Diff: main.cpp

Revision:

0:6a1be4584c5b

Child:

1:37af6a93195e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Apr 10 03:18:03 2015 +0000
@@ -0,0 +1,203 @@
+/*YOZAKURAのアームコード
+  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
+  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
+*/
+
+#include "mbed.h"
+
+Serial pc(USBTX, USBRX); // tx, rx
+DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4);
+
+
+/*--Dynamixel:begin-----------------------------------------------------------------------------------------*/
+#include "AX12.h"
+#include "MX28.h"
+
+AX12 linear (p13, p14, 0);      //直動Dynamixel
+MX28 pitch (p13, p14, 1);       //ピッチDynamixel
+MX28 yaw (p13, p14, 2);         //ヨーDynamixel
+
+int linear_goal, pitch_goal, yaw_goal;
+
+//最小値，最大値，角速度，初期値を指定[unit:degree]
+//MX:MultiTurnモードでは-2520°～2520°(SetGoalの書き換え不要)
+int linear_min = 100; int linear_MAX = 720; float linear_Speed=0.1; int linear_Init = linear_MAX;
+int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX;
+int yaw_min = 360; int yaw_MAX = 360; float yaw_Speed=0.2; int yaw_Init = 0; //MultiTurnモード
+
+void Dyna_init() {
+    pc.printf("Dynamixel Init : start\n");
+    linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX);
+    linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init; linear.SetGoal(linear_Init);
+    pc.printf("Dynamixel Init : linear OK!\n");
+    pitch.SetCWLimit(linear_min); pitch.SetCCWLimit(linear_MAX); 
+    pitch.SetCRSpeed(pitch_Speed); pitch_goal=linear_Init; pitch.SetGoal(pitch_Init);
+    pc.printf("Dynamixel Init : pitch OK!\n");
+    yaw.SetCWLimit(linear_min); yaw.SetCCWLimit(linear_MAX); 
+    yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; yaw.SetGoal(yaw_Init);
+    pc.printf("Dynamixel Init : yaw OK!\n");
+    pc.printf("Dynamixel Init : end\n");
+    wait(1);
+}
+
+void Dyna_home_position() {
+    linear.SetGoal(linear_Init);
+    wait(1); 
+    pitch.SetGoal(pitch_Init);
+    yaw.SetGoal(yaw_Init);
+    wait(1); 
+}
+
+void Dyna_reset() {
+    Dyna_home_position();
+    linear.SetTorqueLimit(0);
+    pitch.SetTorqueLimit(0);
+    yaw.SetTorqueLimit(0);
+    wait(1); 
+    linear.SetTorqueLimit(1);
+    pitch.SetTorqueLimit(1);
+    yaw.SetTorqueLimit(1);
+}
+
+void Dyna_end() {
+    Dyna_home_position();
+    linear.TorqueEnable(0);
+    pitch.TorqueEnable(0);
+    yaw.TorqueEnable(0);
+}
+/*--Dynamixel:end-----------------------------------------------------------------------------------------*/
+
+
+/*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
+/*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
+/*データシート：http://www.omron.co.jp/ecb/products/sensor/special/mems/pdf/AN-D6T-01JP_r2.pdf*/
+#include "MEMS.h"
+
+MEMS MEMS1(p9, p10); // sda, scl
+MEMS MEMS2(p28, p27); // sda, scl
+/*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
+
+
+/*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
+/*CO2センサモジュール：A051020-AQ6B-01*/
+/*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
+/*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*/
+#include "mbed.h"
+
+AnalogIn ain(p20);
+
+float CO2_Sensor()
+{
+    float v; //生データ：電圧
+    float sensor_v,CO2;
+    
+    v = ain.read()*3.3;
+    sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
+    CO2 = sensor_v * 1000 + 400;  //データシートより
+
+    return(CO2);
+}
+/*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
+
+
+/*---------------
+    MAIN ROOP
+----------------*/
+int main() {
+    
+    float lP, lV, pP, pC, yP, yC;
+    float ThD1[16], ThD2[16];
+    char Thermo_data[100];
+    float CO2_data;
+    
+    Dyna_init();
+    
+    char S_data[200], R_data[2];
+    int Joy_mode, linear_mode, pitch_mode, yaw_mode;
