雄介 太田 / Mbed 2 deprecated YOZAKURA_ARM_USB

Control YOZAKURA arm vir USB

Dependencies:   Dynamixel MEMS_Thermal_Sensor SerialHalfDuplex mbed

main.cpp@6:fc49395cd7e5, 2015-04-23 (annotated)

Committer:
yusuke_kyo
Date:
Thu Apr 23 06:42:01 2015 +0000
Revision:
6:fc49395cd7e5
Parent:
5:a6d9a1dec391 
dynamixel boardrate

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 6:fc49395cd7e5 15 DigitalOut low(p16); DigitalOut RelaySwitch(p18);
yusuke_kyo 1:37af6a93195e 16
yusuke_kyo 5:a6d9a1dec391 17 AX12 linear (p13, p14, 0, 1000000); //直動Dynamixel
yusuke_kyo 5:a6d9a1dec391 18 MX28 pitch (p13, p14, 1, 1000000); //ピッチDynamixel
yusuke_kyo 5:a6d9a1dec391 19 MX28 yaw (p13, p14, 2, 1000000); //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 6:fc49395cd7e5 25 int linear_min = 100; int linear_MAX = 300; 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 5:a6d9a1dec391 33 pitch.SetCWLimit(pitch_min); pitch.SetCCWLimit(pitch_MAX);
yusuke_kyo 0:6a1be4584c5b 34 pitch.SetCRSpeed(pitch_Speed); pitch_goal=linear_Init; pitch.SetGoal(pitch_Init);
yusuke_kyo 5:a6d9a1dec391 35 yaw.SetCWLimit(yaw_min); yaw.SetCCWLimit(yaw_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 5:a6d9a1dec391 40 void Dyna_GetData(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 6:fc49395cd7e5 49 sprintf(data,"%4f %4f %4f %4f %4f %4f ",lP,lV,pP,pC,yP,yC);
yusuke_kyo 4:dd8c3543adc7 50 }
yusuke_kyo 4:dd8c3543adc7 51
yusuke_kyo 5:a6d9a1dec391 52 void Dyna_SetGoal(int linear_mode, int pitch_mode, int yaw_mode) {
yusuke_kyo 5:a6d9a1dec391 53 switch(linear_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 5:a6d9a1dec391 57 }
yusuke_kyo 4:dd8c3543adc7 58 linear.SetGoal(linear_goal);
yusuke_kyo 4:dd8c3543adc7 59
yusuke_kyo 5:a6d9a1dec391 60 switch(pitch_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 5:a6d9a1dec391 67 switch(yaw_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 5:a6d9a1dec391 105 #define THERMO_DEBUG 0
yusuke_kyo 5:a6d9a1dec391 106
yusuke_kyo 4:dd8c3543adc7 107 void GetThermo(char* data) {
yusuke_kyo 4:dd8c3543adc7 108 float ThD1[16], ThD2[16];
yusuke_kyo 4:dd8c3543adc7 109 char con[10];
yusuke_kyo 4:dd8c3543adc7 110
yusuke_kyo 4:dd8c3543adc7 111 MEMS1.temp(ThD1);
yusuke_kyo 4:dd8c3543adc7 112 MEMS2.temp(ThD2);
yusuke_kyo 4:dd8c3543adc7 113
yusuke_kyo 4:dd8c3543adc7 114 for(int i=0;i<16;i++){
yusuke_kyo 4:dd8c3543adc7 115 sprintf(con,"%3.1f ",ThD1[i]);
yusuke_kyo 4:dd8c3543adc7 116 strcat(data,con);
yusuke_kyo 4:dd8c3543adc7 117 }
yusuke_kyo 5:a6d9a1dec391 118
yusuke_kyo 5:a6d9a1dec391 119 if(THERMO_DEBUG) {
yusuke_kyo 5:a6d9a1dec391 120 for(int i=0;i<16;i++){
yusuke_kyo 5:a6d9a1dec391 121 if(i%4==0) printf("\n");
yusuke_kyo 5:a6d9a1dec391 122 printf("%3.1f ",ThD1[i]);
