Kanta Takasu / Mbed 2 deprecated YUKA_ak_home_pcon

add pcon f and b

Dependencies:   mbed HCSR04

main.cpp@8:c9a5ef6f003f, 2021-12-19 (annotated)

Committer:
Tomo1213
Date:
Sun Dec 19 20:44:45 2021 +0000
Revision:
8:c9a5ef6f003f
Parent:
7:df29c4de6522
Child:
9:5edd5ab59a99
LED tuika

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);
Tomo1213 5:a7c3f446a1f1 79 void vel_backward(int);
Tomo1213 7:df29c4de6522 80 void vel_right(int);
Tomo1213 7:df29c4de6522 81 void vel_left(int);
Tomo1213 5:a7c3f446a1f1 82
Tomo1213 7:df29c4de6522 83 //unsigned int get_cm_n(HCSR04, unsigned int);
Tomo1213 7:df29c4de6522 84 //USE -> unsigned int dist_UnitA = get_cm_n(u2, 5);
Tomo1213 7:df29c4de6522 85 unsigned int get_cm_n(HCSR04 &echo_unit,int echo_n){
Tomo1213 7:df29c4de6522 86 unsigned int sampled_dist=0;
Tomo1213 7:df29c4de6522 87 for (int iter_n = 0; iter_n <echo_n; iter_n++){
Tomo1213 7:df29c4de6522 88 echo_unit.start();
Tomo1213 7:df29c4de6522 89 sampled_dist += echo_unit.get_dist_cm();
Tomo1213 7:df29c4de6522 90 }
Tomo1213 7:df29c4de6522 91 return (sampled_dist / echo_n);
Tomo1213 7:df29c4de6522 92 }
Tomo1213 5:a7c3f446a1f1 93
ngokystk 0:b4b94eb28093 94 int nodeall=4;
Tomo1213 1:b2bd1511307e 95
ngokystk 0:b4b94eb28093 96 int main(){
ngokystk 0:b4b94eb28093 97 //Serial
ngokystk 0:b4b94eb28093 98 pc.attach(SerialRX);
ngokystk 0:b4b94eb28093 99 //pc.baud(115200);
Tomo1213 8:c9a5ef6f003f 100 LED.baud(9600);
ngokystk 0:b4b94eb28093 101
ngokystk 0:b4b94eb28093 102 //CAN
ngokystk 0:b4b94eb28093 103 canPort.frequency(1000000); //Bit Rate:1MHz
ngokystk 0:b4b94eb28093 104 canPort.attach(CANdataRX,CAN::RxIrq);
ngokystk 0:b4b94eb28093 105 int node1 = 1; //CAN node Setting
ngokystk 0:b4b94eb28093 106 int node2 = 2;
ngokystk 0:b4b94eb28093 107 int node3 = 3;
ngokystk 0:b4b94eb28093 108 int node4 = 4;
ngokystk 0:b4b94eb28093 109
Tomo1213 3:c39c14cfc811 110 //モータ回転数
Tomo1213 7:df29c4de6522 111 int rpm = 400;
Tomo1213 3:c39c14cfc811 112
ngokystk 0:b4b94eb28093 113 //エンコーダ関係
ngokystk 0:b4b94eb28093 114 int ActPos = 0;
ngokystk 0:b4b94eb28093 115 int Init_Pos = 0;
ngokystk 0:b4b94eb28093 116
ngokystk 0:b4b94eb28093 117 //超音波センサ関係パラメータ
Tomo1213 5:a7c3f446a1f1 118 int dist1,dist2,dist3,dist4;
ngokystk 0:b4b94eb28093 119
ngokystk 0:b4b94eb28093 120 //PID制御関係
ngokystk 0:b4b94eb28093 121 //角度調整パラメータ
Tomo1213 5:a7c3f446a1f1 122
Tomo1213 5:a7c3f446a1f1 123
ngokystk 0:b4b94eb28093 124 #define DELTA_T1 0.1
ngokystk 0:b4b94eb28093 125 #define target_val1 0
ngokystk 0:b4b94eb28093 126 #define Kp1 3
ngokystk 0:b4b94eb28093 127 #define Ki1 0
ngokystk 0:b4b94eb28093 128 #define Kd1 0
Tomo1213 1:b2bd1511307e 129
ngokystk 0:b4b94eb28093 130 pc.printf("YUKA PROGRAM START\r\n");
ngokystk 0:b4b94eb28093 131 wait(0.1);
ngokystk 0:b4b94eb28093 132 //-------------起動時に必ず送信---------------
ngokystk 0:b4b94eb28093 133 //オペレーティングモードを送信
Tomo1213 3:c39c14cfc811 134 sendOPModeT(node1);
Tomo1213 3:c39c14cfc811 135 sendOPModeT(node2);
Tomo1213 3:c39c14cfc811 136 sendOPModeT(node3);
Tomo1213 3:c39c14cfc811 137 sendOPModeT(node4);
Tomo1213 3:c39c14cfc811 138
ngokystk 0:b4b94eb28093 139 //Shutdown,Enableコマンド送信｜リセット
ngokystk 0:b4b94eb28093 140 sendCtrlSD(node1);
ngokystk 0:b4b94eb28093 141 sendCtrlSD(node2);
ngokystk 0:b4b94eb28093 142 sendCtrlSD(node3);
ngokystk 0:b4b94eb28093 143 sendCtrlSD(node4);
Tomo1213 1:b2bd1511307e 144
ngokystk 0:b4b94eb28093 145 sendCtrlEN(node1);
ngokystk 0:b4b94eb28093 146 sendCtrlEN(node2);
ngokystk 0:b4b94eb28093 147 sendCtrlEN(node3);
ngokystk 0:b4b94eb28093 148 sendCtrlEN(node4);
