雄介 太田 / Mbed 2 deprecated YOZAKURA_ARM_USB

Control YOZAKURA arm vir USB

Dependencies:   Dynamixel MEMS_Thermal_Sensor SerialHalfDuplex mbed

main.cpp@4:dd8c3543adc7, 2015-04-17 (annotated)

Committer:
yusuke_kyo
Date:
Fri Apr 17 02:39:00 2015 +0000
Revision:
4:dd8c3543adc7
Parent:
3:6dbba9951f9e
Child:
5:a6d9a1dec391
function;

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 2:3a4f83edb424 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 2:3a4f83edb424 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 0:6a1be4584c5b 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 4:dd8c3543adc7 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 4:dd8c3543adc7 40 void GetDyna(char* data) {
yusuke_kyo 4:dd8c3543adc7 41 float lP, lV, pP, pC, yP, yC;
yusuke_kyo 4:dd8c3543adc7 42
yusuke_kyo 4:dd8c3543adc7 43 lP = linear.GetPosition(); lV = linear.GetVolts();
yusuke_kyo 4:dd8c3543adc7 44 pP = pitch.GetPosition(); pC = pitch.GetCurrent();
yusuke_kyo 4:dd8c3543adc7 45 yP = yaw.GetPosition(); yC = yaw.GetCurrent();
yusuke_kyo 4:dd8c3543adc7 46
yusuke_kyo 4:dd8c3543adc7 47 linear_goal=lP; pitch_goal=pP; yaw_goal=yP; //現在角度を目標値に設定
yusuke_kyo 4:dd8c3543adc7 48
yusuke_kyo 4:dd8c3543adc7 49 sprintf(data,"%f %f %f %f %f %f ",lP,lV,pP,pC,yP,yC);
yusuke_kyo 4:dd8c3543adc7 50 }
yusuke_kyo 4:dd8c3543adc7 51
yusuke_kyo 4:dd8c3543adc7 52 void SetGoalDyna(int l_mode, int p_mode, int y_mode) {
yusuke_kyo 4:dd8c3543adc7 53 switch(l_mode){
yusuke_kyo 4:dd8c3543adc7 54 case 0: break;
yusuke_kyo 4:dd8c3543adc7 55 case 1: linear.SetTorqueLimit(1); linear_goal++; break;
yusuke_kyo 4:dd8c3543adc7 56 case 2: linear.SetTorqueLimit(1); linear_goal--; break;
yusuke_kyo 4:dd8c3543adc7 57 }
yusuke_kyo 4:dd8c3543adc7 58 linear.SetGoal(linear_goal);
yusuke_kyo 4:dd8c3543adc7 59
yusuke_kyo 4:dd8c3543adc7 60 switch(p_mode){
yusuke_kyo 4:dd8c3543adc7 61 case 0: break;
yusuke_kyo 4:dd8c3543adc7 62 case 1: pitch_goal++; break;
yusuke_kyo 4:dd8c3543adc7 63 case 2: pitch_goal--; break;
yusuke_kyo 4:dd8c3543adc7 64 }
yusuke_kyo 4:dd8c3543adc7 65 pitch.SetGoal(pitch_goal);
yusuke_kyo 4:dd8c3543adc7 66
yusuke_kyo 4:dd8c3543adc7 67 switch(y_mode){
yusuke_kyo 4:dd8c3543adc7 68 case 0: break;
yusuke_kyo 4:dd8c3543adc7 69 case 1: yaw_goal++; break;
yusuke_kyo 4:dd8c3543adc7 70 case 2: yaw_goal--; break;
yusuke_kyo 4:dd8c3543adc7 71 }
yusuke_kyo 4:dd8c3543adc7 72 yaw.SetGoal(yaw_goal);
yusuke_kyo 4:dd8c3543adc7 73 }
yusuke_kyo 4:dd8c3543adc7 74
yusuke_kyo 0:6a1be4584c5b 75 void Dyna_home_position() {
yusuke_kyo 4:dd8c3543adc7 76 float lp;
yusuke_kyo 0:6a1be4584c5b 77 linear.SetGoal(linear_Init);
yusuke_kyo 4:dd8c3543adc7 78 lp=linear.GetPosition();
yusuke_kyo 4:dd8c3543adc7 79 if(lp > linear_MAX - 30) { //ある程度縮んだら
yusuke_kyo 4:dd8c3543adc7 80 pitch.SetGoal(pitch_Init);
yusuke_kyo 4:dd8c3543adc7 81 yaw.SetGoal(yaw_Init);
yusuke_kyo 4:dd8c3543adc7 82 }
yusuke_kyo 0:6a1be4584c5b 83 }
yusuke_kyo 0:6a1be4584c5b 84
yusuke_kyo 0:6a1be4584c5b 85 void Dyna_reset() {
yusuke_kyo 1:37af6a93195e 86 RelaySwitch = 0;
yusuke_kyo 1:37af6a93195e 87 wait_ms(10);
