File content as of revision 8:dd338c66211d:

/*YOZAKURAのアームコード
  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
  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
*/

#include "mbed.h"

DigitalOut myled1(LED1);
DigitalOut myled2(LED2);
DigitalOut myled3(LED3);
DigitalOut myled4(LED4);

/*--Ethernet:begin------------------------------------------------------------------------------------------*/
#include "mbed.h"
#include "EthernetInterface.h" 

const char* ECHO_SERVER_ADDRESS = "192.168.1.90"; 
const int ECHO_SERVER_PORT = 60000;

const char* CLIENT_ADDRESS = "192.168.1.100"; 
const int CLIENT_PORT = 70000;

EthernetInterface eth; 
UDPSocket sock; 
Endpoint echo_server; 

void Ethernet_init() {

    eth.init("192.168.1.100", "255.255.255.0", ""); //  Use hard IP
    eth.connect(); 

    sock.bind(CLIENT_PORT);
    sock.set_blocking(false);
    
    echo_server.set_address(ECHO_SERVER_ADDRESS, ECHO_SERVER_PORT);
    
}
/*--Ethernet:end--------------------------------------------------------------------------------------------*/


/*--Dynamixel:begin-----------------------------------------------------------------------------------------*/
#include "AX12.h"
#include "MX28.h"

AX12 linear (p13, p14, 0);      //直動Dynamixel
//MX28 pitch (p9, p10, 1);        //ピッチDynamixel
MX28 pitch (p13, p14, 1);        //ピッチDynamixel
//MX28 yaw (p28, p27, 2);         //ヨーDynamixel
MX28 yaw (p13, p14, 2);         //ヨーDynamixel

int linear_goal, pitch_goal, yaw_goal;

//最小値、最大値、初期値を指定[unit:degree]
//MX:MultiTurnモードでは0°～5040°
int linear_min = 100; int linear_MAX = 720; float linear_Speed=0.1; int linear_Init = linear_MAX;
int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX;
int yaw_min = 360; int yaw_MAX = 360; float yaw_Speed=0.2; int yaw_Init = 0;

void Dyna_init() {
    linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX); 
    linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init; linear.SetGoal(linear_Init);
    pitch.SetCWLimit(linear_min); pitch.SetCCWLimit(linear_MAX); 
    pitch.SetCRSpeed(pitch_Speed); pitch_goal=linear_Init; pitch.SetGoal(pitch_Init);
    yaw.SetCWLimit(linear_min); yaw.SetCCWLimit(linear_MAX); 
    yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; yaw.SetGoal(yaw_Init);
    wait(1);
}

void Dyna_home_position() {
    linear.SetGoal(linear_Init);
    wait(1); 
    pitch.SetGoal(pitch_Init);
    yaw.SetGoal(yaw_Init);
    wait(1); 
}

void Dyna_reset() {
    Dyna_home_position();
    linear.SetTorqueLimit(0);
    pitch.SetTorqueLimit(0);
    yaw.SetTorqueLimit(0);
    linear.SetTorqueLimit(1);
    pitch.SetTorqueLimit(1);
    yaw.SetTorqueLimit(1);
}

void Dyna_end() {
    Dyna_home_position();
    linear.TorqueEnable(0);
    pitch.TorqueEnable(0);
    yaw.TorqueEnable(0);
}
/*--Dynamixel:end-----------------------------------------------------------------------------------------*/


/*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
/*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
/*データシート：http://www.omron.co.jp/ecb/products/sensor/special/mems/pdf/AN-D6T-01JP_r2.pdf*/
#include "MEMS.h"

MEMS MEMS1(p9, p10); // sda, scl
MEMS MEMS2(p28, p27); // sda, scl

float ThD1[16], ThD2[16];
/*--Thermal_Sensor:end------------------------------------------------------------------------------------*/


/*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
/*CO2センサモジュール：A051020-AQ6B-01*/
/*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
/*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*/
#include "mbed.h"