ngokystk 0:b4b94eb28093 149
ngokystk 0:b4b94eb28093 150 //初期加減速度
Tomo1213 3:c39c14cfc811 151 int Acc = 2000;
Tomo1213 3:c39c14cfc811 152 int Dec = 2000;
Tomo1213 3:c39c14cfc811 153
Tomo1213 3:c39c14cfc811 154 sendProAcc(1,Acc);
Tomo1213 3:c39c14cfc811 155 sendProAcc(2,Acc);
Tomo1213 3:c39c14cfc811 156 sendProAcc(3,Acc);
Tomo1213 3:c39c14cfc811 157 sendProAcc(4,Acc);
Tomo1213 3:c39c14cfc811 158
Tomo1213 3:c39c14cfc811 159 sendProDec(1,Dec);
Tomo1213 3:c39c14cfc811 160 sendProDec(2,Dec);
Tomo1213 3:c39c14cfc811 161 sendProDec(3,Dec);
Tomo1213 3:c39c14cfc811 162 sendProDec(4,Dec);
Tomo1213 3:c39c14cfc811 163
ngokystk 0:b4b94eb28093 164 //トルク設定
ngokystk 0:b4b94eb28093 165 int trq = 100; //torque Setting[mA]
ngokystk 0:b4b94eb28093 166
ngokystk 0:b4b94eb28093 167 sendTgtTrq(1,trq);
ngokystk 0:b4b94eb28093 168 sendTgtTrq(2,trq);
ngokystk 0:b4b94eb28093 169 sendTgtTrq(3,trq);
ngokystk 0:b4b94eb28093 170 sendTgtTrq(4,trq);
Tomo1213 1:b2bd1511307e 171
Tomo1213 5:a7c3f446a1f1 172 int state_1 = 0;
Tomo1213 5:a7c3f446a1f1 173
Tomo1213 7:df29c4de6522 174 ActPos = 0;
Tomo1213 7:df29c4de6522 175 Init_Pos = 0;
Tomo1213 7:df29c4de6522 176 dist1 = 0;
Tomo1213 7:df29c4de6522 177 readActPos(1);
Tomo1213 7:df29c4de6522 178 ActPos=canmsgRx.data[4]+canmsgRx.data[5]*256+canmsgRx.data[6]*65536;
Tomo1213 7:df29c4de6522 179 if(ActPos > 8388608){
Tomo1213 7:df29c4de6522 180 ActPos -= 0x1000000;//16進数でのマイナス処理 16^7 = 16,777,216 = 0x1000000
Tomo1213 7:df29c4de6522 181 }
Tomo1213 7:df29c4de6522 182 Init_Pos = ActPos;//起動時の角度を保存
Tomo1213 7:df29c4de6522 183 t.reset();
Tomo1213 7:df29c4de6522 184 t.start();
Tomo1213 7:df29c4de6522 185
Tomo1213 7:df29c4de6522 186 //set_MODE_T();
Tomo1213 7:df29c4de6522 187
Tomo1213 7:df29c4de6522 188 printf("\nstart\r\n");
Tomo1213 7:df29c4de6522 189
Tomo1213 7:df29c4de6522 190 while(1){
Tomo1213 7:df29c4de6522 191
Tomo1213 7:df29c4de6522 192 Time = t.read();
Tomo1213 7:df29c4de6522 193
Tomo1213 1:b2bd1511307e 194 readActPos(1);
Tomo1213 1:b2bd1511307e 195 ActPos=canmsgRx.data[4]+canmsgRx.data[5]*256+canmsgRx.data[6]*65536;
Tomo1213 1:b2bd1511307e 196 if(ActPos > 8388608){
Tomo1213 1:b2bd1511307e 197 ActPos -= 0x1000000;//16進数でのマイナス処理 16^7 = 16,777,216 = 0x1000000
Tomo1213 7:df29c4de6522 198 //printf("check\r\n");
ngokystk 0:b4b94eb28093 199 }
Tomo1213 7:df29c4de6522 200 //u1.start();
Tomo1213 7:df29c4de6522 201 //u2.start();
Tomo1213 5:a7c3f446a1f1 202
Tomo1213 7:df29c4de6522 203 //dist1 = u1.get_dist_cm();
Tomo1213 7:df29c4de6522 204 //dist2 = u2.get_dist_cm();
Tomo1213 7:df29c4de6522 205
Tomo1213 7:df29c4de6522 206 dist1 = get_cm_n(u1, 5);
Tomo1213 7:df29c4de6522 207 dist2 = get_cm_n(u2, 5);
Tomo1213 7:df29c4de6522 208 dist3 = get_cm_n(u3, 5);
Tomo1213 5:a7c3f446a1f1 209
Tomo1213 7:df29c4de6522 210 //printf("dsit1 %d\r\n",dist1);
Tomo1213 7:df29c4de6522 211 printf("%d\r\n",state_1);
Tomo1213 7:df29c4de6522 212 /*--------------------------*/
Tomo1213 7:df29c4de6522 213 //前方向に入力があった時
Tomo1213 7:df29c4de6522 214 if(state_1 == 0){//入力判断フェーズ
Tomo1213 7:df29c4de6522 215 if(ActPos < (Init_Pos - KICK)){
Tomo1213 7:df29c4de6522 216 state_1 = 1;
Tomo1213 7:df29c4de6522 217 }else if(ActPos > (Init_Pos + KICK)){
Tomo1213 7:df29c4de6522 218 state_1 = 11;
Tomo1213 7:df29c4de6522 219 }else{
Tomo1213 7:df29c4de6522 220 set_MODE_T();
Tomo1213 8:c9a5ef6f003f 221 LED.printf("wait\n\r");
Tomo1213 7:df29c4de6522 222 }
Tomo1213 7:df29c4de6522 223 }else if(state_1 == 1){//前進→壁検出フェーズ
Tomo1213 7:df29c4de6522 224 if(dist1 < WALL && dist1 >= 25){
Tomo1213 7:df29c4de6522 225 state_1 = 2;
