雄介 太田 / Mbed 2 deprecated YOZAKURA_ARM_Keyboard0424

yozakura arm with keyboard

Dependencies:   Dynamixel SerialHalfDuplex mbed

main.cpp@0:12f6300133f5, 2015-04-25 (annotated)

Committer:
yusuke_kyo
Date:
Sat Apr 25 06:01:54 2015 +0000
Revision:
0:12f6300133f5
thermal_sensor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yusuke_kyo 0:12f6300133f5 1 /*YOZAKURAのアームコード
yusuke_kyo 0:12f6300133f5 2 シリアル通信で送るデータ S_Data={linearD[4],pitchD[4],yawD[4],ThermoD1[16],ThermoD2[16],CO2[4]} 計48bytes
yusuke_kyo 0:12f6300133f5 3 シリアル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 0:12f6300133f5 4 */
yusuke_kyo 0:12f6300133f5 5
yusuke_kyo 0:12f6300133f5 6 #include "mbed.h"
yusuke_kyo 0:12f6300133f5 7
yusuke_kyo 0:12f6300133f5 8 Serial pc(USBTX, USBRX); // tx, rx
yusuke_kyo 0:12f6300133f5 9 DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4);
yusuke_kyo 0:12f6300133f5 10
yusuke_kyo 0:12f6300133f5 11 /*--Dynamixel:begin-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:12f6300133f5 12 #include "AX12.h"
yusuke_kyo 0:12f6300133f5 13 #include "MX28.h"
yusuke_kyo 0:12f6300133f5 14
yusuke_kyo 0:12f6300133f5 15 DigitalOut low(p16); DigitalOut RelaySwitch(p18);
yusuke_kyo 0:12f6300133f5 16
yusuke_kyo 0:12f6300133f5 17 AX12 linear (p13, p14, 0, 1000000); //直動Dynamixel
yusuke_kyo 0:12f6300133f5 18 MX28 pitch (p13, p14, 1, 1000000); //ピッチDynamixel
yusuke_kyo 0:12f6300133f5 19 MX28 yaw (p13, p14, 2, 1000000); //ヨーDynamixel
yusuke_kyo 0:12f6300133f5 20
yusuke_kyo 0:12f6300133f5 21 int linear_goal, pitch_goal, yaw_goal;
yusuke_kyo 0:12f6300133f5 22
yusuke_kyo 0:12f6300133f5 23 //最小値，最大値，角速度，初期値を指定[unit:degree]
yusuke_kyo 0:12f6300133f5 24 //MX:MultiTurnモードでは-2520°～2520°(SetGoalの書き換え不要)
yusuke_kyo 0:12f6300133f5 25 int linear_min = 100; int linear_MAX = 300; float linear_Speed=0.1; int linear_Init = linear_MAX;
yusuke_kyo 0:12f6300133f5 26 int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX;
yusuke_kyo 0:12f6300133f5 27 int yaw_min = 360; int yaw_MAX = 360; float yaw_Speed=0.2; int yaw_Init = 0; //MultiTurnモード
yusuke_kyo 0:12f6300133f5 28
yusuke_kyo 0:12f6300133f5 29 void Dyna_init() {
yusuke_kyo 0:12f6300133f5 30 low = 0; RelaySwitch = 1;
yusuke_kyo 0:12f6300133f5 31 printf("linear_Init\n");
yusuke_kyo 0:12f6300133f5 32 linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX);
yusuke_kyo 0:12f6300133f5 33 linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init; linear.SetGoal(linear_Init);
yusuke_kyo 0:12f6300133f5 34 printf("pitch_Init\n");
yusuke_kyo 0:12f6300133f5 35 pitch.SetCWLimit(pitch_min); pitch.SetCCWLimit(pitch_MAX);
yusuke_kyo 0:12f6300133f5 36 pitch.SetCRSpeed(pitch_Speed); pitch_goal=pitch_Init; pitch.SetGoal(pitch_Init);
