雄介 太田 / Mbed 2 deprecated YOZAKURA_ARM

YOZAKURAのARMプログラム(ver.1)

Dependencies:   Dynamixel EthernetInterface MEMS_Thermal_Sensor mbed-rtos SerialHalfDuplex mbed

main.cpp@14:523d184e5107, 2015-04-11 (annotated)

Committer:
yusuke_kyo
Date:
Sat Apr 11 05:53:45 2015 +0000
Revision:
14:523d184e5107
Parent:
13:5f5c2b446aac
Child:
15:d62819013445
mutex

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yusuke_kyo 8:dd338c66211d 1 /*YOZAKURAのアームコード
yusuke_kyo 8:dd338c66211d 2 UDP通信で送るデータ S_Data={linearD[4],pitchD[4],yawD[4],ThermoD1[16],ThermoD2[16],CO2[4]} 計48bytes
yusuke_kyo 8:dd338c66211d 3 UDP通信で受け取るデータ　R_Data=｛mode[2bit],linear_ref[2bit],pitch_ref[2bit],yaw_ref[2bit]} 計1byte
yusuke_kyo 8:dd338c66211d 4 */
yusuke_kyo 8:dd338c66211d 5
yusuke_kyo 0:eb69b57ab0dd 6 #include "mbed.h"
yusuke_kyo 14:523d184e5107 7 #include "rtos.h"
yusuke_kyo 0:eb69b57ab0dd 8
yusuke_kyo 10:ffe65600fba2 9 DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4);
yusuke_kyo 14:523d184e5107 10 Mutex stdio_mutex;
yusuke_kyo 0:eb69b57ab0dd 11
yusuke_kyo 8:dd338c66211d 12 /*--Ethernet:begin------------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 13 #include "mbed.h"
yusuke_kyo 0:eb69b57ab0dd 14 #include "EthernetInterface.h"
yusuke_kyo 0:eb69b57ab0dd 15
yusuke_kyo 0:eb69b57ab0dd 16 const char* ECHO_SERVER_ADDRESS = "192.168.1.90";
yusuke_kyo 0:eb69b57ab0dd 17 const int ECHO_SERVER_PORT = 60000;
yusuke_kyo 0:eb69b57ab0dd 18
yusuke_kyo 8:dd338c66211d 19 const char* CLIENT_ADDRESS = "192.168.1.100";
yusuke_kyo 8:dd338c66211d 20 const int CLIENT_PORT = 70000;
yusuke_kyo 8:dd338c66211d 21
yusuke_kyo 0:eb69b57ab0dd 22 EthernetInterface eth;
yusuke_kyo 0:eb69b57ab0dd 23 UDPSocket sock;
yusuke_kyo 0:eb69b57ab0dd 24 Endpoint echo_server;
yusuke_kyo 0:eb69b57ab0dd 25
yusuke_kyo 0:eb69b57ab0dd 26 void Ethernet_init() {
yusuke_kyo 0:eb69b57ab0dd 27
yusuke_kyo 0:eb69b57ab0dd 28 eth.init("192.168.1.100", "255.255.255.0", ""); // Use hard IP
yusuke_kyo 0:eb69b57ab0dd 29 eth.connect();
yusuke_kyo 0:eb69b57ab0dd 30
yusuke_kyo 8:dd338c66211d 31 sock.bind(CLIENT_PORT);
yusuke_kyo 0:eb69b57ab0dd 32 sock.set_blocking(false);
yusuke_kyo 0:eb69b57ab0dd 33
yusuke_kyo 0:eb69b57ab0dd 34 echo_server.set_address(ECHO_SERVER_ADDRESS, ECHO_SERVER_PORT);
yusuke_kyo 0:eb69b57ab0dd 35
yusuke_kyo 0:eb69b57ab0dd 36 }
yusuke_kyo 2:8b71db86f221 37 /*--Ethernet:end--------------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 38
yusuke_kyo 0:eb69b57ab0dd 39
yusuke_kyo 3:ab3979b1ae40 40 /*--Dynamixel:begin-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 41 #include "AX12.h"
yusuke_kyo 0:eb69b57ab0dd 42 #include "MX28.h"