Tomo1213 7:df29c4de6522 226 }else{
Tomo1213 7:df29c4de6522 227 set_ACC(ACC_B);//加速度設定
Tomo1213 7:df29c4de6522 228 set_DEC(ACC_C);//減速度設定
Tomo1213 7:df29c4de6522 229 set_MODE_V();//速度制御モード送信
Tomo1213 7:df29c4de6522 230 vel_forward(rpm);//前進速度指令
Tomo1213 8:c9a5ef6f003f 231 LED.printf("up\n\r");
Tomo1213 7:df29c4de6522 232 }
Tomo1213 7:df29c4de6522 233 }else if(state_1 == 2){//前進からの帰還フェーズ
Tomo1213 7:df29c4de6522 234 if(ActPos > -3000){
Tomo1213 7:df29c4de6522 235 vel_stop();
Tomo1213 7:df29c4de6522 236 state_1 = 0;
Tomo1213 7:df29c4de6522 237 wait(1.0);
Tomo1213 7:df29c4de6522 238 //break;
Tomo1213 7:df29c4de6522 239 }else{
Tomo1213 7:df29c4de6522 240 vel_backward(rpm);
Tomo1213 8:c9a5ef6f003f 241 LED.printf("down\n\r");
Tomo1213 7:df29c4de6522 242 }
Tomo1213 7:df29c4de6522 243 }else if(state_1 == 11){//右進→壁検出フェーズ
Tomo1213 7:df29c4de6522 244 if(dist3 < WALL && dist3 >= 25){
Tomo1213 7:df29c4de6522 245 state_1 = 12;
Tomo1213 7:df29c4de6522 246 }else{
Tomo1213 7:df29c4de6522 247 set_ACC(ACC_B);//加速度設定
Tomo1213 7:df29c4de6522 248 set_DEC(ACC_C);//減速度設定
Tomo1213 7:df29c4de6522 249 set_MODE_V();//速度制御モード送信
Tomo1213 7:df29c4de6522 250 vel_right(rpm);//前進速度指令
Tomo1213 8:c9a5ef6f003f 251 LED.printf("right\n\r");
Tomo1213 7:df29c4de6522 252 }
Tomo1213 7:df29c4de6522 253 }else if(state_1 == 12){//右進からの帰還フェーズ
Tomo1213 7:df29c4de6522 254 if(ActPos < 3000){
Tomo1213 7:df29c4de6522 255 vel_stop();
Tomo1213 7:df29c4de6522 256 state_1 = 0;
Tomo1213 7:df29c4de6522 257 wait(1.0);
Tomo1213 7:df29c4de6522 258 //break;
Tomo1213 7:df29c4de6522 259 }else{
Tomo1213 7:df29c4de6522 260 vel_left(rpm);
Tomo1213 8:c9a5ef6f003f 261 LED.printf("left\n\r");
Tomo1213 7:df29c4de6522 262 }
Tomo1213 7:df29c4de6522 263 }
Tomo1213 7:df29c4de6522 264 }
Tomo1213 7:df29c4de6522 265
Tomo1213 7:df29c4de6522 266 }
Tomo1213 7:df29c4de6522 267
Tomo1213 7:df29c4de6522 268 void vel_right(int rpm){
Tomo1213 7:df29c4de6522 269 sendTgtVel(1,rpm);
Tomo1213 7:df29c4de6522 270 sendTgtVel(2,rpm*(-1));
Tomo1213 7:df29c4de6522 271 sendTgtVel(3,rpm*(-1));
Tomo1213 7:df29c4de6522 272 sendTgtVel(4,rpm);
Tomo1213 7:df29c4de6522 273 for(int i=1;i<= 4;i++){
Tomo1213 7:df29c4de6522 274 sendCtrlEN(i);
Tomo1213 7:df29c4de6522 275 }
Tomo1213 7:df29c4de6522 276 }
Tomo1213 7:df29c4de6522 277
Tomo1213 7:df29c4de6522 278 void vel_left(int rpm){
Tomo1213 7:df29c4de6522 279 sendTgtVel(1,rpm*(-1));
Tomo1213 7:df29c4de6522 280 sendTgtVel(2,rpm);
Tomo1213 7:df29c4de6522 281 sendTgtVel(3,rpm);
Tomo1213 7:df29c4de6522 282 sendTgtVel(4,rpm*(-1));
Tomo1213 7:df29c4de6522 283 for(int i=1;i<= 4;i++){
Tomo1213 7:df29c4de6522 284 sendCtrlEN(i);
Tomo1213 5:a7c3f446a1f1 285 }
Tomo1213 5:a7c3f446a1f1 286 }
Tomo1213 5:a7c3f446a1f1 287
Tomo1213 5:a7c3f446a1f1 288 void vel_stop(){
Tomo1213 5:a7c3f446a1f1 289 //速度を指定
Tomo1213 5:a7c3f446a1f1 290 sendTgtVel(1,0);
Tomo1213 5:a7c3f446a1f1 291 sendTgtVel(2,0);
Tomo1213 5:a7c3f446a1f1 292 sendTgtVel(3,0);
Tomo1213 5:a7c3f446a1f1 293 sendTgtVel(4,0);
Tomo1213 5:a7c3f446a1f1 294 //指令値を送信
Tomo1213 5:a7c3f446a1f1 295 for(int i=1;i<= 4;i++){
Tomo1213 5:a7c3f446a1f1 296 sendCtrlEN(i);
Tomo1213 5:a7c3f446a1f1 297 }
Tomo1213 5:a7c3f446a1f1 298 }
ngokystk 0:b4b94eb28093 299
Tomo1213 5:a7c3f446a1f1 300 void vel_backward(int rpm){
Tomo1213 5:a7c3f446a1f1 301 //速度を指定
Tomo1213 5:a7c3f446a1f1 302 sendTgtVel(1,rpm);
Tomo1213 5:a7c3f446a1f1 303 sendTgtVel(2,rpm);
Tomo1213 5:a7c3f446a1f1 304 sendTgtVel(3,rpm*(-1));
Tomo1213 5:a7c3f446a1f1 305 sendTgtVel(4,rpm*(-1));
Tomo1213 5:a7c3f446a1f1 306 //指令値を送信
