Kanta Takasu / Mbed 2 deprecated YUKA_ak_home_pcon

add pcon f and b

Dependencies:   mbed HCSR04

main.cpp@9:5edd5ab59a99, 2021-12-19 (annotated)

Committer:
tks1
Date:
Sun Dec 19 20:52:27 2021 +0000
Revision:
9:5edd5ab59a99
Parent:
8:c9a5ef6f003f 
p con add

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Tomo1213 5:a7c3f446a1f1 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 1:b2bd1511307e 14 #define ACC_B 1000
Tomo1213 1:b2bd1511307e 15 #define DEC_B 700
Tomo1213 1:b2bd1511307e 16 #define ACC_C 1000
Tomo1213 1:b2bd1511307e 17 #define DEC_C 1000
ngokystk 0:b4b94eb28093 18
Tomo1213 1:b2bd1511307e 19 #define KICK 2000
Tomo1213 1:b2bd1511307e 20
Tomo1213 7:df29c4de6522 21 #define WALL 45
Tomo1213 3:c39c14cfc811 22
Tomo1213 3:c39c14cfc811 23
ngokystk 0:b4b94eb28093 24 DigitalOut led1(LED1);
ngokystk 0:b4b94eb28093 25 DigitalOut led2(LED2);
ngokystk 0:b4b94eb28093 26 DigitalOut led3(LED3);
ngokystk 0:b4b94eb28093 27 DigitalOut led4(LED4);
Tomo1213 1:b2bd1511307e 28
ngokystk 0:b4b94eb28093 29 Timer t;
ngokystk 0:b4b94eb28093 30 double Time = 0;
ngokystk 0:b4b94eb28093 31 #define Standby_Time 10
ngokystk 0:b4b94eb28093 32 Serial pc(USBTX, USBRX);
Tomo1213 8:c9a5ef6f003f 33 Serial LED(PB_6,PB_7);
ngokystk 0:b4b94eb28093 34 char Serialdata;
ngokystk 0:b4b94eb28093 35 BusOut myled(LED1, LED2, LED3, LED4);
Tomo1213 1:b2bd1511307e 36
ngokystk 0:b4b94eb28093 37 //HCSR04 u1(p13, p14), u2(p11, p12), u3(p23, p24), u4(p25, p26); // Trigger(DO), Echo(PWMIN); LPC1768
ngokystk 0:b4b94eb28093 38 HCSR04 u1(PA_0, PA_1),u2(PA_5, PA_6),u3(PB_0, PA_10); // Trigger(DO), Echo(PWMIN); f303k8
Tomo1213 1:b2bd1511307e 39
ngokystk 0:b4b94eb28093 40 CANMessage canmsgTx;
ngokystk 0:b4b94eb28093 41 CANMessage canmsgRx;
ngokystk 0:b4b94eb28093 42 //CAN canPort(p30, p29); //CAN name(PinName rd, PinName td) LPC1768
ngokystk 0:b4b94eb28093 43 CAN canPort(PA_11, PA_12); //CAN name(PinName rd, PinName td) F303k8
Tomo1213 1:b2bd1511307e 44
ngokystk 0:b4b94eb28093 45 //プロトタイプ宣言
ngokystk 0:b4b94eb28093 46 //------------------send関数-------------------
ngokystk 0:b4b94eb28093 47 //mode Setting
ngokystk 0:b4b94eb28093 48 void sendOPModeT(int); //Operating Mode
ngokystk 0:b4b94eb28093 49 void sendOPModeV(int); //Operating Mode
ngokystk 0:b4b94eb28093 50 //Control Word
ngokystk 0:b4b94eb28093 51 void sendCtrlRS(int); //Reset
ngokystk 0:b4b94eb28093 52 void sendCtrlSD(int); //Shutdown
ngokystk 0:b4b94eb28093 53 void sendCtrlEN(int); //Switch on & Enable
ngokystk 0:b4b94eb28093 54 void sendCtrlQS(int); //Quick Stop
ngokystk 0:b4b94eb28093 55 void sendCtrlHL(int); //Halt
ngokystk 0:b4b94eb28093 56 //Velocity Setting
ngokystk 0:b4b94eb28093 57 void sendTgtVel(int,int); //Target Velocity
ngokystk 0:b4b94eb28093 58 //Torque Setting
ngokystk 0:b4b94eb28093 59 void sendTgtTrq(int,int); //Target Torque
ngokystk 0:b4b94eb28093 60 //Acceleration Setting
ngokystk 0:b4b94eb28093 61 void sendProAcc(int,int); //Plof Acceleration
ngokystk 0:b4b94eb28093 62 void sendProDec(int,int); //Plof Deceleration
ngokystk 0:b4b94eb28093 63 //------------------read関数-------------------
ngokystk 0:b4b94eb28093 64 void readActVel(int); //Actual Velocity
ngokystk 0:b4b94eb28093 65 void readActPos(int); //Actual Position
ngokystk 0:b4b94eb28093 66 //-------------------その他--------------------
ngokystk 0:b4b94eb28093 67 void printCANTX(void); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 68 void printCANRX(void); //CAN受信データをPCに表示
ngokystk 0:b4b94eb28093 69 void CANdataRX(void); //CAN受信処理
ngokystk 0:b4b94eb28093 70 void SerialRX(void); //Serial受信処理
Tomo1213 1:b2bd1511307e 71 //---------------------------------------------
Tomo1213 1:b2bd1511307e 72 void set_ACC(int);
Tomo1213 1:b2bd1511307e 73 void set_DEC(int);
Tomo1213 1:b2bd1511307e 74 void set_MODE_V(void);
Tomo1213 1:b2bd1511307e 75 void set_MODE_T(void);
ngokystk 0:b4b94eb28093 76
Tomo1213 5:a7c3f446a1f1 77 void vel_stop(void);
Tomo1213 5:a7c3f446a1f1 78 void vel_forward(int);
tks1 9:5edd5ab59a99 79 void vel_forward_con(int);
Tomo1213 5:a7c3f446a1f1 80 void vel_backward(int);
tks1 9:5edd5ab59a99 81 void vel_backward_con(int);
Tomo1213 7:df29c4de6522 82 void vel_right(int);
