雄介 太田 / Mbed 2 deprecated YOZAKURA_ARM_USB_0429

control YOZAKURA arm

Dependencies:   Dynamixel SerialHalfDuplex mbed

Fork of YOZAKURA_ARM_USB_0427 by sinyuu masahito

main.cpp@0:8822acabe470, 2015-04-24 (annotated)

Committer:
yusuke_kyo
Date:
Fri Apr 24 17:09:00 2015 +0000
Revision:
0:8822acabe470
Child:
1:bf4d524625f5
TorqueLimit, Thermo_sensors

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yusuke_kyo 0:8822acabe470 1 /*YOZAKURAのアームコード
yusuke_kyo 0:8822acabe470 2 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
yusuke_kyo 0:8822acabe470 3 シリアル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 0:8822acabe470 4 */
yusuke_kyo 0:8822acabe470 5
yusuke_kyo 0:8822acabe470 6 #include "mbed.h"
yusuke_kyo 0:8822acabe470 7
yusuke_kyo 0:8822acabe470 8 Serial pc(USBTX, USBRX); // tx, rx
yusuke_kyo 0:8822acabe470 9 DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4);
yusuke_kyo 0:8822acabe470 10
yusuke_kyo 0:8822acabe470 11 /*--Dynamixel:begin-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 12 #include "AX12.h"
yusuke_kyo 0:8822acabe470 13 #include "MX28.h"
yusuke_kyo 0:8822acabe470 14
yusuke_kyo 0:8822acabe470 15 DigitalOut low(p16); DigitalOut RelaySwitch(p18);
yusuke_kyo 0:8822acabe470 16
yusuke_kyo 0:8822acabe470 17 AX12 linear (p13, p14, 0, 1000000); //直動Dynamixel
yusuke_kyo 0:8822acabe470 18 MX28 pitch (p13, p14, 1, 1000000); //ピッチDynamixel
yusuke_kyo 0:8822acabe470 19 MX28 yaw (p13, p14, 2, 1000000); //ヨーDynamixel
yusuke_kyo 0:8822acabe470 20
yusuke_kyo 0:8822acabe470 21 int linear_goal, pitch_goal, yaw_goal;
yusuke_kyo 0:8822acabe470 22
yusuke_kyo 0:8822acabe470 23 //最小値，最大値，角速度，初期値を指定[unit:degree]
yusuke_kyo 0:8822acabe470 24 //MX:MultiTurnモードでは-2520°～2520°(SetGoalの書き換え不要)
yusuke_kyo 0:8822acabe470 25 int linear_min = 100; int linear_MAX = 300; float linear_Speed=0.1; int linear_Init = linear_MAX;
yusuke_kyo 0:8822acabe470 26 int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX;
yusuke_kyo 0:8822acabe470 27 int yaw_min = 360; int yaw_MAX = 360; float yaw_Speed=0.2; int yaw_Init = 0; //MultiTurnモード
yusuke_kyo 0:8822acabe470 28
yusuke_kyo 0:8822acabe470 29 void Dyna_init() {
yusuke_kyo 0:8822acabe470 30 // low = 0; RelaySwitch = 1;
yusuke_kyo 0:8822acabe470 31 linear.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 32 pitch.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 33 yaw.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 34 linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX);
yusuke_kyo 0:8822acabe470 35 linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init;
yusuke_kyo 0:8822acabe470 36 pitch.SetCWLimit(pitch_min); pitch.SetCCWLimit(pitch_MAX);
yusuke_kyo 0:8822acabe470 37 pitch.SetCRSpeed(pitch_Speed); pitch_goal=pitch_Init;
