control YOZAKURA arm
Dependencies: Dynamixel SerialHalfDuplex mbed
Fork of YOZAKURA_ARM_USB_0427 by
main.cpp@8:bbea423c9206, 2015-04-27 (annotated)
- Committer:
- masasin
- Date:
- Mon Apr 27 11:04:34 2015 +0000
- Revision:
- 8:bbea423c9206
- Parent:
- 7:58eb1e1e9143
- Child:
- 9:6f3963858d89
Modify main.cpp
Who changed what in which revision?
User | Revision | Line number | New 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 | 6:6d9dac9ff798 | 3 | 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 |
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 | |
masasin | 8:bbea423c9206 | 11 | struct ArmPacketBits { |
masasin | 8:bbea423c9206 | 12 | unsigned int mode : 2; |
masasin | 8:bbea423c9206 | 13 | unsigned int linear : 2; |
masasin | 8:bbea423c9206 | 14 | unsigned int pitch : 2; |
masasin | 8:bbea423c9206 | 15 | unsigned int yaw : 2; |
masasin | 8:bbea423c9206 | 16 | }; |
masasin | 8:bbea423c9206 | 17 | |
masasin | 8:bbea423c9206 | 18 | union ArmPacket { |
masasin | 8:bbea423c9206 | 19 | struct ArmPacketBits b; |
masasin | 8:bbea423c9206 | 20 | unsigned char as_byte; |
masasin | 8:bbea423c9206 | 21 | }; |
masasin | 8:bbea423c9206 | 22 | |
yusuke_kyo | 0:8822acabe470 | 23 | /*--Dynamixel:begin-----------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:8822acabe470 | 24 | #include "AX12.h" |
yusuke_kyo | 0:8822acabe470 | 25 | #include "MX28.h" |
yusuke_kyo | 0:8822acabe470 | 26 | |
yusuke_kyo | 5:581b55deaeb1 | 27 | #define DYNA_DEBUG 0 |
yusuke_kyo | 4:d9ea010641ab | 28 | |
yusuke_kyo | 0:8822acabe470 | 29 | DigitalOut low(p16); DigitalOut RelaySwitch(p18); |
yusuke_kyo | 0:8822acabe470 | 30 | |
yusuke_kyo | 0:8822acabe470 | 31 | AX12 linear (p13, p14, 0, 1000000); //直動Dynamixel |
yusuke_kyo | 0:8822acabe470 | 32 | MX28 pitch (p13, p14, 1, 1000000); //ピッチDynamixel |
yusuke_kyo | 0:8822acabe470 | 33 | MX28 yaw (p13, p14, 2, 1000000); //ヨーDynamixel |
yusuke_kyo | 0:8822acabe470 | 34 | |
yusuke_kyo | 0:8822acabe470 | 35 | int linear_goal, pitch_goal, yaw_goal; |
yusuke_kyo | 0:8822acabe470 | 36 | |
yusuke_kyo | 0:8822acabe470 | 37 | //最小値,最大値,角速度,初期値を指定[unit:degree] |
yusuke_kyo | 0:8822acabe470 | 38 | //MX:MultiTurnモードでは-2520°~2520°(SetGoalの書き換え不要) |
yusuke_kyo | 0:8822acabe470 | 39 | int linear_min = 100; int linear_MAX = 300; float linear_Speed=0.1; int linear_Init = linear_MAX; |
yusuke_kyo | 0:8822acabe470 | 40 | int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX; |
yusuke_kyo | 0:8822acabe470 | 41 | 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 | 42 | |
yusuke_kyo | 0:8822acabe470 | 43 | void Dyna_init() { |
yusuke_kyo | 4:d9ea010641ab | 44 | if(DYNA_DEBUG) printf("\nDyna_init\n"); |
yusuke_kyo | 0:8822acabe470 | 45 | // low = 0; RelaySwitch = 1; |
yusuke_kyo | 0:8822acabe470 | 46 | linear.SetTorqueLimit(0); |
yusuke_kyo | 0:8822acabe470 | 47 | pitch.SetTorqueLimit(0); |
