Control YOZAKURA arm vir USB
Dependencies: Dynamixel MEMS_Thermal_Sensor SerialHalfDuplex mbed
main.cpp@1:37af6a93195e, 2015-04-15 (annotated)
- Committer:
- yusuke_kyo
- Date:
- Wed Apr 15 15:02:19 2015 +0000
- Revision:
- 1:37af6a93195e
- Parent:
- 0:6a1be4584c5b
- Child:
- 2:3a4f83edb424
USB(RaspberryPi)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yusuke_kyo | 0:6a1be4584c5b | 1 | /*YOZAKURAのアームコード |
yusuke_kyo | 0:6a1be4584c5b | 2 | 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 |
yusuke_kyo | 0:6a1be4584c5b | 3 | 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 |
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 | 1:37af6a93195e | 15 | DigitalOut low(p19); DigitalOut RelaySwitch(p17); |
yusuke_kyo | 1:37af6a93195e | 16 | |
yusuke_kyo | 0:6a1be4584c5b | 17 | AX12 linear (p13, p14, 0); //直動Dynamixel |
yusuke_kyo | 0:6a1be4584c5b | 18 | MX28 pitch (p13, p14, 1); //ピッチDynamixel |
yusuke_kyo | 0:6a1be4584c5b | 19 | MX28 yaw (p13, p14, 2); //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 | 0:6a1be4584c5b | 25 | int linear_min = 100; int linear_MAX = 720; 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 | 0:6a1be4584c5b | 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 | 0:6a1be4584c5b | 33 | pitch.SetCWLimit(linear_min); pitch.SetCCWLimit(linear_MAX); |
yusuke_kyo | 0:6a1be4584c5b | 34 | pitch.SetCRSpeed(pitch_Speed); pitch_goal=linear_Init; pitch.SetGoal(pitch_Init); |
yusuke_kyo | 0:6a1be4584c5b | 35 | yaw.SetCWLimit(linear_min); yaw.SetCCWLimit(linear_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 | 0:6a1be4584c5b | 40 | void Dyna_home_position() { |
yusuke_kyo | 0:6a1be4584c5b | 41 | linear.SetGoal(linear_Init); |
yusuke_kyo | 1:37af6a93195e | 42 | wait(3); |
yusuke_kyo | 0:6a1be4584c5b | 43 | pitch.SetGoal(pitch_Init); |
yusuke_kyo | 0:6a1be4584c5b | 44 | yaw.SetGoal(yaw_Init); |
yusuke_kyo | 1:37af6a93195e | 45 | wait(2); |
yusuke_kyo | 0:6a1be4584c5b | 46 | } |
yusuke_kyo | 0:6a1be4584c5b | 47 | |
yusuke_kyo | 0:6a1be4584c5b | 48 | void Dyna_reset() { |
yusuke_kyo | 1:37af6a93195e | 49 | RelaySwitch = 0; |
yusuke_kyo | 1:37af6a93195e | 50 | wait_ms(10); |
yusuke_kyo | 1:37af6a93195e | 51 | RelaySwitch = 1; |
yusuke_kyo | 0:6a1be4584c5b | 52 | } |
yusuke_kyo | 0:6a1be4584c5b | 53 | |
yusuke_kyo | 0:6a1be4584c5b | 54 | void Dyna_end() { |
yusuke_kyo | 0:6a1be4584c5b | 55 | Dyna_home_position(); |
yusuke_kyo | 1:37af6a93195e | 56 | RelaySwitch = 0; |
yusuke_kyo | 0:6a1be4584c5b | 57 | } |
yusuke_kyo | 0:6a1be4584c5b | 58 | /*--Dynamixel:end-----------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 59 | |
yusuke_kyo | 0:6a1be4584c5b | 60 | |
