Kanta Takasu
yuka_tks
Revision 6:dd35cc3b5ca0, committed 2021-12-20
- Comitter:
- tks1
- Date:
- Mon Dec 20 15:49:55 2021 +0000
- Parent:
- 5:f21e1a75f98b
- Commit message:
- yuka_tks
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| yuka.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r f21e1a75f98b -r dd35cc3b5ca0 main.cpp
--- a/main.cpp Mon Dec 20 14:13:29 2021 +0000
+++ b/main.cpp Mon Dec 20 15:49:55 2021 +0000
@@ -1,137 +1,31 @@
//2021/12/20更新
-//YUKA本番機用プログラム
-//入力切替確認済み
-//一定時間の入力なしで動作切替
-//ジグザグ動作実装前
-//エンコーダ読み取りによる入力
-//加減速度調整パラメータ実装
-//PID制御による機体角度補正_
-//aoki
-
-#include "mbed.h"
-#include "hcsr04.h"
-
-#define RPM_RIDE 400
-#define RPM_CLEAN 400
-#define ACC_RIDE 1000
-#define DEC_RIDE 700
-#define ACC_CLEAN 1000
-#define DEC_CLEAN 1000
-
-#define KICK 2000
-#define CLEAN_OFFSET 6000
-
-#define WALL 45
-#define WALL_MIN 25
-#define Standby_Time 10
-#define GETOFF_TIME 3
-
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-DigitalOut led3(LED3);
-DigitalOut led4(LED4);
-
-Timer t;
-double Time = 0;
-
-Serial pc(USBTX, USBRX);
-Serial LED(PB_6,PB_7);
-char Serialdata;
-BusOut myled(LED1, LED2, LED3, LED4);
-
-//HCSR04 u1(p13, p14), u2(p11, p12), u3(p23, p24), u4(p25, p26); // Trigger(DO), Echo(PWMIN); LPC1768
-HCSR04 u1(PA_0, PA_1),u2(PA_5, PA_6),u3(PB_0, PA_10); // Trigger(DO), Echo(PWMIN); f303k8
-
-CANMessage canmsgTx;
-CANMessage canmsgRx;
-//CAN canPort(p30, p29); //CAN name(PinName rd, PinName td) LPC1768
-CAN canPort(PA_11, PA_12); //CAN name(PinName rd, PinName td) F303k8
-
-//プロトタイプ宣言
-//------------------send関数-------------------
-//mode Setting
-void sendOPModeT(int); //Operating Mode
-void sendOPModeV(int); //Operating Mode
-//Control Word
-void sendCtrlRS(int); //Reset
-void sendCtrlSD(int); //Shutdown
-void sendCtrlEN(int); //Switch on & Enable
-void sendCtrlQS(int); //Quick Stop
-void sendCtrlHL(int); //Halt
-//Velocity Setting
-void sendTgtVel(int,int); //Target Velocity
-//Torque Setting
-void sendTgtTrq(int,int); //Target Torque
-//Acceleration Setting
-void sendProAcc(int,int); //Plof Acceleration
-void sendProDec(int,int); //Plof Deceleration
-//------------------read関数-------------------
-void readActVel(int); //Actual Velocity
-void readActPos(int); //Actual Position
-//-------------------その他--------------------
-void printCANTX(void); //CAN送信データをPCに表示
-void printCANRX(void); //CAN受信データをPCに表示
-void CANdataRX(void); //CAN受信処理
-void SerialRX(void); //Serial受信処理
-//---------------------------------------------
-void set_ACC(int);
-void set_DEC(int);
-void set_MODE_V(void);
-void set_MODE_T(void);
-
-void vel_stop(void);
-
-void vel_forward(int);
-void vel_forward_con(int);
-void vel_backward(int);
-void vel_backward_con(int);
-void vel_right(int);
-void vel_right_con(int);
-void vel_left(int);
-
-//unsigned int get_cm_n(HCSR04, unsigned int);
-//USE -> unsigned int dist_UnitA = get_cm_n(u2, 5);
-unsigned int get_cm_n(HCSR04 &echo_unit,int echo_n){
- unsigned int sampled_dist=0;
- for (int iter_n = 0; iter_n <echo_n; iter_n++){
- echo_unit.start();
- sampled_dist += echo_unit.get_dist_cm();
- }
- return (sampled_dist / echo_n);
-}
-
-int nodeall=4;
-
-int main(){
- //Serial
+//aoki
+#include "yuka.h"
+Timer t_obj;
+double auto_time = 0;
+int main()
+{
pc.attach(SerialRX);
//pc.baud(115200);
-
//CAN
canPort.frequency(1000000); //Bit Rate:1MHz
canPort.attach(CANdataRX,CAN::RxIrq);
- int node1 = 1; //CAN node Setting
+ //CAN node Setting
+ int node1 = 1;
int node2 = 2;
int node3 = 3;
int node4 = 4;
-
+
//エンコーダ関係
- int ActPos = 0;
- int Init_Pos = 0;
-
- //超音波センサ関係パラメータ
- int dist1,dist2,dist3,dist4;
+ int ActPos1 = 0;
+ int ActPos2 = 0;
- //PID制御関係
- //角度調整パラメータ
-
+ int Init_Pos = 0;
+ //超音波センサ関係パラメータ
+ int dist1;
+ int dist2;
+ int dist3;
- #define DELTA_T1 0.1
- #define target_val1 0
- #define Kp1 3
- #define Ki1 0
- #define Kd1 0
-
pc.printf("YUKA PROGRAM START\r\n");
wait(0.1);
//-------------起動時に必ず送信---------------
@@ -140,638 +34,189 @@
sendOPModeT(node2);
sendOPModeT(node3);
sendOPModeT(node4);
-
//Shutdown,Enableコマンド送信｜リセット
sendCtrlSD(node1);
sendCtrlSD(node2);
sendCtrlSD(node3);
sendCtrlSD(node4);
-
+
sendCtrlEN(node1);
sendCtrlEN(node2);
sendCtrlEN(node3);
sendCtrlEN(node4);