Tomo1213 7:df29c4de6522 83 void vel_left(int);
Tomo1213 5:a7c3f446a1f1 84
Tomo1213 7:df29c4de6522 85 //unsigned int get_cm_n(HCSR04, unsigned int);
Tomo1213 7:df29c4de6522 86 //USE -> unsigned int dist_UnitA = get_cm_n(u2, 5);
Tomo1213 7:df29c4de6522 87 unsigned int get_cm_n(HCSR04 &echo_unit,int echo_n){
Tomo1213 7:df29c4de6522 88 unsigned int sampled_dist=0;
Tomo1213 7:df29c4de6522 89 for (int iter_n = 0; iter_n <echo_n; iter_n++){
Tomo1213 7:df29c4de6522 90 echo_unit.start();
Tomo1213 7:df29c4de6522 91 sampled_dist += echo_unit.get_dist_cm();
Tomo1213 7:df29c4de6522 92 }
Tomo1213 7:df29c4de6522 93 return (sampled_dist / echo_n);
Tomo1213 7:df29c4de6522 94 }
Tomo1213 5:a7c3f446a1f1 95
ngokystk 0:b4b94eb28093 96 int nodeall=4;
Tomo1213 1:b2bd1511307e 97
ngokystk 0:b4b94eb28093 98 int main(){
ngokystk 0:b4b94eb28093 99 //Serial
ngokystk 0:b4b94eb28093 100 pc.attach(SerialRX);
ngokystk 0:b4b94eb28093 101 //pc.baud(115200);
Tomo1213 8:c9a5ef6f003f 102 LED.baud(9600);
ngokystk 0:b4b94eb28093 103
ngokystk 0:b4b94eb28093 104 //CAN
ngokystk 0:b4b94eb28093 105 canPort.frequency(1000000); //Bit Rate:1MHz
ngokystk 0:b4b94eb28093 106 canPort.attach(CANdataRX,CAN::RxIrq);
ngokystk 0:b4b94eb28093 107 int node1 = 1; //CAN node Setting
ngokystk 0:b4b94eb28093 108 int node2 = 2;
ngokystk 0:b4b94eb28093 109 int node3 = 3;
ngokystk 0:b4b94eb28093 110 int node4 = 4;
ngokystk 0:b4b94eb28093 111
Tomo1213 3:c39c14cfc811 112 //モータ回転数
Tomo1213 7:df29c4de6522 113 int rpm = 400;
Tomo1213 3:c39c14cfc811 114
ngokystk 0:b4b94eb28093 115 //エンコーダ関係
ngokystk 0:b4b94eb28093 116 int ActPos = 0;
ngokystk 0:b4b94eb28093 117 int Init_Pos = 0;
ngokystk 0:b4b94eb28093 118
ngokystk 0:b4b94eb28093 119 //超音波センサ関係パラメータ
Tomo1213 5:a7c3f446a1f1 120 int dist1,dist2,dist3,dist4;
ngokystk 0:b4b94eb28093 121
ngokystk 0:b4b94eb28093 122 //PID制御関係
ngokystk 0:b4b94eb28093 123 //角度調整パラメータ
Tomo1213 5:a7c3f446a1f1 124
Tomo1213 5:a7c3f446a1f1 125
ngokystk 0:b4b94eb28093 126 #define DELTA_T1 0.1
ngokystk 0:b4b94eb28093 127 #define target_val1 0
ngokystk 0:b4b94eb28093 128 #define Kp1 3
ngokystk 0:b4b94eb28093 129 #define Ki1 0
ngokystk 0:b4b94eb28093 130 #define Kd1 0
Tomo1213 1:b2bd1511307e 131
ngokystk 0:b4b94eb28093 132 pc.printf("YUKA PROGRAM START\r\n");
ngokystk 0:b4b94eb28093 133 wait(0.1);
ngokystk 0:b4b94eb28093 134 //-------------起動時に必ず送信---------------
ngokystk 0:b4b94eb28093 135 //オペレーティングモードを送信
Tomo1213 3:c39c14cfc811 136 sendOPModeT(node1);
Tomo1213 3:c39c14cfc811 137 sendOPModeT(node2);
Tomo1213 3:c39c14cfc811 138 sendOPModeT(node3);
Tomo1213 3:c39c14cfc811 139 sendOPModeT(node4);
Tomo1213 3:c39c14cfc811 140
ngokystk 0:b4b94eb28093 141 //Shutdown,Enableコマンド送信｜リセット
ngokystk 0:b4b94eb28093 142 sendCtrlSD(node1);
ngokystk 0:b4b94eb28093 143 sendCtrlSD(node2);
ngokystk 0:b4b94eb28093 144 sendCtrlSD(node3);
ngokystk 0:b4b94eb28093 145 sendCtrlSD(node4);
Tomo1213 1:b2bd1511307e 146
ngokystk 0:b4b94eb28093 147 sendCtrlEN(node1);
ngokystk 0:b4b94eb28093 148 sendCtrlEN(node2);
ngokystk 0:b4b94eb28093 149 sendCtrlEN(node3);
ngokystk 0:b4b94eb28093 150 sendCtrlEN(node4);
ngokystk 0:b4b94eb28093 151
ngokystk 0:b4b94eb28093 152 //初期加減速度
Tomo1213 3:c39c14cfc811 153 int Acc = 2000;
Tomo1213 3:c39c14cfc811 154 int Dec = 2000;
Tomo1213 3:c39c14cfc811 155
Tomo1213 3:c39c14cfc811 156 sendProAcc(1,Acc);
Tomo1213 3:c39c14cfc811 157 sendProAcc(2,Acc);
Tomo1213 3:c39c14cfc811 158 sendProAcc(3,Acc);
Tomo1213 3:c39c14cfc811 159 sendProAcc(4,Acc);
Tomo1213 3:c39c14cfc811 160
Tomo1213 3:c39c14cfc811 161 sendProDec(1,Dec);
Tomo1213 3:c39c14cfc811 162 sendProDec(2,Dec);
Tomo1213 3:c39c14cfc811 163 sendProDec(3,Dec);
Tomo1213 3:c39c14cfc811 164 sendProDec(4,Dec);
Tomo1213 3:c39c14cfc811 165
ngokystk 0:b4b94eb28093 166 //トルク設定
ngokystk 0:b4b94eb28093 167 int trq = 100; //torque Setting[mA]
ngokystk 0:b4b94eb28093 168
ngokystk 0:b4b94eb28093 169 sendTgtTrq(1,trq);
ngokystk 0:b4b94eb28093 170 sendTgtTrq(2,trq);
ngokystk 0:b4b94eb28093 171 sendTgtTrq(3,trq);
ngokystk 0:b4b94eb28093 172 sendTgtTrq(4,trq);
Tomo1213 1:b2bd1511307e 173
Tomo1213 5:a7c3f446a1f1 174 int state_1 = 0;
Tomo1213 5:a7c3f446a1f1 175
Tomo1213 7:df29c4de6522 176 ActPos = 0;
Tomo1213 7:df29c4de6522 177 Init_Pos = 0;
