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YOZAKURAのARMプログラム(ver.1)
Dependencies: Dynamixel EthernetInterface MEMS_Thermal_Sensor mbed-rtos SerialHalfDuplex mbed
main.cpp@10:ffe65600fba2, 2015-04-09 (annotated)
- Committer:
- yusuke_kyo
- Date:
- Thu Apr 09 04:24:45 2015 +0000
- Revision:
- 10:ffe65600fba2
- Parent:
- 9:65c76b58e5b7
- Child:
- 11:4ed9e37e5ffd
correct Joy_mode
Who changed what in which revision?
User | Revision | Line number | New 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 | 8:dd338c66211d | 77 | linear.SetTorqueLimit(1); |
yusuke_kyo | 8:dd338c66211d | 78 | pitch.SetTorqueLimit(1); |
yusuke_kyo | 8:dd338c66211d | 79 | yaw.SetTorqueLimit(1); |
yusuke_kyo | 8:dd338c66211d | 80 | } |
yusuke_kyo | 8:dd338c66211d | 81 | |
yusuke_kyo | 8:dd338c66211d | 82 | void Dyna_end() { |
yusuke_kyo | 8:dd338c66211d | 83 | Dyna_home_position(); |
yusuke_kyo | 8:dd338c66211d | 84 | linear.TorqueEnable(0); |
yusuke_kyo | 8:dd338c66211d | 85 | pitch.TorqueEnable(0); |
yusuke_kyo | 8:dd338c66211d | 86 | yaw.TorqueEnable(0); |
yusuke_kyo | 0:eb69b57ab0dd | 87 | } |
yusuke_kyo | 3:ab3979b1ae40 | 88 | /*--Dynamixel:end-----------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:eb69b57ab0dd | 89 | |
yusuke_kyo | 0:eb69b57ab0dd | 90 | |
yusuke_kyo | 3:ab3979b1ae40 | 91 | /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:eb69b57ab0dd | 92 | /*MEMS非接触温度センサ:形D6T-44L-06 4×4素子タイプ*/ |
yusuke_kyo | 0:eb69b57ab0dd | 93 | /*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 | 94 | #include "MEMS.h" |
yusuke_kyo | 0:eb69b57ab0dd | 95 | |
yusuke_kyo | 10:ffe65600fba2 | 96 | MEMS MEMS1(I2C_sda, p10); // sda, scl |
yusuke_kyo | 0:eb69b57ab0dd | 97 | MEMS MEMS2(p28, p27); // sda, scl |
yusuke_kyo | 0:eb69b57ab0dd | 98 | |
yusuke_kyo | 8:dd338c66211d | 99 | float ThD1[16], ThD2[16]; |
yusuke_kyo | 3:ab3979b1ae40 | 100 | /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:eb69b57ab0dd | 101 | |
yusuke_kyo | 0:eb69b57ab0dd | 102 | |
yusuke_kyo | 2:8b71db86f221 | 103 | /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:eb69b57ab0dd | 104 | /*CO2センサモジュール:A051020-AQ6B-01*/ |
yusuke_kyo | 0:eb69b57ab0dd | 105 | /*データシート:http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/ |
yusuke_kyo | 5:fa52b01a484e | 106 | /*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 | 107 | #include "mbed.h" |
yusuke_kyo | 0:eb69b57ab0dd | 108 | |
yusuke_kyo | 0:eb69b57ab0dd | 109 | AnalogIn ain(p20); |
yusuke_kyo | 0:eb69b57ab0dd | 110 | |
yusuke_kyo | 0:eb69b57ab0dd | 111 | float CO2_Sensor() |
yusuke_kyo | 0:eb69b57ab0dd | 112 | { |
yusuke_kyo | 0:eb69b57ab0dd | 113 | float v; //生データ:電圧 |
yusuke_kyo | 0:eb69b57ab0dd | 114 | float sensor_v,CO2; |
yusuke_kyo | 0:eb69b57ab0dd | 115 | |
yusuke_kyo | 8:dd338c66211d | 116 | v = ain.read()*3.3; |
yusuke_kyo | 0:eb69b57ab0dd | 117 | sensor_v = v * 5.0/3.3; //電圧レベルを合わせる |
yusuke_kyo | 0:eb69b57ab0dd | 118 | CO2 = sensor_v * 1000 + 400; //データシートより |