-
+
//初期加減速度
int Acc = 2000;
int Dec = 2000;
-
sendProAcc(1,Acc);
sendProAcc(2,Acc);
sendProAcc(3,Acc);
sendProAcc(4,Acc);
-
+
sendProDec(1,Dec);
sendProDec(2,Dec);
sendProDec(3,Dec);
- sendProDec(4,Dec);
-
+ sendProDec(4,Dec);
//トルク設定
int trq = 100; //torque Setting[mA]
-
+
sendTgtTrq(1,trq);
sendTgtTrq(2,trq);
sendTgtTrq(3,trq);
sendTgtTrq(4,trq);
-
+
int state_1 = 0;
- int state_2 = 0;
+ int state_2 = 0;
int ride_count = 0;
int X_POS_TMP = 0;
int dist1_ori = 0;
int dist2_ori = 0;
- dist1 = 0;
readActPos(1);
ActPos=canmsgRx.data[4]+canmsgRx.data[5]*256+canmsgRx.data[6]*65536;
- if(ActPos > 8388608){
+ if(ActPos > 8388608) {
ActPos -= 0x1000000;//16進数でのマイナス処理 16^7 = 16,777,216 = 0x1000000
}
Init_Pos = ActPos;//起動時の角度を保存
- t.reset();
- t.start();
-
+ t_obj.reset();
+ t_obj.start();
//set_MODE_T();
-
printf("\nstart\r\n");
-
- while(1){
-
- Time = t.read();
+ while(1) {
+ auto_time = t_obj.read();
pc.printf("state_1:%d state_2:%d\r\n",state_1,state_2);
- LED.printf("%d",state_1);
+ LED.printf("%d",state_1);
readActPos(1);
ActPos=canmsgRx.data[4]+canmsgRx.data[5]*256+canmsgRx.data[6]*65536;
- if(ActPos > 8388608){
+ if(ActPos > 8388608) {
ActPos -= 0x1000000;//16進数でのマイナス処理 16^7 = 16,777,216 = 0x1000000
//printf("check\r\n");
}
- dist1 = get_cm_n(u1, 5);
- dist2 = get_cm_n(u2, 5);
- dist3 = get_cm_n(u3, 5);
-
+ dist1 = get_cm_n(u1, 3);
+ dist2 = get_cm_n(u2, 3);
+ dist3 = get_cm_n(u3, 3);
/*--------------------------*/
- //
- if(state_1 == 0){//入力判断フェーズ
+ if(state_1 == 0) { //入力判断フェーズ
state_2 = 0;
- if(ride_count >= 2 && Time > Standby_Time){
- state_1 = 20;
- }else{
- if(ActPos < (Init_Pos - KICK)){ //前入力検出
- ride_count++;
+ if(ride_count >= 2 && auto_time > Standby_Time) {
+ state_1 = 20;
+ } else {
+ if(ActPos < (Init_Pos - KICK)) { //前入力検出
+ ride_count++;
state_1 = 1;
- }else if(ActPos > (Init_Pos + KICK)){ //右入力検出
+ } else if(ActPos > (Init_Pos + KICK)) { //右入力検出
ride_count++;
state_1 = 11;
- }else{
+ } else {
set_MODE_T();
}
}
-
- }else if(state_1 == 1){//前進→壁検出フェーズ
- if(dist1 < WALL && dist1 >= WALL_MIN){
+
+ } else if(state_1 == 1) { //前進→壁検出フェーズ
+ if(dist1 < WALL && dist1 >= WALL_MIN) {
vel_stop();
wait(GETOFF_TIME);
state_1 = 2;
- }else{
+ } else {
set_ACC(ACC_RIDE);//加速度設定
set_DEC(DEC_CLEAN);//減速度設定
set_MODE_V();//速度制御モード送信
vel_forward_con(RPM_RIDE);//前進速度指令
}
- }else if(state_1 == 2){//前進からの帰還フェーズ
- if(ActPos > -3000){
+ } else if(state_1 == 2) { //前進からの帰還フェーズ
+ if(ActPos > -3000) {
vel_stop();
- t.reset();
- t.start();
+ t_obj.reset();
+ t_obj.start();
state_1 = 0;
wait(1.0);
- }else{
+ } else {
vel_backward_con(RPM_RIDE);
}
- }else if(state_1 == 11){//右進→壁検出フェーズ
- if(dist3 < WALL && dist3 >= WALL_MIN){
+ } else if(state_1 == 11) { //右進→壁検出フェーズ
+ if(dist3 < WALL && dist3 >= WALL_MIN) {
vel_stop();
wait(GETOFF_TIME);
state_1 = 12;
- }else{
+ } else {
set_ACC(ACC_RIDE);//加速度設定
set_DEC(DEC_RIDE);//減速度設定
set_MODE_V();//速度制御モード送信
vel_right(RPM_RIDE);//R進速度指令
}
- }else if(state_1 == 12){//右進からの帰還フェーズ
- if(ActPos < 3000){
+ } else if(state_1 == 12) { //右進からの帰還フェーズ
+ if(ActPos < 3000) {
vel_stop();
- t.reset();
- t.start();
+ t_obj.reset();
+ t_obj.start();
state_1 = 0;
wait(1.0);
- }else{
+ } else {
vel_left(RPM_RIDE);
- }
- }else if(state_1 == 20){//消毒モード
- if(state_2 == 0){
- if(dist1 < WALL && dist1 >= WALL_MIN){
+ }
+ } else if(state_1 == 20) { //消毒モード
+ if(state_2 == 0) {
+ if(dist1 < WALL && dist1 >= WALL_MIN) {
X_POS_TMP = ActPos;
state_2 = 1;
- }else{
+ } else {
set_ACC(ACC_CLEAN);//加速度設定
set_DEC(DEC_CLEAN);//減速度設定
set_MODE_V();//速度制御モード送信
vel_forward_con(RPM_CLEAN);//前進速度指令
- }
- }else if(state_2 == 1){
- if(abs(ActPos - X_POS_TMP) > CLEAN_OFFSET){
+ }
+ } else if(state_2 == 1) {
+ if(abs(ActPos - X_POS_TMP) > CLEAN_OFFSET) {
state_2 == 2;
- }else{
- if(dist3 < WALL && dist3 >= WALL_MIN){
+ } else {
+ if(dist3 < WALL && dist3 >= WALL_MIN) {
state_2 = 4;
- }else{
+ } else {
set_ACC(ACC_CLEAN);//加速度設定
set_DEC(DEC_CLEAN);//減速度設定
set_MODE_V();//速度制御モード送信
vel_right(RPM_CLEAN);//右進速度指令
}
}
- }else if(state_2 == 2){
- if(ActPos > -3000){
+ } else if(state_2 == 2) {
+ if(ActPos > -3000) {
state_2 = 3;
- }else{
+ } else {
set_ACC(ACC_CLEAN);//加速度設定
set_DEC(DEC_CLEAN);//減速度設定
set_MODE_V();//速度制御モード送信