Tomo1213 7:df29c4de6522 178 dist1 = 0;
Tomo1213 7:df29c4de6522 179 readActPos(1);
Tomo1213 7:df29c4de6522 180 ActPos=canmsgRx.data[4]+canmsgRx.data[5]*256+canmsgRx.data[6]*65536;
Tomo1213 7:df29c4de6522 181 if(ActPos > 8388608){
Tomo1213 7:df29c4de6522 182 ActPos -= 0x1000000;//16進数でのマイナス処理 16^7 = 16,777,216 = 0x1000000
Tomo1213 7:df29c4de6522 183 }
Tomo1213 7:df29c4de6522 184 Init_Pos = ActPos;//起動時の角度を保存
Tomo1213 7:df29c4de6522 185 t.reset();
Tomo1213 7:df29c4de6522 186 t.start();
Tomo1213 7:df29c4de6522 187
Tomo1213 7:df29c4de6522 188 //set_MODE_T();
Tomo1213 7:df29c4de6522 189
Tomo1213 7:df29c4de6522 190 printf("\nstart\r\n");
Tomo1213 7:df29c4de6522 191
Tomo1213 7:df29c4de6522 192 while(1){
Tomo1213 7:df29c4de6522 193
Tomo1213 7:df29c4de6522 194 Time = t.read();
Tomo1213 7:df29c4de6522 195
Tomo1213 1:b2bd1511307e 196 readActPos(1);
Tomo1213 1:b2bd1511307e 197 ActPos=canmsgRx.data[4]+canmsgRx.data[5]*256+canmsgRx.data[6]*65536;
Tomo1213 1:b2bd1511307e 198 if(ActPos > 8388608){
Tomo1213 1:b2bd1511307e 199 ActPos -= 0x1000000;//16進数でのマイナス処理 16^7 = 16,777,216 = 0x1000000
Tomo1213 7:df29c4de6522 200 //printf("check\r\n");
ngokystk 0:b4b94eb28093 201 }
Tomo1213 7:df29c4de6522 202 //u1.start();
Tomo1213 7:df29c4de6522 203 //u2.start();
Tomo1213 5:a7c3f446a1f1 204
Tomo1213 7:df29c4de6522 205 //dist1 = u1.get_dist_cm();
Tomo1213 7:df29c4de6522 206 //dist2 = u2.get_dist_cm();
Tomo1213 7:df29c4de6522 207
Tomo1213 7:df29c4de6522 208 dist1 = get_cm_n(u1, 5);
Tomo1213 7:df29c4de6522 209 dist2 = get_cm_n(u2, 5);
Tomo1213 7:df29c4de6522 210 dist3 = get_cm_n(u3, 5);
Tomo1213 5:a7c3f446a1f1 211
Tomo1213 7:df29c4de6522 212 //printf("dsit1 %d\r\n",dist1);
Tomo1213 7:df29c4de6522 213 printf("%d\r\n",state_1);
Tomo1213 7:df29c4de6522 214 /*--------------------------*/
Tomo1213 7:df29c4de6522 215 //前方向に入力があった時
Tomo1213 7:df29c4de6522 216 if(state_1 == 0){//入力判断フェーズ
Tomo1213 7:df29c4de6522 217 if(ActPos < (Init_Pos - KICK)){
Tomo1213 7:df29c4de6522 218 state_1 = 1;
Tomo1213 7:df29c4de6522 219 }else if(ActPos > (Init_Pos + KICK)){
Tomo1213 7:df29c4de6522 220 state_1 = 11;
Tomo1213 7:df29c4de6522 221 }else{
Tomo1213 7:df29c4de6522 222 set_MODE_T();
Tomo1213 8:c9a5ef6f003f 223 LED.printf("wait\n\r");
Tomo1213 7:df29c4de6522 224 }
Tomo1213 7:df29c4de6522 225 }else if(state_1 == 1){//前進→壁検出フェーズ
Tomo1213 7:df29c4de6522 226 if(dist1 < WALL && dist1 >= 25){
Tomo1213 7:df29c4de6522 227 state_1 = 2;
Tomo1213 7:df29c4de6522 228 }else{
Tomo1213 7:df29c4de6522 229 set_ACC(ACC_B);//加速度設定
Tomo1213 7:df29c4de6522 230 set_DEC(ACC_C);//減速度設定
Tomo1213 7:df29c4de6522 231 set_MODE_V();//速度制御モード送信
tks1 9:5edd5ab59a99 232 vel_forward_con(rpm);//前進速度指令
Tomo1213 8:c9a5ef6f003f 233 LED.printf("up\n\r");
Tomo1213 7:df29c4de6522 234 }
Tomo1213 7:df29c4de6522 235 }else if(state_1 == 2){//前進からの帰還フェーズ
Tomo1213 7:df29c4de6522 236 if(ActPos > -3000){
Tomo1213 7:df29c4de6522 237 vel_stop();
Tomo1213 7:df29c4de6522 238 state_1 = 0;
Tomo1213 7:df29c4de6522 239 wait(1.0);
Tomo1213 7:df29c4de6522 240 //break;
Tomo1213 7:df29c4de6522 241 }else{
tks1 9:5edd5ab59a99 242 vel_backward_con(rpm);
Tomo1213 8:c9a5ef6f003f 243 LED.printf("down\n\r");
Tomo1213 7:df29c4de6522 244 }
Tomo1213 7:df29c4de6522 245 }else if(state_1 == 11){//右進→壁検出フェーズ
Tomo1213 7:df29c4de6522 246 if(dist3 < WALL && dist3 >= 25){
Tomo1213 7:df29c4de6522 247 state_1 = 12;
Tomo1213 7:df29c4de6522 248 }else{
Tomo1213 7:df29c4de6522 249 set_ACC(ACC_B);//加速度設定
Tomo1213 7:df29c4de6522 250 set_DEC(ACC_C);//減速度設定
Tomo1213 7:df29c4de6522 251 set_MODE_V();//速度制御モード送信
Tomo1213 7:df29c4de6522 252 vel_right(rpm);//前進速度指令
Tomo1213 8:c9a5ef6f003f 253 LED.printf("right\n\r");
Tomo1213 7:df29c4de6522 254 }
Tomo1213 7:df29c4de6522 255 }else if(state_1 == 12){//右進からの帰還フェーズ
Tomo1213 7:df29c4de6522 256 if(ActPos < 3000){
Tomo1213 7:df29c4de6522 257 vel_stop();
Tomo1213 7:df29c4de6522 258 state_1 = 0;
Tomo1213 7:df29c4de6522 259 wait(1.0);
Tomo1213 7:df29c4de6522 260 //break;
Tomo1213 7:df29c4de6522 261 }else{
Tomo1213 7:df29c4de6522 262 vel_left(rpm);
Tomo1213 8:c9a5ef6f003f 263 LED.printf("left\n\r");
Tomo1213 7:df29c4de6522 264 }
Tomo1213 7:df29c4de6522 265 }
