雄介 太田 / Mbed 2 deprecated YOZAKURA_ARM_USB

Control YOZAKURA arm vir USB

Dependencies:   Dynamixel MEMS_Thermal_Sensor SerialHalfDuplex mbed

main.cpp@0:6a1be4584c5b, 2015-04-10 (annotated)

Committer:
yusuke_kyo
Date:
Fri Apr 10 03:18:03 2015 +0000
Revision:
0:6a1be4584c5b
Child:
1:37af6a93195e
control YOZAKURA arm vir USB

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
yusuke_kyo 0:6a1be4584c5b 12 /*--Dynamixel:begin-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 13 #include "AX12.h"
yusuke_kyo 0:6a1be4584c5b 14 #include "MX28.h"
yusuke_kyo 0:6a1be4584c5b 15
yusuke_kyo 0:6a1be4584c5b 16 AX12 linear (p13, p14, 0); //直動Dynamixel
yusuke_kyo 0:6a1be4584c5b 17 MX28 pitch (p13, p14, 1); //ピッチDynamixel
yusuke_kyo 0:6a1be4584c5b 18 MX28 yaw (p13, p14, 2); //ヨーDynamixel
yusuke_kyo 0:6a1be4584c5b 19
yusuke_kyo 0:6a1be4584c5b 20 int linear_goal, pitch_goal, yaw_goal;
yusuke_kyo 0:6a1be4584c5b 21
yusuke_kyo 0:6a1be4584c5b 22 //最小値，最大値，角速度，初期値を指定[unit:degree]
yusuke_kyo 0:6a1be4584c5b 23 //MX:MultiTurnモードでは-2520°～2520°(SetGoalの書き換え不要)
yusuke_kyo 0:6a1be4584c5b 24 int linear_min = 100; int linear_MAX = 720; float linear_Speed=0.1; int linear_Init = linear_MAX;
yusuke_kyo 0:6a1be4584c5b 25 int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX;
yusuke_kyo 0:6a1be4584c5b 26 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 27
yusuke_kyo 0:6a1be4584c5b 28 void Dyna_init() {
yusuke_kyo 0:6a1be4584c5b 29 pc.printf("Dynamixel Init : start\n");
yusuke_kyo 0:6a1be4584c5b 30 linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX);
yusuke_kyo 0:6a1be4584c5b 31 linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init; linear.SetGoal(linear_Init);
yusuke_kyo 0:6a1be4584c5b 32 pc.printf("Dynamixel Init : linear OK!\n");
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 pc.printf("Dynamixel Init : pitch OK!\n");
yusuke_kyo 0:6a1be4584c5b 36 yaw.SetCWLimit(linear_min); yaw.SetCCWLimit(linear_MAX);
yusuke_kyo 0:6a1be4584c5b 37 yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; yaw.SetGoal(yaw_Init);
yusuke_kyo 0:6a1be4584c5b 38 pc.printf("Dynamixel Init : yaw OK!\n");
yusuke_kyo 0:6a1be4584c5b 39 pc.printf("Dynamixel Init : end\n");
yusuke_kyo 0:6a1be4584c5b 40 wait(1);
yusuke_kyo 0:6a1be4584c5b 41 }
yusuke_kyo 0:6a1be4584c5b 42
yusuke_kyo 0:6a1be4584c5b 43 void Dyna_home_position() {
yusuke_kyo 0:6a1be4584c5b 44 linear.SetGoal(linear_Init);
yusuke_kyo 0:6a1be4584c5b 45 wait(1);
yusuke_kyo 0:6a1be4584c5b 46 pitch.SetGoal(pitch_Init);
yusuke_kyo 0:6a1be4584c5b 47 yaw.SetGoal(yaw_Init);
yusuke_kyo 0:6a1be4584c5b 48 wait(1);
yusuke_kyo 0:6a1be4584c5b 49 }
