Kanta Takasu / Mbed 2 deprecated YUKA_FIN

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Dependencies:   mbed HCSR04

main.cpp@5:f21e1a75f98b, 2021-12-20 (annotated)

Committer:
Tomo1213
Date:
Mon Dec 20 14:13:29 2021 +0000
Revision:
5:f21e1a75f98b
Parent:
4:1bd08c9d92a9
Child:
6:68cb6e3d9623
itibanumakuitteru

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Tomo1213 4:1bd08c9d92a9 1 //2021/12/20更新
ngokystk 0:b4b94eb28093 2 //YUKA本番機用プログラム
ngokystk 0:b4b94eb28093 3 //入力切替確認済み
ngokystk 0:b4b94eb28093 4 //一定時間の入力なしで動作切替
ngokystk 0:b4b94eb28093 5 //ジグザグ動作実装前
ngokystk 0:b4b94eb28093 6 //エンコーダ読み取りによる入力
ngokystk 0:b4b94eb28093 7 //加減速度調整パラメータ実装
ngokystk 0:b4b94eb28093 8 //PID制御による機体角度補正_
Tomo1213 3:c39c14cfc811 9 //aoki
Tomo1213 1:b2bd1511307e 10
ngokystk 0:b4b94eb28093 11 #include "mbed.h"
ngokystk 0:b4b94eb28093 12 #include "hcsr04.h"
ngokystk 0:b4b94eb28093 13
Tomo1213 4:1bd08c9d92a9 14 #define RPM_RIDE 400
Tomo1213 4:1bd08c9d92a9 15 #define RPM_CLEAN 400
Tomo1213 4:1bd08c9d92a9 16 #define ACC_RIDE 1000
Tomo1213 4:1bd08c9d92a9 17 #define DEC_RIDE 700
Tomo1213 4:1bd08c9d92a9 18 #define ACC_CLEAN 1000
Tomo1213 4:1bd08c9d92a9 19 #define DEC_CLEAN 1000
ngokystk 0:b4b94eb28093 20
Tomo1213 1:b2bd1511307e 21 #define KICK 2000
Tomo1213 4:1bd08c9d92a9 22 #define CLEAN_OFFSET 6000
Tomo1213 1:b2bd1511307e 23
Tomo1213 4:1bd08c9d92a9 24 #define WALL 45
Tomo1213 4:1bd08c9d92a9 25 #define WALL_MIN 25
Tomo1213 4:1bd08c9d92a9 26 #define Standby_Time 10
Tomo1213 4:1bd08c9d92a9 27 #define GETOFF_TIME 3
Tomo1213 3:c39c14cfc811 28
ngokystk 0:b4b94eb28093 29 DigitalOut led1(LED1);
ngokystk 0:b4b94eb28093 30 DigitalOut led2(LED2);
ngokystk 0:b4b94eb28093 31 DigitalOut led3(LED3);
ngokystk 0:b4b94eb28093 32 DigitalOut led4(LED4);
Tomo1213 1:b2bd1511307e 33
ngokystk 0:b4b94eb28093 34 Timer t;
ngokystk 0:b4b94eb28093 35 double Time = 0;
Tomo1213 4:1bd08c9d92a9 36
ngokystk 0:b4b94eb28093 37 Serial pc(USBTX, USBRX);
Tomo1213 4:1bd08c9d92a9 38 Serial LED(PB_6,PB_7);
ngokystk 0:b4b94eb28093 39 char Serialdata;
ngokystk 0:b4b94eb28093 40 BusOut myled(LED1, LED2, LED3, LED4);
Tomo1213 1:b2bd1511307e 41
ngokystk 0:b4b94eb28093 42 //HCSR04 u1(p13, p14), u2(p11, p12), u3(p23, p24), u4(p25, p26); // Trigger(DO), Echo(PWMIN); LPC1768
ngokystk 0:b4b94eb28093 43 HCSR04 u1(PA_0, PA_1),u2(PA_5, PA_6),u3(PB_0, PA_10); // Trigger(DO), Echo(PWMIN); f303k8
Tomo1213 1:b2bd1511307e 44
ngokystk 0:b4b94eb28093 45 CANMessage canmsgTx;
ngokystk 0:b4b94eb28093 46 CANMessage canmsgRx;
ngokystk 0:b4b94eb28093 47 //CAN canPort(p30, p29); //CAN name(PinName rd, PinName td) LPC1768
ngokystk 0:b4b94eb28093 48 CAN canPort(PA_11, PA_12); //CAN name(PinName rd, PinName td) F303k8
Tomo1213 1:b2bd1511307e 49
ngokystk 0:b4b94eb28093 50 //プロトタイプ宣言
ngokystk 0:b4b94eb28093 51 //------------------send関数-------------------
ngokystk 0:b4b94eb28093 52 //mode Setting
ngokystk 0:b4b94eb28093 53 void sendOPModeT(int); //Operating Mode
ngokystk 0:b4b94eb28093 54 void sendOPModeV(int); //Operating Mode
ngokystk 0:b4b94eb28093 55 //Control Word
ngokystk 0:b4b94eb28093 56 void sendCtrlRS(int); //Reset
ngokystk 0:b4b94eb28093 57 void sendCtrlSD(int); //Shutdown
ngokystk 0:b4b94eb28093 58 void sendCtrlEN(int); //Switch on & Enable
ngokystk 0:b4b94eb28093 59 void sendCtrlQS(int); //Quick Stop
ngokystk 0:b4b94eb28093 60 void sendCtrlHL(int); //Halt
ngokystk 0:b4b94eb28093 61 //Velocity Setting
ngokystk 0:b4b94eb28093 62 void sendTgtVel(int,int); //Target Velocity
ngokystk 0:b4b94eb28093 63 //Torque Setting
ngokystk 0:b4b94eb28093 64 void sendTgtTrq(int,int); //Target Torque
ngokystk 0:b4b94eb28093 65 //Acceleration Setting
ngokystk 0:b4b94eb28093 66 void sendProAcc(int,int); //Plof Acceleration
ngokystk 0:b4b94eb28093 67 void sendProDec(int,int); //Plof Deceleration
ngokystk 0:b4b94eb28093 68 //------------------read関数-------------------
ngokystk 0:b4b94eb28093 69 void readActVel(int); //Actual Velocity
ngokystk 0:b4b94eb28093 70 void readActPos(int); //Actual Position
ngokystk 0:b4b94eb28093 71 //-------------------その他--------------------
ngokystk 0:b4b94eb28093 72 void printCANTX(void); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 73 void printCANRX(void); //CAN受信データをPCに表示
ngokystk 0:b4b94eb28093 74 void CANdataRX(void); //CAN受信処理
ngokystk 0:b4b94eb28093 75 void SerialRX(void); //Serial受信処理
Tomo1213 1:b2bd1511307e 76 //---------------------------------------------
Tomo1213 1:b2bd1511307e 77 void set_ACC(int);
Tomo1213 1:b2bd1511307e 78 void set_DEC(int);
Tomo1213 1:b2bd1511307e 79 void set_MODE_V(void);
Tomo1213 1:b2bd1511307e 80 void set_MODE_T(void);
ngokystk 0:b4b94eb28093 81
Tomo1213 4:1bd08c9d92a9 82 void vel_stop(void);
Tomo1213 4:1bd08c9d92a9 83
Tomo1213 4:1bd08c9d92a9 84 void vel_forward(int);
Tomo1213 4:1bd08c9d92a9 85 void vel_forward_con(int);