Tomo1213 7:df29c4de6522 266 }
Tomo1213 7:df29c4de6522 267
Tomo1213 7:df29c4de6522 268 }
Tomo1213 7:df29c4de6522 269
Tomo1213 7:df29c4de6522 270 void vel_right(int rpm){
Tomo1213 7:df29c4de6522 271 sendTgtVel(1,rpm);
Tomo1213 7:df29c4de6522 272 sendTgtVel(2,rpm*(-1));
Tomo1213 7:df29c4de6522 273 sendTgtVel(3,rpm*(-1));
Tomo1213 7:df29c4de6522 274 sendTgtVel(4,rpm);
Tomo1213 7:df29c4de6522 275 for(int i=1;i<= 4;i++){
Tomo1213 7:df29c4de6522 276 sendCtrlEN(i);
Tomo1213 7:df29c4de6522 277 }
Tomo1213 7:df29c4de6522 278 }
Tomo1213 7:df29c4de6522 279
Tomo1213 7:df29c4de6522 280 void vel_left(int rpm){
Tomo1213 7:df29c4de6522 281 sendTgtVel(1,rpm*(-1));
Tomo1213 7:df29c4de6522 282 sendTgtVel(2,rpm);
Tomo1213 7:df29c4de6522 283 sendTgtVel(3,rpm);
Tomo1213 7:df29c4de6522 284 sendTgtVel(4,rpm*(-1));
Tomo1213 7:df29c4de6522 285 for(int i=1;i<= 4;i++){
Tomo1213 7:df29c4de6522 286 sendCtrlEN(i);
Tomo1213 5:a7c3f446a1f1 287 }
Tomo1213 5:a7c3f446a1f1 288 }
Tomo1213 5:a7c3f446a1f1 289
Tomo1213 5:a7c3f446a1f1 290 void vel_stop(){
Tomo1213 5:a7c3f446a1f1 291 //速度を指定
Tomo1213 5:a7c3f446a1f1 292 sendTgtVel(1,0);
Tomo1213 5:a7c3f446a1f1 293 sendTgtVel(2,0);
Tomo1213 5:a7c3f446a1f1 294 sendTgtVel(3,0);
Tomo1213 5:a7c3f446a1f1 295 sendTgtVel(4,0);
Tomo1213 5:a7c3f446a1f1 296 //指令値を送信
Tomo1213 5:a7c3f446a1f1 297 for(int i=1;i<= 4;i++){
Tomo1213 5:a7c3f446a1f1 298 sendCtrlEN(i);
Tomo1213 5:a7c3f446a1f1 299 }
Tomo1213 5:a7c3f446a1f1 300 }
ngokystk 0:b4b94eb28093 301
Tomo1213 5:a7c3f446a1f1 302 void vel_backward(int rpm){
Tomo1213 5:a7c3f446a1f1 303 //速度を指定
Tomo1213 5:a7c3f446a1f1 304 sendTgtVel(1,rpm);
Tomo1213 5:a7c3f446a1f1 305 sendTgtVel(2,rpm);
Tomo1213 5:a7c3f446a1f1 306 sendTgtVel(3,rpm*(-1));
Tomo1213 5:a7c3f446a1f1 307 sendTgtVel(4,rpm*(-1));
Tomo1213 5:a7c3f446a1f1 308 //指令値を送信
Tomo1213 5:a7c3f446a1f1 309 for(int i=1;i<= 4;i++){
Tomo1213 5:a7c3f446a1f1 310 sendCtrlEN(i);
Tomo1213 5:a7c3f446a1f1 311 }
Tomo1213 5:a7c3f446a1f1 312 }
Tomo1213 5:a7c3f446a1f1 313
tks1 9:5edd5ab59a99 314 void vel_backward_con(int rpmA){
tks1 9:5edd5ab59a99 315 int dis1 = get_cm_n(u1,5);
tks1 9:5edd5ab59a99 316 int dis2 = get_cm_n(u2,5);
tks1 9:5edd5ab59a99 317
tks1 9:5edd5ab59a99 318 //速度を指定
tks1 9:5edd5ab59a99 319 int robot_angle = ((dis1 - dis2)*50);
tks1 9:5edd5ab59a99 320 sendTgtVel(1,rpmA+robot_angle);
tks1 9:5edd5ab59a99 321 sendTgtVel(2,rpmA+robot_angle);
tks1 9:5edd5ab59a99 322 sendTgtVel(3,rpmA*(-1)+robot_angle);
tks1 9:5edd5ab59a99 323 sendTgtVel(4,rpmA*(-1)+robot_angle);
tks1 9:5edd5ab59a99 324 //指令値を送信
tks1 9:5edd5ab59a99 325 for(int i=1;i<= 4;i++){
tks1 9:5edd5ab59a99 326 sendCtrlEN(i);
tks1 9:5edd5ab59a99 327 }
tks1 9:5edd5ab59a99 328 }
tks1 9:5edd5ab59a99 329
tks1 9:5edd5ab59a99 330
Tomo1213 5:a7c3f446a1f1 331 void vel_forward(int rpm){
Tomo1213 5:a7c3f446a1f1 332 //速度を指定
Tomo1213 5:a7c3f446a1f1 333 sendTgtVel(1,rpm*(-1));
Tomo1213 5:a7c3f446a1f1 334 sendTgtVel(2,rpm*(-1));
Tomo1213 5:a7c3f446a1f1 335 sendTgtVel(3,rpm);
Tomo1213 5:a7c3f446a1f1 336 sendTgtVel(4,rpm);
Tomo1213 5:a7c3f446a1f1 337 //指令値を送信
Tomo1213 5:a7c3f446a1f1 338 for(int i=1;i<= 4;i++){
Tomo1213 5:a7c3f446a1f1 339 sendCtrlEN(i);
Tomo1213 5:a7c3f446a1f1 340 }
Tomo1213 1:b2bd1511307e 341 }
tks1 9:5edd5ab59a99 342
tks1 9:5edd5ab59a99 343 void vel_forward_con(int rpmA){
tks1 9:5edd5ab59a99 344 int dis1 = get_cm_n(u1,5);
tks1 9:5edd5ab59a99 345 int dis2 = get_cm_n(u2,5);
tks1 9:5edd5ab59a99 346
tks1 9:5edd5ab59a99 347 //速度を指定
tks1 9:5edd5ab59a99 348 int robot_angle = ((dis1 - dis2)*50);
tks1 9:5edd5ab59a99 349 sendTgtVel(1,rpmA*(-1)+robot_angle);
tks1 9:5edd5ab59a99 350 sendTgtVel(2,rpmA*(-1)+robot_angle);
tks1 9:5edd5ab59a99 351 sendTgtVel(3,rpmA+robot_angle);
tks1 9:5edd5ab59a99 352 sendTgtVel(4,rpmA+robot_angle);
tks1 9:5edd5ab59a99 353 //指令値を送信
tks1 9:5edd5ab59a99 354 for(int i=1;i<= 4;i++){
tks1 9:5edd5ab59a99 355 sendCtrlEN(i);
tks1 9:5edd5ab59a99 356 }
tks1 9:5edd5ab59a99 357 }
tks1 9:5edd5ab59a99 358
Tomo1213 1:b2bd1511307e 359
Tomo1213 1:b2bd1511307e 360 void set_ACC(int setACC_val){
Tomo1213 1:b2bd1511307e 361 sendProAcc(1,setACC_val);
Tomo1213 1:b2bd1511307e 362 sendProAcc(2,setACC_val);
Tomo1213 1:b2bd1511307e 363 sendProAcc(3,setACC_val);