Tomo1213 5:a7c3f446a1f1 307 for(int i=1;i<= 4;i++){
Tomo1213 5:a7c3f446a1f1 308 sendCtrlEN(i);
Tomo1213 5:a7c3f446a1f1 309 }
Tomo1213 5:a7c3f446a1f1 310 }
Tomo1213 5:a7c3f446a1f1 311
Tomo1213 5:a7c3f446a1f1 312 void vel_forward(int rpm){
Tomo1213 5:a7c3f446a1f1 313 //速度を指定
Tomo1213 5:a7c3f446a1f1 314 sendTgtVel(1,rpm*(-1));
Tomo1213 5:a7c3f446a1f1 315 sendTgtVel(2,rpm*(-1));
Tomo1213 5:a7c3f446a1f1 316 sendTgtVel(3,rpm);
Tomo1213 5:a7c3f446a1f1 317 sendTgtVel(4,rpm);
Tomo1213 5:a7c3f446a1f1 318 //指令値を送信
Tomo1213 5:a7c3f446a1f1 319 for(int i=1;i<= 4;i++){
Tomo1213 5:a7c3f446a1f1 320 sendCtrlEN(i);
Tomo1213 5:a7c3f446a1f1 321 }
Tomo1213 1:b2bd1511307e 322 }
Tomo1213 1:b2bd1511307e 323
Tomo1213 1:b2bd1511307e 324 void set_ACC(int setACC_val){
Tomo1213 1:b2bd1511307e 325 sendProAcc(1,setACC_val);
Tomo1213 1:b2bd1511307e 326 sendProAcc(2,setACC_val);
Tomo1213 1:b2bd1511307e 327 sendProAcc(3,setACC_val);
Tomo1213 1:b2bd1511307e 328 sendProAcc(4,setACC_val);
ngokystk 0:b4b94eb28093 329 }
ngokystk 0:b4b94eb28093 330
Tomo1213 1:b2bd1511307e 331 void set_DEC(int setDEC_val){
Tomo1213 1:b2bd1511307e 332 sendProDec(1,setDEC_val);
Tomo1213 1:b2bd1511307e 333 sendProDec(2,setDEC_val);
Tomo1213 1:b2bd1511307e 334 sendProDec(3,setDEC_val);
Tomo1213 1:b2bd1511307e 335 sendProDec(4,setDEC_val);
Tomo1213 1:b2bd1511307e 336 }
ngokystk 0:b4b94eb28093 337
Tomo1213 1:b2bd1511307e 338 void set_MODE_V(){
Tomo1213 1:b2bd1511307e 339 sendOPModeV(1);
Tomo1213 1:b2bd1511307e 340 sendOPModeV(2);
Tomo1213 1:b2bd1511307e 341 sendOPModeV(3);
Tomo1213 1:b2bd1511307e 342 sendOPModeV(4);
Tomo1213 1:b2bd1511307e 343 }
ngokystk 0:b4b94eb28093 344
Tomo1213 1:b2bd1511307e 345 void set_MODE_T(){
Tomo1213 1:b2bd1511307e 346 sendOPModeT(1);
Tomo1213 1:b2bd1511307e 347 sendOPModeT(2);
Tomo1213 1:b2bd1511307e 348 sendOPModeT(3);
Tomo1213 1:b2bd1511307e 349 sendOPModeT(4);
Tomo1213 1:b2bd1511307e 350 }
ngokystk 0:b4b94eb28093 351
ngokystk 0:b4b94eb28093 352 //0x2F-6060-00-fd-//-//-//
ngokystk 0:b4b94eb28093 353 void sendOPModeT(int nodeID){
ngokystk 0:b4b94eb28093 354 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 355 canmsgTx.len = 5; //Data Length
ngokystk 0:b4b94eb28093 356 canmsgTx.data[0] = 0x2F;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 357 canmsgTx.data[1] = 0x60;//Index LowByte
ngokystk 0:b4b94eb28093 358 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 359 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 360 canmsgTx.data[4] = 0xFD;//data:fd = "current Mode"
ngokystk 0:b4b94eb28093 361 /*
ngokystk 0:b4b94eb28093 362 canmsgTx.data[5] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 363 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 364 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 365 */
ngokystk 0:b4b94eb28093 366 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 367 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 368 wait_ms(1);
ngokystk 0:b4b94eb28093 369 }
Tomo1213 1:b2bd1511307e 370
Tomo1213 3:c39c14cfc811 371
ngokystk 0:b4b94eb28093 372 //0x2F-6060-00-03-//-//-//
ngokystk 0:b4b94eb28093 373 void sendOPModeV(int nodeID){
ngokystk 0:b4b94eb28093 374 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 375 canmsgTx.len = 5; //Data Length
ngokystk 0:b4b94eb28093 376 canmsgTx.data[0] = 0x2F;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 377 canmsgTx.data[1] = 0x60;//Index LowByte
ngokystk 0:b4b94eb28093 378 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 379 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 380 canmsgTx.data[4] = 0x03;//data:0x03 = "Profile Velocity Mode"
