main.cpp

00001 /*YOZAKURAのアームコード
00002   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
00003   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
00004 */
00005 
00006 #include "mbed.h"
00007 
00008 Serial pc(USBTX, USBRX); // tx, rx
00009 DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4);
00010 
00011 /*--Dynamixel:begin-----------------------------------------------------------------------------------------*/
00012 #include "AX12.h"
00013 #include "MX28.h"
00014 
00015 DigitalOut low(p16); DigitalOut RelaySwitch(p18);
00016 
00017 AX12 linear (p13, p14, 0, 1000000);      //直動Dynamixel
00018 MX28 pitch (p13, p14, 1, 1000000);       //ピッチDynamixel
00019 MX28 yaw (p13, p14, 2, 1000000);         //ヨーDynamixel
00020 
00021 int linear_goal, pitch_goal, yaw_goal;
00022 
00023 //最小値，最大値，角速度，初期値を指定[unit:degree]
00024 //MX:MultiTurnモードでは-2520°～2520°(SetGoalの書き換え不要)
00025 int linear_min = 100; int linear_MAX = 300; float linear_Speed=0.1; int linear_Init = linear_MAX;
00026 int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX;
00027 int yaw_min = 360; int yaw_MAX = 360; float yaw_Speed=0.2; int yaw_Init = 0; //MultiTurnモード
00028 
00029 void Dyna_init() {
00030     low = 0; RelaySwitch = 1;
00031     printf("linear_Init\n");
00032     linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX); 
00033     linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init; linear.SetGoal(linear_Init);
00034     printf("pitch_Init\n");
00035     pitch.SetCWLimit(pitch_min); pitch.SetCCWLimit(pitch_MAX); 
00036     pitch.SetCRSpeed(pitch_Speed); pitch_goal=pitch_Init; pitch.SetGoal(pitch_Init);
00037     printf("yaw_Init\n");
00038     yaw.SetCWLimit(yaw_min); yaw.SetCCWLimit(yaw_MAX); 
00039     yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; yaw.SetGoal(yaw_Init);
00040     wait(1);
00041 }
00042 
00043 void Dyna_GetData(char* data) {
00044     float lP, lV, pP, pC, yP, yC;
00045     
00046     lP = linear.GetPosition(); lV = linear.GetVolts();
00047     pP = pitch.GetPosition(); pC = pitch.GetCurrent();
00048     yP = yaw.GetPosition(); yC = yaw.GetCurrent();
00049     
00050     linear_goal=lP; pitch_goal=pP; yaw_goal=yP; //現在角度を目標値に設定
00051     printf("\nlinearPosition : %4.1f[degree]\n",lP); printf("Voltage : %4.1f[V]\n",lV);
00052     printf("pitchPosition : %4.1f[degree]\n",pP); printf("pitchCurrent : %4.1f[mA]\n",pC);
00053     printf("yawPosition : %4.1f[degree]\n",yP); printf("yawCurrent : %4.1f[mA]\n",yC);
00054     sprintf(data,"%4.1f %4.1f %4.1f %4.1f %4.1f %4.1f ",lP,lV,pP,pC,yP,yC); 
00055 }
00056 
00057 void Dyna_SetGoal(int linear_mode, int pitch_mode, int yaw_mode) {
00058     switch(linear_mode){
00059         case 29: break;
00060         case 30: linear.SetTorqueLimit(1); linear_goal-=2; break;
00061         case 31: linear.SetTorqueLimit(1); linear_goal+=2; break;
00062     }
00063     if(linear_goal>linear_MAX) linear_goal=linear_MAX; 
00064     if(linear_goal<linear_min) linear_goal=linear_min;
00065     linear.SetGoal(linear_goal);
00066     
00067     switch(pitch_mode){
00068         case 29: break;
00069         case 30: pitch_goal-=3; 
00070                  if(pitch_goal>pitch_MAX) pitch_goal=pitch_MAX;
00071                  break;
00072         case 31: pitch_goal+=3; 
00073                  if(pitch_goal<pitch_min) pitch_goal=pitch_min;
00074                  break;
00075     }    
00076     if(pitch_goal>pitch_MAX) pitch_goal=pitch_MAX; 
00077     if(pitch_goal<pitch_min) pitch_goal=pitch_min;
00078     pitch.SetGoal(pitch_goal);
00079     
00080     switch(yaw_mode){