yusuke_kyo 0:12f6300133f5 37 printf("yaw_Init\n");
yusuke_kyo 0:12f6300133f5 38 yaw.SetCWLimit(yaw_min); yaw.SetCCWLimit(yaw_MAX);
yusuke_kyo 0:12f6300133f5 39 yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; yaw.SetGoal(yaw_Init);
yusuke_kyo 0:12f6300133f5 40 wait(1);
yusuke_kyo 0:12f6300133f5 41 }
yusuke_kyo 0:12f6300133f5 42
yusuke_kyo 0:12f6300133f5 43 void Dyna_GetData(char* data) {
yusuke_kyo 0:12f6300133f5 44 float lP, lV, pP, pC, yP, yC;
yusuke_kyo 0:12f6300133f5 45
yusuke_kyo 0:12f6300133f5 46 lP = linear.GetPosition(); lV = linear.GetVolts();
yusuke_kyo 0:12f6300133f5 47 pP = pitch.GetPosition(); pC = pitch.GetCurrent();
yusuke_kyo 0:12f6300133f5 48 yP = yaw.GetPosition(); yC = yaw.GetCurrent();
yusuke_kyo 0:12f6300133f5 49
yusuke_kyo 0:12f6300133f5 50 linear_goal=lP; pitch_goal=pP; yaw_goal=yP; //現在角度を目標値に設定
yusuke_kyo 0:12f6300133f5 51 printf("\nlinearPosition : %4.1f[degree]\n",lP); printf("Voltage : %4.1f[V]\n",lV);
yusuke_kyo 0:12f6300133f5 52 printf("pitchPosition : %4.1f[degree]\n",pP); printf("pitchCurrent : %4.1f[mA]\n",pC);
yusuke_kyo 0:12f6300133f5 53 printf("yawPosition : %4.1f[degree]\n",yP); printf("yawCurrent : %4.1f[mA]\n",yC);
yusuke_kyo 0:12f6300133f5 54 sprintf(data,"%4.1f %4.1f %4.1f %4.1f %4.1f %4.1f ",lP,lV,pP,pC,yP,yC);
yusuke_kyo 0:12f6300133f5 55 }
yusuke_kyo 0:12f6300133f5 56
yusuke_kyo 0:12f6300133f5 57 void Dyna_SetGoal(int linear_mode, int pitch_mode, int yaw_mode) {
yusuke_kyo 0:12f6300133f5 58 switch(linear_mode){
yusuke_kyo 0:12f6300133f5 59 case 29: break;
yusuke_kyo 0:12f6300133f5 60 case 30: linear.SetTorqueLimit(1); linear_goal-=2; break;
yusuke_kyo 0:12f6300133f5 61 case 31: linear.SetTorqueLimit(1); linear_goal+=2; break;
yusuke_kyo 0:12f6300133f5 62 }
yusuke_kyo 0:12f6300133f5 63 if(linear_goal>linear_MAX) linear_goal=linear_MAX;
yusuke_kyo 0:12f6300133f5 64 if(linear_goal<linear_min) linear_goal=linear_min;
yusuke_kyo 0:12f6300133f5 65 linear.SetGoal(linear_goal);
yusuke_kyo 0:12f6300133f5 66
yusuke_kyo 0:12f6300133f5 67 switch(pitch_mode){
yusuke_kyo 0:12f6300133f5 68 case 29: break;
yusuke_kyo 0:12f6300133f5 69 case 30: pitch_goal-=3;
yusuke_kyo 0:12f6300133f5 70 if(pitch_goal>pitch_MAX) pitch_goal=pitch_MAX;
yusuke_kyo 0:12f6300133f5 71 break;
yusuke_kyo 0:12f6300133f5 72 case 31: pitch_goal+=3;
yusuke_kyo 0:12f6300133f5 73 if(pitch_goal<pitch_min) pitch_goal=pitch_min;
yusuke_kyo 0:12f6300133f5 74 break;
yusuke_kyo 0:12f6300133f5 75 }
yusuke_kyo 0:12f6300133f5 76 if(pitch_goal>pitch_MAX) pitch_goal=pitch_MAX;
yusuke_kyo 0:12f6300133f5 77 if(pitch_goal<pitch_min) pitch_goal=pitch_min;
yusuke_kyo 0:12f6300133f5 78 pitch.SetGoal(pitch_goal);
yusuke_kyo 0:12f6300133f5 79
yusuke_kyo 0:12f6300133f5 80 switch(yaw_mode){