ngokystk 0:b4b94eb28093 381 /*
ngokystk 0:b4b94eb28093 382 canmsgTx.data[5] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 383 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 384 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 385 */
ngokystk 0:b4b94eb28093 386 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 387 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 388 wait_ms(1);
ngokystk 0:b4b94eb28093 389 }
Tomo1213 1:b2bd1511307e 390
ngokystk 0:b4b94eb28093 391 //0x2B-6040-00-0000-//-//
ngokystk 0:b4b94eb28093 392 void sendCtrlRS(int nodeID){
ngokystk 0:b4b94eb28093 393 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 394 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 395 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 396 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 397 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 398 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 399 canmsgTx.data[4] = 0x80;//data:0x00"80" = "Controlword(Shutdown)"
ngokystk 0:b4b94eb28093 400 canmsgTx.data[5] = 0x00;//data:0x"00"80
ngokystk 0:b4b94eb28093 401 /*
ngokystk 0:b4b94eb28093 402 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 403 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 404 */
ngokystk 0:b4b94eb28093 405 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 406 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 407 wait_ms(1);
ngokystk 0:b4b94eb28093 408 }
Tomo1213 1:b2bd1511307e 409
Tomo1213 1:b2bd1511307e 410
ngokystk 0:b4b94eb28093 411 //0x2B-6040-00-0006-//-//
ngokystk 0:b4b94eb28093 412 void sendCtrlSD(int nodeID){
ngokystk 0:b4b94eb28093 413 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 414 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 415 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 416 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 417 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 418 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 419 canmsgTx.data[4] = 0x06;//data:0x00"06" = "Controlword(Shutdown)"
ngokystk 0:b4b94eb28093 420 canmsgTx.data[5] = 0x00;//data:0x"00"06
ngokystk 0:b4b94eb28093 421 /*
ngokystk 0:b4b94eb28093 422 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 423 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 424 */
ngokystk 0:b4b94eb28093 425 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 426 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 427 wait_ms(1);
ngokystk 0:b4b94eb28093 428 }
Tomo1213 1:b2bd1511307e 429
ngokystk 0:b4b94eb28093 430 //0x2B-6040-00-000F-//-//
ngokystk 0:b4b94eb28093 431 void sendCtrlEN(int nodeID){
ngokystk 0:b4b94eb28093 432 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 433 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 434 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 435 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 436 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 437 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 438 canmsgTx.data[4] = 0x0F;//data:0x00"0F" = "Controlword(Enable)"
ngokystk 0:b4b94eb28093 439 canmsgTx.data[5] = 0x00;//data:0x"00"0F
ngokystk 0:b4b94eb28093 440 /*
ngokystk 0:b4b94eb28093 441 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 442 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 443 */
ngokystk 0:b4b94eb28093 444 //printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 445 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 446 wait_ms(1);
ngokystk 0:b4b94eb28093 447 }