Tomo1213 4:1bd08c9d92a9 86 void vel_backward(int);
Tomo1213 4:1bd08c9d92a9 87 void vel_backward_con(int);
Tomo1213 4:1bd08c9d92a9 88 void vel_right(int);
Tomo1213 4:1bd08c9d92a9 89 void vel_right_con(int);
Tomo1213 4:1bd08c9d92a9 90 void vel_left(int);
Tomo1213 4:1bd08c9d92a9 91
Tomo1213 4:1bd08c9d92a9 92 //unsigned int get_cm_n(HCSR04, unsigned int);
Tomo1213 4:1bd08c9d92a9 93 //USE -> unsigned int dist_UnitA = get_cm_n(u2, 5);
Tomo1213 4:1bd08c9d92a9 94 unsigned int get_cm_n(HCSR04 &echo_unit,int echo_n){
Tomo1213 4:1bd08c9d92a9 95 unsigned int sampled_dist=0;
Tomo1213 4:1bd08c9d92a9 96 for (int iter_n = 0; iter_n <echo_n; iter_n++){
Tomo1213 4:1bd08c9d92a9 97 echo_unit.start();
Tomo1213 4:1bd08c9d92a9 98 sampled_dist += echo_unit.get_dist_cm();
Tomo1213 4:1bd08c9d92a9 99 }
Tomo1213 4:1bd08c9d92a9 100 return (sampled_dist / echo_n);
Tomo1213 4:1bd08c9d92a9 101 }
Tomo1213 4:1bd08c9d92a9 102
ngokystk 0:b4b94eb28093 103 int nodeall=4;
Tomo1213 1:b2bd1511307e 104
ngokystk 0:b4b94eb28093 105 int main(){
ngokystk 0:b4b94eb28093 106 //Serial
ngokystk 0:b4b94eb28093 107 pc.attach(SerialRX);
ngokystk 0:b4b94eb28093 108 //pc.baud(115200);
ngokystk 0:b4b94eb28093 109
ngokystk 0:b4b94eb28093 110 //CAN
ngokystk 0:b4b94eb28093 111 canPort.frequency(1000000); //Bit Rate:1MHz
ngokystk 0:b4b94eb28093 112 canPort.attach(CANdataRX,CAN::RxIrq);
ngokystk 0:b4b94eb28093 113 int node1 = 1; //CAN node Setting
ngokystk 0:b4b94eb28093 114 int node2 = 2;
ngokystk 0:b4b94eb28093 115 int node3 = 3;
ngokystk 0:b4b94eb28093 116 int node4 = 4;
ngokystk 0:b4b94eb28093 117
ngokystk 0:b4b94eb28093 118 //エンコーダ関係
ngokystk 0:b4b94eb28093 119 int ActPos = 0;
ngokystk 0:b4b94eb28093 120 int Init_Pos = 0;
ngokystk 0:b4b94eb28093 121
ngokystk 0:b4b94eb28093 122 //超音波センサ関係パラメータ
Tomo1213 4:1bd08c9d92a9 123 int dist1,dist2,dist3,dist4;
ngokystk 0:b4b94eb28093 124
ngokystk 0:b4b94eb28093 125 //PID制御関係
ngokystk 0:b4b94eb28093 126 //角度調整パラメータ
Tomo1213 4:1bd08c9d92a9 127
Tomo1213 4:1bd08c9d92a9 128
ngokystk 0:b4b94eb28093 129 #define DELTA_T1 0.1
ngokystk 0:b4b94eb28093 130 #define target_val1 0
ngokystk 0:b4b94eb28093 131 #define Kp1 3
ngokystk 0:b4b94eb28093 132 #define Ki1 0
ngokystk 0:b4b94eb28093 133 #define Kd1 0
Tomo1213 1:b2bd1511307e 134
ngokystk 0:b4b94eb28093 135 pc.printf("YUKA PROGRAM START\r\n");
ngokystk 0:b4b94eb28093 136 wait(0.1);
ngokystk 0:b4b94eb28093 137 //-------------起動時に必ず送信---------------
ngokystk 0:b4b94eb28093 138 //オペレーティングモードを送信
Tomo1213 3:c39c14cfc811 139 sendOPModeT(node1);
Tomo1213 3:c39c14cfc811 140 sendOPModeT(node2);
Tomo1213 3:c39c14cfc811 141 sendOPModeT(node3);
Tomo1213 3:c39c14cfc811 142 sendOPModeT(node4);
Tomo1213 3:c39c14cfc811 143
ngokystk 0:b4b94eb28093 144 //Shutdown,Enableコマンド送信｜リセット
ngokystk 0:b4b94eb28093 145 sendCtrlSD(node1);
ngokystk 0:b4b94eb28093 146 sendCtrlSD(node2);
ngokystk 0:b4b94eb28093 147 sendCtrlSD(node3);
ngokystk 0:b4b94eb28093 148 sendCtrlSD(node4);
Tomo1213 1:b2bd1511307e 149
ngokystk 0:b4b94eb28093 150 sendCtrlEN(node1);
ngokystk 0:b4b94eb28093 151 sendCtrlEN(node2);
ngokystk 0:b4b94eb28093 152 sendCtrlEN(node3);
ngokystk 0:b4b94eb28093 153 sendCtrlEN(node4);
ngokystk 0:b4b94eb28093 154
ngokystk 0:b4b94eb28093 155 //初期加減速度
Tomo1213 3:c39c14cfc811 156 int Acc = 2000;
Tomo1213 3:c39c14cfc811 157 int Dec = 2000;
Tomo1213 3:c39c14cfc811 158
Tomo1213 3:c39c14cfc811 159 sendProAcc(1,Acc);
Tomo1213 3:c39c14cfc811 160 sendProAcc(2,Acc);
Tomo1213 3:c39c14cfc811 161 sendProAcc(3,Acc);
Tomo1213 3:c39c14cfc811 162 sendProAcc(4,Acc);
Tomo1213 3:c39c14cfc811 163
Tomo1213 3:c39c14cfc811 164 sendProDec(1,Dec);
Tomo1213 3:c39c14cfc811 165 sendProDec(2,Dec);
Tomo1213 3:c39c14cfc811 166 sendProDec(3,Dec);
Tomo1213 3:c39c14cfc811 167 sendProDec(4,Dec);
Tomo1213 3:c39c14cfc811 168
ngokystk 0:b4b94eb28093 169 //トルク設定
ngokystk 0:b4b94eb28093 170 int trq = 100; //torque Setting[mA]
ngokystk 0:b4b94eb28093 171
ngokystk 0:b4b94eb28093 172 sendTgtTrq(1,trq);
ngokystk 0:b4b94eb28093 173 sendTgtTrq(2,trq);
ngokystk 0:b4b94eb28093 174 sendTgtTrq(3,trq);
ngokystk 0:b4b94eb28093 175 sendTgtTrq(4,trq);
Tomo1213 1:b2bd1511307e 176
Tomo1213 4:1bd08c9d92a9 177 int state_1 = 0;
Tomo1213 4:1bd08c9d92a9 178 int state_2 = 0;
Tomo1213 4:1bd08c9d92a9 179 int ride_count = 0;
Tomo1213 4:1bd08c9d92a9 180
Tomo1213 4:1bd08c9d92a9 181 int X_POS_TMP = 0;
Tomo1213 4:1bd08c9d92a9 182 int dist1_ori = 0;
Tomo1213 4:1bd08c9d92a9 183 int dist2_ori = 0;
Tomo1213 4:1bd08c9d92a9 184
Tomo1213 4:1bd08c9d92a9 185 dist1 = 0;
Tomo1213 4:1bd08c9d92a9 186 readActPos(1);
Tomo1213 4:1bd08c9d92a9 187 ActPos=canmsgRx.data[4]+canmsgRx.data[5]*256+canmsgRx.data[6]*65536;
Tomo1213 4:1bd08c9d92a9 188 if(ActPos > 8388608){
Tomo1213 4:1bd08c9d92a9 189 ActPos -= 0x1000000;//16進数でのマイナス処理 16^7 = 16,777,216 = 0x1000000
Tomo1213 4:1bd08c9d92a9 190 }
Tomo1213 4:1bd08c9d92a9 191 Init_Pos = ActPos;//起動時の角度を保存