yusuke_kyo | 0:eb69b57ab0dd | 119 | |
yusuke_kyo | 0:eb69b57ab0dd | 120 | return(CO2); |
yusuke_kyo | 0:eb69b57ab0dd | 121 | } |
yusuke_kyo | 5:fa52b01a484e | 122 | /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:eb69b57ab0dd | 123 | |
yusuke_kyo | 0:eb69b57ab0dd | 124 | |
yusuke_kyo | 2:8b71db86f221 | 125 | /*--------------- |
yusuke_kyo | 2:8b71db86f221 | 126 | MAIN ROOP |
yusuke_kyo | 2:8b71db86f221 | 127 | ----------------*/ |
yusuke_kyo | 0:eb69b57ab0dd | 128 | int main() { |
yusuke_kyo | 0:eb69b57ab0dd | 129 | |
yusuke_kyo | 8:dd338c66211d | 130 | float lP, lV, pP, pC, yP, yC; |
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 | 8:dd338c66211d | 142 | sock.receiveFrom(echo_server, R_data, sizeof(R_data)); |
yusuke_kyo | 8:dd338c66211d | 143 | wait_ms(1); |
yusuke_kyo | 10:ffe65600fba2 | 144 | Joy_mode = atoi(R_data[0] & 0x03); |
yusuke_kyo | 0:eb69b57ab0dd | 145 | |
yusuke_kyo | 8:dd338c66211d | 146 | switch(Joy_mode){ |
yusuke_kyo | 8:dd338c66211d | 147 | case 0: //通常モード |
yusuke_kyo | 8:dd338c66211d | 148 | /*--Dynamixel:begin---------------------------------------------------------------*/ |
yusuke_kyo | 8:dd338c66211d | 149 | //現在の角度・電圧・電流を取得 |
yusuke_kyo | 8:dd338c66211d | 150 | myled1=1; |
yusuke_kyo | 8:dd338c66211d | 151 | lP = linear.GetPosition(); lV = linear.GetVolts(); |
yusuke_kyo | 8:dd338c66211d | 152 | pP = pitch.GetPosition(); pC = pitch.GetCurrent(); |
yusuke_kyo | 8:dd338c66211d | 153 | yP = yaw.GetPosition(); yC = yaw.GetCurrent(); |
yusuke_kyo | 8:dd338c66211d | 154 | myled1=0; |
yusuke_kyo | 8:dd338c66211d | 155 | |
yusuke_kyo | 8:dd338c66211d | 156 | //JoyStickのモード |
yusuke_kyo | 10:ffe65600fba2 | 157 | linear_mode = R_data[0] & 0x0c; linear_mode = linear_mode >> 2; |
yusuke_kyo | 10:ffe65600fba2 | 158 | pitch_mode = R_data[0] & 0x30; pitch_mode = linear_mode >> 4; |
yusuke_kyo | 10:ffe65600fba2 | 159 | yaw_mode = R_data[0] & 0xc0; yaw_mode = linear_mode >> 6; |
yusuke_kyo | 0:eb69b57ab0dd | 160 | |
yusuke_kyo | 8:dd338c66211d | 161 | //目標角度へ動かす |
yusuke_kyo | 8:dd338c66211d | 162 | myled2=1; |
yusuke_kyo | 9:65c76b58e5b7 | 163 | linear_goal=lP; |
yusuke_kyo | 8:dd338c66211d | 164 | switch(linear_mode){ |
yusuke_kyo | 9:65c76b58e5b7 | 165 | case 0: break; |
yusuke_kyo | 8:dd338c66211d | 166 | case 1: linear_goal++; break; |
yusuke_kyo | 8:dd338c66211d | 167 | case 2: linear_goal--; break; |
yusuke_kyo | 8:dd338c66211d | 168 | } |
yusuke_kyo | 8:dd338c66211d | 169 | linear.SetGoal(linear_goal); |
yusuke_kyo | 9:65c76b58e5b7 | 170 | pitch_goal=pP; |
yusuke_kyo | 8:dd338c66211d | 171 | switch(pitch_mode){ |
yusuke_kyo | 9:65c76b58e5b7 | 172 | case 0: break; |
yusuke_kyo | 8:dd338c66211d | 173 | case 1: pitch_goal++; break; |
yusuke_kyo | 8:dd338c66211d | 174 | case 2: pitch_goal--; break; |
yusuke_kyo | 8:dd338c66211d | 175 | } |
yusuke_kyo | 8:dd338c66211d | 176 | pitch.SetGoal(pitch_goal); |
yusuke_kyo | 9:65c76b58e5b7 | 177 | yaw_goal=yP; |
