Revision 6:fc49395cd7e5, committed 2015-04-23

Comitter:

yusuke_kyo

Date:

Thu Apr 23 06:42:01 2015 +0000

Parent:

5:a6d9a1dec391

Commit message:

dynamixel boardrate

Changed in this revision

--- a/Dynamixel.lib	Tue Apr 21 16:08:58 2015 +0000
+++ b/Dynamixel.lib	Thu Apr 23 06:42:01 2015 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/users/yusuke_kyo/code/Dynamixel/#950c4f4f73c6
+http://developer.mbed.org/users/yusuke_kyo/code/Dynamixel/#d0c0d11907e2

--- a/main.cpp	Tue Apr 21 16:08:58 2015 +0000
+++ b/main.cpp	Thu Apr 23 06:42:01 2015 +0000
@@ -12,7 +12,7 @@
 #include "AX12.h"
 #include "MX28.h"
 
-DigitalOut low(p19); DigitalOut RelaySwitch(p17);
+DigitalOut low(p16); DigitalOut RelaySwitch(p18);
 
 AX12 linear (p13, p14, 0, 1000000);      //直動Dynamixel
 MX28 pitch (p13, p14, 1, 1000000);       //ピッチDynamixel
@@ -22,7 +22,7 @@
 
 //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 linear_min = 100; int linear_MAX = 300; 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
 
@@ -46,7 +46,7 @@
     
     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);  
+    sprintf(data,"%4f %4f %4f %4f %4f %4f ",lP,lV,pP,pC,yP,yC);  
 }
 
 void Dyna_SetGoal(int linear_mode, int pitch_mode, int yaw_mode) {
@@ -156,7 +156,7 @@
     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);
+    if(CO2_DEBUG) printf("\n%4f",CO2);
 
     return(CO2);
 }
@@ -173,16 +173,15 @@
     
     Dyna_init();
     
-    char S_data[200];
-    int R_data;
+    char Send_data[200];
+    int Read_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();
+        Read_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
+        Joy_mode = Read_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
@@ -217,9 +216,8 @@
             
             //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);
+                sprintf(Send_data,"%s%s%f",Dyna_data,Thermo_data,CO2_data);
+                printf("%s\n",Send_data);
                 myled4=0;           
                 break;