yusuke_kyo 5:a6d9a1dec391 123 }
yusuke_kyo 5:a6d9a1dec391 124 }
yusuke_kyo 5:a6d9a1dec391 125
yusuke_kyo 4:dd8c3543adc7 126 for(int i=0;i<16;i++){
yusuke_kyo 4:dd8c3543adc7 127 sprintf(con,"%3.1f ",ThD2[i]);
yusuke_kyo 4:dd8c3543adc7 128 strcat(data,con);
yusuke_kyo 4:dd8c3543adc7 129 }
yusuke_kyo 5:a6d9a1dec391 130
yusuke_kyo 5:a6d9a1dec391 131 if(THERMO_DEBUG) {
yusuke_kyo 5:a6d9a1dec391 132 for(int i=0;i<16;i++){
yusuke_kyo 5:a6d9a1dec391 133 if(i%4==0) printf("\n");
yusuke_kyo 5:a6d9a1dec391 134 printf("%3.1f ",ThD2[i]);
yusuke_kyo 5:a6d9a1dec391 135 }
yusuke_kyo 5:a6d9a1dec391 136 }
yusuke_kyo 4:dd8c3543adc7 137 }
yusuke_kyo 0:6a1be4584c5b 138 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 139
yusuke_kyo 0:6a1be4584c5b 140
yusuke_kyo 0:6a1be4584c5b 141 /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 142 /*CO2センサモジュール：A051020-AQ6B-01*/
yusuke_kyo 0:6a1be4584c5b 143 /*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
yusuke_kyo 4:dd8c3543adc7 144 /*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 145 #include "mbed.h"
yusuke_kyo 0:6a1be4584c5b 146
yusuke_kyo 0:6a1be4584c5b 147 AnalogIn ain(p20);
yusuke_kyo 0:6a1be4584c5b 148
yusuke_kyo 5:a6d9a1dec391 149 #define CO2_DEBUG 0
yusuke_kyo 5:a6d9a1dec391 150
yusuke_kyo 4:dd8c3543adc7 151 float GetCO2() {
yusuke_kyo 0:6a1be4584c5b 152 float v; //生データ：電圧
yusuke_kyo 0:6a1be4584c5b 153 float sensor_v,CO2;
yusuke_kyo 0:6a1be4584c5b 154
yusuke_kyo 0:6a1be4584c5b 155 v = ain.read()*3.3;
yusuke_kyo 0:6a1be4584c5b 156 sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
yusuke_kyo 0:6a1be4584c5b 157 CO2 = sensor_v * 1000 + 400; //データシートより
yusuke_kyo 5:a6d9a1dec391 158
yusuke_kyo 6:fc49395cd7e5 159 if(CO2_DEBUG) printf("\n%4f",CO2);
yusuke_kyo 0:6a1be4584c5b 160
yusuke_kyo 0:6a1be4584c5b 161 return(CO2);
yusuke_kyo 0:6a1be4584c5b 162 }
yusuke_kyo 0:6a1be4584c5b 163 /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 164
yusuke_kyo 0:6a1be4584c5b 165
yusuke_kyo 0:6a1be4584c5b 166 /*---------------
yusuke_kyo 0:6a1be4584c5b 167 MAIN ROOP
yusuke_kyo 0:6a1be4584c5b 168 ----------------*/
yusuke_kyo 0:6a1be4584c5b 169 int main() {
yusuke_kyo 4:dd8c3543adc7 170 char Dyna_data[100];
yusuke_kyo 0:6a1be4584c5b 171 char Thermo_data[100];
yusuke_kyo 0:6a1be4584c5b 172 float CO2_data;
yusuke_kyo 0:6a1be4584c5b 173
yusuke_kyo 0:6a1be4584c5b 174 Dyna_init();
yusuke_kyo 0:6a1be4584c5b 175
yusuke_kyo 6:fc49395cd7e5 176 char Send_data[200];
yusuke_kyo 6:fc49395cd7e5 177 int Read_data;
yusuke_kyo 0:6a1be4584c5b 178 int Joy_mode, linear_mode, pitch_mode, yaw_mode;
yusuke_kyo 0:6a1be4584c5b 179
yusuke_kyo 0:6a1be4584c5b 180 while(1) {
yusuke_kyo 0:6a1be4584c5b 181
yusuke_kyo 6:fc49395cd7e5 182 Read_data=pc.getc();