vel_backward_con(RPM_CLEAN);//後進速度指令
}
- }else if(state_2 == 3){
- if(abs(ActPos - X_POS_TMP ) > CLEAN_OFFSET){
+ } else if(state_2 == 3) {
+ if(abs(ActPos - X_POS_TMP ) > CLEAN_OFFSET) {
state_2 == 0;
- }else{
- if(dist3 < WALL && dist3 >= WALL_MIN){
+ } else {
+ if(dist3 < WALL && dist3 >= WALL_MIN) {
state_2 = 4;
- }else{
- set_ACC(ACC_CLEAN);//加速度設定
- set_DEC(DEC_CLEAN);//減速度設定
- set_MODE_V();//速度制御モード送信
- vel_right(RPM_CLEAN);//右進速度指令
+ } else {
+ set_ACC(ACC_CLEAN);//加速度設定
+ set_DEC(DEC_CLEAN);//減速度設定
+ set_MODE_V();//速度制御モード送信
+ vel_right(RPM_CLEAN);//右進速度指令
}
- }
- }else if(state_2 == 4){
- if(ActPos < 3000){
+ }
+ } else if(state_2 == 4) {
+ if(ActPos < 3000) {
state_2 = 5;
- }else{
+ } else {
vel_left(RPM_CLEAN);
- }
- }else if(state_2 == 5){
- if(ActPos > -3000){
- t.reset();
- t.start();
+ }
+ } else if(state_2 == 5) {
+ if(ActPos > -3000) {
+ t_obj.reset();
+ t_obj.start();
state_1 = 0;
state_2 = 0;
- }else{
+ } else {
vel_backward_con(RPM_CLEAN);
}
}
- }
- }
-}
-
-void vel_right(int rpm){
- sendTgtVel(1,rpm);
- sendTgtVel(2,rpm*(-1));
- sendTgtVel(3,rpm*(-1));
- sendTgtVel(4,rpm);
- for(int i=1;i<= 4;i++){
- sendCtrlEN(i);
- }
-}
-void vel_right_con(int rpmA){
- int dis1 = get_cm_n(u1,5);
- int dis2 = get_cm_n(u2,5);
-
- //速度を指定
- int robot_angle = ((dis1 - dis2)*5);
- sendTgtVel(1,rpmA+robot_angle);
- sendTgtVel(2,rpmA*(-1)+robot_angle);
- sendTgtVel(3,rpmA*(-1)+robot_angle);
- sendTgtVel(4,rpmA+robot_angle);
- //指令値を送信
- for(int i=1;i<= 4;i++){
- sendCtrlEN(i);
- }
-}
-
-
-void vel_left(int rpm){
- sendTgtVel(1,rpm*(-1));
- sendTgtVel(2,rpm);
- sendTgtVel(3,rpm);
- sendTgtVel(4,rpm*(-1));
- for(int i=1;i<= 4;i++){
- sendCtrlEN(i);
- }
-}
-
-
-void vel_left_con(int rpmA){
- int dis1 = get_cm_n(u1,5);
- int dis2 = get_cm_n(u2,5);
-
- //速度を指定
- int robot_angle = ((dis1 - dis2)*5);
- sendTgtVel(1,rpmA*(-1)+robot_angle);
- sendTgtVel(2,rpmA+robot_angle);
- sendTgtVel(3,rpmA+robot_angle);
- sendTgtVel(4,rpmA*(-1)+robot_angle);
- //指令値を送信
- for(int i=1;i<= 4;i++){
- sendCtrlEN(i);
- }
-}
-
-void vel_stop(){
- //速度を指定
- sendTgtVel(1,0);
- sendTgtVel(2,0);
- sendTgtVel(3,0);
- sendTgtVel(4,0);
- //指令値を送信
- for(int i=1;i<= 4;i++){
- sendCtrlEN(i);
- }
-}
-
-void vel_backward(int rpm){
- //速度を指定
- sendTgtVel(1,rpm);
- sendTgtVel(2,rpm);
- sendTgtVel(3,rpm*(-1));
- sendTgtVel(4,rpm*(-1));
- //指令値を送信
- for(int i=1;i<= 4;i++){
- sendCtrlEN(i);
- }
-}
-
-void vel_backward_con(int rpmA){
- int dis1 = get_cm_n(u1,5);
- int dis2 = get_cm_n(u2,5);
-
- //速度を指定
- int robot_angle = ((dis1 - dis2)*10);
- sendTgtVel(1,rpmA+robot_angle);
- sendTgtVel(2,rpmA+robot_angle);
- sendTgtVel(3,rpmA*(-1)+robot_angle);
- sendTgtVel(4,rpmA*(-1)+robot_angle);
- //指令値を送信
- for(int i=1;i<= 4;i++){
- sendCtrlEN(i);
- }
-}
-
-
-void vel_forward_con(int rpmA){
- int dis1 = get_cm_n(u1,5);
- int dis2 = get_cm_n(u2,5);
-
- //速度を指定
- int robot_angle = ((dis1 - dis2)*10);
- sendTgtVel(1,rpmA*(-1)+robot_angle);
- sendTgtVel(2,rpmA*(-1)+robot_angle);
- sendTgtVel(3,rpmA+robot_angle);
- sendTgtVel(4,rpmA+robot_angle);
- //指令値を送信
- for(int i=1;i<= 4;i++){
- sendCtrlEN(i);
+ }
}
-}
-
-void set_ACC(int setACC_val){
- sendProAcc(1,setACC_val);
- sendProAcc(2,setACC_val);
- sendProAcc(3,setACC_val);
- sendProAcc(4,setACC_val);
-}
-
-void set_DEC(int setDEC_val){
- sendProDec(1,setDEC_val);
- sendProDec(2,setDEC_val);
- sendProDec(3,setDEC_val);
- sendProDec(4,setDEC_val);
-}
-
-void set_MODE_V(){
- sendOPModeV(1);
- sendOPModeV(2);
- sendOPModeV(3);
- sendOPModeV(4);
-}
-
-void set_MODE_T(){
- sendOPModeT(1);
- sendOPModeT(2);
- sendOPModeT(3);
- sendOPModeT(4);
-}
-
-//0x2F-6060-00-fd-//-//-//
-void sendOPModeT(int nodeID){
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 5; //Data Length
- canmsgTx.data[0] = 0x2F;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x60;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canmsgTx.data[4] = 0xFD;//data:fd = "current Mode"
- /*
- canmsgTx.data[5] = 0x00;//data:(user value)
- canmsgTx.data[6] = 0x00;//data:(user value)
- canmsgTx.data[7] = 0x00;//data:(user value)
- */
- printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-}
-
-
-//0x2F-6060-00-03-//-//-//
-void sendOPModeV(int nodeID){
