K AKAGAWA
/
daruma_robo_servo
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Dependencies: mbed QEI ros_lib_kinetic USBDevice
Revision 0:85391b8275ee, committed 2019-11-13
- Comitter:
- ksingyuunyuu
- Date:
- Wed Nov 13 09:28:20 2019 +0000
- Commit message:
- Darumasanga koronda Robot; Neck turn servo program
Changed in this revision
diff -r 000000000000 -r 85391b8275ee QEI.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Wed Nov 13 09:28:20 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
diff -r 000000000000 -r 85391b8275ee USBDevice.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USBDevice.lib Wed Nov 13 09:28:20 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/USBDevice/#53949e6131f6
diff -r 000000000000 -r 85391b8275ee main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Nov 13 09:28:20 2019 +0000
@@ -0,0 +1,81 @@
+#include "mbed.h"
+#include <ros.h>
+#include <geometry_msgs/Twist.h>
+#include "QEI.h"
+#include <std_msgs/Bool.h>
+ros::NodeHandle nh;
+// マクロ定義(ピン配置)
+#define D0 PA_3
+#define D1 PA_2
+#define D2 PA_10
+#define D3 PB_3
+#define D4 PB_5
+#define D5 PB_4
+#define D6 PB_10
+#define D7 PA_8
+#define D8 PA_9
+#define D9 PC_7
+#define D10 PB_6
+#define D11 PA_7
+#define D12 PA_6
+#define D13 PA_5
+// アナログ
+#define A0 PA_0
+#define A1 PA_1
+#define A2 PA_4
+#define A3 PB_0
+#define A4 PC_1
+#define A5 PC_0
+
+#define B1 PC_13
+// その他マクロ定義
+
+// 入出力モード、各種モードの設定
+BusIn sw(B1);
+DigitalOut step(D9);
+DigitalOut dir(D10);
+DigitalOut myled(LED1);
+PwmOut PWM(D3); //初期化
+
+// 関数のプロトタイプ宣言
+void turn(const std_msgs::Bool& cmd_turn);
+ros::Subscriber<std_msgs::Bool> sub("hurimuki", turn);
+void fake_turn(const std_msgs::Bool& cmd_fake_turn);
+ros::Subscriber<std_msgs::Bool> fake("fake_hurimuki", fake_turn);
+int main() {
+ PWM.period_us(20000); //周期設定
+ nh.initNode();
+ nh.subscribe(sub);
+ nh.subscribe(fake);
+ while (1) {
+ nh.spinOnce();
+ wait_ms(1);
+ }
+}
+// 振り向き関数 std_msgs/Bool型"hurimuki"トピック True:振り向き False:非振り向き
+void turn(const std_msgs::Bool& cmd_turn){
+ if(cmd_turn.data){
+ // 振り向き
+ PWM.pulsewidth_us(595); //パルス幅変更
+ wait_ms(200);
+ } else {
+ // 振り向いていない
+ PWM.pulsewidth_us(2300);
+ wait(1);
+ }
+}
+// 振り向き関数 std_msgs/Bool型"fake_hurimuki"トピック "hurimuki"トピックがTrueの場合、非振り向きのフェイクとして機能する
+// True:フェイク動作 False:振り向きのまま
+void fake_turn(const std_msgs::Bool& cmd_fake_turn){
+ if(cmd_fake_turn.data){
+ // 振り向き
+ PWM.pulsewidth_us(1000); //パルス幅変更
+ wait(1);
+ PWM.pulsewidth_us(595); //パルス幅変更
+ } else {
+ // 振り向いていない
+ PWM.pulsewidth_us(2300);
+ wait(1);
+ }
+
+}
diff -r 000000000000 -r 85391b8275ee mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Nov 13 09:28:20 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc \ No newline at end of file
diff -r 000000000000 -r 85391b8275ee ros_lib_kinetic.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ros_lib_kinetic.lib Wed Nov 13 09:28:20 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/garyservin/code/ros_lib_kinetic/#a849bf78d77f