yusuke_kyo 1:37af6a93195e 88 RelaySwitch = 1;
yusuke_kyo 0:6a1be4584c5b 89 }
yusuke_kyo 0:6a1be4584c5b 90
yusuke_kyo 0:6a1be4584c5b 91 void Dyna_end() {
yusuke_kyo 1:37af6a93195e 92 RelaySwitch = 0;
yusuke_kyo 0:6a1be4584c5b 93 }
yusuke_kyo 0:6a1be4584c5b 94 /*--Dynamixel:end-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 95
yusuke_kyo 0:6a1be4584c5b 96
yusuke_kyo 0:6a1be4584c5b 97 /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 98 /*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
yusuke_kyo 0:6a1be4584c5b 99 /*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 100 #include "MEMS.h"
yusuke_kyo 0:6a1be4584c5b 101
yusuke_kyo 0:6a1be4584c5b 102 MEMS MEMS1(p9, p10); // sda, scl
yusuke_kyo 0:6a1be4584c5b 103 MEMS MEMS2(p28, p27); // sda, scl
yusuke_kyo 4:dd8c3543adc7 104
yusuke_kyo 4:dd8c3543adc7 105 void GetThermo(char* data) {
yusuke_kyo 4:dd8c3543adc7 106 float ThD1[16], ThD2[16];
yusuke_kyo 4:dd8c3543adc7 107 char con[10];
yusuke_kyo 4:dd8c3543adc7 108
yusuke_kyo 4:dd8c3543adc7 109 MEMS1.temp(ThD1);
yusuke_kyo 4:dd8c3543adc7 110 MEMS2.temp(ThD2);
yusuke_kyo 4:dd8c3543adc7 111
yusuke_kyo 4:dd8c3543adc7 112 for(int i=0;i<16;i++){
yusuke_kyo 4:dd8c3543adc7 113 sprintf(con,"%3.1f ",ThD1[i]);
yusuke_kyo 4:dd8c3543adc7 114 strcat(data,con);
yusuke_kyo 4:dd8c3543adc7 115 }
yusuke_kyo 4:dd8c3543adc7 116 for(int i=0;i<16;i++){
yusuke_kyo 4:dd8c3543adc7 117 sprintf(con,"%3.1f ",ThD2[i]);
yusuke_kyo 4:dd8c3543adc7 118 strcat(data,con);
yusuke_kyo 4:dd8c3543adc7 119 }
yusuke_kyo 4:dd8c3543adc7 120 }
yusuke_kyo 0:6a1be4584c5b 121 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 122
yusuke_kyo 0:6a1be4584c5b 123
yusuke_kyo 0:6a1be4584c5b 124 /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 125 /*CO2センサモジュール：A051020-AQ6B-01*/
yusuke_kyo 0:6a1be4584c5b 126 /*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
yusuke_kyo 4:dd8c3543adc7 127 /*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 0:6a1be4584c5b 128 #include "mbed.h"
yusuke_kyo 0:6a1be4584c5b 129
yusuke_kyo 0:6a1be4584c5b 130 AnalogIn ain(p20);
yusuke_kyo 0:6a1be4584c5b 131
yusuke_kyo 4:dd8c3543adc7 132 float GetCO2() {
yusuke_kyo 0:6a1be4584c5b 133 float v; //生データ：電圧
yusuke_kyo 0:6a1be4584c5b 134 float sensor_v,CO2;
yusuke_kyo 0:6a1be4584c5b 135
yusuke_kyo 0:6a1be4584c5b 136 v = ain.read()*3.3;
yusuke_kyo 0:6a1be4584c5b 137 sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
yusuke_kyo 0:6a1be4584c5b 138 CO2 = sensor_v * 1000 + 400; //データシートより
yusuke_kyo 0:6a1be4584c5b 139
yusuke_kyo 0:6a1be4584c5b 140 return(CO2);
yusuke_kyo 0:6a1be4584c5b 141 }
yusuke_kyo 0:6a1be4584c5b 142 /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 143
yusuke_kyo 0:6a1be4584c5b 144
yusuke_kyo 0:6a1be4584c5b 145 /*---------------
yusuke_kyo 0:6a1be4584c5b 146 MAIN ROOP
yusuke_kyo 0:6a1be4584c5b 147 ----------------*/
yusuke_kyo 0:6a1be4584c5b 148 int main() {
yusuke_kyo 4:dd8c3543adc7 149 char Dyna_data[100];
yusuke_kyo 0:6a1be4584c5b 150 char Thermo_data[100];
yusuke_kyo 0:6a1be4584c5b 151 float CO2_data;
yusuke_kyo 0:6a1be4584c5b 152
yusuke_kyo 0:6a1be4584c5b 153 Dyna_init();
