Control YOZAKURA arm vir USB
Dependencies: Dynamixel MEMS_Thermal_Sensor SerialHalfDuplex mbed
Diff: main.cpp
- Revision:
- 0:6a1be4584c5b
- Child:
- 1:37af6a93195e
diff -r 000000000000 -r 6a1be4584c5b main.cpp --- /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