yusuke_kyo 0:eb69b57ab0dd 43
yusuke_kyo 0:eb69b57ab0dd 44 AX12 linear (p13, p14, 0); //直動Dynamixel
yusuke_kyo 10:ffe65600fba2 45 MX28 pitch (p13, p14, 1); //ピッチDynamixel
yusuke_kyo 0:eb69b57ab0dd 46 MX28 yaw (p13, p14, 2); //ヨーDynamixel
yusuke_kyo 0:eb69b57ab0dd 47
yusuke_kyo 8:dd338c66211d 48 int linear_goal, pitch_goal, yaw_goal;
yusuke_kyo 0:eb69b57ab0dd 49
yusuke_kyo 10:ffe65600fba2 50 //最小値，最大値，角速度，初期値を指定[unit:degree]
yusuke_kyo 10:ffe65600fba2 51 //MX:MultiTurnモードでは-2520°～2520°(SetGoalの書き換え不要)
yusuke_kyo 8:dd338c66211d 52 int linear_min = 100; int linear_MAX = 720; float linear_Speed=0.1; int linear_Init = linear_MAX;
yusuke_kyo 8:dd338c66211d 53 int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX;
yusuke_kyo 10:ffe65600fba2 54 int yaw_min = 360; int yaw_MAX = 360; float yaw_Speed=0.2; int yaw_Init = 0; //MultiTurnモード
yusuke_kyo 0:eb69b57ab0dd 55
yusuke_kyo 0:eb69b57ab0dd 56 void Dyna_init() {
yusuke_kyo 8:dd338c66211d 57 linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX);
yusuke_kyo 8:dd338c66211d 58 linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init; linear.SetGoal(linear_Init);
yusuke_kyo 8:dd338c66211d 59 pitch.SetCWLimit(linear_min); pitch.SetCCWLimit(linear_MAX);
yusuke_kyo 8:dd338c66211d 60 pitch.SetCRSpeed(pitch_Speed); pitch_goal=linear_Init; pitch.SetGoal(pitch_Init);
yusuke_kyo 8:dd338c66211d 61 yaw.SetCWLimit(linear_min); yaw.SetCCWLimit(linear_MAX);
yusuke_kyo 8:dd338c66211d 62 yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; yaw.SetGoal(yaw_Init);
yusuke_kyo 0:eb69b57ab0dd 63 wait(1);
yusuke_kyo 0:eb69b57ab0dd 64 }
yusuke_kyo 0:eb69b57ab0dd 65
yusuke_kyo 0:eb69b57ab0dd 66 void Dyna_home_position() {
yusuke_kyo 0:eb69b57ab0dd 67 linear.SetGoal(linear_Init);
yusuke_kyo 8:dd338c66211d 68 wait(1);
yusuke_kyo 0:eb69b57ab0dd 69 pitch.SetGoal(pitch_Init);
yusuke_kyo 0:eb69b57ab0dd 70 yaw.SetGoal(yaw_Init);
yusuke_kyo 0:eb69b57ab0dd 71 wait(1);
yusuke_kyo 0:eb69b57ab0dd 72 }
yusuke_kyo 0:eb69b57ab0dd 73
yusuke_kyo 0:eb69b57ab0dd 74 void Dyna_reset() {
yusuke_kyo 0:eb69b57ab0dd 75 Dyna_home_position();
yusuke_kyo 8:dd338c66211d 76 linear.SetTorqueLimit(0);
yusuke_kyo 8:dd338c66211d 77 pitch.SetTorqueLimit(0);
yusuke_kyo 8:dd338c66211d 78 yaw.SetTorqueLimit(0);
yusuke_kyo 11:4ed9e37e5ffd 79 wait(1);
yusuke_kyo 8:dd338c66211d 80 linear.SetTorqueLimit(1);
yusuke_kyo 8:dd338c66211d 81 pitch.SetTorqueLimit(1);
yusuke_kyo 8:dd338c66211d 82 yaw.SetTorqueLimit(1);
yusuke_kyo 8:dd338c66211d 83 }
yusuke_kyo 8:dd338c66211d 84
yusuke_kyo 8:dd338c66211d 85 void Dyna_end() {
yusuke_kyo 8:dd338c66211d 86 Dyna_home_position();
