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YOZAKURA ARM program, usb serial
Dependencies: Dynamixel SerialHalfDuplex mbed
main.cpp
- Committer:
- yusuke_kyo
- Date:
- 2015-04-27
- Revision:
- 7:58eb1e1e9143
- Parent:
- 6:6d9dac9ff798
File content as of revision 7:58eb1e1e9143:
/*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={linear_ref[2bit],pitch_ref[2bit],yaw_ref[2bit]m,ode[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" #define DYNA_DEBUG 0 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 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 = 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 void Dyna_init() { if(DYNA_DEBUG) printf("\nDyna_init\n"); // low = 0; RelaySwitch = 1; linear.SetTorqueLimit(0); pitch.SetTorqueLimit(0); yaw.SetTorqueLimit(0); linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX); linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init; pitch.SetCWLimit(pitch_min); pitch.SetCCWLimit(pitch_MAX); pitch.SetCRSpeed(pitch_Speed); pitch_goal=pitch_Init; yaw.SetCWLimit(yaw_min); yaw.SetCCWLimit(yaw_MAX); yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; wait(1); } void Dyna_GetData(char* data) { if(DYNA_DEBUG) printf("\nDyna_SetData\n"); 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,"%4.1f %4.1f %4.1f %4.1f %4.1f %4.1f ",lP,pP,yP,lV,pC,yC); } void Dyna_SetGoal(int linear_mode, int pitch_mode, int yaw_mode) { if(DYNA_DEBUG) printf("\nDyna_SetGoal\n"); switch(linear_mode){ case 0: break; case 1: linear.SetTorqueLimit(1); linear_goal-=2; break; case 2: linear.SetTorqueLimit(1); linear_goal+=2; break; } if(linear_goal>linear_MAX) linear_goal=linear_MAX; if(linear_goal<linear_min) linear_goal=linear_min; linear.SetGoal(linear_goal); switch(pitch_mode){ case 0: break; case 1: pitch_goal-=3; break; case 2: pitch_goal+=3; break; } if(pitch_goal>pitch_MAX) pitch_goal=pitch_MAX; if(pitch_goal<pitch_min) pitch_goal=pitch_min; pitch.SetGoal(pitch_goal); switch(yaw_mode){ case 0: break; case 1: yaw_goal-=3; break; case 2: yaw_goal+=3; break; } if(pitch_goal>2520) pitch_goal=2520; if(pitch_goal<-2520) pitch_goal=-2520; yaw.SetGoal(yaw_goal); } void Dyna_home_position() { if(DYNA_DEBUG) printf("\nDyna_home_position\n"); linear.SetTorqueLimit(1); pitch.SetTorqueLimit(1); yaw.SetTorqueLimit(1); 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() { if(DYNA_DEBUG) printf("\nDyna_reset\n"); // RelaySwitch = 0; linear.SetTorqueLimit(0); pitch.SetTorqueLimit(0); yaw.SetTorqueLimit(0); wait(1); // RelaySwitch = 1; linear.SetTorqueLimit(1); pitch.SetTorqueLimit(1); yaw.SetTorqueLimit(1); } void Dyna_end() { if(DYNA_DEBUG) printf("\nDyna_end\n"); // RelaySwitch = 0; linear.SetTorqueLimit(0); pitch.SetTorqueLimit(0); yaw.SetTorqueLimit(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*/ I2C MEMS1(p9, p10); // sda, scl I2C MEMS2(p28, p27); // sda, scl #define D6T_addr 0x14 #define D6T_cmd 0x4c #define THERMO_DEBUG 0 char I2C_rd1[64]; // 生データ short datr1[16]; // 16点 温度データ(10倍整数) short PTAT1; // センサ内部PTAT温度データ(10倍整数) double dt1[16]; // 16点 温度データ double dt1_temp[16]; short d_PTAT1; // センサ内部PTAT温度データ char I2C_rd2[64]; // 生データ short datr2[16]; // 16点 温度データ(10倍整数) short PTAT2; // センサ内部PTAT温度データ(10倍整数) double