yusuke_kyo | 0:8822acabe470 | 48 | yaw.SetTorqueLimit(0); |
yusuke_kyo | 0:8822acabe470 | 49 | linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX); |
yusuke_kyo | 0:8822acabe470 | 50 | linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init; |
yusuke_kyo | 0:8822acabe470 | 51 | pitch.SetCWLimit(pitch_min); pitch.SetCCWLimit(pitch_MAX); |
yusuke_kyo | 0:8822acabe470 | 52 | pitch.SetCRSpeed(pitch_Speed); pitch_goal=pitch_Init; |
yusuke_kyo | 0:8822acabe470 | 53 | yaw.SetCWLimit(yaw_min); yaw.SetCCWLimit(yaw_MAX); |
yusuke_kyo | 0:8822acabe470 | 54 | yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; |
yusuke_kyo | 0:8822acabe470 | 55 | wait(1); |
yusuke_kyo | 0:8822acabe470 | 56 | } |
yusuke_kyo | 0:8822acabe470 | 57 | |
yusuke_kyo | 0:8822acabe470 | 58 | void Dyna_GetData(char* data) { |
yusuke_kyo | 4:d9ea010641ab | 59 | if(DYNA_DEBUG) printf("\nDyna_SetData\n"); |
yusuke_kyo | 0:8822acabe470 | 60 | float lP, lV, pP, pC, yP, yC; |
yusuke_kyo | 0:8822acabe470 | 61 | |
yusuke_kyo | 0:8822acabe470 | 62 | lP = linear.GetPosition(); lV = linear.GetVolts(); |
yusuke_kyo | 0:8822acabe470 | 63 | pP = pitch.GetPosition(); pC = pitch.GetCurrent(); |
yusuke_kyo | 0:8822acabe470 | 64 | yP = yaw.GetPosition(); yC = yaw.GetCurrent(); |
yusuke_kyo | 0:8822acabe470 | 65 | |
yusuke_kyo | 0:8822acabe470 | 66 | linear_goal=lP; pitch_goal=pP; yaw_goal=yP; //現在角度を目標値に設定 |
yusuke_kyo | 6:6d9dac9ff798 | 67 | sprintf(data,"%4.1f %4.1f %4.1f %4.1f %4.1f %4.1f ",lP,pP,yP,lV,pC,yC); |
yusuke_kyo | 0:8822acabe470 | 68 | } |
yusuke_kyo | 0:8822acabe470 | 69 | |
yusuke_kyo | 0:8822acabe470 | 70 | void Dyna_SetGoal(int linear_mode, int pitch_mode, int yaw_mode) { |
yusuke_kyo | 4:d9ea010641ab | 71 | if(DYNA_DEBUG) printf("\nDyna_SetGoal\n"); |
yusuke_kyo | 0:8822acabe470 | 72 | switch(linear_mode){ |
yusuke_kyo | 0:8822acabe470 | 73 | case 0: break; |
masasin | 8:bbea423c9206 | 74 | case 1: |
masasin | 8:bbea423c9206 | 75 | linear.SetTorqueLimit(1); linear_goal-=10; |
masasin | 8:bbea423c9206 | 76 | if(linear_goal<linear_min) linear_goal=linear_min; |
masasin | 8:bbea423c9206 | 77 | break; |
masasin | 8:bbea423c9206 | 78 | case 2: |
masasin | 8:bbea423c9206 | 79 | linear.SetTorqueLimit(1); linear_goal+=20; |
masasin | 8:bbea423c9206 | 80 | if(linear_goal>linear_MAX) linear_goal=linear_MAX; |
masasin | 8:bbea423c9206 | 81 | break; |
yusuke_kyo | 0:8822acabe470 | 82 | } |
masasin | 8:bbea423c9206 | 83 | |
yusuke_kyo | 0:8822acabe470 | 84 | linear.SetGoal(linear_goal); |
yusuke_kyo | 0:8822acabe470 | 85 | |
yusuke_kyo | 0:8822acabe470 | 86 | switch(pitch_mode){ |
yusuke_kyo | 0:8822acabe470 | 87 | case 0: break; |
masasin | 8:bbea423c9206 | 88 | case 1: |
masasin | 8:bbea423c9206 | 89 | pitch_goal-=10; |
masasin | 8:bbea423c9206 | 90 | if(pitch_goal<pitch_min) pitch_goal=pitch_min; |