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 5; //Data Length
- canmsgTx.data[0] = 0x2F;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x60;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canmsgTx.data[4] = 0x03;//data:0x03 = "Profile Velocity Mode"
- /*
- canmsgTx.data[5] = 0x00;//data:(user value)
- canmsgTx.data[6] = 0x00;//data:(user value)
- canmsgTx.data[7] = 0x00;//data:(user value)
- */
- printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-}
-
-//0x2B-6040-00-0000-//-//
-void sendCtrlRS(int nodeID){
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 6; //Data Length
- canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x40;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canmsgTx.data[4] = 0x80;//data:0x00"80" = "Controlword(Shutdown)"
- canmsgTx.data[5] = 0x00;//data:0x"00"80
- /*
- canmsgTx.data[6] = 0x00;//data:(user value)
- canmsgTx.data[7] = 0x00;//data:(user value)
- */
- printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-}
-
-
-//0x2B-6040-00-0006-//-//
-void sendCtrlSD(int nodeID){
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 6; //Data Length
- canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x40;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canmsgTx.data[4] = 0x06;//data:0x00"06" = "Controlword(Shutdown)"
- canmsgTx.data[5] = 0x00;//data:0x"00"06
- /*
- canmsgTx.data[6] = 0x00;//data:(user value)
- canmsgTx.data[7] = 0x00;//data:(user value)
- */
- printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-}
-
-//0x2B-6040-00-000F-//-//
-void sendCtrlEN(int nodeID){
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 6; //Data Length
- canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x40;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canmsgTx.data[4] = 0x0F;//data:0x00"0F" = "Controlword(Enable)"
- canmsgTx.data[5] = 0x00;//data:0x"00"0F
- /*
- canmsgTx.data[6] = 0x00;//data:(user value)
- canmsgTx.data[7] = 0x00;//data:(user value)
- */
- //printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-}
-
-//0x2B-6040-00-000B-//-//
-void sendCtrlQS(int nodeID){
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 6; //Data Length
- canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x40;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canmsgTx.data[4] = 0x0B;//data:0x00"0B" = "Quick Stop"
- canmsgTx.data[5] = 0x00;//data:0x"00"0B
- /*
- canmsgTx.data[6] = 0x00;//data:(user value)
- canmsgTx.data[7] = 0x00;//data:(user value)
- */
- printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-}
-
-//0x2B-6040-00-010F-//-//
-void sendCtrlHL(int nodeID){
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 6; //Data Length
- canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x40;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canmsgTx.data[4] = 0x0F;//data:0x01"0F" = "Halt"
- canmsgTx.data[5] = 0x01;//data:0x"01"0F
- /*
- canmsgTx.data[6] = 0x00;//data:(user value)
- canmsgTx.data[7] = 0x00;//data:(user value)
- */
- printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-}
-
-//0x2B-60FF-00-[user data(4Byte)]
-void sendTgtTrq(int nodeID,int trq){
- //pc.printf("%dmA0x%08x\r\n",trq,trq); //回転数送信データの表示
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 6; //Data Length
- canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x30;//Index LowByte 71
- canmsgTx.data[2] = 0x20;//Index HighByte 60
- canmsgTx.data[3] = 0x00;//sub-Index
- //下位から1Byteずつdataに格納
- if(trq<0){
- trq=0xFFFF+trq+1;
- }
-
- //pc.printf("iii%d\r\n",trq);
- //canmsgTx.data[7]=((trq>>24)&0xFF);
- //canmsgTx.data[6]=((trq>>16)&0xFF);
-
- canmsgTx.data[5]=((trq>>8)&0xFF);
- canmsgTx.data[4]=((trq>>0)&0xFF);
- //printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(2);
- //send Enable
- //pc.printf("Send Enable Command\r\n");
- //sendCtrlEN(nodeID);
- //wait(0.5);
-}
-
-
-
-
-//0x2B-60FF-00-[user data(4Byte)]
-void sendTgtVel(int nodeID,int rpm){
- //pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 8; //Data Length
- canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0xFF;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- //下位から1Byteずつdataに格納
-
- //pc.printf("%d\r\n",rpm);
- if(rpm<0){
- rpm=0xFFFFFFFF+rpm+1;
- }