yusuke_kyo 0:6a1be4584c5b 154
yusuke_kyo 3:6dbba9951f9e 155 char S_data[200];
yusuke_kyo 3:6dbba9951f9e 156 int R_data;
yusuke_kyo 0:6a1be4584c5b 157 int Joy_mode, linear_mode, pitch_mode, yaw_mode;
yusuke_kyo 0:6a1be4584c5b 158
yusuke_kyo 0:6a1be4584c5b 159 while(1) {
yusuke_kyo 0:6a1be4584c5b 160
yusuke_kyo 0:6a1be4584c5b 161 // 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 162 R_data=pc.getc();
yusuke_kyo 0:6a1be4584c5b 163 wait_ms(1);
yusuke_kyo 3:6dbba9951f9e 164 Joy_mode = R_data & 0x03; //ジョイスティックのモード判定
yusuke_kyo 0:6a1be4584c5b 165
yusuke_kyo 0:6a1be4584c5b 166 switch(Joy_mode){
yusuke_kyo 0:6a1be4584c5b 167 case 0: //通常モード
yusuke_kyo 0:6a1be4584c5b 168 /*--Dynamixel:begin---------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 169 //Dynamixelへの命令を判定
yusuke_kyo 3:6dbba9951f9e 170 linear_mode = R_data & 0x0c; linear_mode = linear_mode >> 2;
yusuke_kyo 3:6dbba9951f9e 171 pitch_mode = R_data & 0x30; pitch_mode = linear_mode >> 4;
yusuke_kyo 3:6dbba9951f9e 172 yaw_mode = R_data & 0xc0; yaw_mode = linear_mode >> 6;
yusuke_kyo 0:6a1be4584c5b 173
yusuke_kyo 4:dd8c3543adc7 174 //現在の角度・電圧・電流を取得
yusuke_kyo 4:dd8c3543adc7 175 myled1=1;
yusuke_kyo 4:dd8c3543adc7 176 GetDyna(Dyna_data);
yusuke_kyo 4:dd8c3543adc7 177 myled1=0;
yusuke_kyo 4:dd8c3543adc7 178
yusuke_kyo 0:6a1be4584c5b 179 //目標角度を変更
yusuke_kyo 0:6a1be4584c5b 180 myled2=1;
yusuke_kyo 4:dd8c3543adc7 181 SetGoalDyna(linear_mode, pitch_mode, yaw_mode);
yusuke_kyo 0:6a1be4584c5b 182 myled2=0;
yusuke_kyo 0:6a1be4584c5b 183 /*--Dynamixel:end------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 184
yusuke_kyo 0:6a1be4584c5b 185 /*--Thermal_Sensor:begin-----------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 186 //値を取得
yusuke_kyo 4:dd8c3543adc7 187 GetThermo(Thermo_data);
yusuke_kyo 0:6a1be4584c5b 188 /*--Thermal_Sensor:end-------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 189
yusuke_kyo 0:6a1be4584c5b 190 /*--CO2_Sensor:begin---------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 191 //値を取得
yusuke_kyo 4:dd8c3543adc7 192 CO2_data=GetCO2();
yusuke_kyo 0:6a1be4584c5b 193 /*--CO2_Sensor:end-----------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 194
yusuke_kyo 0:6a1be4584c5b 195 //値を送信
yusuke_kyo 0:6a1be4584c5b 196 myled3=1;
yusuke_kyo 4:dd8c3543adc7 197 sprintf(S_data, "%s%s%f",Dyna_data,Thermo_data,CO2_data);
yusuke_kyo 0:6a1be4584c5b 198 // sock.sendTo(echo_server, S_data, sizeof(S_data));
yusuke_kyo 3:6dbba9951f9e 199 pc.printf("%s\n",S_data);
yusuke_kyo 0:6a1be4584c5b 200 myled3=0;
yusuke_kyo 0:6a1be4584c5b 201 break;
yusuke_kyo 0:6a1be4584c5b 202
yusuke_kyo 0:6a1be4584c5b 203 case 1: //ホームポジション
yusuke_kyo 0:6a1be4584c5b 204 Dyna_home_position(); break;
yusuke_kyo 0:6a1be4584c5b 205
yusuke_kyo 0:6a1be4584c5b 206 case 2: //リセット
yusuke_kyo 0:6a1be4584c5b 207 Dyna_reset(); break;
yusuke_kyo 0:6a1be4584c5b 208
yusuke_kyo 0:6a1be4584c5b 209 case 3: //終了
yusuke_kyo 0:6a1be4584c5b 210 myled4=1; Dyna_end(); return 0;
yusuke_kyo 0:6a1be4584c5b 211 }
yusuke_kyo 0:6a1be4584c5b 212 }
yusuke_kyo 0:6a1be4584c5b 213 }