT_GET_F=1; |
js | 2:71b3736a1bd7 | 238 | }else{ |
js | 2:71b3736a1bd7 | 239 | RB2_SEND_CMD("GetPose()"); |
js | 2:71b3736a1bd7 | 240 | } |
js | 2:71b3736a1bd7 | 241 | } |
js | 2:71b3736a1bd7 | 242 | wait_us(10*1000); |
js | 2:71b3736a1bd7 | 243 | } |
js | 2:71b3736a1bd7 | 244 | unsigned char DAT_CNT=0; |
js | 2:71b3736a1bd7 | 245 | unsigned char DAT_CNT_T=3; |
js | 2:71b3736a1bd7 | 246 | if(RB2_RX_TIME_OUT_F==1){ |
js | 2:71b3736a1bd7 | 247 | lcd_print("t0","RB2 GetPose TIMEOUT"); |
js | 2:71b3736a1bd7 | 248 | }else{ |
js | 2:71b3736a1bd7 | 249 | RB2_RX_TIME_OUT.detach();//タイムアウトカウンタ停止 |
js | 2:71b3736a1bd7 | 250 | while(RB2_rob_rx_buffer[DAT_CNT_T] !=0x2c && DAT_CNT<sizeof(RB2_XDAT)){ |
js | 2:71b3736a1bd7 | 251 | RB2_XDAT[DAT_CNT++]=RB2_rob_rx_buffer[DAT_CNT_T++]; |
js | 2:71b3736a1bd7 | 252 | } |
js | 2:71b3736a1bd7 | 253 | DAT_CNT_T++;//カンマを飛ばす |
js | 2:71b3736a1bd7 | 254 | DAT_CNT=0; |
js | 2:71b3736a1bd7 | 255 | while(RB2_rob_rx_buffer[DAT_CNT_T] !=0x2c && DAT_CNT<sizeof(RB2_YDAT)){ |
js | 2:71b3736a1bd7 | 256 | RB2_YDAT[DAT_CNT++]=RB2_rob_rx_buffer[DAT_CNT_T++]; |
js | 2:71b3736a1bd7 | 257 | } |
js | 2:71b3736a1bd7 | 258 | DAT_CNT_T++;//カンマを飛ばす |
js | 2:71b3736a1bd7 | 259 | DAT_CNT=0; |
js | 2:71b3736a1bd7 | 260 | while(RB2_rob_rx_buffer[DAT_CNT_T] !=0x2c && DAT_CNT<sizeof(RB2_ZDAT)){ |
js | 2:71b3736a1bd7 | 261 | RB2_ZDAT[DAT_CNT++]=RB2_rob_rx_buffer[DAT_CNT_T++]; |
js | 2:71b3736a1bd7 | 262 | } |
js | 2:71b3736a1bd7 | 263 | DAT_CNT_T++;//カンマを飛ばす |
js | 2:71b3736a1bd7 | 264 | DAT_CNT=0; |
js | 2:71b3736a1bd7 | 265 | while(RB2_rob_rx_buffer[DAT_CNT_T] !=0x2c && DAT_CNT<sizeof(RB2_RDAT)){ |
js | 2:71b3736a1bd7 | 266 | RB2_RDAT[DAT_CNT++]=RB2_rob_rx_buffer[DAT_CNT_T++]; |
js | 2:71b3736a1bd7 | 267 | } |
js | 2:71b3736a1bd7 | 268 | RB2_X_GET=atof(RB2_XDAT); |
js | 2:71b3736a1bd7 | 269 | RB2_Y_GET=atof(RB2_YDAT); |
js | 2:71b3736a1bd7 | 270 | RB2_Z_GET=atof(RB2_ZDAT); |
js | 2:71b3736a1bd7 | 271 | RB2_R_GET=atof(RB2_RDAT); |
js | 2:71b3736a1bd7 | 272 | |
js | 2:71b3736a1bd7 | 273 | } |
js | 2:71b3736a1bd7 | 274 | |
js | 2:71b3736a1bd7 | 275 | |
js | 2:71b3736a1bd7 | 276 | RB2_eth_buf_clr(); |
js | 2:71b3736a1bd7 | 277 | } |
js | 2:71b3736a1bd7 | 278 | |
js | 2:71b3736a1bd7 | 279 | |
js | 2:71b3736a1bd7 | 280 | /* |
js | 2:71b3736a1bd7 | 281 | RobotMode()コマンドを使用してロボットの移動完了(Mode 5 idle)を確認する |
js | 2:71b3736a1bd7 | 282 | Mode | Description | NOTE | |
js | 2:71b3736a1bd7 | 283 | | ---- | --------------------- | -------------------------------- | |
js | 2:71b3736a1bd7 | 284 | | 1 | ROBOT_MODE_INIT | initialization | |
js | 2:71b3736a1bd7 | 285 | | 2 | ROBOT_MODE_BRAKE_OPEN | The brake release | |
js | 2:71b3736a1bd7 | 286 | | 3 | | Reserved | |
js | 2:71b3736a1bd7 | 287 | | 4 | ROBOT_MODE_DISABLED | Disabled (brake is not released) | |
js | 2:71b3736a1bd7 | 288 | | 5 | ROBOT_MODE_ENABLE | Enable (idle) | |
js | 2:71b3736a1bd7 | 289 | | 6 | ROBOT_MODE_BACKDRIVE | Dragging state | |
js | 2:71b3736a1bd7 | 290 | | 7 | ROBOT_MODE_RUNNING | Running state | |
js | 2:71b3736a1bd7 | 291 | | 8 | ROBOT_MODE_RECORDING | Dragging recording | |
js | 2:71b3736a1bd7 | 292 | | 9 | ROBOT_MODE_ERROR | Alarm state | |
js | 2:71b3736a1bd7 | 293 | | 10 | ROBOT_MODE_PAUSE | pause state | |
js | 2:71b3736a1bd7 | 294 | | 11 | ROBOT_MODE_JOG | jogging state | |
js | 2:71b3736a1bd7 | 295 | |
js | 2:71b3736a1bd7 | 296 | |
js | 2:71b3736a1bd7 | 297 | */ |
js | 2:71b3736a1bd7 | 298 | void RB2_MOVE_WAIT(unsigned long tout_ms){//移動開始待ち |
js | 2:71b3736a1bd7 | 299 | char *cmp1_txt="0,{7},RobotMode()"; |