- canmsgTx.data[7]=((rpm>>24)&0xFF);
- canmsgTx.data[6]=((rpm>>16)&0xFF);
- canmsgTx.data[5]=((rpm>>8)&0xFF);
- canmsgTx.data[4]=((rpm>>0)&0xFF);
-
- //printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait_ms(1);
-
-}
-
-void readActVel(int nodeID){
- //値が欲しいobjectのアドレスを送る
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 4; //Data Length
- canmsgTx.data[0] = 0x40;//|0Byte:40|
- canmsgTx.data[1] = 0x6C;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canPort.write(canmsgTx);
- wait_ms(1);
-}
-
-void readActPos(int nodeID){
- //値が欲しいobjectのアドレスを送る
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 4; //Data Length
- canmsgTx.data[0] = 0x40;//|0Byte:40|
- canmsgTx.data[1] = 0x64;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- canPort.write(canmsgTx);
- wait_ms(1);
-}
-
-//加速度指定
-void sendProAcc(int nodeID,int rpm){
- if(rpm < 0){
- rpm += 0xFFFFFFFF;
- }
-// pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 8; //Data Length
- canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x83;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- //下位から1Byteずつdataに格納
- canmsgTx.data[4] = (rpm >> 0) & 0xFF;
- canmsgTx.data[5] = (rpm >> 8) & 0xFF;
- canmsgTx.data[6] = (rpm >> 16) & 0xFF;
- canmsgTx.data[7] = (rpm >> 24) & 0xFF;
-// printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait(0.01);
- //send Enable
-// pc.printf("Send Enable Command\r\n");
- sendCtrlEN(nodeID);
- wait(0.01);
-}
-
-//減速度指定
-void sendProDec(int nodeID,int rpm){
- if(rpm < 0){
- rpm += 0xFFFFFFFF;
- }
-// pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
- canmsgTx.id = 0x600+nodeID;
- canmsgTx.len = 8; //Data Length
- canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
- canmsgTx.data[1] = 0x84;//Index LowByte
- canmsgTx.data[2] = 0x60;//Index HighByte
- canmsgTx.data[3] = 0x00;//sub-Index
- //下位から1Byteずつdataに格納
- canmsgTx.data[4] = (rpm >> 0) & 0xFF;
- canmsgTx.data[5] = (rpm >> 8) & 0xFF;
- canmsgTx.data[6] = (rpm >> 16) & 0xFF;
- canmsgTx.data[7] = (rpm >> 24) & 0xFF;
-// printCANTX(); //CAN送信データをPCに表示
- canPort.write(canmsgTx);//CANでデータ送信
- wait(0.01);
- //send Enable
-// pc.printf("Send Enable Command\r\n");
- sendCtrlEN(nodeID);
- wait(0.01);
-}
-
-
-//送信データの表示
-void printCANTX(void){
- //0x canID|Byte0|Byte1|Byte2|Byte3|Byte4|Byte5|Byte6|Byte7|
- //pc.printf("0x%3x|",canmsgTx.id);
- for(char i=0;i < canmsgTx.len;i++){
- //pc.printf("%02x|",canmsgTx.data[i]);
- }
- //pc.printf("\r\n");
-}
-
-//受信データの表示
-
-void printCANRX(void){
- //0x canID|Byte0|Byte1|Byte2|Byte3|Byte4|Byte5|Byte6|Byte7|
- //pc.printf("0x%3x|",canmsgRx.id);
- for(char i=0;i < canmsgRx.len;i++){
- //pc.printf("%02x|",canmsgRx.data[i]);
- }
- //pc.printf("\r\n");
-}
-
-void CANdataRX(void){
- canPort.read(canmsgRx);
- printCANRX();
-}
-
-void SerialRX(void){
- Serialdata = pc.getc();
- //pc.printf("%c\r\n",Serialdata);
}
\ No newline at end of file
diff -r f21e1a75f98b -r dd35cc3b5ca0 yuka.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/yuka.h Mon Dec 20 15:49:55 2021 +0000
@@ -0,0 +1,536 @@
+#include "mbed.h"
+#include "hcsr04.h"
+
+#define RPM_RIDE 400
+#define RPM_CLEAN 400
+#define ACC_RIDE 1000
+#define DEC_RIDE 700
+#define ACC_CLEAN 1000
+#define DEC_CLEAN 1000
+
+#define KICK 2000
+#define CLEAN_OFFSET 6000
+
+#define WALL 45
+#define WALL_MIN 25
+#define Standby_Time 10
+#define GETOFF_TIME 3
+
+
+//プロトタイプ宣言
+//------------------send関数-------------------
+//mode Setting
+void sendOPModeT(int); //Operating Mode
+void sendOPModeV(int); //Operating Mode
+//Control Word
+void sendCtrlRS(int); //Reset
+void sendCtrlSD(int); //Shutdown
+void sendCtrlEN(int); //Switch on & Enable
+void sendCtrlQS(int); //Quick Stop
+void sendCtrlHL(int); //Halt
+//Velocity Setting
+void sendTgtVel(int,int); //Target Velocity
+//Torque Setting
+void sendTgtTrq(int,int); //Target Torque
+//Acceleration Setting
+void sendProAcc(int,int); //Plof Acceleration
+void sendProDec(int,int); //Plof Deceleration
+//------------------read関数-------------------
+void readActVel(int); //Actual Velocity
+void readActPos(int); //Actual Position
+//-------------------その他--------------------
+void printCANTX(void); //CAN送信データをPCに表示
+void printCANRX(void); //CAN受信データをPCに表示
