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@13:5f5c2b446aac, 2015-04-09 (annotated)

Committer:
yusuke_kyo
Date:
Thu Apr 09 06:55:16 2015 +0000
Revision:
13:5f5c2b446aac
Parent:
12:5c2b9f7be93f
Child:
14:523d184e5107
correct joy_mode;

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 0:eb69b57ab0dd 7
yusuke_kyo 10:ffe65600fba2 8 DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4);
yusuke_kyo 0:eb69b57ab0dd 9
yusuke_kyo 8:dd338c66211d 10 /*--Ethernet:begin------------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 11 #include "mbed.h"
yusuke_kyo 0:eb69b57ab0dd 12 #include "EthernetInterface.h"
yusuke_kyo 0:eb69b57ab0dd 13
yusuke_kyo 0:eb69b57ab0dd 14 const char* ECHO_SERVER_ADDRESS = "192.168.1.90";
yusuke_kyo 0:eb69b57ab0dd 15 const int ECHO_SERVER_PORT = 60000;
yusuke_kyo 0:eb69b57ab0dd 16
yusuke_kyo 8:dd338c66211d 17 const char* CLIENT_ADDRESS = "192.168.1.100";
yusuke_kyo 8:dd338c66211d 18 const int CLIENT_PORT = 70000;
yusuke_kyo 8:dd338c66211d 19
yusuke_kyo 0:eb69b57ab0dd 20 EthernetInterface eth;
yusuke_kyo 0:eb69b57ab0dd 21 UDPSocket sock;
yusuke_kyo 0:eb69b57ab0dd 22 Endpoint echo_server;
yusuke_kyo 0:eb69b57ab0dd 23
yusuke_kyo 0:eb69b57ab0dd 24 void Ethernet_init() {
yusuke_kyo 0:eb69b57ab0dd 25
yusuke_kyo 0:eb69b57ab0dd 26 eth.init("192.168.1.100", "255.255.255.0", ""); // Use hard IP
yusuke_kyo 0:eb69b57ab0dd 27 eth.connect();
yusuke_kyo 0:eb69b57ab0dd 28
yusuke_kyo 8:dd338c66211d 29 sock.bind(CLIENT_PORT);
yusuke_kyo 0:eb69b57ab0dd 30 sock.set_blocking(false);
yusuke_kyo 0:eb69b57ab0dd 31
yusuke_kyo 0:eb69b57ab0dd 32 echo_server.set_address(ECHO_SERVER_ADDRESS, ECHO_SERVER_PORT);
yusuke_kyo 0:eb69b57ab0dd 33
yusuke_kyo 0:eb69b57ab0dd 34 }
yusuke_kyo 2:8b71db86f221 35 /*--Ethernet:end--------------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 36
yusuke_kyo 0:eb69b57ab0dd 37
yusuke_kyo 3:ab3979b1ae40 38 /*--Dynamixel:begin-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 39 #include "AX12.h"
yusuke_kyo 0:eb69b57ab0dd 40 #include "MX28.h"
yusuke_kyo 0:eb69b57ab0dd 41
yusuke_kyo 0:eb69b57ab0dd 42 AX12 linear (p13, p14, 0); //直動Dynamixel
yusuke_kyo 10:ffe65600fba2 43 MX28 pitch (p13, p14, 1); //ピッチDynamixel
yusuke_kyo 0:eb69b57ab0dd 44 MX28 yaw (p13, p14, 2); //ヨーDynamixel
yusuke_kyo 0:eb69b57ab0dd 45
yusuke_kyo 8:dd338c66211d 46 int linear_goal, pitch_goal, yaw_goal;
yusuke_kyo 0:eb69b57ab0dd 47
yusuke_kyo 10:ffe65600fba2 48 //最小値，最大値，角速度，初期値を指定[unit:degree]
yusuke_kyo 10:ffe65600fba2 49 //MX:MultiTurnモードでは-2520°～2520°(SetGoalの書き換え不要)
yusuke_kyo 8:dd338c66211d 50 int linear_min = 100; int linear_MAX = 720; float linear_Speed=0.1; int linear_Init = linear_MAX;
yusuke_kyo 8:dd338c66211d 51 int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX;
yusuke_kyo 10:ffe65600fba2 52 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 53
yusuke_kyo 0:eb69b57ab0dd 54 void Dyna_init() {
yusuke_kyo 8:dd338c66211d 55 linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX);