masasin | 8:bbea423c9206 | 91 | break; |
masasin | 8:bbea423c9206 | 92 | case 2: |
masasin | 8:bbea423c9206 | 93 | pitch_goal+=10; |
masasin | 8:bbea423c9206 | 94 | if(pitch_goal>pitch_MAX) pitch_goal=pitch_MAX; |
masasin | 8:bbea423c9206 | 95 | break; |
yusuke_kyo | 0:8822acabe470 | 96 | } |
masasin | 8:bbea423c9206 | 97 | |
yusuke_kyo | 0:8822acabe470 | 98 | pitch.SetGoal(pitch_goal); |
yusuke_kyo | 0:8822acabe470 | 99 | |
yusuke_kyo | 0:8822acabe470 | 100 | switch(yaw_mode){ |
yusuke_kyo | 0:8822acabe470 | 101 | case 0: break; |
masasin | 8:bbea423c9206 | 102 | case 1: |
masasin | 8:bbea423c9206 | 103 | yaw_goal-=10; |
masasin | 8:bbea423c9206 | 104 | if(pitch_goal<-2520) pitch_goal=-2520; |
masasin | 8:bbea423c9206 | 105 | break; |
masasin | 8:bbea423c9206 | 106 | case 2: |
masasin | 8:bbea423c9206 | 107 | yaw_goal+=10; |
masasin | 8:bbea423c9206 | 108 | if(pitch_goal>2520) pitch_goal=2520; |
masasin | 8:bbea423c9206 | 109 | break; |
yusuke_kyo | 0:8822acabe470 | 110 | } |
masasin | 8:bbea423c9206 | 111 | |
yusuke_kyo | 0:8822acabe470 | 112 | yaw.SetGoal(yaw_goal); |
yusuke_kyo | 0:8822acabe470 | 113 | } |
yusuke_kyo | 0:8822acabe470 | 114 | |
yusuke_kyo | 0:8822acabe470 | 115 | void Dyna_home_position() { |
yusuke_kyo | 4:d9ea010641ab | 116 | if(DYNA_DEBUG) printf("\nDyna_home_position\n"); |
yusuke_kyo | 0:8822acabe470 | 117 | linear.SetTorqueLimit(1); |
yusuke_kyo | 0:8822acabe470 | 118 | pitch.SetTorqueLimit(1); |
yusuke_kyo | 0:8822acabe470 | 119 | yaw.SetTorqueLimit(1); |
yusuke_kyo | 0:8822acabe470 | 120 | float lp; |
yusuke_kyo | 0:8822acabe470 | 121 | linear.SetGoal(linear_Init); |
yusuke_kyo | 0:8822acabe470 | 122 | lp=linear.GetPosition(); |
yusuke_kyo | 0:8822acabe470 | 123 | if(lp > linear_MAX - 30) { //ある程度縮んだら |
yusuke_kyo | 0:8822acabe470 | 124 | pitch.SetGoal(pitch_Init); |
yusuke_kyo | 0:8822acabe470 | 125 | yaw.SetGoal(yaw_Init); |
yusuke_kyo | 0:8822acabe470 | 126 | } |
yusuke_kyo | 0:8822acabe470 | 127 | } |
yusuke_kyo | 0:8822acabe470 | 128 | |
yusuke_kyo | 0:8822acabe470 | 129 | void Dyna_reset() { |
yusuke_kyo | 4:d9ea010641ab | 130 | if(DYNA_DEBUG) printf("\nDyna_reset\n"); |
yusuke_kyo | 0:8822acabe470 | 131 | // RelaySwitch = 0; |
yusuke_kyo | 0:8822acabe470 | 132 | linear.SetTorqueLimit(0); |
yusuke_kyo | 0:8822acabe470 | 133 | pitch.SetTorqueLimit(0); |
yusuke_kyo | 0:8822acabe470 | 134 | yaw.SetTorqueLimit(0); |
yusuke_kyo | 0:8822acabe470 | 135 | |
yusuke_kyo | 4:d9ea010641ab | 136 | wait(1); |
yusuke_kyo | 0:8822acabe470 | 137 | |
yusuke_kyo | 0:8822acabe470 | 138 | // RelaySwitch = 1; |
yusuke_kyo | 0:8822acabe470 | 139 | linear.SetTorqueLimit(1); |
yusuke_kyo | 0:8822acabe470 | 140 | pitch.SetTorqueLimit(1); |
yusuke_kyo | 0:8822acabe470 | 141 | yaw.SetTorqueLimit(1); |
yusuke_kyo | 0:8822acabe470 | 142 | } |