00081         case 29: break;
00082         case 30: yaw_goal-=3; break;
00083         case 31: yaw_goal+=3; break;
00084     }
00085     if(pitch_goal>2520) pitch_goal=2520; 
00086     if(pitch_goal<-2520) pitch_goal=-2520;
00087     yaw.SetGoal(yaw_goal);
00088 }
00089 /*--Dynamixel:end-----------------------------------------------------------------------------------------*/
00090 
00091 
00092 /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
00093 /*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
00094 /*データシート：http://www.omron.co.jp/ecb/products/sensor/special/mems/pdf/AN-D6T-01JP_r2.pdf*/
00095 
00096 I2C MEMS1(p9, p10); // sda, scl
00097 I2C MEMS2(p28, p27); // sda, scl
00098 
00099 #define  D6T_addr  0x14
00100 #define  D6T_cmd   0x4c
00101 
00102 #define THERMO_DEBUG 1
00103 
00104 char   I2C_rd1[64]; // 生データ
00105 short  datr1[16]; // 16点 温度データ（10倍整数）
00106 short  PTAT1; // センサ内部PTAT温度データ（10倍整数）
00107 double dt1[16]; // 16点 温度データ
00108 double dt1_temp[16];
00109 short  d_PTAT1; // センサ内部PTAT温度データ
00110 
00111 char   I2C_rd2[64]; // 生データ
00112 short  datr2[16]; // 16点 温度データ（10倍整数）
00113 short  PTAT2; // センサ内部PTAT温度データ（10倍整数）
00114 double dt2[16]; // 16点 温度データ
00115 double dt2_temp[16];
00116 short  d_PTAT2; // センサ内部PTAT温度データ
00117 
00118 void GetThermo(char* data) {
00119     char con[6];
00120     sprintf(data,"");
00121     
00122     /*MEMS1*/
00123     int  i,j;
00124     int  itemp;
00125     
00126     //// measure
00127     MEMS1.start();
00128     MEMS1.write(D6T_addr);
00129     MEMS1.write(D6T_cmd);
00130     // Repeated Start condition
00131     MEMS1.read(D6T_addr,I2C_rd1,35);
00132 //        if(check_PEC(I2C_rd) == -1) continue; // error
00133     for(i=0,j=0;i<17;i++){
00134         itemp = (I2C_rd1[j++] & 0xff);
00135         itemp += I2C_rd1[j++] * 256;
00136         if(i == 0) PTAT1 = itemp;
00137         else datr1[i-1] = itemp;
00138     }
00139     for(i=0;i<16;i++){
00140         dt1[i] = 0.1 * datr1[i];
00141     }
00142     for(int i=0;i<16;i++){
00143         if(dt1[i]<50 && dt1[i]>5) {
00144             sprintf(con,"%3.1f ",dt1[i]);
00145             dt1_temp[i]=dt1[i];
00146         }
00147         else sprintf(con,"%3.1f ",dt1_temp[i]);
00148         strcat(data,con);
00149     }
00150     if(THERMO_DEBUG){
00151         printf("\nThermal_Sensor 1");
00152         for(i=0;i<16;i++){
00153             if(i%4==0) printf("\n");
00154             printf("%3.1f ",dt1[i]);
00155         } printf("\n");
00156     }
00157     d_PTAT1 = 0.1 * PTAT1;
00158     wait(0.1);
00159     /*MEMS1*/
00160         
00161     /*MEMS2*/  
00162     //// measure
00163     MEMS2.start();
00164     MEMS2.write(D6T_addr);
00165     MEMS2.write(D6T_cmd);
00166     // Repeated Start condition
00167     MEMS2.read(D6T_addr,I2C_rd2,35);
00168 //        if(check_PEC(I2C_rd) == -1) continue; // error
00169     for(i=0,j=0;i<17;i++){
00170         itemp = (I2C_rd2[j++] & 0xff);
00171         itemp += I2C_rd2[j++] * 256;
00172         if(i == 0) PTAT2 = itemp;
00173         else datr2[i-1] = itemp;
00174     }
00175     for(i=0;i<16;i++){
00176         dt2[i] = 0.1 * datr2[i];
00177     }
00178     for(int i=0;i<16;i++){
00179         if(dt1[i]<50 && dt1[i]>5) {
00180             sprintf(con,"%3.1f ",dt2[i]);
00181             dt2_temp[i]=dt2[i];
00182         }
00183         else sprintf(con,"%3.1f ",dt2_temp[i]);
00184         strcat(data,con);
00185     }
00186     if(THERMO_DEBUG){
00187         printf("\nThermal_Sensor 2");
00188         for(i=0;i<16;i++){