yusuke_kyo 0:12f6300133f5 81 case 29: break;
yusuke_kyo 0:12f6300133f5 82 case 30: yaw_goal-=3; break;
yusuke_kyo 0:12f6300133f5 83 case 31: yaw_goal+=3; break;
yusuke_kyo 0:12f6300133f5 84 }
yusuke_kyo 0:12f6300133f5 85 if(pitch_goal>2520) pitch_goal=2520;
yusuke_kyo 0:12f6300133f5 86 if(pitch_goal<-2520) pitch_goal=-2520;
yusuke_kyo 0:12f6300133f5 87 yaw.SetGoal(yaw_goal);
yusuke_kyo 0:12f6300133f5 88 }
yusuke_kyo 0:12f6300133f5 89 /*--Dynamixel:end-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:12f6300133f5 90
yusuke_kyo 0:12f6300133f5 91
yusuke_kyo 0:12f6300133f5 92 /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
yusuke_kyo 0:12f6300133f5 93 /*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
yusuke_kyo 0:12f6300133f5 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 0:12f6300133f5 95
yusuke_kyo 0:12f6300133f5 96 I2C MEMS1(p9, p10); // sda, scl
yusuke_kyo 0:12f6300133f5 97 I2C MEMS2(p28, p27); // sda, scl
yusuke_kyo 0:12f6300133f5 98
yusuke_kyo 0:12f6300133f5 99 #define D6T_addr 0x14
yusuke_kyo 0:12f6300133f5 100 #define D6T_cmd 0x4c
yusuke_kyo 0:12f6300133f5 101
yusuke_kyo 0:12f6300133f5 102 #define THERMO_DEBUG 1
yusuke_kyo 0:12f6300133f5 103
yusuke_kyo 0:12f6300133f5 104 char I2C_rd1[64]; // 生データ
yusuke_kyo 0:12f6300133f5 105 short datr1[16]; // 16点 温度データ（10倍整数）
yusuke_kyo 0:12f6300133f5 106 short PTAT1; // センサ内部PTAT温度データ（10倍整数）
yusuke_kyo 0:12f6300133f5 107 double dt1[16]; // 16点 温度データ
yusuke_kyo 0:12f6300133f5 108 double dt1_temp[16];
yusuke_kyo 0:12f6300133f5 109 short d_PTAT1; // センサ内部PTAT温度データ
yusuke_kyo 0:12f6300133f5 110
yusuke_kyo 0:12f6300133f5 111 char I2C_rd2[64]; // 生データ
yusuke_kyo 0:12f6300133f5 112 short datr2[16]; // 16点 温度データ（10倍整数）
yusuke_kyo 0:12f6300133f5 113 short PTAT2; // センサ内部PTAT温度データ（10倍整数）
yusuke_kyo 0:12f6300133f5 114 double dt2[16]; // 16点 温度データ
yusuke_kyo 0:12f6300133f5 115 double dt2_temp[16];
yusuke_kyo 0:12f6300133f5 116 short d_PTAT2; // センサ内部PTAT温度データ
yusuke_kyo 0:12f6300133f5 117
yusuke_kyo 0:12f6300133f5 118 void GetThermo(char* data) {
yusuke_kyo 0:12f6300133f5 119 char con[6];
yusuke_kyo 0:12f6300133f5 120 sprintf(data,"");
yusuke_kyo 0:12f6300133f5 121
yusuke_kyo 0:12f6300133f5 122 /*MEMS1*/
yusuke_kyo 0:12f6300133f5 123 int i,j;
yusuke_kyo 0:12f6300133f5 124 int itemp;
yusuke_kyo 0:12f6300133f5 125
yusuke_kyo 0:12f6300133f5 126 //// measure
yusuke_kyo 0:12f6300133f5 127 MEMS1.start();
yusuke_kyo 0:12f6300133f5 128 MEMS1.write(D6T_addr);
yusuke_kyo 0:12f6300133f5 129 MEMS1.write(D6T_cmd);
yusuke_kyo 0:12f6300133f5 130 // Repeated Start condition
yusuke_kyo 0:12f6300133f5 131 MEMS1.read(D6T_addr,I2C_rd1,35);
yusuke_kyo 0:12f6300133f5 132 // if(check_PEC(I2C_rd) == -1) continue; // error