js | 2:71b3736a1bd7 | 300 | char *cmp2_txt="0,{5},RobotMode()"; |
js | 2:71b3736a1bd7 | 301 | char *cmp3_txt="0,{9},RobotMode()"; |
js | 2:71b3736a1bd7 | 302 | |
js | 2:71b3736a1bd7 | 303 | unsigned char MOVE_START_F=0; |
js | 2:71b3736a1bd7 | 304 | unsigned char MOVE_END_F=0; |
js | 2:71b3736a1bd7 | 305 | unsigned char MOVE_ERR_F=0; |
js | 2:71b3736a1bd7 | 306 | if(R2_WAIT_MASK==0){//1でマスク 現在位置への移動指定時WAITをマスクする |
js | 2:71b3736a1bd7 | 307 | RB2_SEND_CMD("RobotMode()"); |
js | 2:71b3736a1bd7 | 308 | RB2_RX_TIME_OUT_F=0; |
js | 2:71b3736a1bd7 | 309 | RB2_RX_TIME_OUT.attach_us(&RB2_RX_TIME_OUT_IRQ,tout_ms*1000); |
js | 2:71b3736a1bd7 | 310 | while(RB2_RX_TIME_OUT_F==0 && MOVE_START_F==0 && MOVE_ERR_F==0){ |
js | 2:71b3736a1bd7 | 311 | if(RB2_RX_DATA()>0){ |
js | 2:71b3736a1bd7 | 312 | if(strstr(RB2_rob_rx_buffer,cmp3_txt) ==NULL){//err状態でないことを確認 |
js | 2:71b3736a1bd7 | 313 | //移動開始確認/// |
js | 2:71b3736a1bd7 | 314 | if(strstr(RB2_rob_rx_buffer,cmp1_txt) !=NULL){ |
js | 2:71b3736a1bd7 | 315 | MOVE_START_F=1; |
js | 2:71b3736a1bd7 | 316 | }else{ |
js | 2:71b3736a1bd7 | 317 | RB2_SEND_CMD("RobotMode()"); |
js | 2:71b3736a1bd7 | 318 | } |
js | 2:71b3736a1bd7 | 319 | }else{ |
js | 2:71b3736a1bd7 | 320 | MOVE_ERR_F=1; |
js | 2:71b3736a1bd7 | 321 | ALM_ST=ALM_DOBOT2; |
js | 2:71b3736a1bd7 | 322 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 323 | } |
js | 2:71b3736a1bd7 | 324 | } |
js | 2:71b3736a1bd7 | 325 | wait_us(10*1000); |
js | 2:71b3736a1bd7 | 326 | } |
js | 2:71b3736a1bd7 | 327 | if(RB2_RX_TIME_OUT_F==1){ |
js | 2:71b3736a1bd7 | 328 | //printf("MOVE START TIMEOUT!! TX=%s Rx=%s\r\n",RB2_rob_tx_buffer,RB2_rob_rx_buffer); |
js | 2:71b3736a1bd7 | 329 | ALM_ST=ALM_DOBOT2_ST; |
js | 2:71b3736a1bd7 | 330 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 331 | }else{ |
js | 2:71b3736a1bd7 | 332 | RB2_RX_TIME_OUT.detach();//タイムアウトカウンタ停止 |
js | 2:71b3736a1bd7 | 333 | } |
js | 2:71b3736a1bd7 | 334 | if(ALM_ST==ALM_NONE){ |
js | 2:71b3736a1bd7 | 335 | ///移動完了チェック/// |
js | 2:71b3736a1bd7 | 336 | RB2_RX_TIME_OUT_F=0; |
js | 2:71b3736a1bd7 | 337 | RB2_RX_TIME_OUT.attach_us(&RB2_RX_TIME_OUT_IRQ,tout_ms*1000); |
js | 2:71b3736a1bd7 | 338 | RB2_SEND_CMD("RobotMode()"); |
js | 2:71b3736a1bd7 | 339 | while(RB2_RX_TIME_OUT_F==0 && MOVE_END_F==0 && MOVE_ERR_F==0){ |
js | 2:71b3736a1bd7 | 340 | if(RB2_RX_DATA()>0){ |
js | 2:71b3736a1bd7 | 341 | if(strstr(RB2_rob_rx_buffer,cmp3_txt) ==NULL){//err状態でないことを確認 |
js | 2:71b3736a1bd7 | 342 | //移動完了確認/// |
js | 2:71b3736a1bd7 | 343 | if(strstr(RB2_rob_rx_buffer,cmp2_txt) !=NULL){ |
js | 2:71b3736a1bd7 | 344 | MOVE_END_F=1; |
js | 2:71b3736a1bd7 | 345 | }else{ |
js | 2:71b3736a1bd7 | 346 | RB2_SEND_CMD("RobotMode()"); |
js | 2:71b3736a1bd7 | 347 | } |
js | 2:71b3736a1bd7 | 348 | }else{ |
js | 2:71b3736a1bd7 | 349 | MOVE_ERR_F=1; |
js | 2:71b3736a1bd7 | 350 | ALM_ST=ALM_DOBOT2; |
js | 2:71b3736a1bd7 | 351 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 352 | } |
js | 2:71b3736a1bd7 | 353 | } |
js | 2:71b3736a1bd7 | 354 | wait_us(10*1000); //10ms |
js | 2:71b3736a1bd7 | 355 | } |
js | 2:71b3736a1bd7 | 356 | if(RB2_RX_TIME_OUT_F==1){ |
js | 2:71b3736a1bd7 | 357 | ALM_ST=ALM_DOBOT2_ED; |
js | 2:71b3736a1bd7 | 358 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 359 | }else{ |
js | 2:71b3736a1bd7 | 360 | RB2_RX_TIME_OUT.detach();//タイムアウトカウンタ停止 |
js | 2:71b3736a1bd7 | 361 | } |
js | 2:71b3736a1bd7 | 362 | } |
js | 2:71b3736a1bd7 | 363 | |
js | 2:71b3736a1bd7 | 364 | RB2_eth_buf_clr(); |
js | 2:71b3736a1bd7 | 365 | } |
js | 2:71b3736a1bd7 | 366 | |