Tomo1213 4:1bd08c9d92a9 192 t.reset();
Tomo1213 4:1bd08c9d92a9 193 t.start();
Tomo1213 4:1bd08c9d92a9 194
Tomo1213 4:1bd08c9d92a9 195 //set_MODE_T();
Tomo1213 4:1bd08c9d92a9 196
Tomo1213 4:1bd08c9d92a9 197 printf("\nstart\r\n");
Tomo1213 4:1bd08c9d92a9 198
Tomo1213 4:1bd08c9d92a9 199 while(1){
Tomo1213 4:1bd08c9d92a9 200
Tomo1213 4:1bd08c9d92a9 201 Time = t.read();
Tomo1213 4:1bd08c9d92a9 202 pc.printf("state_1:%d state_2:%d\r\n",state_1,state_2);
Tomo1213 4:1bd08c9d92a9 203 LED.printf("%d",state_1);
Tomo1213 1:b2bd1511307e 204 readActPos(1);
Tomo1213 1:b2bd1511307e 205 ActPos=canmsgRx.data[4]+canmsgRx.data[5]*256+canmsgRx.data[6]*65536;
Tomo1213 1:b2bd1511307e 206 if(ActPos > 8388608){
Tomo1213 1:b2bd1511307e 207 ActPos -= 0x1000000;//16進数でのマイナス処理 16^7 = 16,777,216 = 0x1000000
Tomo1213 4:1bd08c9d92a9 208 //printf("check\r\n");
ngokystk 0:b4b94eb28093 209 }
Tomo1213 4:1bd08c9d92a9 210 dist1 = get_cm_n(u1, 5);
Tomo1213 4:1bd08c9d92a9 211 dist2 = get_cm_n(u2, 5);
Tomo1213 4:1bd08c9d92a9 212 dist3 = get_cm_n(u3, 5);
Tomo1213 4:1bd08c9d92a9 213
Tomo1213 4:1bd08c9d92a9 214 /*--------------------------*/
Tomo1213 4:1bd08c9d92a9 215 //
Tomo1213 4:1bd08c9d92a9 216 if(state_1 == 0){//入力判断フェーズ
Tomo1213 4:1bd08c9d92a9 217 state_2 = 0;
Tomo1213 4:1bd08c9d92a9 218 if(ride_count >= 2 && Time > Standby_Time){
Tomo1213 4:1bd08c9d92a9 219 state_1 = 20;
Tomo1213 4:1bd08c9d92a9 220 }else{
Tomo1213 4:1bd08c9d92a9 221 if(ActPos < (Init_Pos - KICK)){ //前入力検出
Tomo1213 4:1bd08c9d92a9 222 ride_count++;
Tomo1213 4:1bd08c9d92a9 223 state_1 = 1;
Tomo1213 4:1bd08c9d92a9 224 }else if(ActPos > (Init_Pos + KICK)){ //右入力検出
Tomo1213 4:1bd08c9d92a9 225 ride_count++;
Tomo1213 4:1bd08c9d92a9 226 state_1 = 11;
Tomo1213 4:1bd08c9d92a9 227 }else{
Tomo1213 4:1bd08c9d92a9 228 set_MODE_T();
Tomo1213 1:b2bd1511307e 229 }
Tomo1213 4:1bd08c9d92a9 230 }
Tomo1213 4:1bd08c9d92a9 231
Tomo1213 4:1bd08c9d92a9 232 }else if(state_1 == 1){//前進→壁検出フェーズ
Tomo1213 4:1bd08c9d92a9 233 if(dist1 < WALL && dist1 >= WALL_MIN){
Tomo1213 4:1bd08c9d92a9 234 vel_stop();
Tomo1213 4:1bd08c9d92a9 235 wait(GETOFF_TIME);
Tomo1213 4:1bd08c9d92a9 236 state_1 = 2;
Tomo1213 4:1bd08c9d92a9 237 }else{
Tomo1213 4:1bd08c9d92a9 238 set_ACC(ACC_RIDE);//加速度設定
Tomo1213 4:1bd08c9d92a9 239 set_DEC(DEC_CLEAN);//減速度設定
Tomo1213 4:1bd08c9d92a9 240 set_MODE_V();//速度制御モード送信
Tomo1213 4:1bd08c9d92a9 241 vel_forward_con(RPM_RIDE);//前進速度指令
Tomo1213 4:1bd08c9d92a9 242 }
Tomo1213 4:1bd08c9d92a9 243 }else if(state_1 == 2){//前進からの帰還フェーズ
Tomo1213 4:1bd08c9d92a9 244 if(ActPos > -3000){
Tomo1213 4:1bd08c9d92a9 245 vel_stop();
Tomo1213 4:1bd08c9d92a9 246 t.reset();
Tomo1213 4:1bd08c9d92a9 247 t.start();
Tomo1213 4:1bd08c9d92a9 248 state_1 = 0;
Tomo1213 4:1bd08c9d92a9 249 wait(1.0);
Tomo1213 4:1bd08c9d92a9 250 }else{
Tomo1213 4:1bd08c9d92a9 251 vel_backward_con(RPM_RIDE);
Tomo1213 4:1bd08c9d92a9 252 }
Tomo1213 4:1bd08c9d92a9 253 }else if(state_1 == 11){//右進→壁検出フェーズ
Tomo1213 4:1bd08c9d92a9 254 if(dist3 < WALL && dist3 >= WALL_MIN){
Tomo1213 4:1bd08c9d92a9 255 vel_stop();
Tomo1213 4:1bd08c9d92a9 256 wait(GETOFF_TIME);
Tomo1213 4:1bd08c9d92a9 257 state_1 = 12;
Tomo1213 4:1bd08c9d92a9 258 }else{
Tomo1213 4:1bd08c9d92a9 259 set_ACC(ACC_RIDE);//加速度設定
Tomo1213 4:1bd08c9d92a9 260 set_DEC(DEC_RIDE);//減速度設定
Tomo1213 4:1bd08c9d92a9 261 set_MODE_V();//速度制御モード送信
Tomo1213 4:1bd08c9d92a9 262 vel_right(RPM_RIDE);//R進速度指令
Tomo1213 4:1bd08c9d92a9 263 }
Tomo1213 4:1bd08c9d92a9 264 }else if(state_1 == 12){//右進からの帰還フェーズ
Tomo1213 4:1bd08c9d92a9 265 if(ActPos < 3000){
Tomo1213 4:1bd08c9d92a9 266 vel_stop();
Tomo1213 4:1bd08c9d92a9 267 t.reset();
Tomo1213 4:1bd08c9d92a9 268 t.start();
Tomo1213 4:1bd08c9d92a9 269 state_1 = 0;
Tomo1213 4:1bd08c9d92a9 270 wait(1.0);
Tomo1213 4:1bd08c9d92a9 271 }else{
Tomo1213 4:1bd08c9d92a9 272 vel_left(RPM_RIDE);
Tomo1213 4:1bd08c9d92a9 273 }
Tomo1213 4:1bd08c9d92a9 274 }else if(state_1 == 20){//消毒モード
Tomo1213 4:1bd08c9d92a9 275 if(state_2 == 0){
Tomo1213 4:1bd08c9d92a9 276 if(dist1 < WALL && dist1 >= WALL_MIN){
Tomo1213 4:1bd08c9d92a9 277 X_POS_TMP = ActPos;
Tomo1213 4:1bd08c9d92a9 278 state_2 = 1;
Tomo1213 4:1bd08c9d92a9 279 }else{
Tomo1213 4:1bd08c9d92a9 280 set_ACC(ACC_CLEAN);//加速度設定
Tomo1213 4:1bd08c9d92a9 281 set_DEC(DEC_CLEAN);//減速度設定
Tomo1213 4:1bd08c9d92a9 282 set_MODE_V();//速度制御モード送信
Tomo1213 4:1bd08c9d92a9 283 vel_forward_con(RPM_CLEAN);//前進速度指令
Tomo1213 4:1bd08c9d92a9 284 }
Tomo1213 4:1bd08c9d92a9 285 }else if(state_2 == 1){
Tomo1213 4:1bd08c9d92a9 286 if(abs(ActPos - X_POS_TMP) > CLEAN_OFFSET){
Tomo1213 4:1bd08c9d92a9 287 state_2 == 2;
Tomo1213 4:1bd08c9d92a9 288 }else{
Tomo1213 4:1bd08c9d92a9 289 if(dist3 < WALL && dist3 >= WALL_MIN){
Tomo1213 4:1bd08c9d92a9 290 state_2 = 4;
Tomo1213 4:1bd08c9d92a9 291 }else{
Tomo1213 4:1bd08c9d92a9 292 set_ACC(ACC_CLEAN);//加速度設定