Serial pc(USBTX, USBRX); // tx, rx
AnalogIn ain(p20);

float CO2_Sensor()
{
    float v; //生データ：電圧
    float sensor_v,CO2;
    
    v = ain.read()*3.3;
    sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
    CO2 = sensor_v * 1000 + 400;  //データシートより

    return(CO2);
}
/*--CO2_Sensor:end----------------------------------------------------------------------------------------*/


/*---------------
    MAIN ROOP
----------------*/
int main() {
    
    float lP, lV, pP, pC, yP, yC;
    char Thermo_data[100];
    float CO2_data;
    
    Ethernet_init();    
    Dyna_init();
    
    char S_data[200], R_data[2];
    int Joy_mode, linear_mode, pitch_mode, yaw_mode;
    
    while(1) {
        
        sock.receiveFrom(echo_server, R_data, sizeof(R_data)); 
        wait_ms(1);
        Joy_mode = atoi(R_data);
        
        switch(Joy_mode){
            case 0: //通常モード
            /*--Dynamixel:begin---------------------------------------------------------------*/       
                //現在の角度・電圧・電流を取得
                myled1=1;
                lP = linear.GetPosition(); lV = linear.GetVolts();
                pP = pitch.GetPosition(); pC = pitch.GetCurrent();
                yP = yaw.GetPosition(); yC = yaw.GetCurrent();
                myled1=0;
                                  
                //JoyStickのモード
                linear_mode = Joy_mode && 0x0c; linear_mode = linear_mode >> 2;
                pitch_mode = Joy_mode && 0x30; pitch_mode = linear_mode >> 4;
                yaw_mode = Joy_mode && 0xc0; yaw_mode = linear_mode >> 6;                

                //目標角度へ動かす
                myled2=1;
                switch(linear_mode){
                    case 0: linear_goal=lP; break;
                    case 1: linear_goal++; break;
                    case 2: linear_goal--; break;
                }    
                linear.SetGoal(linear_goal);
                switch(pitch_mode){
                    case 0: pitch_goal=lP; break;
                    case 1: pitch_goal++; break;
                    case 2: pitch_goal--; break;
                }    
                pitch.SetGoal(pitch_goal);
                switch(yaw_mode){
                    case 0: yaw_goal=lP; break;
                    case 1: yaw_goal++; break;
                    case 2: yaw_goal--; break;
                }
                yaw.SetGoal(yaw_goal);
                myled2=0;
            /*--Dynamixel:end------------------------------------------------------------------*/       
        
            /*--Thermal_Sensor:begin-----------------------------------------------------------*/
                //値を取得
                MEMS1.temp(ThD1);
                MEMS2.temp(ThD2);
            /*--Thermal_Sensor:end-------------------------------------------------------------*/
        
            /*--CO2_Sensor:begin---------------------------------------------------------------*/
                //値を取得
                CO2_data=CO2_Sensor();
            /*--CO2_Sensor:end-----------------------------------------------------------------*/
            
            //値を送信
                sprintf(Thermo_data,
                "%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",
                ThD1[0],ThD1[1],ThD1[2],ThD1[3],ThD1[4],ThD1[5],ThD1[6],ThD1[7],
                ThD1[8],ThD1[9],ThD1[10],ThD1[11],ThD1[12],ThD1[13],ThD1[14],ThD1[15],
                ThD2[0],ThD2[1],ThD2[2],ThD2[3],ThD2[4],ThD2[5],ThD2[6],ThD2[7],
                ThD2[8],ThD2[9],ThD2[10],ThD2[11],ThD2[12],ThD2[13],ThD2[14],ThD2[15]);
                sprintf(S_data, "%f %f %f %f %f %f %s %f",lP,lV,pP,pC,yP,yC,Thermo_data,CO2_data);
                sock.sendTo(echo_server, S_data, sizeof(S_data));
            
                break;
                        
            
            case 1: //ホームポジション
                Dyna_home_position(); break;
                
            case 2: //リセット
                Dyna_reset(); break;
            
            case 3: //終了
                Dyna_end(); return 0;
        }
    }
}