js | 2:71b3736a1bd7 | 367 | |
js | 2:71b3736a1bd7 | 368 | } |
js | 2:71b3736a1bd7 | 369 | void RB2_MOVE_SWAIT(unsigned long tout_ms){//移動開始待ち |
js | 2:71b3736a1bd7 | 370 | char *cmp1_txt="0,{7},RobotMode()"; |
js | 2:71b3736a1bd7 | 371 | char *cmp2_txt="0,{5},RobotMode()"; |
js | 2:71b3736a1bd7 | 372 | char *cmp3_txt="0,{9},RobotMode()"; |
js | 2:71b3736a1bd7 | 373 | unsigned char MOVE_START_F=0; |
js | 2:71b3736a1bd7 | 374 | unsigned char MOVE_ERR_F=0; |
js | 2:71b3736a1bd7 | 375 | |
js | 2:71b3736a1bd7 | 376 | if(R2_WAIT_MASK==0){//1でマスク 現在位置への移動指定時WAITをマスクする |
js | 2:71b3736a1bd7 | 377 | RB2_SEND_CMD("RobotMode()"); |
js | 2:71b3736a1bd7 | 378 | RB2_RX_TIME_OUT_F=0; |
js | 2:71b3736a1bd7 | 379 | RB2_RX_TIME_OUT.attach_us(&RB2_RX_TIME_OUT_IRQ,tout_ms*1000); |
js | 2:71b3736a1bd7 | 380 | while(RB2_RX_TIME_OUT_F==0 && MOVE_START_F==0 && MOVE_ERR_F==0){ |
js | 2:71b3736a1bd7 | 381 | if(RB2_RX_DATA()>0){ |
js | 2:71b3736a1bd7 | 382 | if(strstr(RB2_rob_rx_buffer,cmp3_txt) ==NULL){//err状態でないことを確認 |
js | 2:71b3736a1bd7 | 383 | //移動開始確認/// |
js | 2:71b3736a1bd7 | 384 | if(strstr(RB2_rob_rx_buffer,cmp1_txt) !=NULL){ |
js | 2:71b3736a1bd7 | 385 | MOVE_START_F=1; |
js | 2:71b3736a1bd7 | 386 | }else{ |
js | 2:71b3736a1bd7 | 387 | RB2_SEND_CMD("RobotMode()"); |
js | 2:71b3736a1bd7 | 388 | } |
js | 2:71b3736a1bd7 | 389 | }else{ |
js | 2:71b3736a1bd7 | 390 | MOVE_ERR_F=1; |
js | 2:71b3736a1bd7 | 391 | ALM_ST=ALM_DOBOT2; |
js | 2:71b3736a1bd7 | 392 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 393 | } |
js | 2:71b3736a1bd7 | 394 | } |
js | 2:71b3736a1bd7 | 395 | wait_us(10*1000); //10ms |
js | 2:71b3736a1bd7 | 396 | } |
js | 2:71b3736a1bd7 | 397 | if(RB2_RX_TIME_OUT_F==1){ |
js | 2:71b3736a1bd7 | 398 | //printf("MOVE START TIMEOUT!! TX=%s Rx=%s\r\n",RB2_rob_tx_buffer,RB2_rob_rx_buffer); |
js | 2:71b3736a1bd7 | 399 | ALM_ST=ALM_DOBOT2_ST; |
js | 2:71b3736a1bd7 | 400 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 401 | |
js | 2:71b3736a1bd7 | 402 | }else{ |
js | 2:71b3736a1bd7 | 403 | RB2_RX_TIME_OUT.detach();//タイムアウトカウンタ停止 |
js | 2:71b3736a1bd7 | 404 | } |
js | 2:71b3736a1bd7 | 405 | } |
js | 2:71b3736a1bd7 | 406 | } |
js | 2:71b3736a1bd7 | 407 | void RB2_MOVE_EWAIT(unsigned long tout_ms){ |
js | 2:71b3736a1bd7 | 408 | |
js | 2:71b3736a1bd7 | 409 | char *cmp1_txt="0,{7},RobotMode()"; |
js | 2:71b3736a1bd7 | 410 | char *cmp2_txt="0,{5},RobotMode()"; |
js | 2:71b3736a1bd7 | 411 | char *cmp3_txt="0,{9},RobotMode()"; |
js | 2:71b3736a1bd7 | 412 | unsigned char MOVE_END_F=0; |
js | 2:71b3736a1bd7 | 413 | unsigned char MOVE_ERR_F=0; |
js | 2:71b3736a1bd7 | 414 | if(R2_WAIT_MASK==0){//1でマスク 現在位置への移動指定時WAITをマスクする |
js | 2:71b3736a1bd7 | 415 | ///移動完了チェック/// |
js | 2:71b3736a1bd7 | 416 | RB2_SEND_CMD("RobotMode()"); |
js | 2:71b3736a1bd7 | 417 | RB2_RX_TIME_OUT_F=0; |
js | 2:71b3736a1bd7 | 418 | RB2_RX_TIME_OUT.attach_us(&RB2_RX_TIME_OUT_IRQ,tout_ms*1000); |
js | 2:71b3736a1bd7 | 419 | while(RB2_RX_TIME_OUT_F==0 && MOVE_END_F==0 && MOVE_ERR_F==0){ |
js | 2:71b3736a1bd7 | 420 | if(RB2_RX_DATA()>0){ |
js | 2:71b3736a1bd7 | 421 | if(strstr(RB2_rob_rx_buffer,cmp3_txt) ==NULL){//err状態でないことを確認 |
js | 2:71b3736a1bd7 | 422 | //移動完了確認/// |
js | 2:71b3736a1bd7 | 423 | if(strstr(RB2_rob_rx_buffer,cmp2_txt) !=NULL){ |
js | 2:71b3736a1bd7 | 424 | MOVE_END_F=1; |
js | 2:71b3736a1bd7 | 425 | }else{ |
js | 2:71b3736a1bd7 | 426 | RB2_SEND_CMD("RobotMode()"); |
js | 2:71b3736a1bd7 | 427 | } |
js | 2:71b3736a1bd7 | 428 | }else{ |
js | 2:71b3736a1bd7 | 429 | MOVE_ERR_F=1; |
js | 2:71b3736a1bd7 | 430 | ALM_ST=ALM_DOBOT2; |