yusuke_kyo | 0:6a1be4584c5b | 61 | /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 62 | /*MEMS非接触温度センサ:形D6T-44L-06 4×4素子タイプ*/ |
yusuke_kyo | 0:6a1be4584c5b | 63 | /*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 | 64 | #include "MEMS.h" |
yusuke_kyo | 0:6a1be4584c5b | 65 | |
yusuke_kyo | 0:6a1be4584c5b | 66 | MEMS MEMS1(p9, p10); // sda, scl |
yusuke_kyo | 0:6a1be4584c5b | 67 | MEMS MEMS2(p28, p27); // sda, scl |
yusuke_kyo | 0:6a1be4584c5b | 68 | /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 69 | |
yusuke_kyo | 0:6a1be4584c5b | 70 | |
yusuke_kyo | 0:6a1be4584c5b | 71 | /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 72 | /*CO2センサモジュール:A051020-AQ6B-01*/ |
yusuke_kyo | 0:6a1be4584c5b | 73 | /*データシート:http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/ |
yusuke_kyo | 0:6a1be4584c5b | 74 | /*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*/ |
yusuke_kyo | 0:6a1be4584c5b | 75 | #include "mbed.h" |
yusuke_kyo | 0:6a1be4584c5b | 76 | |
yusuke_kyo | 0:6a1be4584c5b | 77 | AnalogIn ain(p20); |
yusuke_kyo | 0:6a1be4584c5b | 78 | |
yusuke_kyo | 0:6a1be4584c5b | 79 | float CO2_Sensor() |
yusuke_kyo | 0:6a1be4584c5b | 80 | { |
yusuke_kyo | 0:6a1be4584c5b | 81 | float v; //生データ:電圧 |
yusuke_kyo | 0:6a1be4584c5b | 82 | float sensor_v,CO2; |
yusuke_kyo | 0:6a1be4584c5b | 83 | |
yusuke_kyo | 0:6a1be4584c5b | 84 | v = ain.read()*3.3; |
yusuke_kyo | 0:6a1be4584c5b | 85 | sensor_v = v * 5.0/3.3; //電圧レベルを合わせる |
yusuke_kyo | 0:6a1be4584c5b | 86 | CO2 = sensor_v * 1000 + 400; //データシートより |
yusuke_kyo | 0:6a1be4584c5b | 87 | |
yusuke_kyo | 0:6a1be4584c5b | 88 | return(CO2); |
yusuke_kyo | 0:6a1be4584c5b | 89 | } |
yusuke_kyo | 0:6a1be4584c5b | 90 | /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 91 | |
yusuke_kyo | 0:6a1be4584c5b | 92 | |
yusuke_kyo | 0:6a1be4584c5b | 93 | /*--------------- |
yusuke_kyo | 0:6a1be4584c5b | 94 | MAIN ROOP |
yusuke_kyo | 0:6a1be4584c5b | 95 | ----------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 96 | int main() { |
yusuke_kyo | 0:6a1be4584c5b | 97 | |
yusuke_kyo | 0:6a1be4584c5b | 98 | float lP, lV, pP, pC, yP, yC; |
yusuke_kyo | 0:6a1be4584c5b | 99 | float ThD1[16], ThD2[16]; |
yusuke_kyo | 0:6a1be4584c5b | 100 | char Thermo_data[100]; |
yusuke_kyo | 0:6a1be4584c5b | 101 | float CO2_data; |
yusuke_kyo | 0:6a1be4584c5b | 102 | |
yusuke_kyo | 0:6a1be4584c5b | 103 | Dyna_init(); |
yusuke_kyo | 0:6a1be4584c5b | 104 | |
yusuke_kyo | 0:6a1be4584c5b | 105 | char S_data[200], R_data[2]; |
yusuke_kyo | 0:6a1be4584c5b | 106 | int Joy_mode, linear_mode, pitch_mode, yaw_mode; |
yusuke_kyo | 0:6a1be4584c5b | 107 | |
yusuke_kyo | 0:6a1be4584c5b | 108 | while(1) { |
yusuke_kyo | 0:6a1be4584c5b | 109 | |