+void CANdataRX(void); //CAN受信処理
+void SerialRX(void); //Serial受信処理
+//---------------------------------------------
+void set_ACC(int);
+void set_DEC(int);
+void set_MODE_V(void);
+void set_MODE_T(void);
+
+void vel_stop(void);
+
+void vel_forward(int);
+void vel_forward_con(int);
+void vel_backward(int);
+void vel_backward_con(int);
+void vel_right(int);
+void vel_right_con(int);
+void vel_left(int);
+
+
+Serial pc(USBTX, USBRX);
+Serial LED(PB_6,PB_7);
+char Serialdata;
+BusOut myled(LED1, LED2, LED3, LED4);
+
+//HCSR04 u1(p13, p14), u2(p11, p12), u3(p23, p24), u4(p25, p26); // Trigger(DO), Echo(PWMIN); LPC1768
+HCSR04 u1(PA_0, PA_1),u2(PA_5, PA_6),u3(PB_0, PA_10); // Trigger(DO), Echo(PWMIN); f303k8
+
+CANMessage canmsgTx;
+CANMessage canmsgRx;
+//CAN canPort(p30, p29); //CAN name(PinName rd, PinName td) LPC1768
+CAN canPort(PA_11, PA_12); //CAN name(PinName rd, PinName td) F303k8
+
+int nodeall=4;
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+
+
+//unsigned int get_cm_n(HCSR04, unsigned int);
+//USE -> unsigned int dist_UnitA = get_cm_n(u2, 5);
+unsigned int get_cm_n(HCSR04 &echo_unit,int echo_n){
+ unsigned int sampled_dist=0;
+ for (int iter_n = 0; iter_n <echo_n; iter_n++){
+ echo_unit.start();
+ sampled_dist += echo_unit.get_dist_cm();
+ }
+ return (sampled_dist / echo_n);
+}
+
+
+void set_ACC(int setACC_val){
+ sendProAcc(1,setACC_val);
+ sendProAcc(2,setACC_val);
+ sendProAcc(3,setACC_val);
+ sendProAcc(4,setACC_val);
+}
+
+void set_DEC(int setDEC_val){
+ sendProDec(1,setDEC_val);
+ sendProDec(2,setDEC_val);
+ sendProDec(3,setDEC_val);
+ sendProDec(4,setDEC_val);
+}
+
+void set_MODE_V(){
+ sendOPModeV(1);
+ sendOPModeV(2);
+ sendOPModeV(3);
+ sendOPModeV(4);
+}
+
+void set_MODE_T(){
+ sendOPModeT(1);
+ sendOPModeT(2);
+ sendOPModeT(3);
+ sendOPModeT(4);
+}
+
+//0x2F-6060-00-fd-//-//-//
+void sendOPModeT(int nodeID){
+ canmsgTx.id = 0x600+nodeID;
+ canmsgTx.len = 5; //Data Length
+ canmsgTx.data[0] = 0x2F;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
+ canmsgTx.data[1] = 0x60;//Index LowByte
+ canmsgTx.data[2] = 0x60;//Index HighByte
+ canmsgTx.data[3] = 0x00;//sub-Index
+ canmsgTx.data[4] = 0xFD;//data:fd = "current Mode"
+ /*
+ canmsgTx.data[5] = 0x00;//data:(user value)
+ canmsgTx.data[6] = 0x00;//data:(user value)
+ canmsgTx.data[7] = 0x00;//data:(user value)
+ */
+ printCANTX(); //CAN送信データをPCに表示
+ canPort.write(canmsgTx);//CANでデータ送信
+ wait_ms(1);
+}
+
+
+//0x2F-6060-00-03-//-//-//
+void sendOPModeV(int nodeID){
+ canmsgTx.id = 0x600+nodeID;
+ canmsgTx.len = 5; //Data Length
+ canmsgTx.data[0] = 0x2F;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
+ canmsgTx.data[1] = 0x60;//Index LowByte
+ canmsgTx.data[2] = 0x60;//Index HighByte
+ canmsgTx.data[3] = 0x00;//sub-Index
+ canmsgTx.data[4] = 0x03;//data:0x03 = "Profile Velocity Mode"
+ /*
+ canmsgTx.data[5] = 0x00;//data:(user value)
+ canmsgTx.data[6] = 0x00;//data:(user value)
+ canmsgTx.data[7] = 0x00;//data:(user value)
+ */
+ printCANTX(); //CAN送信データをPCに表示
+ canPort.write(canmsgTx);//CANでデータ送信
+ wait_ms(1);
+}
+
+//0x2B-6040-00-0000-//-//
+void sendCtrlRS(int nodeID){
+ canmsgTx.id = 0x600+nodeID;
+ canmsgTx.len = 6; //Data Length
+ canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
+ canmsgTx.data[1] = 0x40;//Index LowByte
+ canmsgTx.data[2] = 0x60;//Index HighByte
+ canmsgTx.data[3] = 0x00;//sub-Index
+ canmsgTx.data[4] = 0x80;//data:0x00"80" = "Controlword(Shutdown)"
+ canmsgTx.data[5] = 0x00;//data:0x"00"80
+ /*
+ canmsgTx.data[6] = 0x00;//data:(user value)
+ canmsgTx.data[7] = 0x00;//data:(user value)
+ */
+ printCANTX(); //CAN送信データをPCに表示
+ canPort.write(canmsgTx);//CANでデータ送信
+ wait_ms(1);
+}
+
+
+//0x2B-6040-00-0006-//-//
+void sendCtrlSD(int nodeID){
+ canmsgTx.id = 0x600+nodeID;
+ canmsgTx.len = 6; //Data Length
+ canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
+ canmsgTx.data[1] = 0x40;//Index LowByte
+ canmsgTx.data[2] = 0x60;//Index HighByte
+ canmsgTx.data[3] = 0x00;//sub-Index
+ canmsgTx.data[4] = 0x06;//data:0x00"06" = "Controlword(Shutdown)"
+ canmsgTx.data[5] = 0x00;//data:0x"00"06
+ /*
+ canmsgTx.data[6] = 0x00;//data:(user value)
+ canmsgTx.data[7] = 0x00;//data:(user value)
+ */