js | 2:71b3736a1bd7 | 431 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 432 | } |
js | 2:71b3736a1bd7 | 433 | } |
js | 2:71b3736a1bd7 | 434 | wait_us(10*1000); //10ms |
js | 2:71b3736a1bd7 | 435 | |
js | 2:71b3736a1bd7 | 436 | } |
js | 2:71b3736a1bd7 | 437 | if(RB2_RX_TIME_OUT_F==1){ |
js | 2:71b3736a1bd7 | 438 | // printf("MOVE END TIMEOUT!! TX=%s Rx=%s\r\n",RB2_rob_tx_buffer,RB2_rob_rx_buffer); |
js | 2:71b3736a1bd7 | 439 | ALM_ST=ALM_DOBOT2_ED; |
js | 2:71b3736a1bd7 | 440 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 441 | }else{ |
js | 2:71b3736a1bd7 | 442 | RB2_RX_TIME_OUT.detach();//タイムアウトカウンタ停止 |
js | 2:71b3736a1bd7 | 443 | } |
js | 2:71b3736a1bd7 | 444 | RB2_eth_buf_clr(); |
js | 2:71b3736a1bd7 | 445 | } |
js | 2:71b3736a1bd7 | 446 | } |
js | 2:71b3736a1bd7 | 447 | void RB2_JOG_WAIT(unsigned long tout_ms){ |
js | 2:71b3736a1bd7 | 448 | char *cmp1_txt="0,{7},RobotMode()"; |
js | 2:71b3736a1bd7 | 449 | char *cmp2_txt="0,{5},RobotMode()"; |
js | 2:71b3736a1bd7 | 450 | char *cmp3_txt="0,{9},RobotMode()"; |
js | 2:71b3736a1bd7 | 451 | unsigned char MOVE_END_F=0; |
js | 2:71b3736a1bd7 | 452 | unsigned char MOVE_ERR_F=0; |
js | 2:71b3736a1bd7 | 453 | ///移動完了チェック/// |
js | 2:71b3736a1bd7 | 454 | RB2_SEND_CMD("RobotMode()"); |
js | 2:71b3736a1bd7 | 455 | RB2_RX_TIME_OUT_F=0; |
js | 2:71b3736a1bd7 | 456 | RB2_RX_TIME_OUT.attach_us(&RB2_RX_TIME_OUT_IRQ,tout_ms*1000); |
js | 2:71b3736a1bd7 | 457 | while(RB2_RX_TIME_OUT_F==0 && MOVE_END_F==0 && MOVE_ERR_F==0){ |
js | 2:71b3736a1bd7 | 458 | if(RB2_RX_DATA()>0){ |
js | 2:71b3736a1bd7 | 459 | if(strstr(RB2_rob_rx_buffer,cmp3_txt) ==NULL){//err状態でないことを確認 |
js | 2:71b3736a1bd7 | 460 | //移動完了確認/// |
js | 2:71b3736a1bd7 | 461 | if(strstr(RB2_rob_rx_buffer,cmp2_txt) !=NULL){ |
js | 2:71b3736a1bd7 | 462 | MOVE_END_F=1; |
js | 2:71b3736a1bd7 | 463 | }else{ |
js | 2:71b3736a1bd7 | 464 | RB2_SEND_CMD("RobotMode()"); |
js | 2:71b3736a1bd7 | 465 | } |
js | 2:71b3736a1bd7 | 466 | }else{ |
js | 2:71b3736a1bd7 | 467 | MOVE_ERR_F=1; |
js | 2:71b3736a1bd7 | 468 | ALM_ST=ALM_DOBOT2; |
js | 2:71b3736a1bd7 | 469 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 470 | } |
js | 2:71b3736a1bd7 | 471 | } |
js | 2:71b3736a1bd7 | 472 | wait_us(10*1000); //10ms |
js | 2:71b3736a1bd7 | 473 | } |
js | 2:71b3736a1bd7 | 474 | if(RB2_RX_TIME_OUT_F==1){ |
js | 2:71b3736a1bd7 | 475 | //printf("JOG MOVE END TIMEOUT!! TX=%s Rx=%s\r\n",RB2_rob_tx_buffer,RB2_rob_rx_buffer); |
js | 2:71b3736a1bd7 | 476 | ALM_ST=ALM_DOBOT2_ED; |
js | 2:71b3736a1bd7 | 477 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 478 | }else{ |
js | 2:71b3736a1bd7 | 479 | RB2_RX_TIME_OUT.detach();//タイムアウトカウンタ停止 |
js | 2:71b3736a1bd7 | 480 | } |
js | 2:71b3736a1bd7 | 481 | RB2_eth_buf_clr(); |
js | 2:71b3736a1bd7 | 482 | } |
js | 2:71b3736a1bd7 | 483 | |
js | 2:71b3736a1bd7 | 484 | |
js | 2:71b3736a1bd7 | 485 | void RB2_STATUS_READ(unsigned long tout_ms){ |
js | 2:71b3736a1bd7 | 486 | RB2_SEND_CMD("RobotMode()"); |
js | 2:71b3736a1bd7 | 487 | RB2_RX_TIME_OUT_F=0; |
js | 2:71b3736a1bd7 | 488 | RB2_RX_DATA(); |
js | 2:71b3736a1bd7 | 489 | RB2_RX_TIME_OUT_F=0; |
js | 2:71b3736a1bd7 | 490 | RB2_RX_TIME_OUT.attach_us(&RB2_RX_TIME_OUT_IRQ,tout_ms*1000); |
js | 2:71b3736a1bd7 | 491 | |
js | 2:71b3736a1bd7 | 492 | while(RB2_RX_TIME_OUT_F==0 && strstr(RB2_rob_rx_buffer,RB2_rob_tx_buffer) ==NULL){ |
js | 2:71b3736a1bd7 | 493 | RB2_RX_DATA(); |
js | 2:71b3736a1bd7 | 494 | wait_us(10*1000); //10ms |
js | 2:71b3736a1bd7 | 495 | } |
js | 2:71b3736a1bd7 | 496 | |