yusuke_kyo | 0:8822acabe470 | 143 | |
yusuke_kyo | 0:8822acabe470 | 144 | void Dyna_end() { |
yusuke_kyo | 4:d9ea010641ab | 145 | if(DYNA_DEBUG) printf("\nDyna_end\n"); |
yusuke_kyo | 0:8822acabe470 | 146 | // RelaySwitch = 0; |
yusuke_kyo | 0:8822acabe470 | 147 | linear.SetTorqueLimit(0); |
yusuke_kyo | 0:8822acabe470 | 148 | pitch.SetTorqueLimit(0); |
yusuke_kyo | 0:8822acabe470 | 149 | yaw.SetTorqueLimit(0); |
yusuke_kyo | 0:8822acabe470 | 150 | } |
yusuke_kyo | 0:8822acabe470 | 151 | /*--Dynamixel:end-----------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:8822acabe470 | 152 | |
yusuke_kyo | 0:8822acabe470 | 153 | |
yusuke_kyo | 0:8822acabe470 | 154 | /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:8822acabe470 | 155 | /*MEMS非接触温度センサ:形D6T-44L-06 4×4素子タイプ*/ |
yusuke_kyo | 0:8822acabe470 | 156 | /*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 | 157 | |
yusuke_kyo | 0:8822acabe470 | 158 | I2C MEMS1(p9, p10); // sda, scl |
yusuke_kyo | 0:8822acabe470 | 159 | I2C MEMS2(p28, p27); // sda, scl |
yusuke_kyo | 0:8822acabe470 | 160 | |
yusuke_kyo | 0:8822acabe470 | 161 | #define D6T_addr 0x14 |
yusuke_kyo | 0:8822acabe470 | 162 | #define D6T_cmd 0x4c |
yusuke_kyo | 0:8822acabe470 | 163 | |
yusuke_kyo | 5:581b55deaeb1 | 164 | #define THERMO_DEBUG 0 |
yusuke_kyo | 3:6a932d0aac7d | 165 | |
yusuke_kyo | 3:6a932d0aac7d | 166 | char I2C_rd1[64]; // 生データ |
yusuke_kyo | 3:6a932d0aac7d | 167 | short datr1[16]; // 16点 温度データ(10倍整数) |
yusuke_kyo | 3:6a932d0aac7d | 168 | short PTAT1; // センサ内部PTAT温度データ(10倍整数) |
yusuke_kyo | 3:6a932d0aac7d | 169 | double dt1[16]; // 16点 温度データ |
yusuke_kyo | 3:6a932d0aac7d | 170 | double dt1_temp[16]; |
yusuke_kyo | 3:6a932d0aac7d | 171 | short d_PTAT1; // センサ内部PTAT温度データ |
yusuke_kyo | 3:6a932d0aac7d | 172 | |
yusuke_kyo | 3:6a932d0aac7d | 173 | char I2C_rd2[64]; // 生データ |
yusuke_kyo | 3:6a932d0aac7d | 174 | short datr2[16]; // 16点 温度データ(10倍整数) |
yusuke_kyo | 3:6a932d0aac7d | 175 | short PTAT2; // センサ内部PTAT温度データ(10倍整数) |
yusuke_kyo | 3:6a932d0aac7d | 176 | double dt2[16]; // 16点 温度データ |
yusuke_kyo | 3:6a932d0aac7d | 177 | double dt2_temp[16]; |
yusuke_kyo | 3:6a932d0aac7d | 178 | short d_PTAT2; // センサ内部PTAT温度データ |
yusuke_kyo | 0:8822acabe470 | 179 | |
yusuke_kyo | 0:8822acabe470 | 180 | void GetThermo(char* data) { |
yusuke_kyo | 3:6a932d0aac7d | 181 | char con[6]; |
yusuke_kyo | 3:6a932d0aac7d | 182 | sprintf(data,""); |
yusuke_kyo | 0:8822acabe470 | 183 | |
yusuke_kyo | 0:8822acabe470 | 184 | /*MEMS1*/ |
yusuke_kyo | 0:8822acabe470 | 185 | int i,j; |
yusuke_kyo | 0:8822acabe470 | 186 | int itemp; |
yusuke_kyo | 0:8822acabe470 | 187 | |
yusuke_kyo | 0:8822acabe470 | 188 | //// measure |
yusuke_kyo | 0:8822acabe470 | 189 | MEMS1.start(); |
yusuke_kyo | 0:8822acabe470 | 190 | MEMS1.write(D6T_addr); |
yusuke_kyo | 0:8822acabe470 | 191 | MEMS1.write(D6T_cmd); |
