Control YOZAKURA arm vir USB
Dependencies: Dynamixel MEMS_Thermal_Sensor SerialHalfDuplex mbed
Diff: main.cpp
- Revision:
- 5:a6d9a1dec391
- Parent:
- 4:dd8c3543adc7
- Child:
- 6:fc49395cd7e5
diff -r dd8c3543adc7 -r a6d9a1dec391 main.cpp --- a/main.cpp Fri Apr 17 02:39:00 2015 +0000 +++ b/main.cpp Tue Apr 21 16:08:58 2015 +0000 @@ -14,9 +14,9 @@ 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 +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; @@ -30,14 +30,14 @@ 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.SetCWLimit(pitch_min); pitch.SetCCWLimit(pitch_MAX); pitch.SetCRSpeed(pitch_Speed); pitch_goal=linear_Init; pitch.SetGoal(pitch_Init); - yaw.SetCWLimit(linear_min); yaw.SetCCWLimit(linear_MAX); + yaw.SetCWLimit(yaw_min); yaw.SetCCWLimit(yaw_MAX); yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; yaw.SetGoal(yaw_Init); wait(1); } -void GetDyna(char* data) { +void Dyna_GetData(char* data) { float lP, lV, pP, pC, yP, yC; lP = linear.GetPosition(); lV = linear.GetVolts(); @@ -49,22 +49,22 @@ sprintf(data,"%f %f %f %f %f %f ",lP,lV,pP,pC,yP,yC); } -void SetGoalDyna(int l_mode, int p_mode, int y_mode) { - switch(l_mode){ +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(p_mode){ + switch(pitch_mode){ case 0: break; case 1: pitch_goal++; break; case 2: pitch_goal--; break; } pitch.SetGoal(pitch_goal); - switch(y_mode){ + switch(yaw_mode){ case 0: break; case 1: yaw_goal++; break; case 2: yaw_goal--; break; @@ -102,6 +102,8 @@ 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]; @@ -113,10 +115,25 @@ 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------------------------------------------------------------------------------------*/ @@ -129,6 +146,8 @@ AnalogIn ain(p20); +#define CO2_DEBUG 0 + float GetCO2() { float v; //生データ:電圧 float sensor_v,CO2; @@ -136,6 +155,8 @@ 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); } @@ -168,36 +189,38 @@ /*--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 = linear_mode >> 4; - yaw_mode = R_data & 0xc0; yaw_mode = linear_mode >> 6; + 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; - GetDyna(Dyna_data); + Dyna_GetData(Dyna_data); myled1=0; //目標角度を変更 myled2=1; - SetGoalDyna(linear_mode, pitch_mode, yaw_mode); + 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 - myled3=1; - sprintf(S_data, "%s%s%f",Dyna_data,Thermo_data,CO2_data); + myled4=1; + sprintf(S_data,"%s%s%f",Dyna_data,Thermo_data,CO2_data); // sock.sendTo(echo_server, S_data, sizeof(S_data)); - pc.printf("%s\n",S_data); - myled3=0; + printf("%s\n",S_data); + myled4=0; break; case 1: //ホームポジション @@ -207,7 +230,7 @@ Dyna_reset(); break; case 3: //終了 - myled4=1; Dyna_end(); return 0; + myled1=1; myled2=1; myled3=1; myled4=1; Dyna_end(); return 0; } } } \ No newline at end of file