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Control YOZAKURA arm vir USB
Dependencies: Dynamixel MEMS_Thermal_Sensor SerialHalfDuplex mbed
Diff: main.cpp
- Revision:
- 6:fc49395cd7e5
- Parent:
- 5:a6d9a1dec391
--- a/main.cpp Tue Apr 21 16:08:58 2015 +0000 +++ b/main.cpp Thu Apr 23 06:42:01 2015 +0000 @@ -12,7 +12,7 @@ #include "AX12.h" #include "MX28.h" -DigitalOut low(p19); DigitalOut RelaySwitch(p17); +DigitalOut low(p16); DigitalOut RelaySwitch(p18); AX12 linear (p13, p14, 0, 1000000); //直動Dynamixel MX28 pitch (p13, p14, 1, 1000000); //ピッチDynamixel @@ -22,7 +22,7 @@ //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 linear_min = 100; int linear_MAX = 300; 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 @@ -46,7 +46,7 @@ linear_goal=lP; pitch_goal=pP; yaw_goal=yP; //現在角度を目標値に設定 - sprintf(data,"%f %f %f %f %f %f ",lP,lV,pP,pC,yP,yC); + sprintf(data,"%4f %4f %4f %4f %4f %4f ",lP,lV,pP,pC,yP,yC); } void Dyna_SetGoal(int linear_mode, int pitch_mode, int yaw_mode) { @@ -156,7 +156,7 @@ 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 - if(CO2_DEBUG) printf("\n%4.1f",CO2); + if(CO2_DEBUG) printf("\n%4f",CO2); return(CO2); } @@ -173,16 +173,15 @@ Dyna_init(); - char S_data[200]; - int R_data; + char Send_data[200]; + int Read_data; 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 - R_data=pc.getc(); + Read_data=pc.getc(); wait_ms(1); - Joy_mode = R_data & 0x03; //ジョイスティックのモード判定 + Joy_mode = Read_data & 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 @@ -217,9 +216,8 @@ //値を送信 myled4=1; - sprintf(S_data,"%s%s%f",Dyna_data,Thermo_data,CO2_data); -// sock.sendTo(echo_server, S_data, sizeof(S_data)); - printf("%s\n",S_data); + sprintf(Send_data,"%s%s%f",Dyna_data,Thermo_data,CO2_data); + printf("%s\n",Send_data); myled4=0; break;