yusuke_kyo 8:dd338c66211d 87 linear.TorqueEnable(0);
yusuke_kyo 8:dd338c66211d 88 pitch.TorqueEnable(0);
yusuke_kyo 8:dd338c66211d 89 yaw.TorqueEnable(0);
yusuke_kyo 0:eb69b57ab0dd 90 }
yusuke_kyo 3:ab3979b1ae40 91 /*--Dynamixel:end-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 92
yusuke_kyo 0:eb69b57ab0dd 93
yusuke_kyo 3:ab3979b1ae40 94 /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 95 /*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
yusuke_kyo 0:eb69b57ab0dd 96 /*データシート：http://www.omron.co.jp/ecb/products/sensor/special/mems/pdf/AN-D6T-01JP_r2.pdf*/
yusuke_kyo 0:eb69b57ab0dd 97 #include "MEMS.h"
yusuke_kyo 0:eb69b57ab0dd 98
yusuke_kyo 13:5f5c2b446aac 99 MEMS MEMS1(p9, p10); // sda, scl
yusuke_kyo 0:eb69b57ab0dd 100 MEMS MEMS2(p28, p27); // sda, scl
yusuke_kyo 3:ab3979b1ae40 101 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 102
yusuke_kyo 0:eb69b57ab0dd 103
yusuke_kyo 2:8b71db86f221 104 /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 105 /*CO2センサモジュール：A051020-AQ6B-01*/
yusuke_kyo 0:eb69b57ab0dd 106 /*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
yusuke_kyo 14:523d184e5107 107 /*参考 外気:396.0[ppm](2013年) 呼気:13,200[ppm] ※このセンサで測れるのは3000[ppm]まで*/
yusuke_kyo 0:eb69b57ab0dd 108 #include "mbed.h"
yusuke_kyo 0:eb69b57ab0dd 109
yusuke_kyo 0:eb69b57ab0dd 110 AnalogIn ain(p20);
yusuke_kyo 0:eb69b57ab0dd 111
yusuke_kyo 0:eb69b57ab0dd 112 float CO2_Sensor()
yusuke_kyo 0:eb69b57ab0dd 113 {
yusuke_kyo 0:eb69b57ab0dd 114 float v; //生データ：電圧
yusuke_kyo 0:eb69b57ab0dd 115 float sensor_v,CO2;
yusuke_kyo 0:eb69b57ab0dd 116
yusuke_kyo 8:dd338c66211d 117 v = ain.read()*3.3;
yusuke_kyo 0:eb69b57ab0dd 118 sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
yusuke_kyo 0:eb69b57ab0dd 119 CO2 = sensor_v * 1000 + 400; //データシートより
yusuke_kyo 0:eb69b57ab0dd 120
yusuke_kyo 0:eb69b57ab0dd 121 return(CO2);
yusuke_kyo 0:eb69b57ab0dd 122 }
yusuke_kyo 5:fa52b01a484e 123 /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 124
yusuke_kyo 0:eb69b57ab0dd 125
yusuke_kyo 2:8b71db86f221 126 /*---------------
yusuke_kyo 2:8b71db86f221 127 MAIN ROOP
yusuke_kyo 2:8b71db86f221 128 ----------------*/
yusuke_kyo 0:eb69b57ab0dd 129 int main() {
yusuke_kyo 0:eb69b57ab0dd 130
yusuke_kyo 8:dd338c66211d 131 float lP, lV, pP, pC, yP, yC;
yusuke_kyo 11:4ed9e37e5ffd 132 float ThD1[16], ThD2[16];
yusuke_kyo 8:dd338c66211d 133 char Thermo_data[100];
yusuke_kyo 0:eb69b57ab0dd 134 float CO2_data;
yusuke_kyo 0:eb69b57ab0dd 135
yusuke_kyo 0:eb69b57ab0dd 136 Ethernet_init();
yusuke_kyo 14:523d184e5107 137 stdio_mutex.lock();
yusuke_kyo 0:eb69b57ab0dd 138 Dyna_init();
yusuke_kyo 14:523d184e5107 139 stdio_mutex.unlock();
