Control YOZAKURA arm vir USB
Dependencies: Dynamixel MEMS_Thermal_Sensor SerialHalfDuplex mbed
main.cpp
- Committer:
- yusuke_kyo
- Date:
- 2015-04-15
- Revision:
- 2:3a4f83edb424
- Parent:
- 1:37af6a93195e
- Child:
- 3:6dbba9951f9e
File content as of revision 2:3a4f83edb424:
/*YOZAKURAのアームコード 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 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 */ #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" DigitalOut low(p19); DigitalOut RelaySwitch(p17); 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() { low = 0; RelaySwitch = 1; linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX); linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init; linear.SetGoal(linear_Init); pitch.SetCWLimit(linear_min); pitch.SetCCWLimit(linear_MAX); pitch.SetCRSpeed(pitch_Speed); pitch_goal=linear_Init; pitch.SetGoal(pitch_Init); yaw.SetCWLimit(linear_min); yaw.SetCCWLimit(linear_MAX); yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; yaw.SetGoal(yaw_Init); wait(1); } void Dyna_home_position() { linear.SetGoal(linear_Init); wait(3); pitch.SetGoal(pitch_Init); yaw.SetGoal(yaw_Init); wait(2); } void Dyna_reset() { RelaySwitch = 0; wait_ms(10); RelaySwitch = 1; } void Dyna_end() { Dyna_home_position(); RelaySwitch = 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 R_data=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.SetTorqueLimit(1); linear_goal++; break; case 2: linear.SetTorqueLimit(1); 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; } } }