yusuke_kyo 0:6a1be4584c5b 50
yusuke_kyo 0:6a1be4584c5b 51 void Dyna_reset() {
yusuke_kyo 0:6a1be4584c5b 52 Dyna_home_position();
yusuke_kyo 0:6a1be4584c5b 53 linear.SetTorqueLimit(0);
yusuke_kyo 0:6a1be4584c5b 54 pitch.SetTorqueLimit(0);
yusuke_kyo 0:6a1be4584c5b 55 yaw.SetTorqueLimit(0);
yusuke_kyo 0:6a1be4584c5b 56 wait(1);
yusuke_kyo 0:6a1be4584c5b 57 linear.SetTorqueLimit(1);
yusuke_kyo 0:6a1be4584c5b 58 pitch.SetTorqueLimit(1);
yusuke_kyo 0:6a1be4584c5b 59 yaw.SetTorqueLimit(1);
yusuke_kyo 0:6a1be4584c5b 60 }
yusuke_kyo 0:6a1be4584c5b 61
yusuke_kyo 0:6a1be4584c5b 62 void Dyna_end() {
yusuke_kyo 0:6a1be4584c5b 63 Dyna_home_position();
yusuke_kyo 0:6a1be4584c5b 64 linear.TorqueEnable(0);
yusuke_kyo 0:6a1be4584c5b 65 pitch.TorqueEnable(0);
yusuke_kyo 0:6a1be4584c5b 66 yaw.TorqueEnable(0);
yusuke_kyo 0:6a1be4584c5b 67 }
yusuke_kyo 0:6a1be4584c5b 68 /*--Dynamixel:end-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 69
yusuke_kyo 0:6a1be4584c5b 70
yusuke_kyo 0:6a1be4584c5b 71 /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 72 /*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
yusuke_kyo 0:6a1be4584c5b 73 /*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 74 #include "MEMS.h"
yusuke_kyo 0:6a1be4584c5b 75
yusuke_kyo 0:6a1be4584c5b 76 MEMS MEMS1(p9, p10); // sda, scl
yusuke_kyo 0:6a1be4584c5b 77 MEMS MEMS2(p28, p27); // sda, scl
yusuke_kyo 0:6a1be4584c5b 78 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 79
yusuke_kyo 0:6a1be4584c5b 80
yusuke_kyo 0:6a1be4584c5b 81 /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 82 /*CO2センサモジュール：A051020-AQ6B-01*/
yusuke_kyo 0:6a1be4584c5b 83 /*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
yusuke_kyo 0:6a1be4584c5b 84 /*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 85 #include "mbed.h"
yusuke_kyo 0:6a1be4584c5b 86
yusuke_kyo 0:6a1be4584c5b 87 AnalogIn ain(p20);
yusuke_kyo 0:6a1be4584c5b 88
yusuke_kyo 0:6a1be4584c5b 89 float CO2_Sensor()
yusuke_kyo 0:6a1be4584c5b 90 {
yusuke_kyo 0:6a1be4584c5b 91 float v; //生データ：電圧
yusuke_kyo 0:6a1be4584c5b 92 float sensor_v,CO2;
yusuke_kyo 0:6a1be4584c5b 93
yusuke_kyo 0:6a1be4584c5b 94 v = ain.read()*3.3;
yusuke_kyo 0:6a1be4584c5b 95 sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
yusuke_kyo 0:6a1be4584c5b 96 CO2 = sensor_v * 1000 + 400; //データシートより
yusuke_kyo 0:6a1be4584c5b 97
yusuke_kyo 0:6a1be4584c5b 98 return(CO2);
yusuke_kyo 0:6a1be4584c5b 99 }
yusuke_kyo 0:6a1be4584c5b 100 /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 101
yusuke_kyo 0:6a1be4584c5b 102
yusuke_kyo 0:6a1be4584c5b 103 /*---------------
yusuke_kyo 0:6a1be4584c5b 104 MAIN ROOP