Tomo1213 4:1bd08c9d92a9 293 set_DEC(DEC_CLEAN);//減速度設定
Tomo1213 4:1bd08c9d92a9 294 set_MODE_V();//速度制御モード送信
Tomo1213 4:1bd08c9d92a9 295 vel_right(RPM_CLEAN);//右進速度指令
Tomo1213 1:b2bd1511307e 296 }
Tomo1213 4:1bd08c9d92a9 297 }
Tomo1213 4:1bd08c9d92a9 298 }else if(state_2 == 2){
Tomo1213 4:1bd08c9d92a9 299 if(ActPos > -3000){
Tomo1213 4:1bd08c9d92a9 300 state_2 = 3;
Tomo1213 4:1bd08c9d92a9 301 }else{
Tomo1213 4:1bd08c9d92a9 302 set_ACC(ACC_CLEAN);//加速度設定
Tomo1213 4:1bd08c9d92a9 303 set_DEC(DEC_CLEAN);//減速度設定
Tomo1213 4:1bd08c9d92a9 304 set_MODE_V();//速度制御モード送信
Tomo1213 4:1bd08c9d92a9 305 vel_backward_con(RPM_CLEAN);//後進速度指令
Tomo1213 4:1bd08c9d92a9 306 }
Tomo1213 4:1bd08c9d92a9 307 }else if(state_2 == 3){
Tomo1213 4:1bd08c9d92a9 308 if(abs(ActPos - X_POS_TMP ) > CLEAN_OFFSET){
Tomo1213 4:1bd08c9d92a9 309 state_2 == 0;
Tomo1213 4:1bd08c9d92a9 310 }else{
Tomo1213 4:1bd08c9d92a9 311 if(dist3 < WALL && dist3 >= WALL_MIN){
Tomo1213 4:1bd08c9d92a9 312 state_2 = 4;
Tomo1213 4:1bd08c9d92a9 313 }else{
Tomo1213 4:1bd08c9d92a9 314 set_ACC(ACC_CLEAN);//加速度設定
Tomo1213 4:1bd08c9d92a9 315 set_DEC(DEC_CLEAN);//減速度設定
Tomo1213 4:1bd08c9d92a9 316 set_MODE_V();//速度制御モード送信
Tomo1213 4:1bd08c9d92a9 317 vel_right(RPM_CLEAN);//右進速度指令
Tomo1213 1:b2bd1511307e 318 }
Tomo1213 4:1bd08c9d92a9 319 }
Tomo1213 4:1bd08c9d92a9 320 }else if(state_2 == 4){
Tomo1213 4:1bd08c9d92a9 321 if(ActPos < 3000){
Tomo1213 4:1bd08c9d92a9 322 state_2 = 5;
Tomo1213 4:1bd08c9d92a9 323 }else{
Tomo1213 4:1bd08c9d92a9 324 vel_left(RPM_CLEAN);
Tomo1213 4:1bd08c9d92a9 325 }
Tomo1213 4:1bd08c9d92a9 326 }else if(state_2 == 5){
Tomo1213 4:1bd08c9d92a9 327 if(ActPos > -3000){
Tomo1213 4:1bd08c9d92a9 328 t.reset();
Tomo1213 4:1bd08c9d92a9 329 t.start();
Tomo1213 4:1bd08c9d92a9 330 state_1 = 0;
Tomo1213 4:1bd08c9d92a9 331 state_2 = 0;
Tomo1213 4:1bd08c9d92a9 332 }else{
Tomo1213 4:1bd08c9d92a9 333 vel_backward_con(RPM_CLEAN);
Tomo1213 1:b2bd1511307e 334 }
Tomo1213 4:1bd08c9d92a9 335 }
Tomo1213 4:1bd08c9d92a9 336 }
Tomo1213 4:1bd08c9d92a9 337 }
Tomo1213 4:1bd08c9d92a9 338 }
ngokystk 0:b4b94eb28093 339
Tomo1213 4:1bd08c9d92a9 340 void vel_right(int rpm){
Tomo1213 4:1bd08c9d92a9 341 sendTgtVel(1,rpm);
Tomo1213 4:1bd08c9d92a9 342 sendTgtVel(2,rpm*(-1));
Tomo1213 4:1bd08c9d92a9 343 sendTgtVel(3,rpm*(-1));
Tomo1213 4:1bd08c9d92a9 344 sendTgtVel(4,rpm);
Tomo1213 4:1bd08c9d92a9 345 for(int i=1;i<= 4;i++){
Tomo1213 4:1bd08c9d92a9 346 sendCtrlEN(i);
Tomo1213 4:1bd08c9d92a9 347 }
Tomo1213 4:1bd08c9d92a9 348 }
Tomo1213 4:1bd08c9d92a9 349 void vel_right_con(int rpmA){
Tomo1213 5:f21e1a75f98b 350 int dis1 = get_cm_n(u1,5);
Tomo1213 5:f21e1a75f98b 351 int dis2 = get_cm_n(u2,5);
Tomo1213 4:1bd08c9d92a9 352
Tomo1213 4:1bd08c9d92a9 353 //速度を指定
Tomo1213 4:1bd08c9d92a9 354 int robot_angle = ((dis1 - dis2)*5);
Tomo1213 4:1bd08c9d92a9 355 sendTgtVel(1,rpmA+robot_angle);
Tomo1213 4:1bd08c9d92a9 356 sendTgtVel(2,rpmA*(-1)+robot_angle);
Tomo1213 4:1bd08c9d92a9 357 sendTgtVel(3,rpmA*(-1)+robot_angle);
Tomo1213 4:1bd08c9d92a9 358 sendTgtVel(4,rpmA+robot_angle);
Tomo1213 4:1bd08c9d92a9 359 //指令値を送信
Tomo1213 4:1bd08c9d92a9 360 for(int i=1;i<= 4;i++){
Tomo1213 4:1bd08c9d92a9 361 sendCtrlEN(i);
Tomo1213 4:1bd08c9d92a9 362 }
Tomo1213 4:1bd08c9d92a9 363 }
Tomo1213 1:b2bd1511307e 364
Tomo1213 4:1bd08c9d92a9 365
Tomo1213 4:1bd08c9d92a9 366 void vel_left(int rpm){
Tomo1213 4:1bd08c9d92a9 367 sendTgtVel(1,rpm*(-1));
Tomo1213 4:1bd08c9d92a9 368 sendTgtVel(2,rpm);
Tomo1213 4:1bd08c9d92a9 369 sendTgtVel(3,rpm);
Tomo1213 4:1bd08c9d92a9 370 sendTgtVel(4,rpm*(-1));
Tomo1213 4:1bd08c9d92a9 371 for(int i=1;i<= 4;i++){
Tomo1213 4:1bd08c9d92a9 372 sendCtrlEN(i);
Tomo1213 4:1bd08c9d92a9 373 }
Tomo1213 4:1bd08c9d92a9 374 }
Tomo1213 4:1bd08c9d92a9 375
Tomo1213 4:1bd08c9d92a9 376
Tomo1213 4:1bd08c9d92a9 377 void vel_left_con(int rpmA){
Tomo1213 5:f21e1a75f98b 378 int dis1 = get_cm_n(u1,5);
Tomo1213 5:f21e1a75f98b 379 int dis2 = get_cm_n(u2,5);
Tomo1213 4:1bd08c9d92a9 380
Tomo1213 4:1bd08c9d92a9 381 //速度を指定
Tomo1213 4:1bd08c9d92a9 382 int robot_angle = ((dis1 - dis2)*5);
Tomo1213 4:1bd08c9d92a9 383 sendTgtVel(1,rpmA*(-1)+robot_angle);
Tomo1213 4:1bd08c9d92a9 384 sendTgtVel(2,rpmA+robot_angle);
Tomo1213 4:1bd08c9d92a9 385 sendTgtVel(3,rpmA+robot_angle);
Tomo1213 4:1bd08c9d92a9 386 sendTgtVel(4,rpmA*(-1)+robot_angle);
Tomo1213 4:1bd08c9d92a9 387 //指令値を送信
Tomo1213 4:1bd08c9d92a9 388 for(int i=1;i<= 4;i++){
Tomo1213 4:1bd08c9d92a9 389 sendCtrlEN(i);
Tomo1213 4:1bd08c9d92a9 390 }
Tomo1213 4:1bd08c9d92a9 391 }
Tomo1213 4:1bd08c9d92a9 392
Tomo1213 4:1bd08c9d92a9 393 void vel_stop(){
Tomo1213 4:1bd08c9d92a9 394 //速度を指定
Tomo1213 4:1bd08c9d92a9 395 sendTgtVel(1,0);
Tomo1213 4:1bd08c9d92a9 396 sendTgtVel(2,0);
Tomo1213 4:1bd08c9d92a9 397 sendTgtVel(3,0);
Tomo1213 4:1bd08c9d92a9 398 sendTgtVel(4,0);
Tomo1213 4:1bd08c9d92a9 399 //指令値を送信