Tomo1213 1:b2bd1511307e 448
ngokystk 0:b4b94eb28093 449 //0x2B-6040-00-000B-//-//
ngokystk 0:b4b94eb28093 450 void sendCtrlQS(int nodeID){
ngokystk 0:b4b94eb28093 451 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 452 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 453 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 454 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 455 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 456 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 457 canmsgTx.data[4] = 0x0B;//data:0x00"0B" = "Quick Stop"
ngokystk 0:b4b94eb28093 458 canmsgTx.data[5] = 0x00;//data:0x"00"0B
ngokystk 0:b4b94eb28093 459 /*
ngokystk 0:b4b94eb28093 460 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 461 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 462 */
ngokystk 0:b4b94eb28093 463 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 464 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 465 wait_ms(1);
ngokystk 0:b4b94eb28093 466 }
Tomo1213 1:b2bd1511307e 467
ngokystk 0:b4b94eb28093 468 //0x2B-6040-00-010F-//-//
ngokystk 0:b4b94eb28093 469 void sendCtrlHL(int nodeID){
ngokystk 0:b4b94eb28093 470 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 471 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 472 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 473 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 474 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 475 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 476 canmsgTx.data[4] = 0x0F;//data:0x01"0F" = "Halt"
ngokystk 0:b4b94eb28093 477 canmsgTx.data[5] = 0x01;//data:0x"01"0F
ngokystk 0:b4b94eb28093 478 /*
ngokystk 0:b4b94eb28093 479 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 480 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 481 */
ngokystk 0:b4b94eb28093 482 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 483 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 484 wait_ms(1);
ngokystk 0:b4b94eb28093 485 }
Tomo1213 1:b2bd1511307e 486
ngokystk 0:b4b94eb28093 487 //0x2B-60FF-00-[user data(4Byte)]
ngokystk 0:b4b94eb28093 488 void sendTgtTrq(int nodeID,int trq){
ngokystk 0:b4b94eb28093 489 //pc.printf("%dmA0x%08x\r\n",trq,trq); //回転数送信データの表示
ngokystk 0:b4b94eb28093 490 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 491 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 492 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 493 canmsgTx.data[1] = 0x30;//Index LowByte 71
ngokystk 0:b4b94eb28093 494 canmsgTx.data[2] = 0x20;//Index HighByte 60
ngokystk 0:b4b94eb28093 495 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 496 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 497 if(trq<0){
Tomo1213 3:c39c14cfc811 498 trq=0xFFFF+trq+1;
ngokystk 0:b4b94eb28093 499 }
ngokystk 0:b4b94eb28093 500
ngokystk 0:b4b94eb28093 501 //pc.printf("iii%d\r\n",trq);
ngokystk 0:b4b94eb28093 502 //canmsgTx.data[7]=((trq>>24)&0xFF);
ngokystk 0:b4b94eb28093 503 //canmsgTx.data[6]=((trq>>16)&0xFF);
ngokystk 0:b4b94eb28093 504
ngokystk 0:b4b94eb28093 505 canmsgTx.data[5]=((trq>>8)&0xFF);
ngokystk 0:b4b94eb28093 506 canmsgTx.data[4]=((trq>>0)&0xFF);
ngokystk 0:b4b94eb28093 507 //printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 508 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 509 wait_ms(2);
ngokystk 0:b4b94eb28093 510 //send Enable
ngokystk 0:b4b94eb28093 511 //pc.printf("Send Enable Command\r\n");
ngokystk 0:b4b94eb28093 512 //sendCtrlEN(nodeID);
ngokystk 0:b4b94eb28093 513 //wait(0.5);
