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@16:b01cfa36fa26, 2015-04-17 (annotated)

Committer:
yusuke_kyo
Date:
Fri Apr 17 02:37:00 2015 +0000
Revision:
16:b01cfa36fa26
Parent:
15:d62819013445 
function

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 eth.init("192.168.1.100", "255.255.255.0", ""); // Use hard IP
yusuke_kyo 0:eb69b57ab0dd 28 eth.connect();
yusuke_kyo 0:eb69b57ab0dd 29
yusuke_kyo 8:dd338c66211d 30 sock.bind(CLIENT_PORT);
yusuke_kyo 0:eb69b57ab0dd 31 sock.set_blocking(false);
yusuke_kyo 0:eb69b57ab0dd 32
yusuke_kyo 0:eb69b57ab0dd 33 echo_server.set_address(ECHO_SERVER_ADDRESS, ECHO_SERVER_PORT);
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 15:d62819013445 42 DigitalOut low(p19); DigitalOut RelaySwitch(p17);
yusuke_kyo 15:d62819013445 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 15:d62819013445 57 low = 0; RelaySwitch = 1;
yusuke_kyo 8:dd338c66211d 58 linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX);
yusuke_kyo 8:dd338c66211d 59 linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init; linear.SetGoal(linear_Init);
yusuke_kyo 8:dd338c66211d 60 pitch.SetCWLimit(linear_min); pitch.SetCCWLimit(linear_MAX);
yusuke_kyo 8:dd338c66211d 61 pitch.SetCRSpeed(pitch_Speed); pitch_goal=linear_Init; pitch.SetGoal(pitch_Init);
yusuke_kyo 8:dd338c66211d 62 yaw.SetCWLimit(linear_min); yaw.SetCCWLimit(linear_MAX);
yusuke_kyo 8:dd338c66211d 63 yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; yaw.SetGoal(yaw_Init);
yusuke_kyo 0:eb69b57ab0dd 64 wait(1);
yusuke_kyo 0:eb69b57ab0dd 65 }
yusuke_kyo 0:eb69b57ab0dd 66
yusuke_kyo 16:b01cfa36fa26 67 void GetDyna(char* data) {
yusuke_kyo 16:b01cfa36fa26 68 float lP, lV, pP, pC, yP, yC;
yusuke_kyo 16:b01cfa36fa26 69
yusuke_kyo 16:b01cfa36fa26 70 lP = linear.GetPosition(); lV = linear.GetVolts();
yusuke_kyo 16:b01cfa36fa26 71 pP = pitch.GetPosition(); pC = pitch.GetCurrent();
yusuke_kyo 16:b01cfa36fa26 72 yP = yaw.GetPosition(); yC = yaw.GetCurrent();
yusuke_kyo 16:b01cfa36fa26 73
yusuke_kyo 16:b01cfa36fa26 74 linear_goal=lP; pitch_goal=pP; yaw_goal=yP; //現在角度を目標値に設定
yusuke_kyo 16:b01cfa36fa26 75
yusuke_kyo 16:b01cfa36fa26 76 sprintf(data,"%f %f %f %f %f %f ",lP,lV,pP,pC,yP,yC);
yusuke_kyo 16:b01cfa36fa26 77 }
yusuke_kyo 16:b01cfa36fa26 78
yusuke_kyo 16:b01cfa36fa26 79 void SetGoalDyna(int l_mode, int p_mode, int y_mode) {
yusuke_kyo 16:b01cfa36fa26 80 switch(l_mode){
yusuke_kyo 16:b01cfa36fa26 81 case 0: break;
yusuke_kyo 16:b01cfa36fa26 82 case 1: linear.SetTorqueLimit(1); linear_goal++; break;
yusuke_kyo 16:b01cfa36fa26 83 case 2: linear.SetTorqueLimit(1); linear_goal--; break;
yusuke_kyo 16:b01cfa36fa26 84 }
yusuke_kyo 16:b01cfa36fa26 85 linear.SetGoal(linear_goal);