Tomo1213 4:1bd08c9d92a9 400 for(int i=1;i<= 4;i++){
Tomo1213 4:1bd08c9d92a9 401 sendCtrlEN(i);
Tomo1213 4:1bd08c9d92a9 402 }
Tomo1213 4:1bd08c9d92a9 403 }
Tomo1213 1:b2bd1511307e 404
Tomo1213 4:1bd08c9d92a9 405 void vel_backward(int rpm){
Tomo1213 4:1bd08c9d92a9 406 //速度を指定
Tomo1213 4:1bd08c9d92a9 407 sendTgtVel(1,rpm);
Tomo1213 4:1bd08c9d92a9 408 sendTgtVel(2,rpm);
Tomo1213 4:1bd08c9d92a9 409 sendTgtVel(3,rpm*(-1));
Tomo1213 4:1bd08c9d92a9 410 sendTgtVel(4,rpm*(-1));
Tomo1213 4:1bd08c9d92a9 411 //指令値を送信
Tomo1213 4:1bd08c9d92a9 412 for(int i=1;i<= 4;i++){
Tomo1213 4:1bd08c9d92a9 413 sendCtrlEN(i);
Tomo1213 4:1bd08c9d92a9 414 }
Tomo1213 4:1bd08c9d92a9 415 }
Tomo1213 4:1bd08c9d92a9 416
Tomo1213 4:1bd08c9d92a9 417 void vel_backward_con(int rpmA){
Tomo1213 5:f21e1a75f98b 418 int dis1 = get_cm_n(u1,5);
Tomo1213 5:f21e1a75f98b 419 int dis2 = get_cm_n(u2,5);
ngokystk 0:b4b94eb28093 420
Tomo1213 4:1bd08c9d92a9 421 //速度を指定
Tomo1213 4:1bd08c9d92a9 422 int robot_angle = ((dis1 - dis2)*10);
Tomo1213 4:1bd08c9d92a9 423 sendTgtVel(1,rpmA+robot_angle);
Tomo1213 4:1bd08c9d92a9 424 sendTgtVel(2,rpmA+robot_angle);
Tomo1213 4:1bd08c9d92a9 425 sendTgtVel(3,rpmA*(-1)+robot_angle);
Tomo1213 4:1bd08c9d92a9 426 sendTgtVel(4,rpmA*(-1)+robot_angle);
Tomo1213 4:1bd08c9d92a9 427 //指令値を送信
Tomo1213 4:1bd08c9d92a9 428 for(int i=1;i<= 4;i++){
Tomo1213 4:1bd08c9d92a9 429 sendCtrlEN(i);
Tomo1213 4:1bd08c9d92a9 430 }
Tomo1213 4:1bd08c9d92a9 431 }
Tomo1213 4:1bd08c9d92a9 432
Tomo1213 4:1bd08c9d92a9 433
Tomo1213 4:1bd08c9d92a9 434 void vel_forward_con(int rpmA){
Tomo1213 5:f21e1a75f98b 435 int dis1 = get_cm_n(u1,5);
Tomo1213 5:f21e1a75f98b 436 int dis2 = get_cm_n(u2,5);
Tomo1213 1:b2bd1511307e 437
Tomo1213 4:1bd08c9d92a9 438 //速度を指定
Tomo1213 4:1bd08c9d92a9 439 int robot_angle = ((dis1 - dis2)*10);
Tomo1213 4:1bd08c9d92a9 440 sendTgtVel(1,rpmA*(-1)+robot_angle);
Tomo1213 4:1bd08c9d92a9 441 sendTgtVel(2,rpmA*(-1)+robot_angle);
Tomo1213 4:1bd08c9d92a9 442 sendTgtVel(3,rpmA+robot_angle);
Tomo1213 4:1bd08c9d92a9 443 sendTgtVel(4,rpmA+robot_angle);
Tomo1213 4:1bd08c9d92a9 444 //指令値を送信
Tomo1213 4:1bd08c9d92a9 445 for(int i=1;i<= 4;i++){
Tomo1213 4:1bd08c9d92a9 446 sendCtrlEN(i);
Tomo1213 4:1bd08c9d92a9 447 }
Tomo1213 1:b2bd1511307e 448 }
Tomo1213 1:b2bd1511307e 449
Tomo1213 1:b2bd1511307e 450 void set_ACC(int setACC_val){
Tomo1213 1:b2bd1511307e 451 sendProAcc(1,setACC_val);
Tomo1213 1:b2bd1511307e 452 sendProAcc(2,setACC_val);
Tomo1213 1:b2bd1511307e 453 sendProAcc(3,setACC_val);
Tomo1213 1:b2bd1511307e 454 sendProAcc(4,setACC_val);
ngokystk 0:b4b94eb28093 455 }
ngokystk 0:b4b94eb28093 456
Tomo1213 1:b2bd1511307e 457 void set_DEC(int setDEC_val){
Tomo1213 1:b2bd1511307e 458 sendProDec(1,setDEC_val);
Tomo1213 1:b2bd1511307e 459 sendProDec(2,setDEC_val);
Tomo1213 1:b2bd1511307e 460 sendProDec(3,setDEC_val);
Tomo1213 1:b2bd1511307e 461 sendProDec(4,setDEC_val);
Tomo1213 1:b2bd1511307e 462 }
ngokystk 0:b4b94eb28093 463
Tomo1213 1:b2bd1511307e 464 void set_MODE_V(){
Tomo1213 1:b2bd1511307e 465 sendOPModeV(1);
Tomo1213 1:b2bd1511307e 466 sendOPModeV(2);
Tomo1213 1:b2bd1511307e 467 sendOPModeV(3);
Tomo1213 1:b2bd1511307e 468 sendOPModeV(4);
Tomo1213 1:b2bd1511307e 469 }
ngokystk 0:b4b94eb28093 470
Tomo1213 1:b2bd1511307e 471 void set_MODE_T(){
Tomo1213 1:b2bd1511307e 472 sendOPModeT(1);
Tomo1213 1:b2bd1511307e 473 sendOPModeT(2);
Tomo1213 1:b2bd1511307e 474 sendOPModeT(3);
Tomo1213 1:b2bd1511307e 475 sendOPModeT(4);
Tomo1213 1:b2bd1511307e 476 }
ngokystk 0:b4b94eb28093 477
ngokystk 0:b4b94eb28093 478 //0x2F-6060-00-fd-//-//-//
ngokystk 0:b4b94eb28093 479 void sendOPModeT(int nodeID){
ngokystk 0:b4b94eb28093 480 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 481 canmsgTx.len = 5; //Data Length
ngokystk 0:b4b94eb28093 482 canmsgTx.data[0] = 0x2F;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 483 canmsgTx.data[1] = 0x60;//Index LowByte
ngokystk 0:b4b94eb28093 484 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 485 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 486 canmsgTx.data[4] = 0xFD;//data:fd = "current Mode"
ngokystk 0:b4b94eb28093 487 /*
ngokystk 0:b4b94eb28093 488 canmsgTx.data[5] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 489 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 490 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 491 */
ngokystk 0:b4b94eb28093 492 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 493 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 494 wait_ms(1);
ngokystk 0:b4b94eb28093 495 }
Tomo1213 1:b2bd1511307e 496
Tomo1213 3:c39c14cfc811 497
ngokystk 0:b4b94eb28093 498 //0x2F-6060-00-03-//-//-//
ngokystk 0:b4b94eb28093 499 void sendOPModeV(int nodeID){
ngokystk 0:b4b94eb28093 500 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 501 canmsgTx.len = 5; //Data Length
