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YOZAKURAのARMプログラム(ver.1)
Dependencies: Dynamixel EthernetInterface MEMS_Thermal_Sensor mbed-rtos SerialHalfDuplex mbed
Diff: main.cpp
- Revision:
- 2:8b71db86f221
- Parent:
- 0:eb69b57ab0dd
- Child:
- 3:ab3979b1ae40
diff -r 7cfa2e5a9c31 -r 8b71db86f221 main.cpp --- a/main.cpp Tue Mar 31 09:59:45 2015 +0000 +++ b/main.cpp Wed Apr 01 03:52:21 2015 +0000 @@ -7,7 +7,7 @@ //Serial pc(USBTX, USBRX); // tx, rx -/*--Ethernet--------------------------------------------------------------------------------------------*/ +/*--Ethernet:begin--------------------------------------------------------------------------------------------*/ #include "mbed.h" #include "EthernetInterface.h" @@ -35,10 +35,10 @@ // sock.sendTo(echo_server, u_buff, sizeof(u_buff)); wait_ms(1); // } } -/*--Ethernet--------------------------------------------------------------------------------------------*/ +/*--Ethernet:end--------------------------------------------------------------------------------------------*/ -/*--Dynamixel-------------------------------------------------------------------------------------------*/ +/*--Dynamixel:begin-------------------------------------------------------------------------------------------*/ #include "AX12.h" #include "MX28.h" @@ -76,10 +76,10 @@ // pitch.TorqueEnable(0); // yaw.TorqueEnable(0); } -/*--Dynamixel-------------------------------------------------------------------------------------------*/ +/*--Dynamixel:end-------------------------------------------------------------------------------------------*/ -/*--Thermal_Sensor--------------------------------------------------------------------------------------*/ +/*--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" @@ -93,10 +93,10 @@ MEMS1.temp(data1); MEMS2.temp(data2); } -/*--Thermal_Sensor--------------------------------------------------------------------------------------*/ +/*--Thermal_Sensor:end--------------------------------------------------------------------------------------*/ -/*--CO2_Sensor--------------------------------------------------------------------------------------*/ +/*--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]*/ @@ -116,9 +116,12 @@ return(CO2); } -/*--CO2_Sensor--------------------------------------------------------------------------------------*/ +/*--CO2_Sensor:end--------------------------------------------------------------------------------------*/ +/*--------------- + MAIN ROOP +----------------*/ int main() { float lP, lV, pP, pV, pC, yP, yV, yC; @@ -129,7 +132,7 @@ while(1) { - /*--Dynamixel-------------------------------------------------------------------------------------------*/ + /*--Dynamixel:begin-------------------------------------------------------------------------------------------*/ //現在の角度・電圧・電流を取得 myled1=1; lP=linear.GetPosition(); lV=linear.GetVolts(); @@ -147,21 +150,21 @@ pitch.SetGoal(pitch_goal); yaw.SetGoal(yaw_goal); myled2=0; - /*--Dynamixel-------------------------------------------------------------------------------------------*/ + /*--Dynamixel:end-------------------------------------------------------------------------------------------*/ - /*--Thermal_Sensor--------------------------------------------------------------------------------------*/ + /*--Thermal_Sensor:begin--------------------------------------------------------------------------------------*/ //値を取得 Thermal_Sensor(); //値を送信 - /*--Thermal_Sensor--------------------------------------------------------------------------------------*/ + /*--Thermal_Sensor:end--------------------------------------------------------------------------------------*/ - /*--CO2_Sensor--------------------------------------------------------------------------------------*/ + /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/ //値を取得 CO2_data=CO2_Sensor(); //値を送信 - /*--CO2_Sensor--------------------------------------------------------------------------------------*/ + /*--CO2_Sensor:end--------------------------------------------------------------------------------------*/ //ホームポジション if() Dyna_home_position();