yusuke_kyo 0:8822acabe470 38 yaw.SetCWLimit(yaw_min); yaw.SetCCWLimit(yaw_MAX);
yusuke_kyo 0:8822acabe470 39 yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init;
yusuke_kyo 0:8822acabe470 40 wait(1);
yusuke_kyo 0:8822acabe470 41 }
yusuke_kyo 0:8822acabe470 42
yusuke_kyo 0:8822acabe470 43 void Dyna_GetData(char* data) {
yusuke_kyo 0:8822acabe470 44 float lP, lV, pP, pC, yP, yC;
yusuke_kyo 0:8822acabe470 45
yusuke_kyo 0:8822acabe470 46 lP = linear.GetPosition(); lV = linear.GetVolts();
yusuke_kyo 0:8822acabe470 47 pP = pitch.GetPosition(); pC = pitch.GetCurrent();
yusuke_kyo 0:8822acabe470 48 yP = yaw.GetPosition(); yC = yaw.GetCurrent();
yusuke_kyo 0:8822acabe470 49
yusuke_kyo 0:8822acabe470 50 linear_goal=lP; pitch_goal=pP; yaw_goal=yP; //現在角度を目標値に設定
yusuke_kyo 0:8822acabe470 51 sprintf(data,"%4.1f %4.1f %4.1f %4.1f %4.1f %4.1f ",lP,lV,pP,pC,yP,yC);
yusuke_kyo 0:8822acabe470 52 }
yusuke_kyo 0:8822acabe470 53
yusuke_kyo 0:8822acabe470 54 void Dyna_SetGoal(int linear_mode, int pitch_mode, int yaw_mode) {
yusuke_kyo 0:8822acabe470 55 switch(linear_mode){
yusuke_kyo 0:8822acabe470 56 case 0: break;
yusuke_kyo 0:8822acabe470 57 case 1: linear.SetTorqueLimit(1); linear_goal++; break;
yusuke_kyo 0:8822acabe470 58 case 2: linear.SetTorqueLimit(1); linear_goal--; break;
yusuke_kyo 0:8822acabe470 59 }
yusuke_kyo 0:8822acabe470 60 if(linear_goal>linear_MAX) linear_goal=linear_MAX;
yusuke_kyo 0:8822acabe470 61 if(linear_goal<linear_min) linear_goal=linear_min;
yusuke_kyo 0:8822acabe470 62 linear.SetGoal(linear_goal);
yusuke_kyo 0:8822acabe470 63
yusuke_kyo 0:8822acabe470 64 switch(pitch_mode){
yusuke_kyo 0:8822acabe470 65 case 0: break;
yusuke_kyo 0:8822acabe470 66 case 1: pitch_goal-=5;
yusuke_kyo 0:8822acabe470 67 if(pitch_goal>pitch_MAX) pitch_goal=pitch_MAX;
yusuke_kyo 0:8822acabe470 68 break;
yusuke_kyo 0:8822acabe470 69 case 2: pitch_goal+=5;
yusuke_kyo 0:8822acabe470 70 if(pitch_goal<pitch_min) pitch_goal=pitch_min;
yusuke_kyo 0:8822acabe470 71 break;
yusuke_kyo 0:8822acabe470 72 }
yusuke_kyo 0:8822acabe470 73 if(pitch_goal>pitch_MAX) pitch_goal=pitch_MAX;
yusuke_kyo 0:8822acabe470 74 if(pitch_goal<pitch_min) pitch_goal=pitch_min;
yusuke_kyo 0:8822acabe470 75 pitch.SetGoal(pitch_goal);
yusuke_kyo 0:8822acabe470 76
yusuke_kyo 0:8822acabe470 77 switch(yaw_mode){
yusuke_kyo 0:8822acabe470 78 case 0: break;
yusuke_kyo 0:8822acabe470 79 case 1: yaw_goal-=5; break;
yusuke_kyo 0:8822acabe470 80 case 2: yaw_goal+=5; break;
yusuke_kyo 0:8822acabe470 81 }
yusuke_kyo 0:8822acabe470 82 if(pitch_goal>2520) pitch_goal=2520;
yusuke_kyo 0:8822acabe470 83 if(pitch_goal<-2520) pitch_goal=-2520;
yusuke_kyo 0:8822acabe470 84 yaw.SetGoal(yaw_goal);
yusuke_kyo 0:8822acabe470 85 }
yusuke_kyo 0:8822acabe470 86