ngokystk 0:b4b94eb28093 502 canmsgTx.data[0] = 0x2F;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 503 canmsgTx.data[1] = 0x60;//Index LowByte
ngokystk 0:b4b94eb28093 504 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 505 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 506 canmsgTx.data[4] = 0x03;//data:0x03 = "Profile Velocity Mode"
ngokystk 0:b4b94eb28093 507 /*
ngokystk 0:b4b94eb28093 508 canmsgTx.data[5] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 509 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 510 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 511 */
ngokystk 0:b4b94eb28093 512 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 513 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 514 wait_ms(1);
ngokystk 0:b4b94eb28093 515 }
Tomo1213 1:b2bd1511307e 516
ngokystk 0:b4b94eb28093 517 //0x2B-6040-00-0000-//-//
ngokystk 0:b4b94eb28093 518 void sendCtrlRS(int nodeID){
ngokystk 0:b4b94eb28093 519 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 520 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 521 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 522 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 523 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 524 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 525 canmsgTx.data[4] = 0x80;//data:0x00"80" = "Controlword(Shutdown)"
ngokystk 0:b4b94eb28093 526 canmsgTx.data[5] = 0x00;//data:0x"00"80
ngokystk 0:b4b94eb28093 527 /*
ngokystk 0:b4b94eb28093 528 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 529 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 530 */
ngokystk 0:b4b94eb28093 531 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 532 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 533 wait_ms(1);
ngokystk 0:b4b94eb28093 534 }
Tomo1213 1:b2bd1511307e 535
Tomo1213 1:b2bd1511307e 536
ngokystk 0:b4b94eb28093 537 //0x2B-6040-00-0006-//-//
ngokystk 0:b4b94eb28093 538 void sendCtrlSD(int nodeID){
ngokystk 0:b4b94eb28093 539 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 540 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 541 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 542 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 543 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 544 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 545 canmsgTx.data[4] = 0x06;//data:0x00"06" = "Controlword(Shutdown)"
ngokystk 0:b4b94eb28093 546 canmsgTx.data[5] = 0x00;//data:0x"00"06
ngokystk 0:b4b94eb28093 547 /*
ngokystk 0:b4b94eb28093 548 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 549 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 550 */
ngokystk 0:b4b94eb28093 551 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 552 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 553 wait_ms(1);
ngokystk 0:b4b94eb28093 554 }
Tomo1213 1:b2bd1511307e 555
ngokystk 0:b4b94eb28093 556 //0x2B-6040-00-000F-//-//
ngokystk 0:b4b94eb28093 557 void sendCtrlEN(int nodeID){
ngokystk 0:b4b94eb28093 558 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 559 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 560 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 561 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 562 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 563 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 564 canmsgTx.data[4] = 0x0F;//data:0x00"0F" = "Controlword(Enable)"
ngokystk 0:b4b94eb28093 565 canmsgTx.data[5] = 0x00;//data:0x"00"0F
ngokystk 0:b4b94eb28093 566 /*
ngokystk 0:b4b94eb28093 567 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 568 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 569 */
ngokystk 0:b4b94eb28093 570 //printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 571 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 572 wait_ms(1);
ngokystk 0:b4b94eb28093 573 }
Tomo1213 1:b2bd1511307e 574
ngokystk 0:b4b94eb28093 575 //0x2B-6040-00-000B-//-//
ngokystk 0:b4b94eb28093 576 void sendCtrlQS(int nodeID){
ngokystk 0:b4b94eb28093 577 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 578 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 579 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 580 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 581 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 582 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 583 canmsgTx.data[4] = 0x0B;//data:0x00"0B" = "Quick Stop"
ngokystk 0:b4b94eb28093 584 canmsgTx.data[5] = 0x00;//data:0x"00"0B
ngokystk 0:b4b94eb28093 585 /*
ngokystk 0:b4b94eb28093 586 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 587 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 588 */
ngokystk 0:b4b94eb28093 589 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 590 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 591 wait_ms(1);