yusuke_kyo 0:eb69b57ab0dd 140
yusuke_kyo 8:dd338c66211d 141 char S_data[200], R_data[2];
yusuke_kyo 8:dd338c66211d 142 int Joy_mode, linear_mode, pitch_mode, yaw_mode;
yusuke_kyo 8:dd338c66211d 143
yusuke_kyo 0:eb69b57ab0dd 144 while(1) {
yusuke_kyo 0:eb69b57ab0dd 145
yusuke_kyo 12:5c2b9f7be93f 146 sock.receiveFrom(echo_server, R_data, sizeof(R_data)); //オペステからデータを取得
yusuke_kyo 8:dd338c66211d 147 wait_ms(1);
yusuke_kyo 13:5f5c2b446aac 148 int J = atoi(R_data);
yusuke_kyo 13:5f5c2b446aac 149 Joy_mode = J & 0x03; //ジョイスティックのモード判定
yusuke_kyo 0:eb69b57ab0dd 150
yusuke_kyo 8:dd338c66211d 151 switch(Joy_mode){
yusuke_kyo 8:dd338c66211d 152 case 0: //通常モード
yusuke_kyo 14:523d184e5107 153 stdio_mutex.lock();
yusuke_kyo 8:dd338c66211d 154 /*--Dynamixel:begin---------------------------------------------------------------*/
yusuke_kyo 8:dd338c66211d 155 //現在の角度・電圧・電流を取得
yusuke_kyo 8:dd338c66211d 156 myled1=1;
yusuke_kyo 8:dd338c66211d 157 lP = linear.GetPosition(); lV = linear.GetVolts();
yusuke_kyo 8:dd338c66211d 158 pP = pitch.GetPosition(); pC = pitch.GetCurrent();
yusuke_kyo 8:dd338c66211d 159 yP = yaw.GetPosition(); yC = yaw.GetCurrent();
yusuke_kyo 8:dd338c66211d 160 myled1=0;
yusuke_kyo 14:523d184e5107 161
yusuke_kyo 12:5c2b9f7be93f 162 //Dynamixelへの命令を判定
yusuke_kyo 10:ffe65600fba2 163 linear_mode = R_data[0] & 0x0c; linear_mode = linear_mode >> 2;
yusuke_kyo 10:ffe65600fba2 164 pitch_mode = R_data[0] & 0x30; pitch_mode = linear_mode >> 4;
yusuke_kyo 10:ffe65600fba2 165 yaw_mode = R_data[0] & 0xc0; yaw_mode = linear_mode >> 6;
yusuke_kyo 0:eb69b57ab0dd 166
yusuke_kyo 12:5c2b9f7be93f 167 //目標角度を変更
yusuke_kyo 8:dd338c66211d 168 myled2=1;
yusuke_kyo 9:65c76b58e5b7 169 linear_goal=lP;
yusuke_kyo 8:dd338c66211d 170 switch(linear_mode){
yusuke_kyo 9:65c76b58e5b7 171 case 0: break;
yusuke_kyo 8:dd338c66211d 172 case 1: linear_goal++; break;
yusuke_kyo 8:dd338c66211d 173 case 2: linear_goal--; break;
yusuke_kyo 8:dd338c66211d 174 }
yusuke_kyo 8:dd338c66211d 175 linear.SetGoal(linear_goal);
yusuke_kyo 9:65c76b58e5b7 176 pitch_goal=pP;
yusuke_kyo 8:dd338c66211d 177 switch(pitch_mode){
yusuke_kyo 9:65c76b58e5b7 178 case 0: break;
yusuke_kyo 8:dd338c66211d 179 case 1: pitch_goal++; break;
yusuke_kyo 8:dd338c66211d 180 case 2: pitch_goal--; break;
yusuke_kyo 8:dd338c66211d 181 }
yusuke_kyo 8:dd338c66211d 182 pitch.SetGoal(pitch_goal);
yusuke_kyo 9:65c76b58e5b7 183 yaw_goal=yP;
yusuke_kyo 8:dd338c66211d 184 switch(yaw_mode){
yusuke_kyo 9:65c76b58e5b7 185 case 0: break;
yusuke_kyo 8:dd338c66211d 186 case 1: yaw_goal++; break;
yusuke_kyo 8:dd338c66211d 187 case 2: yaw_goal--; break;