yusuke_kyo 0:8822acabe470 87 void Dyna_home_position() {
yusuke_kyo 0:8822acabe470 88 linear.SetTorqueLimit(1);
yusuke_kyo 0:8822acabe470 89 pitch.SetTorqueLimit(1);
yusuke_kyo 0:8822acabe470 90 yaw.SetTorqueLimit(1);
yusuke_kyo 0:8822acabe470 91 float lp;
yusuke_kyo 0:8822acabe470 92 linear.SetGoal(linear_Init);
yusuke_kyo 0:8822acabe470 93 lp=linear.GetPosition();
yusuke_kyo 0:8822acabe470 94 if(lp > linear_MAX - 30) { //ある程度縮んだら
yusuke_kyo 0:8822acabe470 95 pitch.SetGoal(pitch_Init);
yusuke_kyo 0:8822acabe470 96 yaw.SetGoal(yaw_Init);
yusuke_kyo 0:8822acabe470 97 }
yusuke_kyo 0:8822acabe470 98 }
yusuke_kyo 0:8822acabe470 99
yusuke_kyo 0:8822acabe470 100 void Dyna_reset() {
yusuke_kyo 0:8822acabe470 101 // RelaySwitch = 0;
yusuke_kyo 0:8822acabe470 102 linear.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 103 pitch.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 104 yaw.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 105
yusuke_kyo 0:8822acabe470 106 wait_ms(10);
yusuke_kyo 0:8822acabe470 107
yusuke_kyo 0:8822acabe470 108 // RelaySwitch = 1;
yusuke_kyo 0:8822acabe470 109 linear.SetTorqueLimit(1);
yusuke_kyo 0:8822acabe470 110 pitch.SetTorqueLimit(1);
yusuke_kyo 0:8822acabe470 111 yaw.SetTorqueLimit(1);
yusuke_kyo 0:8822acabe470 112 }
yusuke_kyo 0:8822acabe470 113
yusuke_kyo 0:8822acabe470 114 void Dyna_end() {
yusuke_kyo 0:8822acabe470 115 // RelaySwitch = 0;
yusuke_kyo 0:8822acabe470 116 linear.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 117 pitch.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 118 yaw.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 119 }
yusuke_kyo 0:8822acabe470 120 /*--Dynamixel:end-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 121
yusuke_kyo 0:8822acabe470 122
yusuke_kyo 0:8822acabe470 123 /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 124 /*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
yusuke_kyo 0:8822acabe470 125 /*データシート：http://www.omron.co.jp/ecb/products/sensor/special/mems/pdf/AN-D6T-01JP_r2.pdf*/
yusuke_kyo 0:8822acabe470 126
yusuke_kyo 0:8822acabe470 127 I2C MEMS1(p9, p10); // sda, scl
yusuke_kyo 0:8822acabe470 128 I2C MEMS2(p28, p27); // sda, scl
yusuke_kyo 0:8822acabe470 129
yusuke_kyo 0:8822acabe470 130 #define D6T_addr 0x14
yusuke_kyo 0:8822acabe470 131 #define D6T_cmd 0x4c
yusuke_kyo 0:8822acabe470 132
yusuke_kyo 0:8822acabe470 133 #define THERMO_DEBUG 1
yusuke_kyo 0:8822acabe470 134
yusuke_kyo 0:8822acabe470 135 void GetThermo(char* data) {
yusuke_kyo 0:8822acabe470 136 char con[10];
yusuke_kyo 0:8822acabe470 137
yusuke_kyo 0:8822acabe470 138 /*MEMS1*/
yusuke_kyo 0:8822acabe470 139 char I2C_rd1[64]; // 生データ
yusuke_kyo 0:8822acabe470 140 short datr1[16]; // 16点 温度データ（10倍整数）
