雄介 太田 / Mbed 2 deprecated YOZAKURA_ARM_USB

Control YOZAKURA arm vir USB

Dependencies:   Dynamixel MEMS_Thermal_Sensor SerialHalfDuplex mbed

main.cpp@1:37af6a93195e, 2015-04-15 (annotated)

Committer:
yusuke_kyo
Date:
Wed Apr 15 15:02:19 2015 +0000
Revision:
1:37af6a93195e
Parent:
0:6a1be4584c5b
Child:
2:3a4f83edb424
USB(RaspberryPi)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yusuke_kyo 0:6a1be4584c5b 1 /*YOZAKURAのアームコード
yusuke_kyo 0:6a1be4584c5b 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 0:6a1be4584c5b 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 0:6a1be4584c5b 4 */
yusuke_kyo 0:6a1be4584c5b 5
yusuke_kyo 0:6a1be4584c5b 6 #include "mbed.h"
yusuke_kyo 0:6a1be4584c5b 7
yusuke_kyo 0:6a1be4584c5b 8 Serial pc(USBTX, USBRX); // tx, rx
yusuke_kyo 0:6a1be4584c5b 9 DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4);
yusuke_kyo 0:6a1be4584c5b 10
yusuke_kyo 0:6a1be4584c5b 11 /*--Dynamixel:begin-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 12 #include "AX12.h"
yusuke_kyo 0:6a1be4584c5b 13 #include "MX28.h"
yusuke_kyo 0:6a1be4584c5b 14
yusuke_kyo 1:37af6a93195e 15 DigitalOut low(p19); DigitalOut RelaySwitch(p17);
yusuke_kyo 1:37af6a93195e 16
yusuke_kyo 0:6a1be4584c5b 17 AX12 linear (p13, p14, 0); //直動Dynamixel
yusuke_kyo 0:6a1be4584c5b 18 MX28 pitch (p13, p14, 1); //ピッチDynamixel
yusuke_kyo 0:6a1be4584c5b 19 MX28 yaw (p13, p14, 2); //ヨーDynamixel
yusuke_kyo 0:6a1be4584c5b 20
yusuke_kyo 0:6a1be4584c5b 21 int linear_goal, pitch_goal, yaw_goal;
yusuke_kyo 0:6a1be4584c5b 22
yusuke_kyo 0:6a1be4584c5b 23 //最小値，最大値，角速度，初期値を指定[unit:degree]
yusuke_kyo 0:6a1be4584c5b 24 //MX:MultiTurnモードでは-2520°～2520°(SetGoalの書き換え不要)
yusuke_kyo 0:6a1be4584c5b 25 int linear_min = 100; int linear_MAX = 720; float linear_Speed=0.1; int linear_Init = linear_MAX;
yusuke_kyo 0:6a1be4584c5b 26 int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX;
yusuke_kyo 0:6a1be4584c5b 27 int yaw_min = 360; int yaw_MAX = 360; float yaw_Speed=0.2; int yaw_Init = 0; //MultiTurnモード
yusuke_kyo 0:6a1be4584c5b 28
yusuke_kyo 0:6a1be4584c5b 29 void Dyna_init() {
yusuke_kyo 1:37af6a93195e 30 low = 0; RelaySwitch = 1;
yusuke_kyo 0:6a1be4584c5b 31 linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX);
yusuke_kyo 0:6a1be4584c5b 32 linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init; linear.SetGoal(linear_Init);
yusuke_kyo 0:6a1be4584c5b 33 pitch.SetCWLimit(linear_min); pitch.SetCCWLimit(linear_MAX);
yusuke_kyo 0:6a1be4584c5b 34 pitch.SetCRSpeed(pitch_Speed); pitch_goal=linear_Init; pitch.SetGoal(pitch_Init);
yusuke_kyo 0:6a1be4584c5b 35 yaw.SetCWLimit(linear_min); yaw.SetCCWLimit(linear_MAX);
yusuke_kyo 0:6a1be4584c5b 36 yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; yaw.SetGoal(yaw_Init);