yusuke_kyo 0:12f6300133f5 133 for(i=0,j=0;i<17;i++){
yusuke_kyo 0:12f6300133f5 134 itemp = (I2C_rd1[j++] & 0xff);
yusuke_kyo 0:12f6300133f5 135 itemp += I2C_rd1[j++] * 256;
yusuke_kyo 0:12f6300133f5 136 if(i == 0) PTAT1 = itemp;
yusuke_kyo 0:12f6300133f5 137 else datr1[i-1] = itemp;
yusuke_kyo 0:12f6300133f5 138 }
yusuke_kyo 0:12f6300133f5 139 for(i=0;i<16;i++){
yusuke_kyo 0:12f6300133f5 140 dt1[i] = 0.1 * datr1[i];
yusuke_kyo 0:12f6300133f5 141 }
yusuke_kyo 0:12f6300133f5 142 for(int i=0;i<16;i++){
yusuke_kyo 0:12f6300133f5 143 if(dt1[i]<50 && dt1[i]>5) {
yusuke_kyo 0:12f6300133f5 144 sprintf(con,"%3.1f ",dt1[i]);
yusuke_kyo 0:12f6300133f5 145 dt1_temp[i]=dt1[i];
yusuke_kyo 0:12f6300133f5 146 }
yusuke_kyo 0:12f6300133f5 147 else sprintf(con,"%3.1f ",dt1_temp[i]);
yusuke_kyo 0:12f6300133f5 148 strcat(data,con);
yusuke_kyo 0:12f6300133f5 149 }
yusuke_kyo 0:12f6300133f5 150 if(THERMO_DEBUG){
yusuke_kyo 0:12f6300133f5 151 printf("\nThermal_Sensor 1");
yusuke_kyo 0:12f6300133f5 152 for(i=0;i<16;i++){
yusuke_kyo 0:12f6300133f5 153 if(i%4==0) printf("\n");
yusuke_kyo 0:12f6300133f5 154 printf("%3.1f ",dt1[i]);
yusuke_kyo 0:12f6300133f5 155 } printf("\n");
yusuke_kyo 0:12f6300133f5 156 }
yusuke_kyo 0:12f6300133f5 157 d_PTAT1 = 0.1 * PTAT1;
yusuke_kyo 0:12f6300133f5 158 wait(0.1);
yusuke_kyo 0:12f6300133f5 159 /*MEMS1*/
yusuke_kyo 0:12f6300133f5 160
yusuke_kyo 0:12f6300133f5 161 /*MEMS2*/
yusuke_kyo 0:12f6300133f5 162 //// measure
yusuke_kyo 0:12f6300133f5 163 MEMS2.start();
yusuke_kyo 0:12f6300133f5 164 MEMS2.write(D6T_addr);
yusuke_kyo 0:12f6300133f5 165 MEMS2.write(D6T_cmd);
yusuke_kyo 0:12f6300133f5 166 // Repeated Start condition
yusuke_kyo 0:12f6300133f5 167 MEMS2.read(D6T_addr,I2C_rd2,35);
yusuke_kyo 0:12f6300133f5 168 // if(check_PEC(I2C_rd) == -1) continue; // error
yusuke_kyo 0:12f6300133f5 169 for(i=0,j=0;i<17;i++){
yusuke_kyo 0:12f6300133f5 170 itemp = (I2C_rd2[j++] & 0xff);
yusuke_kyo 0:12f6300133f5 171 itemp += I2C_rd2[j++] * 256;
yusuke_kyo 0:12f6300133f5 172 if(i == 0) PTAT2 = itemp;
yusuke_kyo 0:12f6300133f5 173 else datr2[i-1] = itemp;
yusuke_kyo 0:12f6300133f5 174 }
yusuke_kyo 0:12f6300133f5 175 for(i=0;i<16;i++){
yusuke_kyo 0:12f6300133f5 176 dt2[i] = 0.1 * datr2[i];
yusuke_kyo 0:12f6300133f5 177 }
yusuke_kyo 0:12f6300133f5 178 for(int i=0;i<16;i++){
yusuke_kyo 0:12f6300133f5 179 if(dt1[i]<50 && dt1[i]>5) {
yusuke_kyo 0:12f6300133f5 180 sprintf(con,"%3.1f ",dt2[i]);
yusuke_kyo 0:12f6300133f5 181 dt2_temp[i]=dt2[i];
yusuke_kyo 0:12f6300133f5 182 }
yusuke_kyo 0:12f6300133f5 183 else sprintf(con,"%3.1f ",dt2_temp[i]);
yusuke_kyo 0:12f6300133f5 184 strcat(data,con);
yusuke_kyo 0:12f6300133f5 185 }
yusuke_kyo 0:12f6300133f5 186 if(THERMO_DEBUG){