yusuke_kyo 16:b01cfa36fa26 86
yusuke_kyo 16:b01cfa36fa26 87 switch(p_mode){
yusuke_kyo 16:b01cfa36fa26 88 case 0: break;
yusuke_kyo 16:b01cfa36fa26 89 case 1: pitch_goal++; break;
yusuke_kyo 16:b01cfa36fa26 90 case 2: pitch_goal--; break;
yusuke_kyo 16:b01cfa36fa26 91 }
yusuke_kyo 16:b01cfa36fa26 92 pitch.SetGoal(pitch_goal);
yusuke_kyo 16:b01cfa36fa26 93
yusuke_kyo 16:b01cfa36fa26 94 switch(y_mode){
yusuke_kyo 16:b01cfa36fa26 95 case 0: break;
yusuke_kyo 16:b01cfa36fa26 96 case 1: yaw_goal++; break;
yusuke_kyo 16:b01cfa36fa26 97 case 2: yaw_goal--; break;
yusuke_kyo 16:b01cfa36fa26 98 }
yusuke_kyo 16:b01cfa36fa26 99 yaw.SetGoal(yaw_goal);
yusuke_kyo 16:b01cfa36fa26 100 }
yusuke_kyo 16:b01cfa36fa26 101
yusuke_kyo 0:eb69b57ab0dd 102 void Dyna_home_position() {
yusuke_kyo 16:b01cfa36fa26 103 float lp;
yusuke_kyo 0:eb69b57ab0dd 104 linear.SetGoal(linear_Init);
yusuke_kyo 16:b01cfa36fa26 105 lp=linear.GetPosition();
yusuke_kyo 16:b01cfa36fa26 106 if(lp > linear_MAX - 30) { //ある程度縮んだら
yusuke_kyo 16:b01cfa36fa26 107 pitch.SetGoal(pitch_Init);
yusuke_kyo 16:b01cfa36fa26 108 yaw.SetGoal(yaw_Init);
yusuke_kyo 16:b01cfa36fa26 109 }
yusuke_kyo 0:eb69b57ab0dd 110 }
yusuke_kyo 0:eb69b57ab0dd 111
yusuke_kyo 0:eb69b57ab0dd 112 void Dyna_reset() {
yusuke_kyo 15:d62819013445 113 RelaySwitch = 0;
yusuke_kyo 15:d62819013445 114 wait_ms(10);
yusuke_kyo 15:d62819013445 115 RelaySwitch = 1;
yusuke_kyo 8:dd338c66211d 116 }
yusuke_kyo 8:dd338c66211d 117
yusuke_kyo 8:dd338c66211d 118 void Dyna_end() {
yusuke_kyo 15:d62819013445 119 RelaySwitch = 0;
yusuke_kyo 0:eb69b57ab0dd 120 }
yusuke_kyo 3:ab3979b1ae40 121 /*--Dynamixel:end-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 122
yusuke_kyo 0:eb69b57ab0dd 123
yusuke_kyo 3:ab3979b1ae40 124 /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 125 /*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
yusuke_kyo 0:eb69b57ab0dd 126 /*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 127 #include "MEMS.h"
yusuke_kyo 0:eb69b57ab0dd 128
yusuke_kyo 13:5f5c2b446aac 129 MEMS MEMS1(p9, p10); // sda, scl
yusuke_kyo 0:eb69b57ab0dd 130 MEMS MEMS2(p28, p27); // sda, scl
yusuke_kyo 16:b01cfa36fa26 131
yusuke_kyo 16:b01cfa36fa26 132 void GetThermo(char* data) {
yusuke_kyo 16:b01cfa36fa26 133 float ThD1[16], ThD2[16];
yusuke_kyo 16:b01cfa36fa26 134 char con[10];
yusuke_kyo 16:b01cfa36fa26 135
yusuke_kyo 16:b01cfa36fa26 136 MEMS1.temp(ThD1);
yusuke_kyo 16:b01cfa36fa26 137 MEMS2.temp(ThD2);
yusuke_kyo 16:b01cfa36fa26 138
yusuke_kyo 16:b01cfa36fa26 139 for(int i=0;i<16;i++){
yusuke_kyo 16:b01cfa36fa26 140 sprintf(con,"%3.1f ",ThD1[i]);
yusuke_kyo 16:b01cfa36fa26 141 strcat(data,con);
yusuke_kyo 16:b01cfa36fa26 142 }