yusuke_kyo | 8:dd338c66211d | 178 | switch(yaw_mode){ |
yusuke_kyo | 9:65c76b58e5b7 | 179 | case 0: break; |
yusuke_kyo | 8:dd338c66211d | 180 | case 1: yaw_goal++; break; |
yusuke_kyo | 8:dd338c66211d | 181 | case 2: yaw_goal--; break; |
yusuke_kyo | 8:dd338c66211d | 182 | } |
yusuke_kyo | 8:dd338c66211d | 183 | yaw.SetGoal(yaw_goal); |
yusuke_kyo | 8:dd338c66211d | 184 | myled2=0; |
yusuke_kyo | 8:dd338c66211d | 185 | /*--Dynamixel:end------------------------------------------------------------------*/ |
yusuke_kyo | 0:eb69b57ab0dd | 186 | |
yusuke_kyo | 8:dd338c66211d | 187 | /*--Thermal_Sensor:begin-----------------------------------------------------------*/ |
yusuke_kyo | 8:dd338c66211d | 188 | //値を取得 |
yusuke_kyo | 8:dd338c66211d | 189 | MEMS1.temp(ThD1); |
yusuke_kyo | 8:dd338c66211d | 190 | MEMS2.temp(ThD2); |
yusuke_kyo | 8:dd338c66211d | 191 | /*--Thermal_Sensor:end-------------------------------------------------------------*/ |
yusuke_kyo | 8:dd338c66211d | 192 | |
yusuke_kyo | 8:dd338c66211d | 193 | /*--CO2_Sensor:begin---------------------------------------------------------------*/ |
yusuke_kyo | 8:dd338c66211d | 194 | //値を取得 |
yusuke_kyo | 8:dd338c66211d | 195 | CO2_data=CO2_Sensor(); |
yusuke_kyo | 8:dd338c66211d | 196 | /*--CO2_Sensor:end-----------------------------------------------------------------*/ |
yusuke_kyo | 8:dd338c66211d | 197 | |
yusuke_kyo | 8:dd338c66211d | 198 | //値を送信 |
yusuke_kyo | 10:ffe65600fba2 | 199 | myled3=1; |
yusuke_kyo | 8:dd338c66211d | 200 | sprintf(Thermo_data, |
yusuke_kyo | 8:dd338c66211d | 201 | "%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 | 202 | ThD1[0],ThD1[1],ThD1[2],ThD1[3],ThD1[4],ThD1[5],ThD1[6],ThD1[7], |
yusuke_kyo | 8:dd338c66211d | 203 | ThD1[8],ThD1[9],ThD1[10],ThD1[11],ThD1[12],ThD1[13],ThD1[14],ThD1[15], |
yusuke_kyo | 8:dd338c66211d | 204 | ThD2[0],ThD2[1],ThD2[2],ThD2[3],ThD2[4],ThD2[5],ThD2[6],ThD2[7], |
yusuke_kyo | 8:dd338c66211d | 205 | ThD2[8],ThD2[9],ThD2[10],ThD2[11],ThD2[12],ThD2[13],ThD2[14],ThD2[15]); |
yusuke_kyo | 8:dd338c66211d | 206 | 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 | 207 | sock.sendTo(echo_server, S_data, sizeof(S_data)); |
yusuke_kyo | 10:ffe65600fba2 | 208 | myled3=0; |
yusuke_kyo | 8:dd338c66211d | 209 | break; |
yusuke_kyo | 8:dd338c66211d | 210 | |
yusuke_kyo | 8:dd338c66211d | 211 | |
yusuke_kyo | 8:dd338c66211d | 212 | case 1: //ホームポジション |
yusuke_kyo | 8:dd338c66211d | 213 | Dyna_home_position(); break; |
yusuke_kyo | 0:eb69b57ab0dd | 214 | |
yusuke_kyo | 8:dd338c66211d | 215 | case 2: //リセット |
yusuke_kyo | 8:dd338c66211d | 216 | Dyna_reset(); break; |
yusuke_kyo | 8:dd338c66211d | 217 | |
yusuke_kyo | 8:dd338c66211d | 218 | case 3: //終了 |
yusuke_kyo | 10:ffe65600fba2 | 219 | myled4=1; Dyna_end(); sock.close(true); eth.disconnect(); return 0; |
yusuke_kyo | 0:eb69b57ab0dd | 220 | } |
yusuke_kyo | 0:eb69b57ab0dd | 221 | } |
yusuke_kyo | 0:eb69b57ab0dd | 222 | } |