js | 2:71b3736a1bd7 | 497 | if(RB2_RX_TIME_OUT_F==1){ |
js | 2:71b3736a1bd7 | 498 | //printf("CMD ACK TIMEOUT!!\r\n"); |
js | 2:71b3736a1bd7 | 499 | ALM_ST=ALM_DOBOT2; |
js | 2:71b3736a1bd7 | 500 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 501 | }else{ |
js | 2:71b3736a1bd7 | 502 | RB2_RX_TIME_OUT.detach();//タイムアウトカウンタ停止 |
js | 2:71b3736a1bd7 | 503 | } |
js | 2:71b3736a1bd7 | 504 | |
js | 2:71b3736a1bd7 | 505 | sprintf(lcd_print_buf,"STATUS=%s",RB2_rob_rx_buffer); |
js | 2:71b3736a1bd7 | 506 | lcd_print("t0",lcd_print_buf); |
js | 2:71b3736a1bd7 | 507 | RB2_eth_buf_clr(); |
js | 2:71b3736a1bd7 | 508 | } |
js | 2:71b3736a1bd7 | 509 | ////データ受信処理///////// |
js | 2:71b3736a1bd7 | 510 | unsigned long RB2_RX_DATA(){//WIZnet_Socket.hのset_blocking(bool blocking, unsigned int timeout=1500);の設定で空読みしたときのタイムアウト時間がかわる |
js | 2:71b3736a1bd7 | 511 | int n= RB2_server.receive(RB2_rob_rx_buffer, sizeof(RB2_rob_rx_buffer)); |
js | 2:71b3736a1bd7 | 512 | if(n > 0){//def 0 |
js | 2:71b3736a1bd7 | 513 | return n; |
js | 2:71b3736a1bd7 | 514 | }else{ |
js | 2:71b3736a1bd7 | 515 | return 0; |
js | 2:71b3736a1bd7 | 516 | } |
js | 2:71b3736a1bd7 | 517 | } |
js | 2:71b3736a1bd7 | 518 | ////データ受信処理テスト///////// |
js | 2:71b3736a1bd7 | 519 | unsigned long RB2_RX_DATA_TEST(){ |
js | 2:71b3736a1bd7 | 520 | int n= RB2_server.receive(RB2_rob_rx_buffer, sizeof(RB2_rob_rx_buffer)); |
js | 2:71b3736a1bd7 | 521 | if(n > 0){//def 0 |
js | 2:71b3736a1bd7 | 522 | //printf("ROBO1_DATA=%s\r\n",RB2_rob_rx_buffer); |
js | 2:71b3736a1bd7 | 523 | RB2_eth_buf_clr(); |
js | 2:71b3736a1bd7 | 524 | return n; |
js | 2:71b3736a1bd7 | 525 | }else{ |
js | 2:71b3736a1bd7 | 526 | return 0; |
js | 2:71b3736a1bd7 | 527 | } |
js | 2:71b3736a1bd7 | 528 | } |
js | 2:71b3736a1bd7 | 529 | void RB2_CMD_WAIT(unsigned long tout_ms){ |
js | 2:71b3736a1bd7 | 530 | |
js | 2:71b3736a1bd7 | 531 | RB2_RX_DATA(); |
js | 2:71b3736a1bd7 | 532 | RB2_RX_TIME_OUT_F=0; |
js | 2:71b3736a1bd7 | 533 | RB2_RX_TIME_OUT.attach_us(&RB2_RX_TIME_OUT_IRQ,tout_ms*1000); |
js | 2:71b3736a1bd7 | 534 | |
js | 2:71b3736a1bd7 | 535 | while(RB2_RX_TIME_OUT_F==0 && strstr(RB2_rob_rx_buffer,RB2_rob_tx_buffer) ==NULL){ |
js | 2:71b3736a1bd7 | 536 | RB2_RX_DATA(); |
js | 2:71b3736a1bd7 | 537 | wait_us(10*1000); //10ms |
js | 2:71b3736a1bd7 | 538 | } |
js | 2:71b3736a1bd7 | 539 | |
js | 2:71b3736a1bd7 | 540 | if(RB2_RX_TIME_OUT_F==1){ |
js | 2:71b3736a1bd7 | 541 | //printf("CMD ACK TIMEOUT!!\r\n"); |
js | 2:71b3736a1bd7 | 542 | ALM_ST=ALM_DOBOT2; |
js | 2:71b3736a1bd7 | 543 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 544 | }else{ |
js | 2:71b3736a1bd7 | 545 | RB2_RX_TIME_OUT.detach();//タイムアウトカウンタ停止 |
js | 2:71b3736a1bd7 | 546 | } |
js | 2:71b3736a1bd7 | 547 | RB2_eth_buf_clr(); |
js | 2:71b3736a1bd7 | 548 | } |
js | 2:71b3736a1bd7 | 549 | |
js | 2:71b3736a1bd7 | 550 | char RB2_SEND_CMD(char *txt){ |
js | 2:71b3736a1bd7 | 551 | unsigned char len = strlen(txt);//文字列の長さを確認 |
js | 2:71b3736a1bd7 | 552 | unsigned char SEND_RET=0; |
js | 2:71b3736a1bd7 | 553 | sprintf(RB2_rob_tx_buffer,"%s\0",txt); |
js | 2:71b3736a1bd7 | 554 | SEND_RET=RB2_server.send_all(RB2_rob_tx_buffer,len+1); |
js | 2:71b3736a1bd7 | 555 | if(SEND_RET !=len+1){ |
js | 2:71b3736a1bd7 | 556 | sprintf(lcd_print_buf,"コマンド送信失敗!! 送信指定数 : %02d 送信完了数 : %02d",len+1,SEND_RET); |
js | 2:71b3736a1bd7 | 557 | lcd_print("t0",RB2_rob_tx_buffer); |
js | 2:71b3736a1bd7 | 558 | return -1; |
js | 2:71b3736a1bd7 | 559 | }else{ |
js | 2:71b3736a1bd7 | 560 | |
js | 2:71b3736a1bd7 | 561 | return 0; |
js | 2:71b3736a1bd7 | 562 | } |