yusuke_kyo 16:b01cfa36fa26 143 for(int i=0;i<16;i++){
yusuke_kyo 16:b01cfa36fa26 144 sprintf(con,"%3.1f ",ThD2[i]);
yusuke_kyo 16:b01cfa36fa26 145 strcat(data,con);
yusuke_kyo 16:b01cfa36fa26 146 }
yusuke_kyo 16:b01cfa36fa26 147 }
yusuke_kyo 3:ab3979b1ae40 148 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 149
yusuke_kyo 0:eb69b57ab0dd 150
yusuke_kyo 2:8b71db86f221 151 /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 152 /*CO2センサモジュール：A051020-AQ6B-01*/
yusuke_kyo 0:eb69b57ab0dd 153 /*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
yusuke_kyo 14:523d184e5107 154 /*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 155 #include "mbed.h"
yusuke_kyo 0:eb69b57ab0dd 156
yusuke_kyo 0:eb69b57ab0dd 157 AnalogIn ain(p20);
yusuke_kyo 0:eb69b57ab0dd 158
yusuke_kyo 16:b01cfa36fa26 159 float GetCO2() {
yusuke_kyo 0:eb69b57ab0dd 160 float v; //生データ：電圧
yusuke_kyo 0:eb69b57ab0dd 161 float sensor_v,CO2;
yusuke_kyo 0:eb69b57ab0dd 162
yusuke_kyo 8:dd338c66211d 163 v = ain.read()*3.3;
yusuke_kyo 0:eb69b57ab0dd 164 sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
yusuke_kyo 0:eb69b57ab0dd 165 CO2 = sensor_v * 1000 + 400; //データシートより
yusuke_kyo 0:eb69b57ab0dd 166
yusuke_kyo 0:eb69b57ab0dd 167 return(CO2);
yusuke_kyo 0:eb69b57ab0dd 168 }
yusuke_kyo 5:fa52b01a484e 169 /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 170
yusuke_kyo 0:eb69b57ab0dd 171
yusuke_kyo 2:8b71db86f221 172 /*---------------
yusuke_kyo 2:8b71db86f221 173 MAIN ROOP
yusuke_kyo 2:8b71db86f221 174 ----------------*/
yusuke_kyo 0:eb69b57ab0dd 175 int main() {
yusuke_kyo 16:b01cfa36fa26 176 char Dyna_data[100];
yusuke_kyo 8:dd338c66211d 177 char Thermo_data[100];
yusuke_kyo 0:eb69b57ab0dd 178 float CO2_data;
yusuke_kyo 0:eb69b57ab0dd 179
yusuke_kyo 0:eb69b57ab0dd 180 Ethernet_init();
yusuke_kyo 14:523d184e5107 181 stdio_mutex.lock();
yusuke_kyo 0:eb69b57ab0dd 182 Dyna_init();
yusuke_kyo 14:523d184e5107 183 stdio_mutex.unlock();
yusuke_kyo 0:eb69b57ab0dd 184
yusuke_kyo 8:dd338c66211d 185 char S_data[200], R_data[2];
yusuke_kyo 8:dd338c66211d 186 int Joy_mode, linear_mode, pitch_mode, yaw_mode;
yusuke_kyo 8:dd338c66211d 187
yusuke_kyo 0:eb69b57ab0dd 188 while(1) {
yusuke_kyo 0:eb69b57ab0dd 189
yusuke_kyo 12:5c2b9f7be93f 190 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 191 wait_ms(1);
yusuke_kyo 13:5f5c2b446aac 192 int J = atoi(R_data);
yusuke_kyo 13:5f5c2b446aac 193 Joy_mode = J & 0x03; //ジョイスティックのモード判定
yusuke_kyo 0:eb69b57ab0dd 194
yusuke_kyo 8:dd338c66211d 195 switch(Joy_mode){
yusuke_kyo 8:dd338c66211d 196 case 0: //通常モード
yusuke_kyo 14:523d184e5107 197 stdio_mutex.lock();
yusuke_kyo 8:dd338c66211d 198 /*--Dynamixel:begin---------------------------------------------------------------*/