yusuke_kyo 0:12f6300133f5 187 printf("\nThermal_Sensor 2");
yusuke_kyo 0:12f6300133f5 188 for(i=0;i<16;i++){
yusuke_kyo 0:12f6300133f5 189 if(i%4==0) printf("\n");
yusuke_kyo 0:12f6300133f5 190 printf("%3.1f ",dt2[i]);
yusuke_kyo 0:12f6300133f5 191 } printf("\n");
yusuke_kyo 0:12f6300133f5 192 }
yusuke_kyo 0:12f6300133f5 193 d_PTAT2 = 0.1 * PTAT2;
yusuke_kyo 0:12f6300133f5 194 wait(0.1);
yusuke_kyo 0:12f6300133f5 195 /*MEMS2*/
yusuke_kyo 0:12f6300133f5 196 }
yusuke_kyo 0:12f6300133f5 197 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
yusuke_kyo 0:12f6300133f5 198
yusuke_kyo 0:12f6300133f5 199
yusuke_kyo 0:12f6300133f5 200 /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
yusuke_kyo 0:12f6300133f5 201 /*CO2センサモジュール：A051020-AQ6B-01*/
yusuke_kyo 0:12f6300133f5 202 /*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
yusuke_kyo 0:12f6300133f5 203 /*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 0:12f6300133f5 204 #include "mbed.h"
yusuke_kyo 0:12f6300133f5 205
yusuke_kyo 0:12f6300133f5 206 AnalogIn ain(p20);
yusuke_kyo 0:12f6300133f5 207
yusuke_kyo 0:12f6300133f5 208 #define CO2_DEBUG 1
yusuke_kyo 0:12f6300133f5 209
yusuke_kyo 0:12f6300133f5 210 float GetCO2() {
yusuke_kyo 0:12f6300133f5 211 float v; //生データ：電圧
yusuke_kyo 0:12f6300133f5 212 float sensor_v,CO2;
yusuke_kyo 0:12f6300133f5 213
yusuke_kyo 0:12f6300133f5 214 v = ain.read()*3.3;
yusuke_kyo 0:12f6300133f5 215 sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
yusuke_kyo 0:12f6300133f5 216 CO2 = sensor_v * 1000 + 400; //データシートより
yusuke_kyo 0:12f6300133f5 217
yusuke_kyo 0:12f6300133f5 218 if(CO2_DEBUG) printf("\nCO2:%4.1f\n",CO2);
yusuke_kyo 0:12f6300133f5 219
yusuke_kyo 0:12f6300133f5 220 return(CO2);
yusuke_kyo 0:12f6300133f5 221 }
yusuke_kyo 0:12f6300133f5 222 /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
yusuke_kyo 0:12f6300133f5 223
yusuke_kyo 0:12f6300133f5 224
yusuke_kyo 0:12f6300133f5 225 /*---------------
yusuke_kyo 0:12f6300133f5 226 MAIN ROOP
yusuke_kyo 0:12f6300133f5 227 ----------------*/
yusuke_kyo 0:12f6300133f5 228 int main() {
yusuke_kyo 0:12f6300133f5 229 char Dyna_data[50];
yusuke_kyo 0:12f6300133f5 230 char Thermo_data[200];
yusuke_kyo 0:12f6300133f5 231 float CO2_data;
yusuke_kyo 0:12f6300133f5 232
yusuke_kyo 0:12f6300133f5 233 Dyna_init();
yusuke_kyo 0:12f6300133f5 234
yusuke_kyo 0:12f6300133f5 235 char Send_data[250];
yusuke_kyo 0:12f6300133f5 236 int Read_data;
yusuke_kyo 0:12f6300133f5 237 int Joy_mode, linear_mode, pitch_mode, yaw_mode;
yusuke_kyo 0:12f6300133f5 238
yusuke_kyo 0:12f6300133f5 239 while(1) {
yusuke_kyo 0:12f6300133f5 240
yusuke_kyo 0:12f6300133f5 241 /*--Dynamixel:begin---------------------------------------------------------------*/