yusuke_kyo 0:8822acabe470 141 short PTAT1; // センサ内部PTAT温度データ（10倍整数）
yusuke_kyo 0:8822acabe470 142 double dt1[16]; // 16点 温度データ
yusuke_kyo 0:8822acabe470 143 short d_PTAT1; // センサ内部PTAT温度データ
yusuke_kyo 0:8822acabe470 144
yusuke_kyo 0:8822acabe470 145 int i,j;
yusuke_kyo 0:8822acabe470 146 int itemp;
yusuke_kyo 0:8822acabe470 147
yusuke_kyo 0:8822acabe470 148 //// measure
yusuke_kyo 0:8822acabe470 149 MEMS1.start();
yusuke_kyo 0:8822acabe470 150 MEMS1.write(D6T_addr);
yusuke_kyo 0:8822acabe470 151 MEMS1.write(D6T_cmd);
yusuke_kyo 0:8822acabe470 152 // Repeated Start condition
yusuke_kyo 0:8822acabe470 153 MEMS1.read(D6T_addr,I2C_rd1,35);
yusuke_kyo 0:8822acabe470 154 // if(check_PEC(I2C_rd) == -1) continue; // error
yusuke_kyo 0:8822acabe470 155 for(i=0,j=0;i<17;i++){
yusuke_kyo 0:8822acabe470 156 itemp = (I2C_rd1[j++] & 0xff);
yusuke_kyo 0:8822acabe470 157 itemp += I2C_rd1[j++] * 256;
yusuke_kyo 0:8822acabe470 158 if(i == 0) PTAT1 = itemp;
yusuke_kyo 0:8822acabe470 159 else datr1[i-1] = itemp;
yusuke_kyo 0:8822acabe470 160 }
yusuke_kyo 0:8822acabe470 161 for(i=0;i<16;i++){
yusuke_kyo 0:8822acabe470 162 dt1[i] = 0.1 * datr1[i];
yusuke_kyo 0:8822acabe470 163 }
yusuke_kyo 0:8822acabe470 164 for(int i=0;i<16;i++){
yusuke_kyo 0:8822acabe470 165 sprintf(con,"%3.1f ",dt1[i]);
yusuke_kyo 0:8822acabe470 166 strcat(data,con);
yusuke_kyo 0:8822acabe470 167 }
yusuke_kyo 0:8822acabe470 168 d_PTAT1 = 0.1 * PTAT1;
yusuke_kyo 0:8822acabe470 169 wait(0.1);
yusuke_kyo 0:8822acabe470 170 /*MEMS1*/
yusuke_kyo 0:8822acabe470 171
yusuke_kyo 0:8822acabe470 172 /*MEMS2*/
yusuke_kyo 0:8822acabe470 173 char I2C_rd2[64]; // 生データ
yusuke_kyo 0:8822acabe470 174 short datr2[16]; // 16点 温度データ（10倍整数）
yusuke_kyo 0:8822acabe470 175 short PTAT2; // センサ内部PTAT温度データ（10倍整数）
yusuke_kyo 0:8822acabe470 176 double dt2[16]; // 16点 温度データ
yusuke_kyo 0:8822acabe470 177 short d_PTAT2; // センサ内部PTAT温度データ
yusuke_kyo 0:8822acabe470 178
yusuke_kyo 0:8822acabe470 179 //// measure
yusuke_kyo 0:8822acabe470 180 MEMS2.start();
yusuke_kyo 0:8822acabe470 181 MEMS2.write(D6T_addr);
yusuke_kyo 0:8822acabe470 182 MEMS2.write(D6T_cmd);
yusuke_kyo 0:8822acabe470 183 // Repeated Start condition
yusuke_kyo 0:8822acabe470 184 MEMS2.read(D6T_addr,I2C_rd2,35);
yusuke_kyo 0:8822acabe470 185 // if(check_PEC(I2C_rd) == -1) continue; // error
yusuke_kyo 0:8822acabe470 186 for(i=0,j=0;i<17;i++){
yusuke_kyo 0:8822acabe470 187 itemp = (I2C_rd2[j++] & 0xff);
yusuke_kyo 0:8822acabe470 188 itemp += I2C_rd2[j++] * 256;
yusuke_kyo 0:8822acabe470 189 if(i == 0) PTAT2 = itemp;
yusuke_kyo 0:8822acabe470 190 else datr2[i-1] = itemp;
yusuke_kyo 0:8822acabe470 191 }
yusuke_kyo 0:8822acabe470 192 for(i=0;i<16;i++){
yusuke_kyo 0:8822acabe470 193 dt2[i] = 0.1 * datr2[i];