+ printCANTX(); //CAN送信データをPCに表示
+ canPort.write(canmsgTx);//CANでデータ送信
+ wait_ms(1);
+}
+
+//0x2B-6040-00-000F-//-//
+void sendCtrlEN(int nodeID){
+ canmsgTx.id = 0x600+nodeID;
+ canmsgTx.len = 6; //Data Length
+ canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
+ canmsgTx.data[1] = 0x40;//Index LowByte
+ canmsgTx.data[2] = 0x60;//Index HighByte
+ canmsgTx.data[3] = 0x00;//sub-Index
+ canmsgTx.data[4] = 0x0F;//data:0x00"0F" = "Controlword(Enable)"
+ canmsgTx.data[5] = 0x00;//data:0x"00"0F
+ /*
+ canmsgTx.data[6] = 0x00;//data:(user value)
+ canmsgTx.data[7] = 0x00;//data:(user value)
+ */
+ //printCANTX(); //CAN送信データをPCに表示
+ canPort.write(canmsgTx);//CANでデータ送信
+ wait_ms(1);
+}
+
+//0x2B-6040-00-000B-//-//
+void sendCtrlQS(int nodeID){
+ canmsgTx.id = 0x600+nodeID;
+ canmsgTx.len = 6; //Data Length
+ canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
+ canmsgTx.data[1] = 0x40;//Index LowByte
+ canmsgTx.data[2] = 0x60;//Index HighByte
+ canmsgTx.data[3] = 0x00;//sub-Index
+ canmsgTx.data[4] = 0x0B;//data:0x00"0B" = "Quick Stop"
+ canmsgTx.data[5] = 0x00;//data:0x"00"0B
+ /*
+ canmsgTx.data[6] = 0x00;//data:(user value)
+ canmsgTx.data[7] = 0x00;//data:(user value)
+ */
+ printCANTX(); //CAN送信データをPCに表示
+ canPort.write(canmsgTx);//CANでデータ送信
+ wait_ms(1);
+}
+
+//0x2B-6040-00-010F-//-//
+void sendCtrlHL(int nodeID){
+ canmsgTx.id = 0x600+nodeID;
+ canmsgTx.len = 6; //Data Length
+ canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
+ canmsgTx.data[1] = 0x40;//Index LowByte
+ canmsgTx.data[2] = 0x60;//Index HighByte
+ canmsgTx.data[3] = 0x00;//sub-Index
+ canmsgTx.data[4] = 0x0F;//data:0x01"0F" = "Halt"
+ canmsgTx.data[5] = 0x01;//data:0x"01"0F
+ /*
+ canmsgTx.data[6] = 0x00;//data:(user value)
+ canmsgTx.data[7] = 0x00;//data:(user value)
+ */
+ printCANTX(); //CAN送信データをPCに表示
+ canPort.write(canmsgTx);//CANでデータ送信
+ wait_ms(1);
+}
+
+//0x2B-60FF-00-[user data(4Byte)]
+void sendTgtTrq(int nodeID,int trq){
+ //pc.printf("%dmA0x%08x\r\n",trq,trq); //回転数送信データの表示
+ canmsgTx.id = 0x600+nodeID;
+ canmsgTx.len = 6; //Data Length
+ canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
+ canmsgTx.data[1] = 0x30;//Index LowByte 71
+ canmsgTx.data[2] = 0x20;//Index HighByte 60
+ canmsgTx.data[3] = 0x00;//sub-Index
+ //下位から1Byteずつdataに格納
+ if(trq<0){
+ trq=0xFFFF+trq+1;
+ }
+
+ //pc.printf("iii%d\r\n",trq);
+ //canmsgTx.data[7]=((trq>>24)&0xFF);
+ //canmsgTx.data[6]=((trq>>16)&0xFF);
+
+ canmsgTx.data[5]=((trq>>8)&0xFF);
+ canmsgTx.data[4]=((trq>>0)&0xFF);
+ //printCANTX(); //CAN送信データをPCに表示
+ canPort.write(canmsgTx);//CANでデータ送信
+ wait_ms(2);
+ //send Enable
+ //pc.printf("Send Enable Command\r\n");
+ //sendCtrlEN(nodeID);
+ //wait(0.5);
+}
+
+
+
+
+//0x2B-60FF-00-[user data(4Byte)]
+void sendTgtVel(int nodeID,int rpm){
+ //pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
+ canmsgTx.id = 0x600+nodeID;
+ canmsgTx.len = 8; //Data Length
+ canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
+ canmsgTx.data[1] = 0xFF;//Index LowByte
+ canmsgTx.data[2] = 0x60;//Index HighByte
+ canmsgTx.data[3] = 0x00;//sub-Index
+ //下位から1Byteずつdataに格納
+
+ //pc.printf("%d\r\n",rpm);
+ if(rpm<0){
+ rpm=0xFFFFFFFF+rpm+1;
+ }
+ canmsgTx.data[7]=((rpm>>24)&0xFF);
+ canmsgTx.data[6]=((rpm>>16)&0xFF);
+ canmsgTx.data[5]=((rpm>>8)&0xFF);
+ canmsgTx.data[4]=((rpm>>0)&0xFF);
+
+ //printCANTX(); //CAN送信データをPCに表示
+ canPort.write(canmsgTx);//CANでデータ送信
+ wait_ms(1);
+
+}
+
+void readActVel(int nodeID){
+ //値が欲しいobjectのアドレスを送る
+ canmsgTx.id = 0x600+nodeID;
+ canmsgTx.len = 4; //Data Length
+ canmsgTx.data[0] = 0x40;//|0Byte:40|
+ canmsgTx.data[1] = 0x6C;//Index LowByte
+ canmsgTx.data[2] = 0x60;//Index HighByte
+ canmsgTx.data[3] = 0x00;//sub-Index
+ canPort.write(canmsgTx);
+ wait_ms(1);
+}
+
+void readActPos(int nodeID){
+ //値が欲しいobjectのアドレスを送る
+ canmsgTx.id = 0x600+nodeID;
+ canmsgTx.len = 4; //Data Length
+ canmsgTx.data[0] = 0x40;//|0Byte:40|
+ canmsgTx.data[1] = 0x64;//Index LowByte
+ canmsgTx.data[2] = 0x60;//Index HighByte
+ canmsgTx.data[3] = 0x00;//sub-Index
+ canPort.write(canmsgTx);
+ wait_ms(1);
+}
+
+//加速度指定
+void sendProAcc(int nodeID,int rpm){
+ if(rpm < 0){
+ rpm += 0xFFFFFFFF;
+ }
+// pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