yusuke_kyo | 0:6a1be4584c5b | 110 | // sock.receiveFrom(echo_server, R_data, sizeof(R_data)); //オペステからデータを取得 |
yusuke_kyo | 1:37af6a93195e | 111 | R_data=pc.getc(); |
yusuke_kyo | 0:6a1be4584c5b | 112 | wait_ms(1); |
yusuke_kyo | 0:6a1be4584c5b | 113 | int J = atoi(R_data); |
yusuke_kyo | 0:6a1be4584c5b | 114 | Joy_mode = J & 0x03; //ジョイスティックのモード判定 |
yusuke_kyo | 0:6a1be4584c5b | 115 | |
yusuke_kyo | 0:6a1be4584c5b | 116 | switch(Joy_mode){ |
yusuke_kyo | 0:6a1be4584c5b | 117 | case 0: //通常モード |
yusuke_kyo | 0:6a1be4584c5b | 118 | /*--Dynamixel:begin---------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 119 | //現在の角度・電圧・電流を取得 |
yusuke_kyo | 0:6a1be4584c5b | 120 | myled1=1; |
yusuke_kyo | 0:6a1be4584c5b | 121 | lP = linear.GetPosition(); lV = linear.GetVolts(); |
yusuke_kyo | 0:6a1be4584c5b | 122 | pP = pitch.GetPosition(); pC = pitch.GetCurrent(); |
yusuke_kyo | 0:6a1be4584c5b | 123 | yP = yaw.GetPosition(); yC = yaw.GetCurrent(); |
yusuke_kyo | 0:6a1be4584c5b | 124 | myled1=0; |
yusuke_kyo | 0:6a1be4584c5b | 125 | |
yusuke_kyo | 0:6a1be4584c5b | 126 | //Dynamixelへの命令を判定 |
yusuke_kyo | 0:6a1be4584c5b | 127 | linear_mode = R_data[0] & 0x0c; linear_mode = linear_mode >> 2; |
yusuke_kyo | 0:6a1be4584c5b | 128 | pitch_mode = R_data[0] & 0x30; pitch_mode = linear_mode >> 4; |
yusuke_kyo | 0:6a1be4584c5b | 129 | yaw_mode = R_data[0] & 0xc0; yaw_mode = linear_mode >> 6; |
yusuke_kyo | 0:6a1be4584c5b | 130 | |
yusuke_kyo | 0:6a1be4584c5b | 131 | //目標角度を変更 |
yusuke_kyo | 0:6a1be4584c5b | 132 | myled2=1; |
yusuke_kyo | 0:6a1be4584c5b | 133 | linear_goal=lP; |
yusuke_kyo | 0:6a1be4584c5b | 134 | switch(linear_mode){ |
yusuke_kyo | 0:6a1be4584c5b | 135 | case 0: break; |
yusuke_kyo | 1:37af6a93195e | 136 | case 1: linear.SetTorqueLimit(1); linear_goal++; break; |
yusuke_kyo | 1:37af6a93195e | 137 | case 2: linear.SetTorqueLimit(1); linear_goal--; break; |
yusuke_kyo | 0:6a1be4584c5b | 138 | } |
yusuke_kyo | 0:6a1be4584c5b | 139 | linear.SetGoal(linear_goal); |
yusuke_kyo | 0:6a1be4584c5b | 140 | pitch_goal=pP; |
yusuke_kyo | 0:6a1be4584c5b | 141 | switch(pitch_mode){ |
yusuke_kyo | 0:6a1be4584c5b | 142 | case 0: break; |
yusuke_kyo | 0:6a1be4584c5b | 143 | case 1: pitch_goal++; break; |
yusuke_kyo | 0:6a1be4584c5b | 144 | case 2: pitch_goal--; break; |
yusuke_kyo | 0:6a1be4584c5b | 145 | } |
yusuke_kyo | 0:6a1be4584c5b | 146 | pitch.SetGoal(pitch_goal); |
yusuke_kyo | 0:6a1be4584c5b | 147 | yaw_goal=yP; |
yusuke_kyo | 0:6a1be4584c5b | 148 | switch(yaw_mode){ |
yusuke_kyo | 0:6a1be4584c5b | 149 | case 0: break; |
yusuke_kyo | 0:6a1be4584c5b | 150 | case 1: yaw_goal++; break; |
yusuke_kyo | 0:6a1be4584c5b | 151 | case 2: yaw_goal--; break; |