yusuke_kyo 8:dd338c66211d 56 linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init; linear.SetGoal(linear_Init);
yusuke_kyo 8:dd338c66211d 57 pitch.SetCWLimit(linear_min); pitch.SetCCWLimit(linear_MAX);
yusuke_kyo 8:dd338c66211d 58 pitch.SetCRSpeed(pitch_Speed); pitch_goal=linear_Init; pitch.SetGoal(pitch_Init);
yusuke_kyo 8:dd338c66211d 59 yaw.SetCWLimit(linear_min); yaw.SetCCWLimit(linear_MAX);
yusuke_kyo 8:dd338c66211d 60 yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; yaw.SetGoal(yaw_Init);
yusuke_kyo 0:eb69b57ab0dd 61 wait(1);
yusuke_kyo 0:eb69b57ab0dd 62 }
yusuke_kyo 0:eb69b57ab0dd 63
yusuke_kyo 0:eb69b57ab0dd 64 void Dyna_home_position() {
yusuke_kyo 0:eb69b57ab0dd 65 linear.SetGoal(linear_Init);
yusuke_kyo 8:dd338c66211d 66 wait(1);
yusuke_kyo 0:eb69b57ab0dd 67 pitch.SetGoal(pitch_Init);
yusuke_kyo 0:eb69b57ab0dd 68 yaw.SetGoal(yaw_Init);
yusuke_kyo 0:eb69b57ab0dd 69 wait(1);
yusuke_kyo 0:eb69b57ab0dd 70 }
yusuke_kyo 0:eb69b57ab0dd 71
yusuke_kyo 0:eb69b57ab0dd 72 void Dyna_reset() {
yusuke_kyo 0:eb69b57ab0dd 73 Dyna_home_position();
yusuke_kyo 8:dd338c66211d 74 linear.SetTorqueLimit(0);
yusuke_kyo 8:dd338c66211d 75 pitch.SetTorqueLimit(0);
yusuke_kyo 8:dd338c66211d 76 yaw.SetTorqueLimit(0);
yusuke_kyo 11:4ed9e37e5ffd 77 wait(1);
yusuke_kyo 8:dd338c66211d 78 linear.SetTorqueLimit(1);
yusuke_kyo 8:dd338c66211d 79 pitch.SetTorqueLimit(1);
yusuke_kyo 8:dd338c66211d 80 yaw.SetTorqueLimit(1);
yusuke_kyo 8:dd338c66211d 81 }
yusuke_kyo 8:dd338c66211d 82
yusuke_kyo 8:dd338c66211d 83 void Dyna_end() {
yusuke_kyo 8:dd338c66211d 84 Dyna_home_position();
yusuke_kyo 8:dd338c66211d 85 linear.TorqueEnable(0);
yusuke_kyo 8:dd338c66211d 86 pitch.TorqueEnable(0);
yusuke_kyo 8:dd338c66211d 87 yaw.TorqueEnable(0);
yusuke_kyo 0:eb69b57ab0dd 88 }
yusuke_kyo 3:ab3979b1ae40 89 /*--Dynamixel:end-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 90
yusuke_kyo 0:eb69b57ab0dd 91
yusuke_kyo 3:ab3979b1ae40 92 /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 93 /*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
yusuke_kyo 0:eb69b57ab0dd 94 /*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 95 #include "MEMS.h"
yusuke_kyo 0:eb69b57ab0dd 96
yusuke_kyo 13:5f5c2b446aac 97 MEMS MEMS1(p9, p10); // sda, scl
yusuke_kyo 0:eb69b57ab0dd 98 MEMS MEMS2(p28, p27); // sda, scl
yusuke_kyo 3:ab3979b1ae40 99 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 100
yusuke_kyo 0:eb69b57ab0dd 101
yusuke_kyo 2:8b71db86f221 102 /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 103 /*CO2センサモジュール：A051020-AQ6B-01*/
yusuke_kyo 0:eb69b57ab0dd 104 /*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
yusuke_kyo 5:fa52b01a484e 105 /*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5400[ppm]まで*/
yusuke_kyo 0:eb69b57ab0dd 106 #include "mbed.h"
yusuke_kyo 0:eb69b57ab0dd 107
yusuke_kyo 0:eb69b57ab0dd 108 AnalogIn ain(p20);
yusuke_kyo 0:eb69b57ab0dd 109
yusuke_kyo 0:eb69b57ab0dd 110 float CO2_Sensor()
yusuke_kyo 0:eb69b57ab0dd 111 {
yusuke_kyo 0:eb69b57ab0dd 112 float v; //生データ：電圧