ngokystk 0:b4b94eb28093 592 }
Tomo1213 1:b2bd1511307e 593
ngokystk 0:b4b94eb28093 594 //0x2B-6040-00-010F-//-//
ngokystk 0:b4b94eb28093 595 void sendCtrlHL(int nodeID){
ngokystk 0:b4b94eb28093 596 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 597 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 598 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 599 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 600 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 601 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 602 canmsgTx.data[4] = 0x0F;//data:0x01"0F" = "Halt"
ngokystk 0:b4b94eb28093 603 canmsgTx.data[5] = 0x01;//data:0x"01"0F
ngokystk 0:b4b94eb28093 604 /*
ngokystk 0:b4b94eb28093 605 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 606 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 607 */
ngokystk 0:b4b94eb28093 608 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 609 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 610 wait_ms(1);
ngokystk 0:b4b94eb28093 611 }
Tomo1213 1:b2bd1511307e 612
ngokystk 0:b4b94eb28093 613 //0x2B-60FF-00-[user data(4Byte)]
ngokystk 0:b4b94eb28093 614 void sendTgtTrq(int nodeID,int trq){
ngokystk 0:b4b94eb28093 615 //pc.printf("%dmA0x%08x\r\n",trq,trq); //回転数送信データの表示
ngokystk 0:b4b94eb28093 616 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 617 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 618 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 619 canmsgTx.data[1] = 0x30;//Index LowByte 71
ngokystk 0:b4b94eb28093 620 canmsgTx.data[2] = 0x20;//Index HighByte 60
ngokystk 0:b4b94eb28093 621 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 622 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 623 if(trq<0){
Tomo1213 3:c39c14cfc811 624 trq=0xFFFF+trq+1;
ngokystk 0:b4b94eb28093 625 }
ngokystk 0:b4b94eb28093 626
ngokystk 0:b4b94eb28093 627 //pc.printf("iii%d\r\n",trq);
ngokystk 0:b4b94eb28093 628 //canmsgTx.data[7]=((trq>>24)&0xFF);
ngokystk 0:b4b94eb28093 629 //canmsgTx.data[6]=((trq>>16)&0xFF);
ngokystk 0:b4b94eb28093 630
ngokystk 0:b4b94eb28093 631 canmsgTx.data[5]=((trq>>8)&0xFF);
ngokystk 0:b4b94eb28093 632 canmsgTx.data[4]=((trq>>0)&0xFF);
ngokystk 0:b4b94eb28093 633 //printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 634 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 635 wait_ms(2);
ngokystk 0:b4b94eb28093 636 //send Enable
ngokystk 0:b4b94eb28093 637 //pc.printf("Send Enable Command\r\n");
ngokystk 0:b4b94eb28093 638 //sendCtrlEN(nodeID);
ngokystk 0:b4b94eb28093 639 //wait(0.5);
ngokystk 0:b4b94eb28093 640 }
Tomo1213 1:b2bd1511307e 641
Tomo1213 3:c39c14cfc811 642
Tomo1213 3:c39c14cfc811 643
Tomo1213 3:c39c14cfc811 644
ngokystk 0:b4b94eb28093 645 //0x2B-60FF-00-[user data(4Byte)]
ngokystk 0:b4b94eb28093 646 void sendTgtVel(int nodeID,int rpm){
ngokystk 0:b4b94eb28093 647 //pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
ngokystk 0:b4b94eb28093 648 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 649 canmsgTx.len = 8; //Data Length
ngokystk 0:b4b94eb28093 650 canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 651 canmsgTx.data[1] = 0xFF;//Index LowByte
ngokystk 0:b4b94eb28093 652 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 653 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 654 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 655
ngokystk 0:b4b94eb28093 656 //pc.printf("%d\r\n",rpm);
ngokystk 0:b4b94eb28093 657 if(rpm<0){
Tomo1213 3:c39c14cfc811 658 rpm=0xFFFFFFFF+rpm+1;
ngokystk 0:b4b94eb28093 659 }
ngokystk 0:b4b94eb28093 660 canmsgTx.data[7]=((rpm>>24)&0xFF);
ngokystk 0:b4b94eb28093 661 canmsgTx.data[6]=((rpm>>16)&0xFF);
ngokystk 0:b4b94eb28093 662 canmsgTx.data[5]=((rpm>>8)&0xFF);
ngokystk 0:b4b94eb28093 663 canmsgTx.data[4]=((rpm>>0)&0xFF);
ngokystk 0:b4b94eb28093 664
ngokystk 0:b4b94eb28093 665 //printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 666 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 667 wait_ms(1);
ngokystk 0:b4b94eb28093 668
ngokystk 0:b4b94eb28093 669 }
Tomo1213 3:c39c14cfc811 670
ngokystk 0:b4b94eb28093 671 void readActVel(int nodeID){
ngokystk 0:b4b94eb28093 672 //値が欲しいobjectのアドレスを送る
ngokystk 0:b4b94eb28093 673 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 674 canmsgTx.len = 4; //Data Length
ngokystk 0:b4b94eb28093 675 canmsgTx.data[0] = 0x40;//|0Byte:40|
ngokystk 0:b4b94eb28093 676 canmsgTx.data[1] = 0x6C;//Index LowByte
ngokystk 0:b4b94eb28093 677 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 678 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 679 canPort.write(canmsgTx);
ngokystk 0:b4b94eb28093 680 wait_ms(1);
ngokystk 0:b4b94eb28093 681 }
Tomo1213 1:b2bd1511307e 682
ngokystk 0:b4b94eb28093 683 void readActPos(int nodeID){
ngokystk 0:b4b94eb28093 684 //値が欲しいobjectのアドレスを送る