00189             if(i%4==0) printf("\n");
00190             printf("%3.1f ",dt2[i]);
00191         } printf("\n");
00192     }
00193     d_PTAT2 = 0.1 * PTAT2;
00194     wait(0.1);
00195     /*MEMS2*/
00196 }
00197 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
00198 
00199 
00200 /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
00201 /*CO2センサモジュール：A051020-AQ6B-01*/
00202 /*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
00203 /*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*/
00204 #include "mbed.h"
00205 
00206 AnalogIn ain(p20);
00207 
00208 #define CO2_DEBUG 1
00209 
00210 float GetCO2() {
00211     float v; //生データ：電圧
00212     float sensor_v,CO2;
00213     
00214     v = ain.read()*3.3;
00215     sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
00216     CO2 = sensor_v * 1000 + 400;  //データシートより
00217     
00218     if(CO2_DEBUG) printf("\nCO2:%4.1f\n",CO2);
00219 
00220     return(CO2);
00221 }
00222 /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
00223 
00224 
00225 /*---------------
00226     MAIN ROOP
00227 ----------------*/
00228 int main() {
00229     char Dyna_data[50];
00230     char Thermo_data[200];
00231     float CO2_data;
00232     
00233     Dyna_init();
00234     
00235     char Send_data[250];
00236     int Read_data;
00237     int Joy_mode, linear_mode, pitch_mode, yaw_mode;
00238     
00239     while(1) {
00240 
00241         /*--Dynamixel:begin---------------------------------------------------------------*/       
00242 //                //Dynamixelへの命令を判定
00243 //                linear_mode = R_data & 0x0c; linear_mode = linear_mode >> 2;
00244 //                pitch_mode = R_data & 0x30; pitch_mode = pitch_mode >> 4;
00245 //                yaw_mode = R_data & 0xc0; yaw_mode = yaw_mode >> 6;                
00246 
00247             //現在の角度・電圧・電流を取得
00248             myled1=1;
00249             Dyna_GetData(Dyna_data);
00250             myled1=0;
00251         
00252             printf("linear_mode : ");
00253             linear_mode=pc.getc();
00254             printf("%d\n",linear_mode);
00255             printf("pitch_mode : ");
00256             pitch_mode=pc.getc();
00257             printf("%d\n",pitch_mode);
00258             printf("yaw_mode : ");
00259             yaw_mode=pc.getc();
00260             printf("%d\n",yaw_mode);
00261         
00262             //目標角度を変更
00263             myled2=1;
00264             Dyna_SetGoal(linear_mode, pitch_mode, yaw_mode);
00265             myled2=0;
00266         /*--Dynamixel:end------------------------------------------------------------------*/       
00267     
00268         /*--Thermal_Sensor:begin-----------------------------------------------------------*/
00269             //値を取得
00270             myled3=1;
00271             GetThermo(Thermo_data);
00272         /*--Thermal_Sensor:end-------------------------------------------------------------*/
00273     
00274         /*--CO2_Sensor:begin---------------------------------------------------------------*/
00275             //値＝””
00276             CO2_data=GetCO2();
00277             myled3=0;
00278         /*--CO2_Sensor:end-----------------------------------------------------------------*/
00279         
00280         //値を送信
00281             myled4=1;
00282             printf("\nDyna_data : %s\n",Dyna_data); printf("Thermo_data : %s\n",Thermo_data);
00283             sprintf(Send_data,"%s%s%4.1f",Dyna_data,Thermo_data,CO2_data);
00284             printf("Send_data : %s\n",Send_data);
00285             myled4=0;           
00286 
00287     }
00288 }