yusuke_kyo 0:eb69b57ab0dd 113 float sensor_v,CO2;
yusuke_kyo 0:eb69b57ab0dd 114
yusuke_kyo 8:dd338c66211d 115 v = ain.read()*3.3;
yusuke_kyo 0:eb69b57ab0dd 116 sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
yusuke_kyo 0:eb69b57ab0dd 117 CO2 = sensor_v * 1000 + 400; //データシートより
yusuke_kyo 0:eb69b57ab0dd 118
yusuke_kyo 0:eb69b57ab0dd 119 return(CO2);
yusuke_kyo 0:eb69b57ab0dd 120 }
yusuke_kyo 5:fa52b01a484e 121 /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 122
yusuke_kyo 0:eb69b57ab0dd 123
yusuke_kyo 2:8b71db86f221 124 /*---------------
yusuke_kyo 2:8b71db86f221 125 MAIN ROOP
yusuke_kyo 2:8b71db86f221 126 ----------------*/
yusuke_kyo 0:eb69b57ab0dd 127 int main() {
yusuke_kyo 0:eb69b57ab0dd 128
yusuke_kyo 8:dd338c66211d 129 float lP, lV, pP, pC, yP, yC;
yusuke_kyo 11:4ed9e37e5ffd 130 float ThD1[16], ThD2[16];
yusuke_kyo 8:dd338c66211d 131 char Thermo_data[100];
yusuke_kyo 0:eb69b57ab0dd 132 float CO2_data;
yusuke_kyo 0:eb69b57ab0dd 133
yusuke_kyo 0:eb69b57ab0dd 134 Ethernet_init();
yusuke_kyo 0:eb69b57ab0dd 135 Dyna_init();
yusuke_kyo 0:eb69b57ab0dd 136
yusuke_kyo 8:dd338c66211d 137 char S_data[200], R_data[2];
yusuke_kyo 8:dd338c66211d 138 int Joy_mode, linear_mode, pitch_mode, yaw_mode;
yusuke_kyo 8:dd338c66211d 139
yusuke_kyo 0:eb69b57ab0dd 140 while(1) {
yusuke_kyo 0:eb69b57ab0dd 141
yusuke_kyo 12:5c2b9f7be93f 142 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 143 wait_ms(1);
yusuke_kyo 13:5f5c2b446aac 144 int J = atoi(R_data);
yusuke_kyo 13:5f5c2b446aac 145 Joy_mode = J & 0x03; //ジョイスティックのモード判定
yusuke_kyo 0:eb69b57ab0dd 146
yusuke_kyo 8:dd338c66211d 147 switch(Joy_mode){
yusuke_kyo 8:dd338c66211d 148 case 0: //通常モード
yusuke_kyo 8:dd338c66211d 149 /*--Dynamixel:begin---------------------------------------------------------------*/
yusuke_kyo 8:dd338c66211d 150 //現在の角度・電圧・電流を取得
yusuke_kyo 8:dd338c66211d 151 myled1=1;
yusuke_kyo 8:dd338c66211d 152 lP = linear.GetPosition(); lV = linear.GetVolts();
yusuke_kyo 8:dd338c66211d 153 pP = pitch.GetPosition(); pC = pitch.GetCurrent();
yusuke_kyo 8:dd338c66211d 154 yP = yaw.GetPosition(); yC = yaw.GetCurrent();
yusuke_kyo 8:dd338c66211d 155 myled1=0;
yusuke_kyo 8:dd338c66211d 156
yusuke_kyo 12:5c2b9f7be93f 157 //Dynamixelへの命令を判定
yusuke_kyo 10:ffe65600fba2 158 linear_mode = R_data[0] & 0x0c; linear_mode = linear_mode >> 2;
yusuke_kyo 10:ffe65600fba2 159 pitch_mode = R_data[0] & 0x30; pitch_mode = linear_mode >> 4;
yusuke_kyo 10:ffe65600fba2 160 yaw_mode = R_data[0] & 0xc0; yaw_mode = linear_mode >> 6;
yusuke_kyo 0:eb69b57ab0dd 161
yusuke_kyo 12:5c2b9f7be93f 162 //目標角度を変更
yusuke_kyo 8:dd338c66211d 163 myled2=1;
yusuke_kyo 9:65c76b58e5b7 164 linear_goal=lP;
yusuke_kyo 8:dd338c66211d 165 switch(linear_mode){
yusuke_kyo 9:65c76b58e5b7 166 case 0: break;
yusuke_kyo 8:dd338c66211d 167 case 1: linear_goal++; break;
yusuke_kyo 8:dd338c66211d 168 case 2: linear_goal--; break;
yusuke_kyo 8:dd338c66211d 169 }
yusuke_kyo 8:dd338c66211d 170 linear.SetGoal(linear_goal);