Tomo1213 1:b2bd1511307e 364 sendProAcc(4,setACC_val);
ngokystk 0:b4b94eb28093 365 }
ngokystk 0:b4b94eb28093 366
Tomo1213 1:b2bd1511307e 367 void set_DEC(int setDEC_val){
Tomo1213 1:b2bd1511307e 368 sendProDec(1,setDEC_val);
Tomo1213 1:b2bd1511307e 369 sendProDec(2,setDEC_val);
Tomo1213 1:b2bd1511307e 370 sendProDec(3,setDEC_val);
Tomo1213 1:b2bd1511307e 371 sendProDec(4,setDEC_val);
Tomo1213 1:b2bd1511307e 372 }
ngokystk 0:b4b94eb28093 373
Tomo1213 1:b2bd1511307e 374 void set_MODE_V(){
Tomo1213 1:b2bd1511307e 375 sendOPModeV(1);
Tomo1213 1:b2bd1511307e 376 sendOPModeV(2);
Tomo1213 1:b2bd1511307e 377 sendOPModeV(3);
Tomo1213 1:b2bd1511307e 378 sendOPModeV(4);
Tomo1213 1:b2bd1511307e 379 }
ngokystk 0:b4b94eb28093 380
Tomo1213 1:b2bd1511307e 381 void set_MODE_T(){
Tomo1213 1:b2bd1511307e 382 sendOPModeT(1);
Tomo1213 1:b2bd1511307e 383 sendOPModeT(2);
Tomo1213 1:b2bd1511307e 384 sendOPModeT(3);
Tomo1213 1:b2bd1511307e 385 sendOPModeT(4);
Tomo1213 1:b2bd1511307e 386 }
ngokystk 0:b4b94eb28093 387
ngokystk 0:b4b94eb28093 388 //0x2F-6060-00-fd-//-//-//
ngokystk 0:b4b94eb28093 389 void sendOPModeT(int nodeID){
ngokystk 0:b4b94eb28093 390 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 391 canmsgTx.len = 5; //Data Length
ngokystk 0:b4b94eb28093 392 canmsgTx.data[0] = 0x2F;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 393 canmsgTx.data[1] = 0x60;//Index LowByte
ngokystk 0:b4b94eb28093 394 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 395 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 396 canmsgTx.data[4] = 0xFD;//data:fd = "current Mode"
ngokystk 0:b4b94eb28093 397 /*
ngokystk 0:b4b94eb28093 398 canmsgTx.data[5] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 399 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 400 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 401 */
ngokystk 0:b4b94eb28093 402 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 403 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 404 wait_ms(1);
ngokystk 0:b4b94eb28093 405 }
Tomo1213 1:b2bd1511307e 406
Tomo1213 3:c39c14cfc811 407
ngokystk 0:b4b94eb28093 408 //0x2F-6060-00-03-//-//-//
ngokystk 0:b4b94eb28093 409 void sendOPModeV(int nodeID){
ngokystk 0:b4b94eb28093 410 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 411 canmsgTx.len = 5; //Data Length
ngokystk 0:b4b94eb28093 412 canmsgTx.data[0] = 0x2F;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 413 canmsgTx.data[1] = 0x60;//Index LowByte
ngokystk 0:b4b94eb28093 414 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 415 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 416 canmsgTx.data[4] = 0x03;//data:0x03 = "Profile Velocity Mode"
ngokystk 0:b4b94eb28093 417 /*
ngokystk 0:b4b94eb28093 418 canmsgTx.data[5] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 419 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 420 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 421 */
ngokystk 0:b4b94eb28093 422 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 423 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 424 wait_ms(1);
ngokystk 0:b4b94eb28093 425 }
Tomo1213 1:b2bd1511307e 426
ngokystk 0:b4b94eb28093 427 //0x2B-6040-00-0000-//-//
ngokystk 0:b4b94eb28093 428 void sendCtrlRS(int nodeID){
ngokystk 0:b4b94eb28093 429 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 430 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 431 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 432 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 433 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 434 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 435 canmsgTx.data[4] = 0x80;//data:0x00"80" = "Controlword(Shutdown)"
ngokystk 0:b4b94eb28093 436 canmsgTx.data[5] = 0x00;//data:0x"00"80
ngokystk 0:b4b94eb28093 437 /*
ngokystk 0:b4b94eb28093 438 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 439 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 440 */
ngokystk 0:b4b94eb28093 441 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 442 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 443 wait_ms(1);
ngokystk 0:b4b94eb28093 444 }
Tomo1213 1:b2bd1511307e 445
Tomo1213 1:b2bd1511307e 446