yusuke_kyo | 0:8822acabe470 | 192 | // Repeated Start condition |
yusuke_kyo | 0:8822acabe470 | 193 | MEMS1.read(D6T_addr,I2C_rd1,35); |
yusuke_kyo | 0:8822acabe470 | 194 | // if(check_PEC(I2C_rd) == -1) continue; // error |
yusuke_kyo | 0:8822acabe470 | 195 | for(i=0,j=0;i<17;i++){ |
yusuke_kyo | 0:8822acabe470 | 196 | itemp = (I2C_rd1[j++] & 0xff); |
yusuke_kyo | 0:8822acabe470 | 197 | itemp += I2C_rd1[j++] * 256; |
yusuke_kyo | 0:8822acabe470 | 198 | if(i == 0) PTAT1 = itemp; |
yusuke_kyo | 0:8822acabe470 | 199 | else datr1[i-1] = itemp; |
yusuke_kyo | 0:8822acabe470 | 200 | } |
yusuke_kyo | 0:8822acabe470 | 201 | for(i=0;i<16;i++){ |
yusuke_kyo | 0:8822acabe470 | 202 | dt1[i] = 0.1 * datr1[i]; |
yusuke_kyo | 0:8822acabe470 | 203 | } |
yusuke_kyo | 0:8822acabe470 | 204 | for(int i=0;i<16;i++){ |
yusuke_kyo | 3:6a932d0aac7d | 205 | if(dt1[i]<50 && dt1[i]>5) { |
yusuke_kyo | 3:6a932d0aac7d | 206 | sprintf(con,"%3.1f ",dt1[i]); |
yusuke_kyo | 3:6a932d0aac7d | 207 | dt1_temp[i]=dt1[i]; |
yusuke_kyo | 3:6a932d0aac7d | 208 | } |
yusuke_kyo | 3:6a932d0aac7d | 209 | else sprintf(con,"%3.1f ",dt1_temp[i]); |
yusuke_kyo | 0:8822acabe470 | 210 | strcat(data,con); |
yusuke_kyo | 0:8822acabe470 | 211 | } |
yusuke_kyo | 2:f0efe1d10f8a | 212 | if(THERMO_DEBUG){ |
yusuke_kyo | 3:6a932d0aac7d | 213 | printf("\nThermal_Sensor 1"); |
yusuke_kyo | 2:f0efe1d10f8a | 214 | for(i=0;i<16;i++){ |
yusuke_kyo | 2:f0efe1d10f8a | 215 | if(i%4==0) printf("\n"); |
yusuke_kyo | 2:f0efe1d10f8a | 216 | printf("%3.1f ",dt1[i]); |
yusuke_kyo | 2:f0efe1d10f8a | 217 | } printf("\n"); |
yusuke_kyo | 2:f0efe1d10f8a | 218 | } |
yusuke_kyo | 0:8822acabe470 | 219 | d_PTAT1 = 0.1 * PTAT1; |
yusuke_kyo | 7:58eb1e1e9143 | 220 | // wait(0.1); |
yusuke_kyo | 0:8822acabe470 | 221 | /*MEMS1*/ |
yusuke_kyo | 0:8822acabe470 | 222 | |
yusuke_kyo | 3:6a932d0aac7d | 223 | /*MEMS2*/ |
yusuke_kyo | 0:8822acabe470 | 224 | //// measure |
yusuke_kyo | 0:8822acabe470 | 225 | MEMS2.start(); |
yusuke_kyo | 0:8822acabe470 | 226 | MEMS2.write(D6T_addr); |
yusuke_kyo | 0:8822acabe470 | 227 | MEMS2.write(D6T_cmd); |
yusuke_kyo | 0:8822acabe470 | 228 | // Repeated Start condition |
yusuke_kyo | 0:8822acabe470 | 229 | MEMS2.read(D6T_addr,I2C_rd2,35); |
yusuke_kyo | 0:8822acabe470 | 230 | // if(check_PEC(I2C_rd) == -1) continue; // error |
yusuke_kyo | 0:8822acabe470 | 231 | for(i=0,j=0;i<17;i++){ |
yusuke_kyo | 0:8822acabe470 | 232 | itemp = (I2C_rd2[j++] & 0xff); |
yusuke_kyo | 0:8822acabe470 | 233 | itemp += I2C_rd2[j++] * 256; |
yusuke_kyo | 0:8822acabe470 | 234 | if(i == 0) PTAT2 = itemp; |
yusuke_kyo | 0:8822acabe470 | 235 | else datr2[i-1] = itemp; |
yusuke_kyo | 0:8822acabe470 | 236 | } |
yusuke_kyo | 0:8822acabe470 | 237 | for(i=0;i<16;i++){ |
yusuke_kyo | 0:8822acabe470 | 238 | dt2[i] = 0.1 * datr2[i]; |
yusuke_kyo | 0:8822acabe470 | 239 | } |