js | 2:71b3736a1bd7 | 563 | |
js | 2:71b3736a1bd7 | 564 | } |
js | 2:71b3736a1bd7 | 565 | |
js | 2:71b3736a1bd7 | 566 | |
js | 2:71b3736a1bd7 | 567 | |
js | 2:71b3736a1bd7 | 568 | |
js | 2:71b3736a1bd7 | 569 | |
js | 2:71b3736a1bd7 | 570 | void RB2_MovJ(double x,double y,double z,double a,double b,double c,unsigned int speed,unsigned int acc){ |
js | 2:71b3736a1bd7 | 571 | char RB2_BUF[128]; |
js | 2:71b3736a1bd7 | 572 | // printf("MovJ(%f,%f,%f,%f,%f,%f,SpeedJ=%d)",x,y,z,a,b,c,speed); |
js | 2:71b3736a1bd7 | 573 | if(x==RB2_X_SET && y==RB2_Y_SET && z==RB2_Z_SET && a==RB2_A_SET && b==RB2_B_SET && c==RB2_C_SET){ |
js | 2:71b3736a1bd7 | 574 | lcd_print("t0","現在位置です"); |
js | 2:71b3736a1bd7 | 575 | R2_WAIT_MASK=1;//1でマスク 現在位置への移動指定時WAITをマスクする |
js | 2:71b3736a1bd7 | 576 | }else{ |
js | 2:71b3736a1bd7 | 577 | sprintf(RB2_BUF,"MovJ(%f,%f,%f,%f,%f,%f,SpeedJ=%d,AccJ=%d)",x,y,z,a,b,c,speed,acc); |
js | 2:71b3736a1bd7 | 578 | R2_WAIT_MASK=0;//1でマスク 現在位置への移動指定時WAITをマスクする |
js | 2:71b3736a1bd7 | 579 | if(RB2_SEND_CMD(RB2_BUF)==0){ |
js | 2:71b3736a1bd7 | 580 | RB2_X_SET=x; |
js | 2:71b3736a1bd7 | 581 | RB2_Y_SET=y; |
js | 2:71b3736a1bd7 | 582 | RB2_Z_SET=z; |
js | 2:71b3736a1bd7 | 583 | RB2_A_SET=a; |
js | 2:71b3736a1bd7 | 584 | RB2_B_SET=b; |
js | 2:71b3736a1bd7 | 585 | RB2_C_SET=c; |
js | 2:71b3736a1bd7 | 586 | }else{//コマンド送信失敗 |
js | 2:71b3736a1bd7 | 587 | ALM_ST=ALM_DOBOT2_CM; |
js | 2:71b3736a1bd7 | 588 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 589 | } |
js | 2:71b3736a1bd7 | 590 | } |
js | 2:71b3736a1bd7 | 591 | |
js | 2:71b3736a1bd7 | 592 | } |
js | 2:71b3736a1bd7 | 593 | |
js | 2:71b3736a1bd7 | 594 | void RB2_JointMovJ(double Q1,double Q2,double Q3,double Q4,double Q5,double Q6,unsigned int speed,unsigned int acc){ |
js | 2:71b3736a1bd7 | 595 | char RB2_BUF[128]; |
js | 2:71b3736a1bd7 | 596 | if(Q1==RB2_Q1SET && Q2==RB2_Q2SET && Q3==RB2_Q3SET && Q4==RB2_Q4SET &&Q5==RB2_Q5SET && Q6==RB2_Q6SET){ |
js | 2:71b3736a1bd7 | 597 | lcd_print("t0","現在位置です"); |
js | 2:71b3736a1bd7 | 598 | R2_WAIT_MASK=1;//1でマスク 現在位置への移動指定時WAITをマスクする |
js | 2:71b3736a1bd7 | 599 | }else{ |
js | 2:71b3736a1bd7 | 600 | sprintf(RB2_rob_tx_buffer,"JointMovJ(%f,%f,%f,%f,%f,%f,SpeedJ=%d,AccJ=%d)",Q1,Q2,Q3,Q4,Q5,Q6,speed,acc); |
js | 2:71b3736a1bd7 | 601 | R2_WAIT_MASK=0;//1でマスク 現在位置への移動指定時WAITをマスクする |
js | 2:71b3736a1bd7 | 602 | if(RB2_SEND_CMD(RB2_rob_tx_buffer)==0){ |
js | 2:71b3736a1bd7 | 603 | RB2_Q1SET=Q1; |
js | 2:71b3736a1bd7 | 604 | RB2_Q2SET=Q2; |
js | 2:71b3736a1bd7 | 605 | RB2_Q3SET=Q3; |
js | 2:71b3736a1bd7 | 606 | RB2_Q4SET=Q4; |
js | 2:71b3736a1bd7 | 607 | RB2_Q5SET=Q5; |
js | 2:71b3736a1bd7 | 608 | RB2_Q6SET=Q6; |
js | 2:71b3736a1bd7 | 609 | }else{//コマンド送信失敗 |
js | 2:71b3736a1bd7 | 610 | ALM_ST=ALM_DOBOT2_CM; |
js | 2:71b3736a1bd7 | 611 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 612 | } |
js | 2:71b3736a1bd7 | 613 | } |
js | 2:71b3736a1bd7 | 614 | |
js | 2:71b3736a1bd7 | 615 | } |
js | 2:71b3736a1bd7 | 616 | void RB2_MovL(double x,double y,double z,double a,double b,double c,unsigned int speed,unsigned int acc){ |
js | 2:71b3736a1bd7 | 617 | char RB2_BUF[128]; |
js | 2:71b3736a1bd7 | 618 | if(x==RB2_X_SET && y==RB2_Y_SET && z==RB2_Z_SET && a==RB2_A_SET && b==RB2_B_SET && c==RB2_C_SET){ |
js | 2:71b3736a1bd7 | 619 | lcd_print("t0","現在位置です"); |
js | 2:71b3736a1bd7 | 620 | R2_WAIT_MASK=1;//1でマスク 現在位置への移動指定時WAITをマスクする |
js | 2:71b3736a1bd7 | 621 | }else{ |
js | 2:71b3736a1bd7 | 622 | sprintf(RB2_BUF,"MovL(%f,%f,%f,%f,%f,%f,SpeedL=%d,AccL=%d)",x,y,z,a,b,c,speed,acc); |