ngokystk 0:b4b94eb28093 514 }
Tomo1213 1:b2bd1511307e 515
Tomo1213 3:c39c14cfc811 516
Tomo1213 3:c39c14cfc811 517
Tomo1213 3:c39c14cfc811 518
ngokystk 0:b4b94eb28093 519 //0x2B-60FF-00-[user data(4Byte)]
ngokystk 0:b4b94eb28093 520 void sendTgtVel(int nodeID,int rpm){
ngokystk 0:b4b94eb28093 521 //pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
ngokystk 0:b4b94eb28093 522 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 523 canmsgTx.len = 8; //Data Length
ngokystk 0:b4b94eb28093 524 canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 525 canmsgTx.data[1] = 0xFF;//Index LowByte
ngokystk 0:b4b94eb28093 526 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 527 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 528 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 529
ngokystk 0:b4b94eb28093 530 //pc.printf("%d\r\n",rpm);
ngokystk 0:b4b94eb28093 531 if(rpm<0){
Tomo1213 3:c39c14cfc811 532 rpm=0xFFFFFFFF+rpm+1;
ngokystk 0:b4b94eb28093 533 }
ngokystk 0:b4b94eb28093 534 canmsgTx.data[7]=((rpm>>24)&0xFF);
ngokystk 0:b4b94eb28093 535 canmsgTx.data[6]=((rpm>>16)&0xFF);
ngokystk 0:b4b94eb28093 536 canmsgTx.data[5]=((rpm>>8)&0xFF);
ngokystk 0:b4b94eb28093 537 canmsgTx.data[4]=((rpm>>0)&0xFF);
ngokystk 0:b4b94eb28093 538
ngokystk 0:b4b94eb28093 539 //printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 540 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 541 wait_ms(1);
ngokystk 0:b4b94eb28093 542
ngokystk 0:b4b94eb28093 543 }
Tomo1213 3:c39c14cfc811 544
ngokystk 0:b4b94eb28093 545 void readActVel(int nodeID){
ngokystk 0:b4b94eb28093 546 //値が欲しいobjectのアドレスを送る
ngokystk 0:b4b94eb28093 547 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 548 canmsgTx.len = 4; //Data Length
ngokystk 0:b4b94eb28093 549 canmsgTx.data[0] = 0x40;//|0Byte:40|
ngokystk 0:b4b94eb28093 550 canmsgTx.data[1] = 0x6C;//Index LowByte
ngokystk 0:b4b94eb28093 551 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 552 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 553 canPort.write(canmsgTx);
ngokystk 0:b4b94eb28093 554 wait_ms(1);
ngokystk 0:b4b94eb28093 555 }
Tomo1213 1:b2bd1511307e 556
ngokystk 0:b4b94eb28093 557 void readActPos(int nodeID){
ngokystk 0:b4b94eb28093 558 //値が欲しいobjectのアドレスを送る
ngokystk 0:b4b94eb28093 559 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 560 canmsgTx.len = 4; //Data Length
ngokystk 0:b4b94eb28093 561 canmsgTx.data[0] = 0x40;//|0Byte:40|
ngokystk 0:b4b94eb28093 562 canmsgTx.data[1] = 0x64;//Index LowByte
ngokystk 0:b4b94eb28093 563 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 564 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 565 canPort.write(canmsgTx);
ngokystk 0:b4b94eb28093 566 wait_ms(1);
ngokystk 0:b4b94eb28093 567 }
Tomo1213 1:b2bd1511307e 568
ngokystk 0:b4b94eb28093 569 //加速度指定
ngokystk 0:b4b94eb28093 570 void sendProAcc(int nodeID,int rpm){
ngokystk 0:b4b94eb28093 571 if(rpm < 0){
ngokystk 0:b4b94eb28093 572 rpm += 0xFFFFFFFF;
ngokystk 0:b4b94eb28093 573 }
ngokystk 0:b4b94eb28093 574 // pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
ngokystk 0:b4b94eb28093 575 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 576 canmsgTx.len = 8; //Data Length
ngokystk 0:b4b94eb28093 577 canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 578 canmsgTx.data[1] = 0x83;//Index LowByte
ngokystk 0:b4b94eb28093 579 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 580 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 581 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 582 canmsgTx.data[4] = (rpm >> 0) & 0xFF;