yusuke_kyo | 0:8822acabe470 | 240 | for(int i=0;i<16;i++){ |
yusuke_kyo | 3:6a932d0aac7d | 241 | if(dt1[i]<50 && dt1[i]>5) { |
yusuke_kyo | 3:6a932d0aac7d | 242 | sprintf(con,"%3.1f ",dt2[i]); |
yusuke_kyo | 3:6a932d0aac7d | 243 | dt2_temp[i]=dt2[i]; |
yusuke_kyo | 3:6a932d0aac7d | 244 | } |
yusuke_kyo | 3:6a932d0aac7d | 245 | else sprintf(con,"%3.1f ",dt2_temp[i]); |
yusuke_kyo | 0:8822acabe470 | 246 | strcat(data,con); |
yusuke_kyo | 0:8822acabe470 | 247 | } |
yusuke_kyo | 2:f0efe1d10f8a | 248 | if(THERMO_DEBUG){ |
yusuke_kyo | 3:6a932d0aac7d | 249 | printf("\nThermal_Sensor 2"); |
yusuke_kyo | 2:f0efe1d10f8a | 250 | for(i=0;i<16;i++){ |
yusuke_kyo | 2:f0efe1d10f8a | 251 | if(i%4==0) printf("\n"); |
yusuke_kyo | 2:f0efe1d10f8a | 252 | printf("%3.1f ",dt2[i]); |
yusuke_kyo | 2:f0efe1d10f8a | 253 | } printf("\n"); |
yusuke_kyo | 2:f0efe1d10f8a | 254 | } |
yusuke_kyo | 0:8822acabe470 | 255 | d_PTAT2 = 0.1 * PTAT2; |
yusuke_kyo | 7:58eb1e1e9143 | 256 | // wait(0.1); |
yusuke_kyo | 0:8822acabe470 | 257 | /*MEMS2*/ |
yusuke_kyo | 0:8822acabe470 | 258 | } |
yusuke_kyo | 0:8822acabe470 | 259 | /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:8822acabe470 | 260 | |
yusuke_kyo | 0:8822acabe470 | 261 | /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:8822acabe470 | 262 | /*CO2センサモジュール:A051020-AQ6B-01*/ |
yusuke_kyo | 0:8822acabe470 | 263 | /*データシート:http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/ |
yusuke_kyo | 0:8822acabe470 | 264 | /*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 | 265 | #include "mbed.h" |
yusuke_kyo | 0:8822acabe470 | 266 | |
yusuke_kyo | 0:8822acabe470 | 267 | AnalogIn ain(p20); |
yusuke_kyo | 0:8822acabe470 | 268 | |
yusuke_kyo | 5:581b55deaeb1 | 269 | #define CO2_DEBUG 0 |
yusuke_kyo | 0:8822acabe470 | 270 | |
yusuke_kyo | 0:8822acabe470 | 271 | float GetCO2() { |
yusuke_kyo | 0:8822acabe470 | 272 | float v; //生データ:電圧 |
yusuke_kyo | 0:8822acabe470 | 273 | float sensor_v,CO2; |
yusuke_kyo | 0:8822acabe470 | 274 | |
yusuke_kyo | 0:8822acabe470 | 275 | v = ain.read()*3.3; |
yusuke_kyo | 0:8822acabe470 | 276 | sensor_v = v * 5.0/3.3; //電圧レベルを合わせる |
yusuke_kyo | 0:8822acabe470 | 277 | CO2 = sensor_v * 1000 + 400; //データシートより |
yusuke_kyo | 0:8822acabe470 | 278 | |
yusuke_kyo | 0:8822acabe470 | 279 | if(CO2_DEBUG) printf("\nCO2:%4.1f\n",CO2); |
yusuke_kyo | 0:8822acabe470 | 280 | |
yusuke_kyo | 0:8822acabe470 | 281 | return(CO2); |
yusuke_kyo | 0:8822acabe470 | 282 | } |
yusuke_kyo | 0:8822acabe470 | 283 | /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/ |
yusuke_kyo | 0:8822acabe470 | 284 | |
yusuke_kyo | 0:8822acabe470 | 285 | |
yusuke_kyo | 0:8822acabe470 | 286 | /*--------------- |
masasin | 8:bbea423c9206 | 287 | MAIN LOOP |
yusuke_kyo | 0:8822acabe470 | 288 | ----------------*/ |
yusuke_kyo | 5:581b55deaeb1 | 289 | #define DEBUG 0 |