ngokystk 0:b4b94eb28093 447 //0x2B-6040-00-0006-//-//
ngokystk 0:b4b94eb28093 448 void sendCtrlSD(int nodeID){
ngokystk 0:b4b94eb28093 449 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 450 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 451 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 452 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 453 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 454 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 455 canmsgTx.data[4] = 0x06;//data:0x00"06" = "Controlword(Shutdown)"
ngokystk 0:b4b94eb28093 456 canmsgTx.data[5] = 0x00;//data:0x"00"06
ngokystk 0:b4b94eb28093 457 /*
ngokystk 0:b4b94eb28093 458 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 459 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 460 */
ngokystk 0:b4b94eb28093 461 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 462 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 463 wait_ms(1);
ngokystk 0:b4b94eb28093 464 }
Tomo1213 1:b2bd1511307e 465
ngokystk 0:b4b94eb28093 466 //0x2B-6040-00-000F-//-//
ngokystk 0:b4b94eb28093 467 void sendCtrlEN(int nodeID){
ngokystk 0:b4b94eb28093 468 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 469 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 470 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 471 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 472 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 473 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 474 canmsgTx.data[4] = 0x0F;//data:0x00"0F" = "Controlword(Enable)"
ngokystk 0:b4b94eb28093 475 canmsgTx.data[5] = 0x00;//data:0x"00"0F
ngokystk 0:b4b94eb28093 476 /*
ngokystk 0:b4b94eb28093 477 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 478 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 479 */
ngokystk 0:b4b94eb28093 480 //printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 481 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 482 wait_ms(1);
ngokystk 0:b4b94eb28093 483 }
Tomo1213 1:b2bd1511307e 484
ngokystk 0:b4b94eb28093 485 //0x2B-6040-00-000B-//-//
ngokystk 0:b4b94eb28093 486 void sendCtrlQS(int nodeID){
ngokystk 0:b4b94eb28093 487 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 488 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 489 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 490 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 491 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 492 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 493 canmsgTx.data[4] = 0x0B;//data:0x00"0B" = "Quick Stop"
ngokystk 0:b4b94eb28093 494 canmsgTx.data[5] = 0x00;//data:0x"00"0B
ngokystk 0:b4b94eb28093 495 /*
ngokystk 0:b4b94eb28093 496 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 497 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 498 */
ngokystk 0:b4b94eb28093 499 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 500 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 501 wait_ms(1);
ngokystk 0:b4b94eb28093 502 }
Tomo1213 1:b2bd1511307e 503
ngokystk 0:b4b94eb28093 504 //0x2B-6040-00-010F-//-//
ngokystk 0:b4b94eb28093 505 void sendCtrlHL(int nodeID){
ngokystk 0:b4b94eb28093 506 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 507 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 508 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 509 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 510 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 511 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 512 canmsgTx.data[4] = 0x0F;//data:0x01"0F" = "Halt"
ngokystk 0:b4b94eb28093 513 canmsgTx.data[5] = 0x01;//data:0x"01"0F
ngokystk 0:b4b94eb28093 514 /*
ngokystk 0:b4b94eb28093 515 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 516 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 517 */
ngokystk 0:b4b94eb28093 518 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 519 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 520 wait_ms(1);
ngokystk 0:b4b94eb28093 521 }
Tomo1213 1:b2bd1511307e 522
ngokystk 0:b4b94eb28093 523 //0x2B-60FF-00-[user data(4Byte)]
ngokystk 0:b4b94eb28093 524 void sendTgtTrq(int nodeID,int trq){