+ canmsgTx.id = 0x600+nodeID;
+ canmsgTx.len = 8; //Data Length
+ canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
+ canmsgTx.data[1] = 0x83;//Index LowByte
+ canmsgTx.data[2] = 0x60;//Index HighByte
+ canmsgTx.data[3] = 0x00;//sub-Index
+ //下位から1Byteずつdataに格納
+ canmsgTx.data[4] = (rpm >> 0) & 0xFF;
+ canmsgTx.data[5] = (rpm >> 8) & 0xFF;
+ canmsgTx.data[6] = (rpm >> 16) & 0xFF;
+ canmsgTx.data[7] = (rpm >> 24) & 0xFF;
+// printCANTX(); //CAN送信データをPCに表示
+ canPort.write(canmsgTx);//CANでデータ送信
+ wait(0.01);
+ //send Enable
+// pc.printf("Send Enable Command\r\n");
+ sendCtrlEN(nodeID);
+ wait(0.01);
+}
+
+//減速度指定
+void sendProDec(int nodeID,int rpm){
+ if(rpm < 0){
+ rpm += 0xFFFFFFFF;
+ }
+// pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
+ canmsgTx.id = 0x600+nodeID;
+ canmsgTx.len = 8; //Data Length
+ canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
+ canmsgTx.data[1] = 0x84;//Index LowByte
+ canmsgTx.data[2] = 0x60;//Index HighByte
+ canmsgTx.data[3] = 0x00;//sub-Index
+ //下位から1Byteずつdataに格納
+ canmsgTx.data[4] = (rpm >> 0) & 0xFF;
+ canmsgTx.data[5] = (rpm >> 8) & 0xFF;
+ canmsgTx.data[6] = (rpm >> 16) & 0xFF;
+ canmsgTx.data[7] = (rpm >> 24) & 0xFF;
+// printCANTX(); //CAN送信データをPCに表示
+ canPort.write(canmsgTx);//CANでデータ送信
+ wait(0.01);
+ //send Enable
+// pc.printf("Send Enable Command\r\n");
+ sendCtrlEN(nodeID);
+ wait(0.01);
+}
+
+
+//送信データの表示
+void printCANTX(void){
+ //0x canID|Byte0|Byte1|Byte2|Byte3|Byte4|Byte5|Byte6|Byte7|
+ //pc.printf("0x%3x|",canmsgTx.id);
+ for(char i=0;i < canmsgTx.len;i++){
+ //pc.printf("%02x|",canmsgTx.data[i]);
+ }
+ //pc.printf("\r\n");
+}
+
+//受信データの表示
+
+void printCANRX(void){
+ //0x canID|Byte0|Byte1|Byte2|Byte3|Byte4|Byte5|Byte6|Byte7|
+ //pc.printf("0x%3x|",canmsgRx.id);
+ for(char i=0;i < canmsgRx.len;i++){
+ //pc.printf("%02x|",canmsgRx.data[i]);
+ }
+ //pc.printf("\r\n");
+}
+
+void CANdataRX(void){
+ canPort.read(canmsgRx);
+ printCANRX();
+}
+
+void SerialRX(void){
+ Serialdata = pc.getc();
+ //pc.printf("%c\r\n",Serialdata);
+}
+
+
+void vel_right(int rpm){
+ sendTgtVel(1,rpm);
+ sendTgtVel(2,rpm*(-1));
+ sendTgtVel(3,rpm*(-1));
+ sendTgtVel(4,rpm);
+ for(int i=1;i<= 4;i++){
+ sendCtrlEN(i);
+ }
+}
+void vel_right_con(int rpmA){
+ int dis1 = get_cm_n(u1,5);
+ int dis2 = get_cm_n(u2,5);
+
+ //速度を指定
+ int robot_angle = ((dis1 - dis2)*5);
+ sendTgtVel(1,rpmA+robot_angle);
+ sendTgtVel(2,rpmA*(-1)+robot_angle);
+ sendTgtVel(3,rpmA*(-1)+robot_angle);
+ sendTgtVel(4,rpmA+robot_angle);
+ //指令値を送信
+ for(int i=1;i<= 4;i++){
+ sendCtrlEN(i);
+ }
+}
+
+
+void vel_left(int rpm){
+ sendTgtVel(1,rpm*(-1));
+ sendTgtVel(2,rpm);
+ sendTgtVel(3,rpm);
+ sendTgtVel(4,rpm*(-1));
+ for(int i=1;i<= 4;i++){
+ sendCtrlEN(i);
+ }
+}
+
+
+void vel_left_con(int rpmA){
+ int dis1 = get_cm_n(u1,5);
+ int dis2 = get_cm_n(u2,5);
+
+ //速度を指定
+ int robot_angle = ((dis1 - dis2)*5);
+ sendTgtVel(1,rpmA*(-1)+robot_angle);
+ sendTgtVel(2,rpmA+robot_angle);
+ sendTgtVel(3,rpmA+robot_angle);
+ sendTgtVel(4,rpmA*(-1)+robot_angle);
+ //指令値を送信
+ for(int i=1;i<= 4;i++){
+ sendCtrlEN(i);
+ }
+}
+
+void vel_stop(){
+ //速度を指定
+ sendTgtVel(1,0);
+ sendTgtVel(2,0);
+ sendTgtVel(3,0);
+ sendTgtVel(4,0);
+ //指令値を送信
+ for(int i=1;i<= 4;i++){
+ sendCtrlEN(i);
+ }
+}
+
+void vel_backward(int rpm){
+ //速度を指定
+ sendTgtVel(1,rpm);
+ sendTgtVel(2,rpm);
+ sendTgtVel(3,rpm*(-1));
+ sendTgtVel(4,rpm*(-1));
+ //指令値を送信
+ for(int i=1;i<= 4;i++){
+ sendCtrlEN(i);
+ }
+}
+
+void vel_backward_con(int rpmA){
+ int dis1 = get_cm_n(u1,5);
+ int dis2 = get_cm_n(u2,5);
+
+ //速度を指定
+ int robot_angle = ((dis1 - dis2)*10);
+ sendTgtVel(1,rpmA+robot_angle);
+ sendTgtVel(2,rpmA+robot_angle);
+ sendTgtVel(3,rpmA*(-1)+robot_angle);
+ sendTgtVel(4,rpmA*(-1)+robot_angle);
+ //指令値を送信
+ for(int i=1;i<= 4;i++){
+ sendCtrlEN(i);
+ }
+}
+
+
+void vel_forward_con(int rpmA){
+ int dis1 = get_cm_n(u1,5);
+ int dis2 = get_cm_n(u2,5);
+
+ //速度を指定
+ int robot_angle = ((dis1 - dis2)*10);
+ sendTgtVel(1,rpmA*(-1)+robot_angle);
+ sendTgtVel(2,rpmA*(-1)+robot_angle);
+ sendTgtVel(3,rpmA+robot_angle);
+ sendTgtVel(4,rpmA+robot_angle);
+ //指令値を送信
+ for(int i=1;i<= 4;i++){
+ sendCtrlEN(i);
+ }
+}
+
\ No newline at end of file