yusuke_kyo 0:12f6300133f5 242 // //Dynamixelへの命令を判定
yusuke_kyo 0:12f6300133f5 243 // linear_mode = R_data & 0x0c; linear_mode = linear_mode >> 2;
yusuke_kyo 0:12f6300133f5 244 // pitch_mode = R_data & 0x30; pitch_mode = pitch_mode >> 4;
yusuke_kyo 0:12f6300133f5 245 // yaw_mode = R_data & 0xc0; yaw_mode = yaw_mode >> 6;
yusuke_kyo 0:12f6300133f5 246
yusuke_kyo 0:12f6300133f5 247 //現在の角度・電圧・電流を取得
yusuke_kyo 0:12f6300133f5 248 myled1=1;
yusuke_kyo 0:12f6300133f5 249 Dyna_GetData(Dyna_data);
yusuke_kyo 0:12f6300133f5 250 myled1=0;
yusuke_kyo 0:12f6300133f5 251
yusuke_kyo 0:12f6300133f5 252 printf("linear_mode : ");
yusuke_kyo 0:12f6300133f5 253 linear_mode=pc.getc();
yusuke_kyo 0:12f6300133f5 254 printf("%d\n",linear_mode);
yusuke_kyo 0:12f6300133f5 255 printf("pitch_mode : ");
yusuke_kyo 0:12f6300133f5 256 pitch_mode=pc.getc();
yusuke_kyo 0:12f6300133f5 257 printf("%d\n",pitch_mode);
yusuke_kyo 0:12f6300133f5 258 printf("yaw_mode : ");
yusuke_kyo 0:12f6300133f5 259 yaw_mode=pc.getc();
yusuke_kyo 0:12f6300133f5 260 printf("%d\n",yaw_mode);
yusuke_kyo 0:12f6300133f5 261
yusuke_kyo 0:12f6300133f5 262 //目標角度を変更
yusuke_kyo 0:12f6300133f5 263 myled2=1;
yusuke_kyo 0:12f6300133f5 264 Dyna_SetGoal(linear_mode, pitch_mode, yaw_mode);
yusuke_kyo 0:12f6300133f5 265 myled2=0;
yusuke_kyo 0:12f6300133f5 266 /*--Dynamixel:end------------------------------------------------------------------*/
yusuke_kyo 0:12f6300133f5 267
yusuke_kyo 0:12f6300133f5 268 /*--Thermal_Sensor:begin-----------------------------------------------------------*/
yusuke_kyo 0:12f6300133f5 269 //値を取得
yusuke_kyo 0:12f6300133f5 270 myled3=1;
yusuke_kyo 0:12f6300133f5 271 GetThermo(Thermo_data);
yusuke_kyo 0:12f6300133f5 272 /*--Thermal_Sensor:end-------------------------------------------------------------*/
yusuke_kyo 0:12f6300133f5 273
yusuke_kyo 0:12f6300133f5 274 /*--CO2_Sensor:begin---------------------------------------------------------------*/
yusuke_kyo 0:12f6300133f5 275 //値＝””
yusuke_kyo 0:12f6300133f5 276 CO2_data=GetCO2();
yusuke_kyo 0:12f6300133f5 277 myled3=0;
yusuke_kyo 0:12f6300133f5 278 /*--CO2_Sensor:end-----------------------------------------------------------------*/
yusuke_kyo 0:12f6300133f5 279
yusuke_kyo 0:12f6300133f5 280 //値を送信
yusuke_kyo 0:12f6300133f5 281 myled4=1;
yusuke_kyo 0:12f6300133f5 282 printf("\nDyna_data : %s\n",Dyna_data); printf("Thermo_data : %s\n",Thermo_data);
yusuke_kyo 0:12f6300133f5 283 sprintf(Send_data,"%s%s%4.1f",Dyna_data,Thermo_data,CO2_data);
yusuke_kyo 0:12f6300133f5 284 printf("Send_data : %s\n",Send_data);
yusuke_kyo 0:12f6300133f5 285 myled4=0;
yusuke_kyo 0:12f6300133f5 286
yusuke_kyo 0:12f6300133f5 287 }
yusuke_kyo 0:12f6300133f5 288 }