yusuke_kyo | 0:8822acabe470 | 290 | |
yusuke_kyo | 0:8822acabe470 | 291 | int main() { |
masasin | 8:bbea423c9206 | 292 | myled1=1; myled2=1; myled3=1; myled4=1; |
yusuke_kyo | 7:58eb1e1e9143 | 293 | pc.baud(38400); |
yusuke_kyo | 7:58eb1e1e9143 | 294 | |
yusuke_kyo | 3:6a932d0aac7d | 295 | char Dyna_data[50]; |
yusuke_kyo | 3:6a932d0aac7d | 296 | char Thermo_data[200]; |
yusuke_kyo | 0:8822acabe470 | 297 | float CO2_data; |
yusuke_kyo | 0:8822acabe470 | 298 | |
masasin | 8:bbea423c9206 | 299 | myled1=1; myled2=1; myled3=0; myled4=0; |
yusuke_kyo | 0:8822acabe470 | 300 | Dyna_init(); |
masasin | 8:bbea423c9206 | 301 | Dyna_home_position(); |
masasin | 8:bbea423c9206 | 302 | wait(2); |
masasin | 8:bbea423c9206 | 303 | Dyna_home_position(); |
masasin | 8:bbea423c9206 | 304 | wait(2); |
masasin | 8:bbea423c9206 | 305 | myled1=0; myled2=0; myled3=1; myled4=0; |
yusuke_kyo | 0:8822acabe470 | 306 | |
masasin | 8:bbea423c9206 | 307 | union ArmPacket Read_data; |
masasin | 8:bbea423c9206 | 308 | |
yusuke_kyo | 3:6a932d0aac7d | 309 | char Send_data[250]; |
masasin | 8:bbea423c9206 | 310 | //int Read_data; |
yusuke_kyo | 0:8822acabe470 | 311 | int Joy_mode, linear_mode, pitch_mode, yaw_mode; |
yusuke_kyo | 0:8822acabe470 | 312 | |
yusuke_kyo | 0:8822acabe470 | 313 | while(1) { |
masasin | 8:bbea423c9206 | 314 | //Read_data=pc.getc(); |
masasin | 8:bbea423c9206 | 315 | Read_data.as_byte=pc.getc(); |
yusuke_kyo | 0:8822acabe470 | 316 | wait_ms(1); |
masasin | 8:bbea423c9206 | 317 | if(Read_data.as_byte == 7) {printf("arm\n"); continue;} |
masasin | 8:bbea423c9206 | 318 | //Joy_mode = Read_data & 0x03; //ジョイスティックのモード判定 |
masasin | 8:bbea423c9206 | 319 | Joy_mode = Read_data.b.mode; //ジョイスティックのモード判定 |
yusuke_kyo | 4:d9ea010641ab | 320 | if(DEBUG) printf("Joy_mode : %d\n",Joy_mode); |
yusuke_kyo | 0:8822acabe470 | 321 | |
yusuke_kyo | 0:8822acabe470 | 322 | switch(Joy_mode){ |
yusuke_kyo | 0:8822acabe470 | 323 | case 0: //通常モード |
yusuke_kyo | 0:8822acabe470 | 324 | myled1=0; myled2=0; myled3=0; myled4=0; |
yusuke_kyo | 0:8822acabe470 | 325 | /*--Dynamixel:begin---------------------------------------------------------------*/ |
yusuke_kyo | 0:8822acabe470 | 326 | //Dynamixelへの命令を判定 |
masasin | 8:bbea423c9206 | 327 | //linear_mode = Read_data & 0xc0; linear_mode = linear_mode >> 6; if(DEBUG) printf("linear_mode : %d\n",linear_mode); |
masasin | 8:bbea423c9206 | 328 | // pitch_mode = Read_data & 0x30; pitch_mode = pitch_mode >> 4; if(DEBUG) printf("pitch_mode : %d\n",pitch_mode); |
masasin | 8:bbea423c9206 | 329 | // yaw_mode = Read_data & 0x0c; yaw_mode = yaw_mode >> 2; if(DEBUG) printf("yaw_mode : %d\n",yaw_mode); |
masasin | 8:bbea423c9206 | 330 | linear_mode = Read_data.b.linear; |
masasin | 8:bbea423c9206 | 331 | pitch_mode = Read_data.b.pitch; |
masasin | 8:bbea423c9206 | 332 | yaw_mode = Read_data.b.yaw; |