js | 2:71b3736a1bd7 | 623 | R2_WAIT_MASK=0;//1でマスク 現在位置への移動指定時WAITをマスクする |
js | 2:71b3736a1bd7 | 624 | if(RB2_SEND_CMD(RB2_BUF)==0){ |
js | 2:71b3736a1bd7 | 625 | RB2_X_SET=x; |
js | 2:71b3736a1bd7 | 626 | RB2_Y_SET=y; |
js | 2:71b3736a1bd7 | 627 | RB2_Z_SET=z; |
js | 2:71b3736a1bd7 | 628 | RB2_A_SET=a; |
js | 2:71b3736a1bd7 | 629 | RB2_B_SET=b; |
js | 2:71b3736a1bd7 | 630 | RB2_C_SET=c; |
js | 2:71b3736a1bd7 | 631 | }else{//コマンド送信失敗 |
js | 2:71b3736a1bd7 | 632 | ALM_ST=ALM_DOBOT2_CM; |
js | 2:71b3736a1bd7 | 633 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 634 | } |
js | 2:71b3736a1bd7 | 635 | } |
js | 2:71b3736a1bd7 | 636 | } |
js | 2:71b3736a1bd7 | 637 | |
js | 2:71b3736a1bd7 | 638 | |
js | 2:71b3736a1bd7 | 639 | void RB2_HOME_MOVE(){ |
js | 2:71b3736a1bd7 | 640 | ///現在位置を確認/// |
js | 2:71b3736a1bd7 | 641 | RB2_GETPOS(RB_EWAIT); |
js | 2:71b3736a1bd7 | 642 | ///Zが-40以下の場合は、Zを上げてから原点復帰/// |
js | 2:71b3736a1bd7 | 643 | |
js | 2:71b3736a1bd7 | 644 | if(RB2_Z_GET<100){ |
js | 2:71b3736a1bd7 | 645 | RB2_MovJ(RB2_X_GET,RB2_Y_GET,100.0,RB2_R_GET,0,0,RB2_SPEED_ADJ,RB2_ACC_ADJ); |
js | 2:71b3736a1bd7 | 646 | RB2_MOVE_WAIT(5000); |
js | 2:71b3736a1bd7 | 647 | } |
js | 2:71b3736a1bd7 | 648 | |
js | 2:71b3736a1bd7 | 649 | RB2_MovJ(178.0,124.0,100.0,0,0,0,RB2_SPEED_ADJ,RB2_ACC_ADJ); |
js | 2:71b3736a1bd7 | 650 | RB2_MOVE_WAIT(10000); |
js | 2:71b3736a1bd7 | 651 | RB2_MovJ(220.0,0.0,80.0,0,0,0,RB2_SPEED_ADJ,RB2_ACC_ADJ); |
js | 2:71b3736a1bd7 | 652 | RB2_MOVE_WAIT(10000); |
js | 2:71b3736a1bd7 | 653 | |
js | 2:71b3736a1bd7 | 654 | RB2_PSEL_BAK=0xFE; |
js | 2:71b3736a1bd7 | 655 | |
js | 2:71b3736a1bd7 | 656 | ///ハンドの制御ポートを開側にする/// |
js | 2:71b3736a1bd7 | 657 | RB2_DO_CONT(1,0); |
js | 2:71b3736a1bd7 | 658 | RB2_HAND_ST=RB2_HAND_OPEN; |
js | 2:71b3736a1bd7 | 659 | |
js | 2:71b3736a1bd7 | 660 | } |
js | 2:71b3736a1bd7 | 661 | |
js | 2:71b3736a1bd7 | 662 | void RB2_SEL_MOVE(unsigned char SEL,unsigned int speed,unsigned int acc){ |
js | 2:71b3736a1bd7 | 663 | RB2_MovJ(RB2_POINT_RD[SEL][PX],RB2_POINT_RD[SEL][PY],RB2_POINT_RD[SEL][PZ],RB2_POINT_RD[SEL][PR],0,0,speed,acc); |
js | 2:71b3736a1bd7 | 664 | } |
js | 2:71b3736a1bd7 | 665 | |
js | 2:71b3736a1bd7 | 666 | void RB2_SEL_MOVE_OLG(unsigned char SEL,unsigned int speed,unsigned int acc){//現在値と差分があるときだけ移動 |
js | 2:71b3736a1bd7 | 667 | unsigned char POS_CHK_F=0; |
js | 2:71b3736a1bd7 | 668 | |
js | 2:71b3736a1bd7 | 669 | RB2_GETPOS(RB_EWAIT); |
js | 2:71b3736a1bd7 | 670 | ////現在位置と指定座標に差分があるか確認/// |
js | 2:71b3736a1bd7 | 671 | if(RB2_X_GET > RB2_POINT_RD[SEL][PX]+0.1 || RB2_X_GET < RB2_POINT_RD[SEL][PX]-0.1){ |
js | 2:71b3736a1bd7 | 672 | POS_CHK_F=1; |
js | 2:71b3736a1bd7 | 673 | } |
js | 2:71b3736a1bd7 | 674 | if(RB2_Y_GET > RB2_POINT_RD[SEL][PY]+0.1 || RB2_Y_GET < RB2_POINT_RD[SEL][PY]-0.1){ |
js | 2:71b3736a1bd7 | 675 | POS_CHK_F=1; |
js | 2:71b3736a1bd7 | 676 | } |
js | 2:71b3736a1bd7 | 677 | if(RB2_Z_GET > RB2_POINT_RD[SEL][PZ]+0.1 || RB2_Z_GET < RB2_POINT_RD[SEL][PZ]-0.1){ |
js | 2:71b3736a1bd7 | 678 | POS_CHK_F=1; |
js | 2:71b3736a1bd7 | 679 | } |
js | 2:71b3736a1bd7 | 680 | if(RB2_R_GET > RB2_POINT_RD[SEL][PR]+0.1 || RB2_R_GET < RB2_POINT_RD[SEL][PR]-0.1){ |
js | 2:71b3736a1bd7 | 681 | POS_CHK_F=1; |
js | 2:71b3736a1bd7 | 682 | } |
js | 2:71b3736a1bd7 | 683 | |
js | 2:71b3736a1bd7 | 684 | if(POS_CHK_F==1){ |
js | 2:71b3736a1bd7 | 685 | RB2_MovJ(RB2_POINT_RD[SEL][PX],RB2_POINT_RD[SEL][PY],RB2_POINT_RD[SEL][PZ],RB2_POINT_RD[SEL][PR],0,0,speed,acc); |
js | 2:71b3736a1bd7 | 686 | }else{ |
js | 2:71b3736a1bd7 | 687 | lcd_print("t0","現在位置です。"); |