yusuke_kyo 0:6a1be4584c5b 183 wait_ms(1);
yusuke_kyo 6:fc49395cd7e5 184 Joy_mode = Read_data & 0x03; //ジョイスティックのモード判定
yusuke_kyo 0:6a1be4584c5b 185
yusuke_kyo 0:6a1be4584c5b 186 switch(Joy_mode){
yusuke_kyo 0:6a1be4584c5b 187 case 0: //通常モード
yusuke_kyo 0:6a1be4584c5b 188 /*--Dynamixel:begin---------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 189 //Dynamixelへの命令を判定
yusuke_kyo 3:6dbba9951f9e 190 linear_mode = R_data & 0x0c; linear_mode = linear_mode >> 2;
yusuke_kyo 5:a6d9a1dec391 191 pitch_mode = R_data & 0x30; pitch_mode = pitch_mode >> 4;
yusuke_kyo 5:a6d9a1dec391 192 yaw_mode = R_data & 0xc0; yaw_mode = yaw_mode >> 6;
yusuke_kyo 0:6a1be4584c5b 193
yusuke_kyo 4:dd8c3543adc7 194 //現在の角度・電圧・電流を取得
yusuke_kyo 4:dd8c3543adc7 195 myled1=1;
yusuke_kyo 5:a6d9a1dec391 196 Dyna_GetData(Dyna_data);
yusuke_kyo 4:dd8c3543adc7 197 myled1=0;
yusuke_kyo 4:dd8c3543adc7 198
yusuke_kyo 0:6a1be4584c5b 199 //目標角度を変更
yusuke_kyo 0:6a1be4584c5b 200 myled2=1;
yusuke_kyo 5:a6d9a1dec391 201 Dyna_SetGoal(linear_mode, pitch_mode, yaw_mode);
yusuke_kyo 0:6a1be4584c5b 202 myled2=0;
yusuke_kyo 0:6a1be4584c5b 203 /*--Dynamixel:end------------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 204
yusuke_kyo 0:6a1be4584c5b 205 /*--Thermal_Sensor:begin-----------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 206 //値を取得
yusuke_kyo 5:a6d9a1dec391 207 myled3=1;
yusuke_kyo 4:dd8c3543adc7 208 GetThermo(Thermo_data);
yusuke_kyo 0:6a1be4584c5b 209 /*--Thermal_Sensor:end-------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 210
yusuke_kyo 0:6a1be4584c5b 211 /*--CO2_Sensor:begin---------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 212 //値を取得
yusuke_kyo 4:dd8c3543adc7 213 CO2_data=GetCO2();
yusuke_kyo 5:a6d9a1dec391 214 myled3=0;
yusuke_kyo 0:6a1be4584c5b 215 /*--CO2_Sensor:end-----------------------------------------------------------------*/
yusuke_kyo 0:6a1be4584c5b 216
yusuke_kyo 0:6a1be4584c5b 217 //値を送信
yusuke_kyo 5:a6d9a1dec391 218 myled4=1;
yusuke_kyo 6:fc49395cd7e5 219 sprintf(Send_data,"%s%s%f",Dyna_data,Thermo_data,CO2_data);
yusuke_kyo 6:fc49395cd7e5 220 printf("%s\n",Send_data);
yusuke_kyo 5:a6d9a1dec391 221 myled4=0;
yusuke_kyo 0:6a1be4584c5b 222 break;
yusuke_kyo 0:6a1be4584c5b 223
yusuke_kyo 0:6a1be4584c5b 224 case 1: //ホームポジション
yusuke_kyo 0:6a1be4584c5b 225 Dyna_home_position(); break;
yusuke_kyo 0:6a1be4584c5b 226
yusuke_kyo 0:6a1be4584c5b 227 case 2: //リセット
yusuke_kyo 0:6a1be4584c5b 228 Dyna_reset(); break;
yusuke_kyo 0:6a1be4584c5b 229
yusuke_kyo 0:6a1be4584c5b 230 case 3: //終了
yusuke_kyo 5:a6d9a1dec391 231 myled1=1; myled2=1; myled3=1; myled4=1; Dyna_end(); return 0;
yusuke_kyo 0:6a1be4584c5b 232 }
yusuke_kyo 0:6a1be4584c5b 233 }
yusuke_kyo 0:6a1be4584c5b 234 }