yusuke_kyo | 0:8822acabe470 | 333 | |
yusuke_kyo | 0:8822acabe470 | 334 | //目標角度を変更 |
yusuke_kyo | 0:8822acabe470 | 335 | myled2=1; |
yusuke_kyo | 0:8822acabe470 | 336 | Dyna_SetGoal(linear_mode, pitch_mode, yaw_mode); |
yusuke_kyo | 0:8822acabe470 | 337 | myled2=0; |
masasin | 8:bbea423c9206 | 338 | /*--Dynamixel:end------------------------------------------------------------------*/ |
masasin | 8:bbea423c9206 | 339 | break; |
masasin | 8:bbea423c9206 | 340 | |
masasin | 8:bbea423c9206 | 341 | case 1: //ホームポジション |
masasin | 8:bbea423c9206 | 342 | myled1=1; myled2=0; myled3=0; myled4=1; Dyna_home_position(); break; |
masasin | 8:bbea423c9206 | 343 | |
masasin | 8:bbea423c9206 | 344 | case 2: //リセット |
masasin | 8:bbea423c9206 | 345 | myled1=0; myled2=1; myled3=1; myled4=0; Dyna_reset(); break; |
masasin | 8:bbea423c9206 | 346 | |
masasin | 8:bbea423c9206 | 347 | case 3: //終了 |
masasin | 8:bbea423c9206 | 348 | myled1=1; myled2=1; myled3=1; myled4=1; Dyna_end(); break; |
masasin | 8:bbea423c9206 | 349 | } |
masasin | 8:bbea423c9206 | 350 | //現在の角度・電圧・電流を取得 |
masasin | 8:bbea423c9206 | 351 | myled1=1; |
masasin | 8:bbea423c9206 | 352 | Dyna_GetData(Dyna_data); |
masasin | 8:bbea423c9206 | 353 | myled1=0; |
yusuke_kyo | 0:8822acabe470 | 354 | /*--Thermal_Sensor:begin-----------------------------------------------------------*/ |
yusuke_kyo | 0:8822acabe470 | 355 | //値を取得 |
yusuke_kyo | 0:8822acabe470 | 356 | myled3=1; |
yusuke_kyo | 0:8822acabe470 | 357 | GetThermo(Thermo_data); |
yusuke_kyo | 0:8822acabe470 | 358 | /*--Thermal_Sensor:end-------------------------------------------------------------*/ |
yusuke_kyo | 0:8822acabe470 | 359 | |
yusuke_kyo | 0:8822acabe470 | 360 | /*--CO2_Sensor:begin---------------------------------------------------------------*/ |
yusuke_kyo | 0:8822acabe470 | 361 | //値を取得 |
yusuke_kyo | 0:8822acabe470 | 362 | CO2_data=GetCO2(); |
yusuke_kyo | 0:8822acabe470 | 363 | myled3=0; |
yusuke_kyo | 0:8822acabe470 | 364 | /*--CO2_Sensor:end-----------------------------------------------------------------*/ |
yusuke_kyo | 0:8822acabe470 | 365 | |
yusuke_kyo | 0:8822acabe470 | 366 | //値を送信 |
yusuke_kyo | 0:8822acabe470 | 367 | myled4=1; |
yusuke_kyo | 4:d9ea010641ab | 368 | sprintf(Send_data,"%s%s%4.1f",Dyna_data,Thermo_data,CO2_data); |
yusuke_kyo | 6:6d9dac9ff798 | 369 | pc.printf("%s\n",Send_data); |
masasin | 8:bbea423c9206 | 370 | myled4=0; |
yusuke_kyo | 0:8822acabe470 | 371 | } |
yusuke_kyo | 4:d9ea010641ab | 372 | } |
yusuke_kyo | 4:d9ea010641ab | 373 | |
yusuke_kyo | 4:d9ea010641ab | 374 | /* CoolTermのSend stringを使う場合 Hex : 16進数で値を送信可能 なので |
yusuke_kyo | 4:d9ea010641ab | 375 | home_position 40 |
yusuke_kyo | 4:d9ea010641ab | 376 | reset 80 |
yusuke_kyo | 4:d9ea010641ab | 377 | end c0 |
yusuke_kyo | 4:d9ea010641ab | 378 | */ |