+    
+    while(1) {
+        
+//        sock.receiveFrom(echo_server, R_data, sizeof(R_data)); //オペステからデータを取得
+        pc.getc();
+        wait_ms(1);
+        int J = atoi(R_data);
+        Joy_mode = J & 0x03; //ジョイスティックのモード判定
+        
+        switch(Joy_mode){
+            case 0: //通常モード
+            /*--Dynamixel:begin---------------------------------------------------------------*/       
+                //現在の角度・電圧・電流を取得
+                myled1=1;
+                lP = linear.GetPosition(); lV = linear.GetVolts();
+                pP = pitch.GetPosition(); pC = pitch.GetCurrent();
+                yP = yaw.GetPosition(); yC = yaw.GetCurrent();
+                myled1=0;
+
+                //Dynamixelへの命令を判定
+                linear_mode = R_data[0] & 0x0c; linear_mode = linear_mode >> 2;
+                pitch_mode = R_data[0] & 0x30; pitch_mode = linear_mode >> 4;
+                yaw_mode = R_data[0] & 0xc0; yaw_mode = linear_mode >> 6;                
+
+                //目標角度を変更
+                myled2=1;
+                linear_goal=lP;
+                switch(linear_mode){
+                    case 0: break;
+                    case 1: linear_goal++; break;
+                    case 2: linear_goal--; break;
+                }    
+                linear.SetGoal(linear_goal);
+                pitch_goal=pP;
+                switch(pitch_mode){
+                    case 0: break;
+                    case 1: pitch_goal++; break;
+                    case 2: pitch_goal--; break;
+                }    
+                pitch.SetGoal(pitch_goal);
+                yaw_goal=yP;
+                switch(yaw_mode){
+                    case 0: break;
+                    case 1: yaw_goal++; break;
+                    case 2: yaw_goal--; break;
+                }
+                yaw.SetGoal(yaw_goal);
+                myled2=0;
+            /*--Dynamixel:end------------------------------------------------------------------*/       
+        
+            /*--Thermal_Sensor:begin-----------------------------------------------------------*/
+                //値を取得
+                MEMS1.temp(ThD1);
+                MEMS2.temp(ThD2);
+            /*--Thermal_Sensor:end-------------------------------------------------------------*/
+        
+            /*--CO2_Sensor:begin---------------------------------------------------------------*/
+                //値を取得
+                CO2_data=CO2_Sensor();
+            /*--CO2_Sensor:end-----------------------------------------------------------------*/
+            
+            //値を送信
+                myled3=1;
+                sprintf(Thermo_data,
+                "%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",
+                ThD1[0],ThD1[1],ThD1[2],ThD1[3],ThD1[4],ThD1[5],ThD1[6],ThD1[7],
+                ThD1[8],ThD1[9],ThD1[10],ThD1[11],ThD1[12],ThD1[13],ThD1[14],ThD1[15],
+                ThD2[0],ThD2[1],ThD2[2],ThD2[3],ThD2[4],ThD2[5],ThD2[6],ThD2[7],
+                ThD2[8],ThD2[9],ThD2[10],ThD2[11],ThD2[12],ThD2[13],ThD2[14],ThD2[15]);
+                sprintf(S_data, "%f %f %f %f %f %f %s %f",lP,lV,pP,pC,yP,yC,Thermo_data,CO2_data);
+//                sock.sendTo(echo_server, S_data, sizeof(S_data));
+                pc.printf("%s\n",S_data)
+                myled3=0;           
+                break;
+                        
+            
+            case 1: //ホームポジション
+                Dyna_home_position(); break;
+                
+            case 2: //リセット
+                Dyna_reset(); break;
+            
+            case 3: //終了
+                myled4=1; Dyna_end(); return 0;
+        }
+    }
+}
\ No newline at end of file