ngokystk 0:b4b94eb28093 525 //pc.printf("%dmA0x%08x\r\n",trq,trq); //回転数送信データの表示
ngokystk 0:b4b94eb28093 526 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 527 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 528 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 529 canmsgTx.data[1] = 0x30;//Index LowByte 71
ngokystk 0:b4b94eb28093 530 canmsgTx.data[2] = 0x20;//Index HighByte 60
ngokystk 0:b4b94eb28093 531 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 532 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 533 if(trq<0){
Tomo1213 3:c39c14cfc811 534 trq=0xFFFF+trq+1;
ngokystk 0:b4b94eb28093 535 }
ngokystk 0:b4b94eb28093 536
ngokystk 0:b4b94eb28093 537 //pc.printf("iii%d\r\n",trq);
ngokystk 0:b4b94eb28093 538 //canmsgTx.data[7]=((trq>>24)&0xFF);
ngokystk 0:b4b94eb28093 539 //canmsgTx.data[6]=((trq>>16)&0xFF);
ngokystk 0:b4b94eb28093 540
ngokystk 0:b4b94eb28093 541 canmsgTx.data[5]=((trq>>8)&0xFF);
ngokystk 0:b4b94eb28093 542 canmsgTx.data[4]=((trq>>0)&0xFF);
ngokystk 0:b4b94eb28093 543 //printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 544 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 545 wait_ms(2);
ngokystk 0:b4b94eb28093 546 //send Enable
ngokystk 0:b4b94eb28093 547 //pc.printf("Send Enable Command\r\n");
ngokystk 0:b4b94eb28093 548 //sendCtrlEN(nodeID);
ngokystk 0:b4b94eb28093 549 //wait(0.5);
ngokystk 0:b4b94eb28093 550 }
Tomo1213 1:b2bd1511307e 551
Tomo1213 3:c39c14cfc811 552
Tomo1213 3:c39c14cfc811 553
Tomo1213 3:c39c14cfc811 554
ngokystk 0:b4b94eb28093 555 //0x2B-60FF-00-[user data(4Byte)]
ngokystk 0:b4b94eb28093 556 void sendTgtVel(int nodeID,int rpm){
ngokystk 0:b4b94eb28093 557 //pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
ngokystk 0:b4b94eb28093 558 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 559 canmsgTx.len = 8; //Data Length
ngokystk 0:b4b94eb28093 560 canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 561 canmsgTx.data[1] = 0xFF;//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 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 565
ngokystk 0:b4b94eb28093 566 //pc.printf("%d\r\n",rpm);
ngokystk 0:b4b94eb28093 567 if(rpm<0){
Tomo1213 3:c39c14cfc811 568 rpm=0xFFFFFFFF+rpm+1;
ngokystk 0:b4b94eb28093 569 }
ngokystk 0:b4b94eb28093 570 canmsgTx.data[7]=((rpm>>24)&0xFF);
ngokystk 0:b4b94eb28093 571 canmsgTx.data[6]=((rpm>>16)&0xFF);
ngokystk 0:b4b94eb28093 572 canmsgTx.data[5]=((rpm>>8)&0xFF);
ngokystk 0:b4b94eb28093 573 canmsgTx.data[4]=((rpm>>0)&0xFF);
ngokystk 0:b4b94eb28093 574
ngokystk 0:b4b94eb28093 575 //printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 576 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 577 wait_ms(1);
ngokystk 0:b4b94eb28093 578
ngokystk 0:b4b94eb28093 579 }
Tomo1213 3:c39c14cfc811 580
ngokystk 0:b4b94eb28093 581 void readActVel(int nodeID){
ngokystk 0:b4b94eb28093 582 //値が欲しいobjectのアドレスを送る
ngokystk 0:b4b94eb28093 583 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 584 canmsgTx.len = 4; //Data Length
ngokystk 0:b4b94eb28093 585 canmsgTx.data[0] = 0x40;//|0Byte:40|
ngokystk 0:b4b94eb28093 586 canmsgTx.data[1] = 0x6C;//Index LowByte
ngokystk 0:b4b94eb28093 587 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 588 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 589 canPort.write(canmsgTx);
ngokystk 0:b4b94eb28093 590 wait_ms(1);
ngokystk 0:b4b94eb28093 591 }
Tomo1213 1:b2bd1511307e 592
ngokystk 0:b4b94eb28093 593 void readActPos(int nodeID){
ngokystk 0:b4b94eb28093 594 //値が欲しいobjectのアドレスを送る
ngokystk 0:b4b94eb28093 595 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 596 canmsgTx.len = 4; //Data Length
ngokystk 0:b4b94eb28093 597 canmsgTx.data[0] = 0x40;//|0Byte:40|
ngokystk 0:b4b94eb28093 598 canmsgTx.data[1] = 0x64;//Index LowByte
ngokystk 0:b4b94eb28093 599 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 600 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 601 canPort.write(canmsgTx);
ngokystk 0:b4b94eb28093 602 wait_ms(1);
ngokystk 0:b4b94eb28093 603 }
Tomo1213 1:b2bd1511307e 604
ngokystk 0:b4b94eb28093 605 //加速度指定
ngokystk 0:b4b94eb28093 606 void sendProAcc(int nodeID,int rpm){
ngokystk 0:b4b94eb28093 607 if(rpm < 0){