yusuke_kyo 0:6a1be4584c5b 37 wait(1);
yusuke_kyo 0:6a1be4584c5b 38 }
yusuke_kyo 0:6a1be4584c5b 39
yusuke_kyo 0:6a1be4584c5b 40 void Dyna_home_position() {
yusuke_kyo 0:6a1be4584c5b 41 linear.SetGoal(linear_Init);
yusuke_kyo 1:37af6a93195e 42 wait(3);
yusuke_kyo 0:6a1be4584c5b 43 pitch.SetGoal(pitch_Init);
yusuke_kyo 0:6a1be4584c5b 44 yaw.SetGoal(yaw_Init);
yusuke_kyo 1:37af6a93195e 45 wait(2);
yusuke_kyo 0:6a1be4584c5b 46 }
yusuke_kyo 0:6a1be4584c5b 47
yusuke_kyo 0:6a1be4584c5b 48 void Dyna_reset() {
yusuke_kyo 1:37af6a93195e 49 RelaySwitch = 0;
yusuke_kyo 1:37af6a93195e 50 wait_ms(10);
yusuke_kyo 1:37af6a93195e 51 RelaySwitch = 1;
yusuke_kyo 0:6a1be4584c5b 52 }
yusuke_kyo 0:6a1be4584c5b 53
yusuke_kyo 0:6a1be4584c5b 54 void Dyna_end() {
yusuke_kyo 0:6a1be4584c5b 55 Dyna_home_position();
yusuke_kyo 1:37af6a93195e 56 RelaySwitch = 0;
yusuke_kyo 0:6a1be4584c5b 57 }
yusuke_kyo 0:6a1be4584c5b 58 /*--Dynamixel:end-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 59
yusuke_kyo 0:6a1be4584c5b 60
yusuke_kyo 0:6a1be4584c5b 61 /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 62 /*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
yusuke_kyo 0:6a1be4584c5b 63 /*データシート：http://www.omron.co.jp/ecb/products/sensor/special/mems/pdf/AN-D6T-01JP_r2.pdf*/
yusuke_kyo 0:6a1be4584c5b 64 #include "MEMS.h"
yusuke_kyo 0:6a1be4584c5b 65
yusuke_kyo 0:6a1be4584c5b 66 MEMS MEMS1(p9, p10); // sda, scl
yusuke_kyo 0:6a1be4584c5b 67 MEMS MEMS2(p28, p27); // sda, scl
yusuke_kyo 0:6a1be4584c5b 68 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 69
yusuke_kyo 0:6a1be4584c5b 70
yusuke_kyo 0:6a1be4584c5b 71 /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 72 /*CO2センサモジュール：A051020-AQ6B-01*/
yusuke_kyo 0:6a1be4584c5b 73 /*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
yusuke_kyo 0:6a1be4584c5b 74 /*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 0:6a1be4584c5b 75 #include "mbed.h"
yusuke_kyo 0:6a1be4584c5b 76
yusuke_kyo 0:6a1be4584c5b 77 AnalogIn ain(p20);
yusuke_kyo 0:6a1be4584c5b 78
yusuke_kyo 0:6a1be4584c5b 79 float CO2_Sensor()
yusuke_kyo 0:6a1be4584c5b 80 {
yusuke_kyo 0:6a1be4584c5b 81 float v; //生データ：電圧
yusuke_kyo 0:6a1be4584c5b 82 float sensor_v,CO2;
yusuke_kyo 0:6a1be4584c5b 83
yusuke_kyo 0:6a1be4584c5b 84 v = ain.read()*3.3;
yusuke_kyo 0:6a1be4584c5b 85 sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
yusuke_kyo 0:6a1be4584c5b 86 CO2 = sensor_v * 1000 + 400; //データシートより
yusuke_kyo 0:6a1be4584c5b 87
yusuke_kyo 0:6a1be4584c5b 88 return(CO2);
yusuke_kyo 0:6a1be4584c5b 89 }
yusuke_kyo 0:6a1be4584c5b 90 /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 91
yusuke_kyo 0:6a1be4584c5b 92
yusuke_kyo 0:6a1be4584c5b 93 /*---------------
