Control YOZAKURA arm vir USB
Dependencies: Dynamixel MEMS_Thermal_Sensor SerialHalfDuplex mbed
main.cpp
- Committer:
- yusuke_kyo
- Date:
- 2015-04-21
- Revision:
- 5:a6d9a1dec391
- Parent:
- 4:dd8c3543adc7
- Child:
- 6:fc49395cd7e5
File content as of revision 5:a6d9a1dec391:
/*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, 1000000); //直動Dynamixel MX28 pitch (p13, p14, 1, 1000000); //ピッチDynamixel MX28 yaw (p13, p14, 2, 1000000); //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(pitch_min); pitch.SetCCWLimit(pitch_MAX); pitch.SetCRSpeed(pitch_Speed); pitch_goal=linear_Init; pitch.SetGoal(pitch_Init); yaw.SetCWLimit(yaw_min); yaw.SetCCWLimit(yaw_MAX); yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; yaw.SetGoal(yaw_Init); wait(1); } void Dyna_GetData(char* data) { float lP, lV, pP, pC, yP, yC; lP = linear.GetPosition(); lV = linear.GetVolts(); pP = pitch.GetPosition(); pC = pitch.GetCurrent(); yP = yaw.GetPosition(); yC = yaw.GetCurrent(); 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); } void Dyna_SetGoal(int linear_mode, int pitch_mode, int yaw_mode) { 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); switch(pitch_mode){ case 0: break; case 1: pitch_goal++; break; case 2: pitch_goal--; break; } pitch.SetGoal(pitch_goal); switch(yaw_mode){ case 0: break; case 1: yaw_goal++; break; case 2: yaw_goal--; break; } yaw.SetGoal(yaw_goal); } void Dyna_home_position() { float lp; linear.SetGoal(linear_Init); lp=linear.GetPosition(); if(lp > linear_MAX - 30) { //ある程度縮んだら pitch.SetGoal(pitch_Init); yaw.SetGoal(yaw_Init); } } void Dyna_reset() { RelaySwitch = 0; wait_ms(10); RelaySwitch = 1; } void Dyna_end() { 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 #define THERMO_DEBUG 0 void GetThermo(char* data) { float ThD1[16], ThD2[16]; char con[10]; MEMS1.temp(ThD1); MEMS2.temp(ThD2); for(int i=0;i<16;i++){ sprintf(con,"%3.1f ",ThD1[i]); strcat(data,con); } if(THERMO_DEBUG) { for(int i=0;i<16;i++){ if(i%4==0) printf("\n"); printf("%3.1f ",ThD1[i]); } } for(int i=0;i<16;i++){ sprintf(con,"%3.1f ",ThD2[i]); strcat(data,con); } if(THERMO_DEBUG) { for(int i=0;i<16;i++){ if(i%4==0) printf("\n"); printf("%3.1f ",ThD2[i]); } } } /*--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3000[ppm]まで*/ #include "mbed.h" AnalogIn ain(p20); #define CO2_DEBUG 0 float GetCO2() { 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 if(CO2_DEBUG) printf("\n%4.1f",CO2); return(CO2); } /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/ /*--------------- MAIN ROOP ----------------*/ int main() { char Dyna_data[100]; char Thermo_data[100]; float CO2_data; Dyna_init(); char S_data[200]; int R_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(); wait_ms(1); Joy_mode = R_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 /*--Dynamixel:begin---------------------------------------------------------------*/ //Dynamixelへの命令を判定 linear_mode = R_data & 0x0c; linear_mode = linear_mode >> 2; pitch_mode = R_data & 0x30; pitch_mode = pitch_mode >> 4; yaw_mode = R_data & 0xc0; yaw_mode = yaw_mode >> 6; //現在の角度・電圧・電流を取得 myled1=1; Dyna_GetData(Dyna_data); myled1=0; //目標角度を変更 myled2=1; Dyna_SetGoal(linear_mode, pitch_mode, yaw_mode); myled2=0; /*--Dynamixel:end------------------------------------------------------------------*/ /*--Thermal_Sensor:begin-----------------------------------------------------------*/ //値を取得 myled3=1; GetThermo(Thermo_data); /*--Thermal_Sensor:end-------------------------------------------------------------*/ /*--CO2_Sensor:begin---------------------------------------------------------------*/ //値を取得 CO2_data=GetCO2(); myled3=0; /*--CO2_Sensor:end-----------------------------------------------------------------*/ //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); myled4=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 myled1=1; myled2=1; myled3=1; myled4=1; Dyna_end(); return 0; } } }