yusuke_kyo 9:65c76b58e5b7 171 pitch_goal=pP;
yusuke_kyo 8:dd338c66211d 172 switch(pitch_mode){
yusuke_kyo 9:65c76b58e5b7 173 case 0: break;
yusuke_kyo 8:dd338c66211d 174 case 1: pitch_goal++; break;
yusuke_kyo 8:dd338c66211d 175 case 2: pitch_goal--; break;
yusuke_kyo 8:dd338c66211d 176 }
yusuke_kyo 8:dd338c66211d 177 pitch.SetGoal(pitch_goal);
yusuke_kyo 9:65c76b58e5b7 178 yaw_goal=yP;
yusuke_kyo 8:dd338c66211d 179 switch(yaw_mode){
yusuke_kyo 9:65c76b58e5b7 180 case 0: break;
yusuke_kyo 8:dd338c66211d 181 case 1: yaw_goal++; break;
yusuke_kyo 8:dd338c66211d 182 case 2: yaw_goal--; break;
yusuke_kyo 8:dd338c66211d 183 }
yusuke_kyo 8:dd338c66211d 184 yaw.SetGoal(yaw_goal);
yusuke_kyo 8:dd338c66211d 185 myled2=0;
yusuke_kyo 8:dd338c66211d 186 /*--Dynamixel:end------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 187
yusuke_kyo 8:dd338c66211d 188 /*--Thermal_Sensor:begin-----------------------------------------------------------*/
yusuke_kyo 8:dd338c66211d 189 //値を取得
yusuke_kyo 8:dd338c66211d 190 MEMS1.temp(ThD1);
yusuke_kyo 8:dd338c66211d 191 MEMS2.temp(ThD2);
yusuke_kyo 8:dd338c66211d 192 /*--Thermal_Sensor:end-------------------------------------------------------------*/
yusuke_kyo 8:dd338c66211d 193
yusuke_kyo 8:dd338c66211d 194 /*--CO2_Sensor:begin---------------------------------------------------------------*/
yusuke_kyo 8:dd338c66211d 195 //値を取得
yusuke_kyo 8:dd338c66211d 196 CO2_data=CO2_Sensor();
yusuke_kyo 8:dd338c66211d 197 /*--CO2_Sensor:end-----------------------------------------------------------------*/
yusuke_kyo 8:dd338c66211d 198
yusuke_kyo 8:dd338c66211d 199 //値を送信
yusuke_kyo 10:ffe65600fba2 200 myled3=1;
yusuke_kyo 8:dd338c66211d 201 sprintf(Thermo_data,
yusuke_kyo 8:dd338c66211d 202 "%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 203 ThD1[0],ThD1[1],ThD1[2],ThD1[3],ThD1[4],ThD1[5],ThD1[6],ThD1[7],
yusuke_kyo 8:dd338c66211d 204 ThD1[8],ThD1[9],ThD1[10],ThD1[11],ThD1[12],ThD1[13],ThD1[14],ThD1[15],
yusuke_kyo 8:dd338c66211d 205 ThD2[0],ThD2[1],ThD2[2],ThD2[3],ThD2[4],ThD2[5],ThD2[6],ThD2[7],
yusuke_kyo 8:dd338c66211d 206 ThD2[8],ThD2[9],ThD2[10],ThD2[11],ThD2[12],ThD2[13],ThD2[14],ThD2[15]);
yusuke_kyo 8:dd338c66211d 207 sprintf(S_data, "%f %f %f %f %f %f %s %f",lP,lV,pP,pC,yP,yC,Thermo_data,CO2_data);
yusuke_kyo 8:dd338c66211d 208 sock.sendTo(echo_server, S_data, sizeof(S_data));
yusuke_kyo 10:ffe65600fba2 209 myled3=0;
yusuke_kyo 8:dd338c66211d 210 break;
yusuke_kyo 8:dd338c66211d 211
yusuke_kyo 8:dd338c66211d 212
yusuke_kyo 8:dd338c66211d 213 case 1: //ホームポジション
yusuke_kyo 8:dd338c66211d 214 Dyna_home_position(); break;
yusuke_kyo 0:eb69b57ab0dd 215
yusuke_kyo 8:dd338c66211d 216 case 2: //リセット
yusuke_kyo 8:dd338c66211d 217 Dyna_reset(); break;
yusuke_kyo 8:dd338c66211d 218
yusuke_kyo 8:dd338c66211d 219 case 3: //終了
yusuke_kyo 10:ffe65600fba2 220 myled4=1; Dyna_end(); sock.close(true); eth.disconnect(); return 0;
yusuke_kyo 0:eb69b57ab0dd 221 }
yusuke_kyo 0:eb69b57ab0dd 222 }
yusuke_kyo 0:eb69b57ab0dd 223 }