yusuke_kyo 0:6a1be4584c5b 94 MAIN ROOP
yusuke_kyo 0:6a1be4584c5b 95 ----------------*/
yusuke_kyo 0:6a1be4584c5b 96 int main() {
yusuke_kyo 0:6a1be4584c5b 97
yusuke_kyo 0:6a1be4584c5b 98 float lP, lV, pP, pC, yP, yC;
yusuke_kyo 0:6a1be4584c5b 99 float ThD1[16], ThD2[16];
yusuke_kyo 0:6a1be4584c5b 100 char Thermo_data[100];
yusuke_kyo 0:6a1be4584c5b 101 float CO2_data;
yusuke_kyo 0:6a1be4584c5b 102
yusuke_kyo 0:6a1be4584c5b 103 Dyna_init();
yusuke_kyo 0:6a1be4584c5b 104
yusuke_kyo 0:6a1be4584c5b 105 char S_data[200], R_data[2];
yusuke_kyo 0:6a1be4584c5b 106 int Joy_mode, linear_mode, pitch_mode, yaw_mode;
yusuke_kyo 0:6a1be4584c5b 107
yusuke_kyo 0:6a1be4584c5b 108 while(1) {
yusuke_kyo 0:6a1be4584c5b 109
yusuke_kyo 0:6a1be4584c5b 110 // sock.receiveFrom(echo_server, R_data, sizeof(R_data)); //オペステからデータを取得
yusuke_kyo 1:37af6a93195e 111 R_data=pc.getc();
yusuke_kyo 0:6a1be4584c5b 112 wait_ms(1);
yusuke_kyo 0:6a1be4584c5b 113 int J = atoi(R_data);
yusuke_kyo 0:6a1be4584c5b 114 Joy_mode = J & 0x03; //ジョイスティックのモード判定
yusuke_kyo 0:6a1be4584c5b 115
yusuke_kyo 0:6a1be4584c5b 116 switch(Joy_mode){
yusuke_kyo 0:6a1be4584c5b 117 case 0: //通常モード
yusuke_kyo 0:6a1be4584c5b 118 /*--Dynamixel:begin---------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 119 //現在の角度・電圧・電流を取得
yusuke_kyo 0:6a1be4584c5b 120 myled1=1;
yusuke_kyo 0:6a1be4584c5b 121 lP = linear.GetPosition(); lV = linear.GetVolts();
yusuke_kyo 0:6a1be4584c5b 122 pP = pitch.GetPosition(); pC = pitch.GetCurrent();
yusuke_kyo 0:6a1be4584c5b 123 yP = yaw.GetPosition(); yC = yaw.GetCurrent();
yusuke_kyo 0:6a1be4584c5b 124 myled1=0;
yusuke_kyo 0:6a1be4584c5b 125
yusuke_kyo 0:6a1be4584c5b 126 //Dynamixelへの命令を判定
yusuke_kyo 0:6a1be4584c5b 127 linear_mode = R_data[0] & 0x0c; linear_mode = linear_mode >> 2;
yusuke_kyo 0:6a1be4584c5b 128 pitch_mode = R_data[0] & 0x30; pitch_mode = linear_mode >> 4;
yusuke_kyo 0:6a1be4584c5b 129 yaw_mode = R_data[0] & 0xc0; yaw_mode = linear_mode >> 6;
yusuke_kyo 0:6a1be4584c5b 130
yusuke_kyo 0:6a1be4584c5b 131 //目標角度を変更
yusuke_kyo 0:6a1be4584c5b 132 myled2=1;
yusuke_kyo 0:6a1be4584c5b 133 linear_goal=lP;
yusuke_kyo 0:6a1be4584c5b 134 switch(linear_mode){
yusuke_kyo 0:6a1be4584c5b 135 case 0: break;
yusuke_kyo 1:37af6a93195e 136 case 1: linear.SetTorqueLimit(1); linear_goal++; break;
yusuke_kyo 1:37af6a93195e 137 case 2: linear.SetTorqueLimit(1); linear_goal--; break;
yusuke_kyo 0:6a1be4584c5b 138 }
yusuke_kyo 0:6a1be4584c5b 139 linear.SetGoal(linear_goal);
yusuke_kyo 0:6a1be4584c5b 140 pitch_goal=pP;
yusuke_kyo 0:6a1be4584c5b 141 switch(pitch_mode){
yusuke_kyo 0:6a1be4584c5b 142 case 0: break;
yusuke_kyo 0:6a1be4584c5b 143 case 1: pitch_goal++; break;