yusuke_kyo 12:5c2b9f7be93f 199 //Dynamixelへの命令を判定
yusuke_kyo 10:ffe65600fba2 200 linear_mode = R_data[0] & 0x0c; linear_mode = linear_mode >> 2;
yusuke_kyo 10:ffe65600fba2 201 pitch_mode = R_data[0] & 0x30; pitch_mode = linear_mode >> 4;
yusuke_kyo 10:ffe65600fba2 202 yaw_mode = R_data[0] & 0xc0; yaw_mode = linear_mode >> 6;
yusuke_kyo 0:eb69b57ab0dd 203
yusuke_kyo 16:b01cfa36fa26 204 //現在の角度・電圧・電流を取得
yusuke_kyo 16:b01cfa36fa26 205 myled1=1;
yusuke_kyo 16:b01cfa36fa26 206 GetDyna(Dyna_data);
yusuke_kyo 16:b01cfa36fa26 207 myled1=0;
yusuke_kyo 16:b01cfa36fa26 208
yusuke_kyo 12:5c2b9f7be93f 209 //目標角度を変更
yusuke_kyo 8:dd338c66211d 210 myled2=1;
yusuke_kyo 16:b01cfa36fa26 211 SetGoalDyna(linear_mode, pitch_mode, yaw_mode);
yusuke_kyo 8:dd338c66211d 212 myled2=0;
yusuke_kyo 8:dd338c66211d 213 /*--Dynamixel:end------------------------------------------------------------------*/
yusuke_kyo 0:eb69b57ab0dd 214
yusuke_kyo 8:dd338c66211d 215 /*--Thermal_Sensor:begin-----------------------------------------------------------*/
yusuke_kyo 8:dd338c66211d 216 //値を取得
yusuke_kyo 16:b01cfa36fa26 217 GetThermo(Thermo_data);
yusuke_kyo 8:dd338c66211d 218 /*--Thermal_Sensor:end-------------------------------------------------------------*/
yusuke_kyo 8:dd338c66211d 219
yusuke_kyo 8:dd338c66211d 220 /*--CO2_Sensor:begin---------------------------------------------------------------*/
yusuke_kyo 8:dd338c66211d 221 //値を取得
yusuke_kyo 16:b01cfa36fa26 222 CO2_data=GetCO2();
yusuke_kyo 8:dd338c66211d 223 /*--CO2_Sensor:end-----------------------------------------------------------------*/
yusuke_kyo 8:dd338c66211d 224
yusuke_kyo 8:dd338c66211d 225 //値を送信
yusuke_kyo 10:ffe65600fba2 226 myled3=1;
yusuke_kyo 16:b01cfa36fa26 227 sprintf(S_data, "%s%s%f",Dyna_data,Thermo_data,CO2_data);
yusuke_kyo 14:523d184e5107 228 stdio_mutex.unlock();
yusuke_kyo 8:dd338c66211d 229 sock.sendTo(echo_server, S_data, sizeof(S_data));
yusuke_kyo 10:ffe65600fba2 230 myled3=0;
yusuke_kyo 8:dd338c66211d 231 break;
yusuke_kyo 8:dd338c66211d 232
yusuke_kyo 8:dd338c66211d 233 case 1: //ホームポジション
yusuke_kyo 14:523d184e5107 234 stdio_mutex.lock(); Dyna_home_position(); stdio_mutex.unlock(); break;
yusuke_kyo 0:eb69b57ab0dd 235
yusuke_kyo 8:dd338c66211d 236 case 2: //リセット
yusuke_kyo 14:523d184e5107 237 stdio_mutex.lock(); Dyna_reset(); stdio_mutex.unlock(); break;
yusuke_kyo 8:dd338c66211d 238
yusuke_kyo 8:dd338c66211d 239 case 3: //終了
yusuke_kyo 14:523d184e5107 240 stdio_mutex.lock(); myled4=1; Dyna_end(); stdio_mutex.unlock(); sock.close(true); eth.disconnect(); return 0;
yusuke_kyo 0:eb69b57ab0dd 241 }
yusuke_kyo 0:eb69b57ab0dd 242 }
yusuke_kyo 0:eb69b57ab0dd 243 }