Kazyoshi Morita / Mbed 2 deprecated friction_measure

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   Dynamixel mbed

main.cpp@0:4e684157ecca, 2018-09-06 (annotated)

Committer:
yamaotoko
Date:
Thu Sep 06 12:54:00 2018 +0000
Revision:
0:4e684157ecca
Child:
1:f43ebe88228e
first WIP

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yamaotoko 0:4e684157ecca 1 #include "mbed.h"
yamaotoko 0:4e684157ecca 2 #include "HX711.hpp"
yamaotoko 0:4e684157ecca 3 #include "Dynamixel.h"
yamaotoko 0:4e684157ecca 4
yamaotoko 0:4e684157ecca 5 HX711 hx711(p21, p22);
yamaotoko 0:4e684157ecca 6 Serial pc(USBTX, USBRX);
yamaotoko 0:4e684157ecca 7 Dynamixel motor(p13,p14,p15,0xFE,57600);
yamaotoko 0:4e684157ecca 8
yamaotoko 0:4e684157ecca 9 //Dynamixel回転方向対応用
yamaotoko 0:4e684157ecca 10 //多分11bitのうちMSBが符号,最上位で回転方向を指定している
yamaotoko 0:4e684157ecca 11 move(int speed){
yamaotoko 0:4e684157ecca 12 if(speed >= 0)
yamaotoko 0:4e684157ecca 13 motor.setSpeed(speed);
yamaotoko 0:4e684157ecca 14 else{
yamaotoko 0:4e684157ecca 15 motor.setSpeed(-1*speed+1024); //11bitのうちMSBが符号
yamaotoko 0:4e684157ecca 16 }
yamaotoko 0:4e684157ecca 17 }
yamaotoko 0:4e684157ecca 18
yamaotoko 0:4e684157ecca 19 //--------------------HX711
yamaotoko 0:4e684157ecca 20 void calibrate(float gram){
yamaotoko 0:4e684157ecca 21 hx711.setScale(1.f);
yamaotoko 0:4e684157ecca 22 hx711.tare();
yamaotoko 0:4e684157ecca 23 //この辺をProcessing用に組み替える
yamaotoko 0:4e684157ecca 24 printf("place the weight and put any key\n");
yamaotoko 0:4e684157ecca 25 char c = pc.getc();
yamaotoko 0:4e684157ecca 26
yamaotoko 0:4e684157ecca 27 float natural = hx711.readGram();
yamaotoko 0:4e684157ecca 28 float calibVal = natural / gram;
yamaotoko 0:4e684157ecca 29 hx711.setScale(calibVal);
yamaotoko 0:4e684157ecca 30 //printf("calibrated! %f %f %d\n", calibVal, natural, hx711.read());
yamaotoko 0:4e684157ecca 31 }
yamaotoko 0:4e684157ecca 32
yamaotoko 0:4e684157ecca 33
yamaotoko 0:4e684157ecca 34 int main() {
yamaotoko 0:4e684157ecca 35 //ホイールモードにするための設定
yamaotoko 0:4e684157ecca 36 motor.setAngleLimit(0, ADDRESS_CW_ANGLE_LIMIT);
yamaotoko 0:4e684157ecca 37 motor.setAngleLimit(0, ADDRESS_CCW_ANGLE_LIMIT);
yamaotoko 0:4e684157ecca 38 while(1) {
yamaotoko 0:4e684157ecca 39 }
yamaotoko 0:4e684157ecca 40 }