yusuke_kyo 0:6a1be4584c5b 144 case 2: pitch_goal--; break;
yusuke_kyo 0:6a1be4584c5b 145 }
yusuke_kyo 0:6a1be4584c5b 146 pitch.SetGoal(pitch_goal);
yusuke_kyo 0:6a1be4584c5b 147 yaw_goal=yP;
yusuke_kyo 0:6a1be4584c5b 148 switch(yaw_mode){
yusuke_kyo 0:6a1be4584c5b 149 case 0: break;
yusuke_kyo 0:6a1be4584c5b 150 case 1: yaw_goal++; break;
yusuke_kyo 0:6a1be4584c5b 151 case 2: yaw_goal--; break;
yusuke_kyo 0:6a1be4584c5b 152 }
yusuke_kyo 0:6a1be4584c5b 153 yaw.SetGoal(yaw_goal);
yusuke_kyo 0:6a1be4584c5b 154 myled2=0;
yusuke_kyo 0:6a1be4584c5b 155 /*--Dynamixel:end------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 156
yusuke_kyo 0:6a1be4584c5b 157 /*--Thermal_Sensor:begin-----------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 158 //値を取得
yusuke_kyo 0:6a1be4584c5b 159 MEMS1.temp(ThD1);
yusuke_kyo 0:6a1be4584c5b 160 MEMS2.temp(ThD2);
yusuke_kyo 0:6a1be4584c5b 161 /*--Thermal_Sensor:end-------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 162
yusuke_kyo 0:6a1be4584c5b 163 /*--CO2_Sensor:begin---------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 164 //値を取得
yusuke_kyo 0:6a1be4584c5b 165 CO2_data=CO2_Sensor();
yusuke_kyo 0:6a1be4584c5b 166 /*--CO2_Sensor:end-----------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 167
yusuke_kyo 0:6a1be4584c5b 168 //値を送信
yusuke_kyo 0:6a1be4584c5b 169 myled3=1;
yusuke_kyo 0:6a1be4584c5b 170 sprintf(Thermo_data,
yusuke_kyo 0:6a1be4584c5b 171 "%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 0:6a1be4584c5b 172 ThD1[0],ThD1[1],ThD1[2],ThD1[3],ThD1[4],ThD1[5],ThD1[6],ThD1[7],
yusuke_kyo 0:6a1be4584c5b 173 ThD1[8],ThD1[9],ThD1[10],ThD1[11],ThD1[12],ThD1[13],ThD1[14],ThD1[15],
yusuke_kyo 0:6a1be4584c5b 174 ThD2[0],ThD2[1],ThD2[2],ThD2[3],ThD2[4],ThD2[5],ThD2[6],ThD2[7],
yusuke_kyo 0:6a1be4584c5b 175 ThD2[8],ThD2[9],ThD2[10],ThD2[11],ThD2[12],ThD2[13],ThD2[14],ThD2[15]);
yusuke_kyo 0:6a1be4584c5b 176 sprintf(S_data, "%f %f %f %f %f %f %s %f",lP,lV,pP,pC,yP,yC,Thermo_data,CO2_data);
yusuke_kyo 0:6a1be4584c5b 177 // sock.sendTo(echo_server, S_data, sizeof(S_data));
yusuke_kyo 1:37af6a93195e 178 printf("%s\n",S_data)
yusuke_kyo 0:6a1be4584c5b 179 myled3=0;
yusuke_kyo 0:6a1be4584c5b 180 break;
yusuke_kyo 0:6a1be4584c5b 181
yusuke_kyo 0:6a1be4584c5b 182
yusuke_kyo 0:6a1be4584c5b 183 case 1: //ホームポジション
yusuke_kyo 0:6a1be4584c5b 184 Dyna_home_position(); break;
yusuke_kyo 0:6a1be4584c5b 185
yusuke_kyo 0:6a1be4584c5b 186 case 2: //リセット
yusuke_kyo 0:6a1be4584c5b 187 Dyna_reset(); break;
yusuke_kyo 0:6a1be4584c5b 188
yusuke_kyo 0:6a1be4584c5b 189 case 3: //終了
yusuke_kyo 0:6a1be4584c5b 190 myled4=1; Dyna_end(); return 0;
yusuke_kyo 0:6a1be4584c5b 191 }
yusuke_kyo 0:6a1be4584c5b 192 }
yusuke_kyo 0:6a1be4584c5b 193 }