yusuke_kyo 0:8822acabe470 194 if(i%4==0) printf("\n");
yusuke_kyo 0:8822acabe470 195 printf("%3.1f ",dt2[i]);
yusuke_kyo 0:8822acabe470 196 }
yusuke_kyo 0:8822acabe470 197 for(int i=0;i<16;i++){
yusuke_kyo 0:8822acabe470 198 sprintf(con,"%3.1f ",dt2[i]);
yusuke_kyo 0:8822acabe470 199 strcat(data,con);
yusuke_kyo 0:8822acabe470 200 }
yusuke_kyo 0:8822acabe470 201 d_PTAT2 = 0.1 * PTAT2;
yusuke_kyo 0:8822acabe470 202 wait(0.1);
yusuke_kyo 0:8822acabe470 203 /*MEMS2*/
yusuke_kyo 0:8822acabe470 204 }
yusuke_kyo 0:8822acabe470 205 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 206
yusuke_kyo 0:8822acabe470 207
yusuke_kyo 0:8822acabe470 208 /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 209 /*CO2センサモジュール：A051020-AQ6B-01*/
yusuke_kyo 0:8822acabe470 210 /*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
yusuke_kyo 0:8822acabe470 211 /*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*/
yusuke_kyo 0:8822acabe470 212 #include "mbed.h"
yusuke_kyo 0:8822acabe470 213
yusuke_kyo 0:8822acabe470 214 AnalogIn ain(p20);
yusuke_kyo 0:8822acabe470 215
yusuke_kyo 0:8822acabe470 216 #define CO2_DEBUG 1
yusuke_kyo 0:8822acabe470 217
yusuke_kyo 0:8822acabe470 218 float GetCO2() {
yusuke_kyo 0:8822acabe470 219 float v; //生データ：電圧
yusuke_kyo 0:8822acabe470 220 float sensor_v,CO2;
yusuke_kyo 0:8822acabe470 221
yusuke_kyo 0:8822acabe470 222 v = ain.read()*3.3;
yusuke_kyo 0:8822acabe470 223 sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
yusuke_kyo 0:8822acabe470 224 CO2 = sensor_v * 1000 + 400; //データシートより
yusuke_kyo 0:8822acabe470 225
yusuke_kyo 0:8822acabe470 226 if(CO2_DEBUG) printf("\nCO2:%4.1f\n",CO2);
yusuke_kyo 0:8822acabe470 227
yusuke_kyo 0:8822acabe470 228 return(CO2);
yusuke_kyo 0:8822acabe470 229 }
yusuke_kyo 0:8822acabe470 230 /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 231
yusuke_kyo 0:8822acabe470 232
yusuke_kyo 0:8822acabe470 233 /*---------------
yusuke_kyo 0:8822acabe470 234 MAIN ROOP
yusuke_kyo 0:8822acabe470 235 ----------------*/
yusuke_kyo 0:8822acabe470 236
yusuke_kyo 0:8822acabe470 237 int main() {
yusuke_kyo 0:8822acabe470 238 char Dyna_data[100];
yusuke_kyo 0:8822acabe470 239 char Thermo_data[100];
yusuke_kyo 0:8822acabe470 240 float CO2_data;
yusuke_kyo 0:8822acabe470 241
yusuke_kyo 0:8822acabe470 242 Dyna_init();
yusuke_kyo 0:8822acabe470 243
yusuke_kyo 0:8822acabe470 244 char Send_data[200];
yusuke_kyo 0:8822acabe470 245 int Read_data;
yusuke_kyo 0:8822acabe470 246 int Joy_mode, linear_mode, pitch_mode, yaw_mode;
yusuke_kyo 0:8822acabe470 247
yusuke_kyo 0:8822acabe470 248 while(1) {
yusuke_kyo 0:8822acabe470 249
yusuke_kyo 0:8822acabe470 250 Read_data=pc.getc();
yusuke_kyo 0:8822acabe470 251 wait_ms(1);
yusuke_kyo 0:8822acabe470 252 Joy_mode = Read_data & 0x03; //ジョイスティックのモード判定