ngokystk 0:b4b94eb28093 685 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 686 canmsgTx.len = 4; //Data Length
ngokystk 0:b4b94eb28093 687 canmsgTx.data[0] = 0x40;//|0Byte:40|
ngokystk 0:b4b94eb28093 688 canmsgTx.data[1] = 0x64;//Index LowByte
ngokystk 0:b4b94eb28093 689 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 690 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 691 canPort.write(canmsgTx);
ngokystk 0:b4b94eb28093 692 wait_ms(1);
ngokystk 0:b4b94eb28093 693 }
Tomo1213 1:b2bd1511307e 694
ngokystk 0:b4b94eb28093 695 //加速度指定
ngokystk 0:b4b94eb28093 696 void sendProAcc(int nodeID,int rpm){
ngokystk 0:b4b94eb28093 697 if(rpm < 0){
ngokystk 0:b4b94eb28093 698 rpm += 0xFFFFFFFF;
ngokystk 0:b4b94eb28093 699 }
ngokystk 0:b4b94eb28093 700 // pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
ngokystk 0:b4b94eb28093 701 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 702 canmsgTx.len = 8; //Data Length
ngokystk 0:b4b94eb28093 703 canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 704 canmsgTx.data[1] = 0x83;//Index LowByte
ngokystk 0:b4b94eb28093 705 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 706 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 707 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 708 canmsgTx.data[4] = (rpm >> 0) & 0xFF;
ngokystk 0:b4b94eb28093 709 canmsgTx.data[5] = (rpm >> 8) & 0xFF;
ngokystk 0:b4b94eb28093 710 canmsgTx.data[6] = (rpm >> 16) & 0xFF;
ngokystk 0:b4b94eb28093 711 canmsgTx.data[7] = (rpm >> 24) & 0xFF;
ngokystk 0:b4b94eb28093 712 // printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 713 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 714 wait(0.01);
ngokystk 0:b4b94eb28093 715 //send Enable
ngokystk 0:b4b94eb28093 716 // pc.printf("Send Enable Command\r\n");
ngokystk 0:b4b94eb28093 717 sendCtrlEN(nodeID);
ngokystk 0:b4b94eb28093 718 wait(0.01);
ngokystk 0:b4b94eb28093 719 }
Tomo1213 1:b2bd1511307e 720
ngokystk 0:b4b94eb28093 721 //減速度指定
ngokystk 0:b4b94eb28093 722 void sendProDec(int nodeID,int rpm){
ngokystk 0:b4b94eb28093 723 if(rpm < 0){
ngokystk 0:b4b94eb28093 724 rpm += 0xFFFFFFFF;
Tomo1213 3:c39c14cfc811 725 }
ngokystk 0:b4b94eb28093 726 // pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
ngokystk 0:b4b94eb28093 727 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 728 canmsgTx.len = 8; //Data Length
ngokystk 0:b4b94eb28093 729 canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 730 canmsgTx.data[1] = 0x84;//Index LowByte
ngokystk 0:b4b94eb28093 731 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 732 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 733 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 734 canmsgTx.data[4] = (rpm >> 0) & 0xFF;
ngokystk 0:b4b94eb28093 735 canmsgTx.data[5] = (rpm >> 8) & 0xFF;
ngokystk 0:b4b94eb28093 736 canmsgTx.data[6] = (rpm >> 16) & 0xFF;
ngokystk 0:b4b94eb28093 737 canmsgTx.data[7] = (rpm >> 24) & 0xFF;
ngokystk 0:b4b94eb28093 738 // printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 739 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 740 wait(0.01);
ngokystk 0:b4b94eb28093 741 //send Enable
ngokystk 0:b4b94eb28093 742 // pc.printf("Send Enable Command\r\n");
ngokystk 0:b4b94eb28093 743 sendCtrlEN(nodeID);
ngokystk 0:b4b94eb28093 744 wait(0.01);
ngokystk 0:b4b94eb28093 745 }
Tomo1213 1:b2bd1511307e 746
Tomo1213 1:b2bd1511307e 747
ngokystk 0:b4b94eb28093 748 //送信データの表示
ngokystk 0:b4b94eb28093 749 void printCANTX(void){
ngokystk 0:b4b94eb28093 750 //0x canID|Byte0|Byte1|Byte2|Byte3|Byte4|Byte5|Byte6|Byte7|
Tomo1213 4:1bd08c9d92a9 751 //pc.printf("0x%3x|",canmsgTx.id);
ngokystk 0:b4b94eb28093 752 for(char i=0;i < canmsgTx.len;i++){
Tomo1213 4:1bd08c9d92a9 753 //pc.printf("%02x|",canmsgTx.data[i]);
ngokystk 0:b4b94eb28093 754 }
ngokystk 0:b4b94eb28093 755 //pc.printf("\r\n");
ngokystk 0:b4b94eb28093 756 }
Tomo1213 1:b2bd1511307e 757
ngokystk 0:b4b94eb28093 758 //受信データの表示
Tomo1213 1:b2bd1511307e 759
ngokystk 0:b4b94eb28093 760 void printCANRX(void){
ngokystk 0:b4b94eb28093 761 //0x canID|Byte0|Byte1|Byte2|Byte3|Byte4|Byte5|Byte6|Byte7|
ngokystk 0:b4b94eb28093 762 //pc.printf("0x%3x|",canmsgRx.id);
ngokystk 0:b4b94eb28093 763 for(char i=0;i < canmsgRx.len;i++){
ngokystk 0:b4b94eb28093 764 //pc.printf("%02x|",canmsgRx.data[i]);
ngokystk 0:b4b94eb28093 765 }
Tomo1213 4:1bd08c9d92a9 766 //pc.printf("\r\n");
ngokystk 0:b4b94eb28093 767 }
Tomo1213 1:b2bd1511307e 768
ngokystk 0:b4b94eb28093 769 void CANdataRX(void){
ngokystk 0:b4b94eb28093 770 canPort.read(canmsgRx);
ngokystk 0:b4b94eb28093 771 printCANRX();
ngokystk 0:b4b94eb28093 772 }
Tomo1213 1:b2bd1511307e 773
ngokystk 0:b4b94eb28093 774 void SerialRX(void){
ngokystk 0:b4b94eb28093 775 Serialdata = pc.getc();
ngokystk 0:b4b94eb28093 776 //pc.printf("%c\r\n",Serialdata);
Tomo1213 4:1bd08c9d92a9 777 }