ngokystk 0:b4b94eb28093 608 rpm += 0xFFFFFFFF;
ngokystk 0:b4b94eb28093 609 }
ngokystk 0:b4b94eb28093 610 // pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
ngokystk 0:b4b94eb28093 611 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 612 canmsgTx.len = 8; //Data Length
ngokystk 0:b4b94eb28093 613 canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 614 canmsgTx.data[1] = 0x83;//Index LowByte
ngokystk 0:b4b94eb28093 615 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 616 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 617 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 618 canmsgTx.data[4] = (rpm >> 0) & 0xFF;
ngokystk 0:b4b94eb28093 619 canmsgTx.data[5] = (rpm >> 8) & 0xFF;
ngokystk 0:b4b94eb28093 620 canmsgTx.data[6] = (rpm >> 16) & 0xFF;
ngokystk 0:b4b94eb28093 621 canmsgTx.data[7] = (rpm >> 24) & 0xFF;
ngokystk 0:b4b94eb28093 622 // printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 623 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 624 wait(0.01);
ngokystk 0:b4b94eb28093 625 //send Enable
ngokystk 0:b4b94eb28093 626 // pc.printf("Send Enable Command\r\n");
ngokystk 0:b4b94eb28093 627 sendCtrlEN(nodeID);
ngokystk 0:b4b94eb28093 628 wait(0.01);
ngokystk 0:b4b94eb28093 629 }
Tomo1213 1:b2bd1511307e 630
ngokystk 0:b4b94eb28093 631 //減速度指定
ngokystk 0:b4b94eb28093 632 void sendProDec(int nodeID,int rpm){
ngokystk 0:b4b94eb28093 633 if(rpm < 0){
ngokystk 0:b4b94eb28093 634 rpm += 0xFFFFFFFF;
Tomo1213 3:c39c14cfc811 635 }
ngokystk 0:b4b94eb28093 636 // pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
ngokystk 0:b4b94eb28093 637 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 638 canmsgTx.len = 8; //Data Length
ngokystk 0:b4b94eb28093 639 canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 640 canmsgTx.data[1] = 0x84;//Index LowByte
ngokystk 0:b4b94eb28093 641 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 642 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 643 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 644 canmsgTx.data[4] = (rpm >> 0) & 0xFF;
ngokystk 0:b4b94eb28093 645 canmsgTx.data[5] = (rpm >> 8) & 0xFF;
ngokystk 0:b4b94eb28093 646 canmsgTx.data[6] = (rpm >> 16) & 0xFF;
ngokystk 0:b4b94eb28093 647 canmsgTx.data[7] = (rpm >> 24) & 0xFF;
ngokystk 0:b4b94eb28093 648 // printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 649 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 650 wait(0.01);
ngokystk 0:b4b94eb28093 651 //send Enable
ngokystk 0:b4b94eb28093 652 // pc.printf("Send Enable Command\r\n");
ngokystk 0:b4b94eb28093 653 sendCtrlEN(nodeID);
ngokystk 0:b4b94eb28093 654 wait(0.01);
ngokystk 0:b4b94eb28093 655 }
Tomo1213 1:b2bd1511307e 656
Tomo1213 1:b2bd1511307e 657
ngokystk 0:b4b94eb28093 658 //送信データの表示
ngokystk 0:b4b94eb28093 659 void printCANTX(void){
ngokystk 0:b4b94eb28093 660 //0x canID|Byte0|Byte1|Byte2|Byte3|Byte4|Byte5|Byte6|Byte7|
ngokystk 0:b4b94eb28093 661 pc.printf("0x%3x|",canmsgTx.id);
ngokystk 0:b4b94eb28093 662 for(char i=0;i < canmsgTx.len;i++){
ngokystk 0:b4b94eb28093 663 pc.printf("%02x|",canmsgTx.data[i]);
ngokystk 0:b4b94eb28093 664 }
ngokystk 0:b4b94eb28093 665 //pc.printf("\r\n");
ngokystk 0:b4b94eb28093 666 }
Tomo1213 1:b2bd1511307e 667
ngokystk 0:b4b94eb28093 668 //受信データの表示
Tomo1213 1:b2bd1511307e 669
ngokystk 0:b4b94eb28093 670 void printCANRX(void){
ngokystk 0:b4b94eb28093 671 //0x canID|Byte0|Byte1|Byte2|Byte3|Byte4|Byte5|Byte6|Byte7|
ngokystk 0:b4b94eb28093 672 //pc.printf("0x%3x|",canmsgRx.id);
ngokystk 0:b4b94eb28093 673 for(char i=0;i < canmsgRx.len;i++){
ngokystk 0:b4b94eb28093 674 //pc.printf("%02x|",canmsgRx.data[i]);
ngokystk 0:b4b94eb28093 675 }
ngokystk 0:b4b94eb28093 676 pc.printf("\r\n");
ngokystk 0:b4b94eb28093 677 }
Tomo1213 1:b2bd1511307e 678
ngokystk 0:b4b94eb28093 679 void CANdataRX(void){
ngokystk 0:b4b94eb28093 680 canPort.read(canmsgRx);
ngokystk 0:b4b94eb28093 681 printCANRX();
ngokystk 0:b4b94eb28093 682 }
Tomo1213 1:b2bd1511307e 683
ngokystk 0:b4b94eb28093 684 void SerialRX(void){
ngokystk 0:b4b94eb28093 685 Serialdata = pc.getc();
ngokystk 0:b4b94eb28093 686 //pc.printf("%c\r\n",Serialdata);
Tomo1213 5:a7c3f446a1f1 687 }