yusuke_kyo 0:6a1be4584c5b 105 ----------------*/
yusuke_kyo 0:6a1be4584c5b 106 int main() {
yusuke_kyo 0:6a1be4584c5b 107
yusuke_kyo 0:6a1be4584c5b 108 float lP, lV, pP, pC, yP, yC;
yusuke_kyo 0:6a1be4584c5b 109 float ThD1[16], ThD2[16];
yusuke_kyo 0:6a1be4584c5b 110 char Thermo_data[100];
yusuke_kyo 0:6a1be4584c5b 111 float CO2_data;
yusuke_kyo 0:6a1be4584c5b 112
yusuke_kyo 0:6a1be4584c5b 113 Dyna_init();
yusuke_kyo 0:6a1be4584c5b 114
yusuke_kyo 0:6a1be4584c5b 115 char S_data[200], R_data[2];
yusuke_kyo 0:6a1be4584c5b 116 int Joy_mode, linear_mode, pitch_mode, yaw_mode;
yusuke_kyo 0:6a1be4584c5b 117
yusuke_kyo 0:6a1be4584c5b 118 while(1) {
yusuke_kyo 0:6a1be4584c5b 119
yusuke_kyo 0:6a1be4584c5b 120 // sock.receiveFrom(echo_server, R_data, sizeof(R_data)); //オペステからデータを取得
yusuke_kyo 0:6a1be4584c5b 121 pc.getc();
yusuke_kyo 0:6a1be4584c5b 122 wait_ms(1);
yusuke_kyo 0:6a1be4584c5b 123 int J = atoi(R_data);
yusuke_kyo 0:6a1be4584c5b 124 Joy_mode = J & 0x03; //ジョイスティックのモード判定
yusuke_kyo 0:6a1be4584c5b 125
yusuke_kyo 0:6a1be4584c5b 126 switch(Joy_mode){
yusuke_kyo 0:6a1be4584c5b 127 case 0: //通常モード
yusuke_kyo 0:6a1be4584c5b 128 /*--Dynamixel:begin---------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 129 //現在の角度・電圧・電流を取得
yusuke_kyo 0:6a1be4584c5b 130 myled1=1;
yusuke_kyo 0:6a1be4584c5b 131 lP = linear.GetPosition(); lV = linear.GetVolts();
yusuke_kyo 0:6a1be4584c5b 132 pP = pitch.GetPosition(); pC = pitch.GetCurrent();
yusuke_kyo 0:6a1be4584c5b 133 yP = yaw.GetPosition(); yC = yaw.GetCurrent();
yusuke_kyo 0:6a1be4584c5b 134 myled1=0;
yusuke_kyo 0:6a1be4584c5b 135
yusuke_kyo 0:6a1be4584c5b 136 //Dynamixelへの命令を判定
yusuke_kyo 0:6a1be4584c5b 137 linear_mode = R_data[0] & 0x0c; linear_mode = linear_mode >> 2;
yusuke_kyo 0:6a1be4584c5b 138 pitch_mode = R_data[0] & 0x30; pitch_mode = linear_mode >> 4;
yusuke_kyo 0:6a1be4584c5b 139 yaw_mode = R_data[0] & 0xc0; yaw_mode = linear_mode >> 6;
yusuke_kyo 0:6a1be4584c5b 140
yusuke_kyo 0:6a1be4584c5b 141 //目標角度を変更
yusuke_kyo 0:6a1be4584c5b 142 myled2=1;
yusuke_kyo 0:6a1be4584c5b 143 linear_goal=lP;
yusuke_kyo 0:6a1be4584c5b 144 switch(linear_mode){
yusuke_kyo 0:6a1be4584c5b 145 case 0: break;
yusuke_kyo 0:6a1be4584c5b 146 case 1: linear_goal++; break;
yusuke_kyo 0:6a1be4584c5b 147 case 2: linear_goal--; break;
yusuke_kyo 0:6a1be4584c5b 148 }
yusuke_kyo 0:6a1be4584c5b 149 linear.SetGoal(linear_goal);
yusuke_kyo 0:6a1be4584c5b 150 pitch_goal=pP;
yusuke_kyo 0:6a1be4584c5b 151 switch(pitch_mode){
yusuke_kyo 0:6a1be4584c5b 152 case 0: break;
yusuke_kyo 0:6a1be4584c5b 153 case 1: pitch_goal++; break;
yusuke_kyo 0:6a1be4584c5b 154 case 2: pitch_goal--; break;