yusuke_kyo 8:dd338c66211d 188 }
yusuke_kyo 8:dd338c66211d 189 yaw.SetGoal(yaw_goal);
yusuke_kyo 8:dd338c66211d 190 myled2=0;
yusuke_kyo 8:dd338c66211d 191 /*--Dynamixel:end------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 192
yusuke_kyo 8:dd338c66211d 193 /*--Thermal_Sensor:begin-----------------------------------------------------------*/
yusuke_kyo 8:dd338c66211d 194 //値を取得
yusuke_kyo 8:dd338c66211d 195 MEMS1.temp(ThD1);
yusuke_kyo 8:dd338c66211d 196 MEMS2.temp(ThD2);
yusuke_kyo 8:dd338c66211d 197 /*--Thermal_Sensor:end-------------------------------------------------------------*/
yusuke_kyo 8:dd338c66211d 198
yusuke_kyo 8:dd338c66211d 199 /*--CO2_Sensor:begin---------------------------------------------------------------*/
yusuke_kyo 8:dd338c66211d 200 //値を取得
yusuke_kyo 8:dd338c66211d 201 CO2_data=CO2_Sensor();
yusuke_kyo 8:dd338c66211d 202 /*--CO2_Sensor:end-----------------------------------------------------------------*/
yusuke_kyo 8:dd338c66211d 203
yusuke_kyo 8:dd338c66211d 204 //値を送信
yusuke_kyo 10:ffe65600fba2 205 myled3=1;
yusuke_kyo 8:dd338c66211d 206 sprintf(Thermo_data,
yusuke_kyo 8:dd338c66211d 207 "%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f",
yusuke_kyo 8:dd338c66211d 208 ThD1[0],ThD1[1],ThD1[2],ThD1[3],ThD1[4],ThD1[5],ThD1[6],ThD1[7],
yusuke_kyo 8:dd338c66211d 209 ThD1[8],ThD1[9],ThD1[10],ThD1[11],ThD1[12],ThD1[13],ThD1[14],ThD1[15],
yusuke_kyo 8:dd338c66211d 210 ThD2[0],ThD2[1],ThD2[2],ThD2[3],ThD2[4],ThD2[5],ThD2[6],ThD2[7],
yusuke_kyo 8:dd338c66211d 211 ThD2[8],ThD2[9],ThD2[10],ThD2[11],ThD2[12],ThD2[13],ThD2[14],ThD2[15]);
yusuke_kyo 8:dd338c66211d 212 sprintf(S_data, "%f %f %f %f %f %f %s %f",lP,lV,pP,pC,yP,yC,Thermo_data,CO2_data);
yusuke_kyo 14:523d184e5107 213 stdio_mutex.unlock();
yusuke_kyo 8:dd338c66211d 214 sock.sendTo(echo_server, S_data, sizeof(S_data));
yusuke_kyo 10:ffe65600fba2 215 myled3=0;
yusuke_kyo 8:dd338c66211d 216 break;
yusuke_kyo 8:dd338c66211d 217
yusuke_kyo 8:dd338c66211d 218
yusuke_kyo 8:dd338c66211d 219 case 1: //ホームポジション
yusuke_kyo 14:523d184e5107 220 stdio_mutex.lock(); Dyna_home_position(); stdio_mutex.unlock(); break;
yusuke_kyo 0:eb69b57ab0dd 221
yusuke_kyo 8:dd338c66211d 222 case 2: //リセット
yusuke_kyo 14:523d184e5107 223 stdio_mutex.lock(); Dyna_reset(); stdio_mutex.unlock(); break;
yusuke_kyo 8:dd338c66211d 224
yusuke_kyo 8:dd338c66211d 225 case 3: //終了
yusuke_kyo 14:523d184e5107 226 stdio_mutex.lock(); myled4=1; Dyna_end(); stdio_mutex.unlock(); sock.close(true); eth.disconnect(); return 0;
yusuke_kyo 0:eb69b57ab0dd 227 }
yusuke_kyo 0:eb69b57ab0dd 228 }
yusuke_kyo 0:eb69b57ab0dd 229 }