js | 2:71b3736a1bd7 | 688 | } |
js | 2:71b3736a1bd7 | 689 | |
js | 2:71b3736a1bd7 | 690 | |
js | 2:71b3736a1bd7 | 691 | } |
js | 2:71b3736a1bd7 | 692 | void RB2_SEL_MOVE_SQ(unsigned char SEL,unsigned char MOV_MOD,unsigned int speed,unsigned int acc){ |
js | 2:71b3736a1bd7 | 693 | |
js | 2:71b3736a1bd7 | 694 | if(SEL !=RB2_PSEL_BAK){ |
js | 2:71b3736a1bd7 | 695 | if(MOV_MOD==0){ |
js | 2:71b3736a1bd7 | 696 | RB2_MovL(RB2_POINT_RD[SEL][PX],RB2_POINT_RD[SEL][PY],RB2_POINT_RD[SEL][PZ],RB2_POINT_RD[SEL][PR],0,0,speed,acc); |
js | 2:71b3736a1bd7 | 697 | }else{ |
js | 2:71b3736a1bd7 | 698 | RB2_MovJ(RB2_POINT_RD[SEL][PX],RB2_POINT_RD[SEL][PY],RB2_POINT_RD[SEL][PZ],RB2_POINT_RD[SEL][PR],0,0,speed,acc); |
js | 2:71b3736a1bd7 | 699 | } |
js | 2:71b3736a1bd7 | 700 | R2_WAIT_MASK=0;//1でマスク 現在位置への移動指定時WAITをマスクする |
js | 2:71b3736a1bd7 | 701 | RB2_PSEL_BAK=SEL; |
js | 2:71b3736a1bd7 | 702 | }else{ |
js | 2:71b3736a1bd7 | 703 | lcd_print("t0","現在位置です。"); |
js | 2:71b3736a1bd7 | 704 | R2_WAIT_MASK=1;//1でマスク 現在位置への移動指定時WAITをマスクする |
js | 2:71b3736a1bd7 | 705 | } |
js | 2:71b3736a1bd7 | 706 | |
js | 2:71b3736a1bd7 | 707 | |
js | 2:71b3736a1bd7 | 708 | } |
js | 2:71b3736a1bd7 | 709 | void RB2_DO_CONT(unsigned char INDEX,unsigned char STATUS){//例:DO(11,1) でDO11がON DO(11,0) でDO11がOFF |
js | 2:71b3736a1bd7 | 710 | char RB2_BUF[64]; |
js | 2:71b3736a1bd7 | 711 | sprintf(RB2_BUF,"DO(%d,%d)",INDEX, STATUS); |
js | 2:71b3736a1bd7 | 712 | RB2_SEND_CMD(RB2_BUF); |
js | 2:71b3736a1bd7 | 713 | RB2_CMD_WAIT(RB_SWAIT); |
js | 2:71b3736a1bd7 | 714 | } |
js | 2:71b3736a1bd7 | 715 | |
js | 2:71b3736a1bd7 | 716 | |
js | 2:71b3736a1bd7 | 717 | void RB2_HAND_CONT(unsigned char cont){ |
js | 2:71b3736a1bd7 | 718 | if(cont != RB2_HAND_ST){ |
js | 2:71b3736a1bd7 | 719 | if(cont==RB2_HAND_CLOSE){ |
js | 2:71b3736a1bd7 | 720 | RB2_DO_CONT(1,1); |
js | 2:71b3736a1bd7 | 721 | }else{ |
js | 2:71b3736a1bd7 | 722 | RB2_DO_CONT(1,0); |
js | 2:71b3736a1bd7 | 723 | } |
js | 2:71b3736a1bd7 | 724 | RB2_HAND_ST=cont; |
js | 2:71b3736a1bd7 | 725 | } |
js | 2:71b3736a1bd7 | 726 | } |
js | 2:71b3736a1bd7 | 727 | ////現在位置からx1,y1,z1を経由してx2,y2,z2まで移動(円運動)//// |
js | 2:71b3736a1bd7 | 728 | void RB2_ARC(double x1,double y1,double z1,double x2,double y2,double z2,unsigned int speed,unsigned int acc){ |
js | 2:71b3736a1bd7 | 729 | char RB2_BUF[128]; |
js | 2:71b3736a1bd7 | 730 | |
js | 2:71b3736a1bd7 | 731 | sprintf(RB2_BUF,"Arc(%f,%f,%f,%f,%f,%f,SpeedL=%d,AccL=%d)",x1,y1,z1,x2,y2,z2,speed,acc); |
js | 2:71b3736a1bd7 | 732 | if(RB2_SEND_CMD(RB2_BUF)==0){ |
js | 2:71b3736a1bd7 | 733 | RB2_X_SET=x2; |
js | 2:71b3736a1bd7 | 734 | RB2_Y_SET=y2; |
js | 2:71b3736a1bd7 | 735 | RB2_Z_SET=z2; |
js | 2:71b3736a1bd7 | 736 | }else{//コマンド送信失敗 |
js | 2:71b3736a1bd7 | 737 | ALM_ST=ALM_DOBOT2_CM; |
js | 2:71b3736a1bd7 | 738 | ALM_HOLD_SET(); |
js | 2:71b3736a1bd7 | 739 | } |
js | 2:71b3736a1bd7 | 740 | |
js | 2:71b3736a1bd7 | 741 | } |
js | 2:71b3736a1bd7 | 742 | void RB2_EMG_STOP(){ |
js | 2:71b3736a1bd7 | 743 | RB2_SEND_CMD("EmergencyStop()"); |
js | 2:71b3736a1bd7 | 744 | } |
js | 2:71b3736a1bd7 | 745 | |
js | 2:71b3736a1bd7 | 746 | void RB2_SPEED_SET(unsigned char SET){ |
js | 2:71b3736a1bd7 | 747 | if(SET==RB_HIGH){ |
js | 2:71b3736a1bd7 | 748 | RB2_SPEED_ADJ = RB_SPEED_HIGH; |
js | 2:71b3736a1bd7 | 749 | RB2_ACC_ADJ = RB_ACC_HIGH; |
js | 2:71b3736a1bd7 | 750 | }else{ |
js | 2:71b3736a1bd7 | 751 | RB2_SPEED_ADJ = RB_SPEED_LOW; |
js | 2:71b3736a1bd7 | 752 | RB2_ACC_ADJ = RB_ACC_LOW; |
js | 2:71b3736a1bd7 | 753 | } |
js | 2:71b3736a1bd7 | 754 | } |