dt2[16]; // 16点 温度データ double dt2_temp[16]; short d_PTAT2; // センサ内部PTAT温度データ void GetThermo(char* data) { char con[6]; sprintf(data,""); /*MEMS1*/ int i,j; int itemp; //// measure MEMS1.start(); MEMS1.write(D6T_addr); MEMS1.write(D6T_cmd); // Repeated Start condition MEMS1.read(D6T_addr,I2C_rd1,35); // if(check_PEC(I2C_rd) == -1) continue; // error for(i=0,j=0;i<17;i++){ itemp = (I2C_rd1[j++] & 0xff); itemp += I2C_rd1[j++] * 256; if(i == 0) PTAT1 = itemp; else datr1[i-1] = itemp; } for(i=0;i<16;i++){ dt1[i] = 0.1 * datr1[i]; } for(int i=0;i<16;i++){ if(dt1[i]<50 && dt1[i]>5) { sprintf(con,"%3.1f ",dt1[i]); dt1_temp[i]=dt1[i]; } else sprintf(con,"%3.1f ",dt1_temp[i]); strcat(data,con); } if(THERMO_DEBUG){ printf("\nThermal_Sensor 1"); for(i=0;i<16;i++){ if(i%4==0) printf("\n"); printf("%3.1f ",dt1[i]); } printf("\n"); } d_PTAT1 = 0.1 * PTAT1; // wait(0.1); /*MEMS1*/ /*MEMS2*/ //// measure MEMS2.start(); MEMS2.write(D6T_addr); MEMS2.write(D6T_cmd); // Repeated Start condition MEMS2.read(D6T_addr,I2C_rd2,35); // if(check_PEC(I2C_rd) == -1) continue; // error for(i=0,j=0;i<17;i++){ itemp = (I2C_rd2[j++] & 0xff); itemp += I2C_rd2[j++] * 256; if(i == 0) PTAT2 = itemp; else datr2[i-1] = itemp; } for(i=0;i<16;i++){ dt2[i] = 0.1 * datr2[i]; } for(int i=0;i<16;i++){ if(dt1[i]<50 && dt1[i]>5) { sprintf(con,"%3.1f ",dt2[i]); dt2_temp[i]=dt2[i]; } else sprintf(con,"%3.1f ",dt2_temp[i]); strcat(data,con); } if(THERMO_DEBUG){ printf("\nThermal_Sensor 2"); for(i=0;i<16;i++){ if(i%4==0) printf("\n"); printf("%3.1f ",dt2[i]); } printf("\n"); } d_PTAT2 = 0.1 * PTAT2; // wait(0.1); /*MEMS2*/ } /*--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("\nCO2:%4.1f\n",CO2); return(CO2); } /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/ /*--------------- MAIN ROOP ----------------*/ #define DEBUG 0 int main() { pc.baud(38400); char Dyna_data[50]; char Thermo_data[200]; float CO2_data; Dyna_init(); unsigned char a = pc.getc(); if(a==7) printf("arm\n"); char Send_data[250]; int Read_data; int Joy_mode, linear_mode, pitch_mode, yaw_mode; while(1) { Read_data=pc.getc(); wait_ms(1); Joy_mode = Read_data & 0x03;; //ジョイスティックのモード判定 if(DEBUG) printf("Joy_mode : %d\n",Joy_mode); switch(Joy_mode){ case 0: //通常モード myled1=0; myled2=0; myled3=0; myled4=0; /*--Dynamixel:begin---------------------------------------------------------------*/ //Dynamixelへの命令を判定 linear_mode = Read_data & 0xc0; linear_mode = linear_mode >> 6; if(DEBUG) printf("linear_mode : %d\n",linear_mode); pitch_mode = Read_data & 0x30; pitch_mode = pitch_mode >> 4; if(DEBUG) printf("pitch_mode : %d\n",pitch_mode); yaw_mode = Read_data & 0x0c; yaw_mode = yaw_mode >> 2; if(DEBUG) printf("yaw_mode : %d\n",yaw_mode); //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(Send_data,"%s%s%4.1f",Dyna_data,Thermo_data,CO2_data); pc.printf("%s\n",Send_data); myled4=0; break; case 1: //ホームポジション myled1=1; myled2=0; myled3=0; myled4=1; Dyna_home_position(); break; case 2: //リセット myled1=0; myled2=1; myled3=1; myled4=0; Dyna_reset(); break; case 3: //終了 myled1=1; myled2=1; myled3=1; myled4=1; Dyna_end(); break; } } } /* CoolTermのSend stringを使う場合 Hex : 16進数で値を送信可能 なので home_position 40 reset 80 end c0 */