yusuke_kyo | 0:6a1be4584c5b | 152 | } |
yusuke_kyo | 0:6a1be4584c5b | 153 | yaw.SetGoal(yaw_goal); |
yusuke_kyo | 0:6a1be4584c5b | 154 | myled2=0; |
yusuke_kyo | 0:6a1be4584c5b | 155 | /*--Dynamixel:end------------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 156 | |
yusuke_kyo | 0:6a1be4584c5b | 157 | /*--Thermal_Sensor:begin-----------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 158 | //値を取得 |
yusuke_kyo | 0:6a1be4584c5b | 159 | MEMS1.temp(ThD1); |
yusuke_kyo | 0:6a1be4584c5b | 160 | MEMS2.temp(ThD2); |
yusuke_kyo | 0:6a1be4584c5b | 161 | /*--Thermal_Sensor:end-------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 162 | |
yusuke_kyo | 0:6a1be4584c5b | 163 | /*--CO2_Sensor:begin---------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 164 | //値を取得 |
yusuke_kyo | 0:6a1be4584c5b | 165 | CO2_data=CO2_Sensor(); |
yusuke_kyo | 0:6a1be4584c5b | 166 | /*--CO2_Sensor:end-----------------------------------------------------------------*/ |
yusuke_kyo | 0:6a1be4584c5b | 167 | |
yusuke_kyo | 0:6a1be4584c5b | 168 | //値を送信 |
yusuke_kyo | 0:6a1be4584c5b | 169 | myled3=1; |
yusuke_kyo | 0:6a1be4584c5b | 170 | sprintf(Thermo_data, |
yusuke_kyo | 0:6a1be4584c5b | 171 | "%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", |
yusuke_kyo | 0:6a1be4584c5b | 172 | ThD1[0],ThD1[1],ThD1[2],ThD1[3],ThD1[4],ThD1[5],ThD1[6],ThD1[7], |
yusuke_kyo | 0:6a1be4584c5b | 173 | ThD1[8],ThD1[9],ThD1[10],ThD1[11],ThD1[12],ThD1[13],ThD1[14],ThD1[15], |
yusuke_kyo | 0:6a1be4584c5b | 174 | ThD2[0],ThD2[1],ThD2[2],ThD2[3],ThD2[4],ThD2[5],ThD2[6],ThD2[7], |
yusuke_kyo | 0:6a1be4584c5b | 175 | ThD2[8],ThD2[9],ThD2[10],ThD2[11],ThD2[12],ThD2[13],ThD2[14],ThD2[15]); |
yusuke_kyo | 0:6a1be4584c5b | 176 | sprintf(S_data, "%f %f %f %f %f %f %s %f",lP,lV,pP,pC,yP,yC,Thermo_data,CO2_data); |
yusuke_kyo | 0:6a1be4584c5b | 177 | // sock.sendTo(echo_server, S_data, sizeof(S_data)); |
yusuke_kyo | 1:37af6a93195e | 178 | printf("%s\n",S_data) |
yusuke_kyo | 0:6a1be4584c5b | 179 | myled3=0; |
yusuke_kyo | 0:6a1be4584c5b | 180 | break; |
yusuke_kyo | 0:6a1be4584c5b | 181 | |
yusuke_kyo | 0:6a1be4584c5b | 182 | |
yusuke_kyo | 0:6a1be4584c5b | 183 | case 1: //ホームポジション |
yusuke_kyo | 0:6a1be4584c5b | 184 | Dyna_home_position(); break; |
yusuke_kyo | 0:6a1be4584c5b | 185 | |
yusuke_kyo | 0:6a1be4584c5b | 186 | case 2: //リセット |
yusuke_kyo | 0:6a1be4584c5b | 187 | Dyna_reset(); break; |
yusuke_kyo | 0:6a1be4584c5b | 188 | |
yusuke_kyo | 0:6a1be4584c5b | 189 | case 3: //終了 |
yusuke_kyo | 0:6a1be4584c5b | 190 | myled4=1; Dyna_end(); return 0; |
yusuke_kyo | 0:6a1be4584c5b | 191 | } |
yusuke_kyo | 0:6a1be4584c5b | 192 | } |
yusuke_kyo | 0:6a1be4584c5b | 193 | } |