ngokystk 0:b4b94eb28093 583 canmsgTx.data[5] = (rpm >> 8) & 0xFF;
ngokystk 0:b4b94eb28093 584 canmsgTx.data[6] = (rpm >> 16) & 0xFF;
ngokystk 0:b4b94eb28093 585 canmsgTx.data[7] = (rpm >> 24) & 0xFF;
ngokystk 0:b4b94eb28093 586 // printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 587 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 588 wait(0.01);
ngokystk 0:b4b94eb28093 589 //send Enable
ngokystk 0:b4b94eb28093 590 // pc.printf("Send Enable Command\r\n");
ngokystk 0:b4b94eb28093 591 sendCtrlEN(nodeID);
ngokystk 0:b4b94eb28093 592 wait(0.01);
ngokystk 0:b4b94eb28093 593 }
Tomo1213 1:b2bd1511307e 594
ngokystk 0:b4b94eb28093 595 //減速度指定
ngokystk 0:b4b94eb28093 596 void sendProDec(int nodeID,int rpm){
ngokystk 0:b4b94eb28093 597 if(rpm < 0){
ngokystk 0:b4b94eb28093 598 rpm += 0xFFFFFFFF;
Tomo1213 3:c39c14cfc811 599 }
ngokystk 0:b4b94eb28093 600 // pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
ngokystk 0:b4b94eb28093 601 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 602 canmsgTx.len = 8; //Data Length
ngokystk 0:b4b94eb28093 603 canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 604 canmsgTx.data[1] = 0x84;//Index LowByte
ngokystk 0:b4b94eb28093 605 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 606 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 607 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 608 canmsgTx.data[4] = (rpm >> 0) & 0xFF;
ngokystk 0:b4b94eb28093 609 canmsgTx.data[5] = (rpm >> 8) & 0xFF;
ngokystk 0:b4b94eb28093 610 canmsgTx.data[6] = (rpm >> 16) & 0xFF;
ngokystk 0:b4b94eb28093 611 canmsgTx.data[7] = (rpm >> 24) & 0xFF;
ngokystk 0:b4b94eb28093 612 // printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 613 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 614 wait(0.01);
ngokystk 0:b4b94eb28093 615 //send Enable
ngokystk 0:b4b94eb28093 616 // pc.printf("Send Enable Command\r\n");
ngokystk 0:b4b94eb28093 617 sendCtrlEN(nodeID);
ngokystk 0:b4b94eb28093 618 wait(0.01);
ngokystk 0:b4b94eb28093 619 }
Tomo1213 1:b2bd1511307e 620
Tomo1213 1:b2bd1511307e 621
ngokystk 0:b4b94eb28093 622 //送信データの表示
ngokystk 0:b4b94eb28093 623 void printCANTX(void){
ngokystk 0:b4b94eb28093 624 //0x canID|Byte0|Byte1|Byte2|Byte3|Byte4|Byte5|Byte6|Byte7|
ngokystk 0:b4b94eb28093 625 pc.printf("0x%3x|",canmsgTx.id);
ngokystk 0:b4b94eb28093 626 for(char i=0;i < canmsgTx.len;i++){
ngokystk 0:b4b94eb28093 627 pc.printf("%02x|",canmsgTx.data[i]);
ngokystk 0:b4b94eb28093 628 }
ngokystk 0:b4b94eb28093 629 //pc.printf("\r\n");
ngokystk 0:b4b94eb28093 630 }
Tomo1213 1:b2bd1511307e 631
ngokystk 0:b4b94eb28093 632 //受信データの表示
Tomo1213 1:b2bd1511307e 633
ngokystk 0:b4b94eb28093 634 void printCANRX(void){
ngokystk 0:b4b94eb28093 635 //0x canID|Byte0|Byte1|Byte2|Byte3|Byte4|Byte5|Byte6|Byte7|
ngokystk 0:b4b94eb28093 636 //pc.printf("0x%3x|",canmsgRx.id);
ngokystk 0:b4b94eb28093 637 for(char i=0;i < canmsgRx.len;i++){
ngokystk 0:b4b94eb28093 638 //pc.printf("%02x|",canmsgRx.data[i]);
ngokystk 0:b4b94eb28093 639 }
ngokystk 0:b4b94eb28093 640 pc.printf("\r\n");
ngokystk 0:b4b94eb28093 641 }
Tomo1213 1:b2bd1511307e 642
ngokystk 0:b4b94eb28093 643 void CANdataRX(void){
ngokystk 0:b4b94eb28093 644 canPort.read(canmsgRx);
ngokystk 0:b4b94eb28093 645 printCANRX();
ngokystk 0:b4b94eb28093 646 }
Tomo1213 1:b2bd1511307e 647
ngokystk 0:b4b94eb28093 648 void SerialRX(void){
ngokystk 0:b4b94eb28093 649 Serialdata = pc.getc();
ngokystk 0:b4b94eb28093 650 //pc.printf("%c\r\n",Serialdata);
Tomo1213 5:a7c3f446a1f1 651 }