yusuke_kyo 0:8822acabe470 253
yusuke_kyo 0:8822acabe470 254 switch(Joy_mode){
yusuke_kyo 0:8822acabe470 255 case 0: //通常モード
yusuke_kyo 0:8822acabe470 256 myled1=0; myled2=0; myled3=0; myled4=0;
yusuke_kyo 0:8822acabe470 257 /*--Dynamixel:begin---------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 258 //Dynamixelへの命令を判定
yusuke_kyo 0:8822acabe470 259 linear_mode = Read_data & 0x0c; linear_mode = linear_mode >> 2;
yusuke_kyo 0:8822acabe470 260 pitch_mode = Read_data & 0x30; pitch_mode = pitch_mode >> 4;
yusuke_kyo 0:8822acabe470 261 yaw_mode = Read_data & 0xc0; yaw_mode = yaw_mode >> 6;
yusuke_kyo 0:8822acabe470 262
yusuke_kyo 0:8822acabe470 263 //現在の角度・電圧・電流を取得
yusuke_kyo 0:8822acabe470 264 myled1=1;
yusuke_kyo 0:8822acabe470 265 Dyna_GetData(Dyna_data);
yusuke_kyo 0:8822acabe470 266 myled1=0;
yusuke_kyo 0:8822acabe470 267
yusuke_kyo 0:8822acabe470 268 //目標角度を変更
yusuke_kyo 0:8822acabe470 269 myled2=1;
yusuke_kyo 0:8822acabe470 270 Dyna_SetGoal(linear_mode, pitch_mode, yaw_mode);
yusuke_kyo 0:8822acabe470 271 myled2=0;
yusuke_kyo 0:8822acabe470 272 /*--Dynamixel:end------------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 273
yusuke_kyo 0:8822acabe470 274 /*--Thermal_Sensor:begin-----------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 275 //値を取得
yusuke_kyo 0:8822acabe470 276 myled3=1;
yusuke_kyo 0:8822acabe470 277 GetThermo(Thermo_data);
yusuke_kyo 0:8822acabe470 278 /*--Thermal_Sensor:end-------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 279
yusuke_kyo 0:8822acabe470 280 /*--CO2_Sensor:begin---------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 281 //値を取得
yusuke_kyo 0:8822acabe470 282 CO2_data=GetCO2();
yusuke_kyo 0:8822acabe470 283 myled3=0;
yusuke_kyo 0:8822acabe470 284 /*--CO2_Sensor:end-----------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 285
yusuke_kyo 0:8822acabe470 286 //値を送信
yusuke_kyo 0:8822acabe470 287 myled4=1;
yusuke_kyo 0:8822acabe470 288 sprintf(Send_data,"%s%s%f",Dyna_data,Thermo_data,CO2_data);
yusuke_kyo 0:8822acabe470 289 printf("%s\n",Send_data);
yusuke_kyo 0:8822acabe470 290 myled4=0;
yusuke_kyo 0:8822acabe470 291 break;
yusuke_kyo 0:8822acabe470 292
yusuke_kyo 0:8822acabe470 293 case 1: //ホームポジション
yusuke_kyo 0:8822acabe470 294 myled1=1; myled2=0; myled3=0; myled4=1; Dyna_home_position(); break;
yusuke_kyo 0:8822acabe470 295
yusuke_kyo 0:8822acabe470 296 case 2: //リセット
yusuke_kyo 0:8822acabe470 297 myled1=0; myled2=1; myled3=1; myled4=0; Dyna_reset(); break;
yusuke_kyo 0:8822acabe470 298
yusuke_kyo 0:8822acabe470 299 case 3: //終了
yusuke_kyo 0:8822acabe470 300 myled1=1; myled2=1; myled3=1; myled4=1; Dyna_end(); break;
yusuke_kyo 0:8822acabe470 301 }
yusuke_kyo 0:8822acabe470 302 }
yusuke_kyo 0:8822acabe470 303 }