yusuke_kyo 0:6a1be4584c5b 155 }
yusuke_kyo 0:6a1be4584c5b 156 pitch.SetGoal(pitch_goal);
yusuke_kyo 0:6a1be4584c5b 157 yaw_goal=yP;
yusuke_kyo 0:6a1be4584c5b 158 switch(yaw_mode){
yusuke_kyo 0:6a1be4584c5b 159 case 0: break;
yusuke_kyo 0:6a1be4584c5b 160 case 1: yaw_goal++; break;
yusuke_kyo 0:6a1be4584c5b 161 case 2: yaw_goal--; break;
yusuke_kyo 0:6a1be4584c5b 162 }
yusuke_kyo 0:6a1be4584c5b 163 yaw.SetGoal(yaw_goal);
yusuke_kyo 0:6a1be4584c5b 164 myled2=0;
yusuke_kyo 0:6a1be4584c5b 165 /*--Dynamixel:end------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 166
yusuke_kyo 0:6a1be4584c5b 167 /*--Thermal_Sensor:begin-----------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 168 //値を取得
yusuke_kyo 0:6a1be4584c5b 169 MEMS1.temp(ThD1);
yusuke_kyo 0:6a1be4584c5b 170 MEMS2.temp(ThD2);
yusuke_kyo 0:6a1be4584c5b 171 /*--Thermal_Sensor:end-------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 172
yusuke_kyo 0:6a1be4584c5b 173 /*--CO2_Sensor:begin---------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 174 //値を取得
yusuke_kyo 0:6a1be4584c5b 175 CO2_data=CO2_Sensor();
yusuke_kyo 0:6a1be4584c5b 176 /*--CO2_Sensor:end-----------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 177
yusuke_kyo 0:6a1be4584c5b 178 //値を送信
yusuke_kyo 0:6a1be4584c5b 179 myled3=1;
yusuke_kyo 0:6a1be4584c5b 180 sprintf(Thermo_data,
yusuke_kyo 0:6a1be4584c5b 181 "%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 182 ThD1[0],ThD1[1],ThD1[2],ThD1[3],ThD1[4],ThD1[5],ThD1[6],ThD1[7],
yusuke_kyo 0:6a1be4584c5b 183 ThD1[8],ThD1[9],ThD1[10],ThD1[11],ThD1[12],ThD1[13],ThD1[14],ThD1[15],
yusuke_kyo 0:6a1be4584c5b 184 ThD2[0],ThD2[1],ThD2[2],ThD2[3],ThD2[4],ThD2[5],ThD2[6],ThD2[7],
yusuke_kyo 0:6a1be4584c5b 185 ThD2[8],ThD2[9],ThD2[10],ThD2[11],ThD2[12],ThD2[13],ThD2[14],ThD2[15]);
yusuke_kyo 0:6a1be4584c5b 186 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 187 // sock.sendTo(echo_server, S_data, sizeof(S_data));
yusuke_kyo 0:6a1be4584c5b 188 pc.printf("%s\n",S_data)
yusuke_kyo 0:6a1be4584c5b 189 myled3=0;
yusuke_kyo 0:6a1be4584c5b 190 break;
yusuke_kyo 0:6a1be4584c5b 191
yusuke_kyo 0:6a1be4584c5b 192
yusuke_kyo 0:6a1be4584c5b 193 case 1: //ホームポジション
yusuke_kyo 0:6a1be4584c5b 194 Dyna_home_position(); break;
yusuke_kyo 0:6a1be4584c5b 195
yusuke_kyo 0:6a1be4584c5b 196 case 2: //リセット
yusuke_kyo 0:6a1be4584c5b 197 Dyna_reset(); break;
yusuke_kyo 0:6a1be4584c5b 198
yusuke_kyo 0:6a1be4584c5b 199 case 3: //終了
yusuke_kyo 0:6a1be4584c5b 200 myled4=1; Dyna_end(); return 0;
yusuke_kyo 0:6a1be4584c5b 201 }
yusuke_kyo 0:6a1be4584c5b 202 }
yusuke_kyo 0:6a1be4584c5b 203 }