雄介 太田 / Mbed 2 deprecated YOZAKURA_ARM_USB_0503

Arm code

Dependencies:   Dynamixel mbed

main.cpp@1:87bb0fadd34a, 2015-05-03 (annotated)

Committer:
yusuke_kyo
Date:
Sun May 03 16:22:18 2015 +0000
Revision:
1:87bb0fadd34a
Parent:
0:cf44eb82277c 
Arm code;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yusuke_kyo 0:cf44eb82277c 1 /*YOZAKURAのアームコード
yusuke_kyo 0:cf44eb82277c 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:cf44eb82277c 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:cf44eb82277c 4 */
yusuke_kyo 0:cf44eb82277c 5
yusuke_kyo 0:cf44eb82277c 6 #include "mbed.h"
yusuke_kyo 0:cf44eb82277c 7
yusuke_kyo 0:cf44eb82277c 8 Serial pc(USBTX, USBRX); // tx, rx
yusuke_kyo 0:cf44eb82277c 9 DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4);
yusuke_kyo 0:cf44eb82277c 10
yusuke_kyo 0:cf44eb82277c 11 struct ArmPacketBits {
yusuke_kyo 0:cf44eb82277c 12 unsigned int mode : 2;
yusuke_kyo 0:cf44eb82277c 13 unsigned int linear : 2;
yusuke_kyo 0:cf44eb82277c 14 unsigned int pitch : 2;
yusuke_kyo 0:cf44eb82277c 15 unsigned int yaw : 2;
yusuke_kyo 0:cf44eb82277c 16 };
yusuke_kyo 0:cf44eb82277c 17
yusuke_kyo 0:cf44eb82277c 18 union ArmPacket {
yusuke_kyo 0:cf44eb82277c 19 struct ArmPacketBits b;
yusuke_kyo 0:cf44eb82277c 20 unsigned char as_byte;
yusuke_kyo 0:cf44eb82277c 21 };
yusuke_kyo 0:cf44eb82277c 22
yusuke_kyo 0:cf44eb82277c 23 /*--Dynamixel:begin-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:cf44eb82277c 24 #include "AX12.h"
yusuke_kyo 0:cf44eb82277c 25 #include "MX28.h"
yusuke_kyo 0:cf44eb82277c 26
yusuke_kyo 0:cf44eb82277c 27 #define DYNA_DEBUG 0
yusuke_kyo 0:cf44eb82277c 28
yusuke_kyo 0:cf44eb82277c 29 DigitalOut low(p16); DigitalOut RelaySwitch(p18);
yusuke_kyo 0:cf44eb82277c 30
yusuke_kyo 0:cf44eb82277c 31 AX12 linear (p13, p14, 0, 1000000); //直動Dynamixel
yusuke_kyo 0:cf44eb82277c 32 MX28 pitch (p13, p14, 1, 1000000); //ピッチDynamixel
yusuke_kyo 0:cf44eb82277c 33 MX28 yaw (p13, p14, 2, 1000000); //ヨーDynamixel
yusuke_kyo 0:cf44eb82277c 34
yusuke_kyo 0:cf44eb82277c 35 int linear_goal, pitch_goal, yaw_goal;
yusuke_kyo 0:cf44eb82277c 36
yusuke_kyo 0:cf44eb82277c 37 //最小値，最大値，角速度，初期値を指定[unit:degree]
yusuke_kyo 0:cf44eb82277c 38 //MX:MultiTurnモードでは-2520°～2520°(SetGoalの書き換え不要)
yusuke_kyo 0:cf44eb82277c 39 int linear_min = 150; int linear_MAX = 300; float linear_Speed=0.1; int linear_Init = linear_MAX;
yusuke_kyo 0:cf44eb82277c 40 int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX;
yusuke_kyo 0:cf44eb82277c 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:cf44eb82277c 42
yusuke_kyo 0:cf44eb82277c 43 void Dyna_init() {
yusuke_kyo 0:cf44eb82277c 44 if(DYNA_DEBUG) printf("\nDyna_init\n");
yusuke_kyo 0:cf44eb82277c 45 // low = 0; RelaySwitch = 1;
yusuke_kyo 0:cf44eb82277c 46 linear.SetTorqueLimit(0);
yusuke_kyo 0:cf44eb82277c 47 pitch.SetTorqueLimit(0);
yusuke_kyo 0:cf44eb82277c 48 yaw.SetTorqueLimit(0);
yusuke_kyo 0:cf44eb82277c 49 linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX);
yusuke_kyo 0:cf44eb82277c 50 linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init;
yusuke_kyo 0:cf44eb82277c 51 pitch.SetCWLimit(pitch_min); pitch.SetCCWLimit(pitch_MAX);
yusuke_kyo 0:cf44eb82277c 52 pitch.SetCRSpeed(pitch_Speed); pitch_goal=pitch_Init;
yusuke_kyo 0:cf44eb82277c 53 yaw.SetCWLimit(yaw_min); yaw.SetCCWLimit(yaw_MAX);
yusuke_kyo 0:cf44eb82277c 54 yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init;
yusuke_kyo 0:cf44eb82277c 55 wait(1);
yusuke_kyo 0:cf44eb82277c 56 }
yusuke_kyo 0:cf44eb82277c 57
yusuke_kyo 0:cf44eb82277c 58 void Dyna_GetData(char* data) {
yusuke_kyo 0:cf44eb82277c 59 if(DYNA_DEBUG) printf("\nDyna_SetData\n");
yusuke_kyo 0:cf44eb82277c 60 float lP, lV, pP, pC, yP, yC;
yusuke_kyo 0:cf44eb82277c 61
yusuke_kyo 0:cf44eb82277c 62 lP = linear.GetPosition(); lV = linear.GetVolts();
yusuke_kyo 0:cf44eb82277c 63 pP = pitch.GetPosition(); pC = pitch.GetCurrent();
yusuke_kyo 0:cf44eb82277c 64 yP = yaw.GetPosition(); yC = yaw.GetCurrent();
yusuke_kyo 0:cf44eb82277c 65
yusuke_kyo 0:cf44eb82277c 66 linear_goal=lP; pitch_goal=pP; yaw_goal=yP; //現在角度を目標値に設定
yusuke_kyo 0:cf44eb82277c 67 sprintf(data,"%4.1f %4.1f %4.1f %4.1f %4.1f %4.1f ",lP,pP,yP,lV,pC,yC);
yusuke_kyo 0:cf44eb82277c 68 }
yusuke_kyo 0:cf44eb82277c 69
yusuke_kyo 0:cf44eb82277c 70 void Dyna_SetGoal(int linear_mode, int pitch_mode, int yaw_mode) {
yusuke_kyo 0:cf44eb82277c 71 if(DYNA_DEBUG) printf("\nDyna_SetGoal\n");
yusuke_kyo 0:cf44eb82277c 72 switch(linear_mode){
yusuke_kyo 0:cf44eb82277c 73 case 0: break;
yusuke_kyo 0:cf44eb82277c 74 case 1: linear.SetTorqueLimit(1); linear_goal-=10; break;
yusuke_kyo 0:cf44eb82277c 75 case 2: linear.SetTorqueLimit(1); linear_goal+=20; break;
yusuke_kyo 0:cf44eb82277c 76 }
yusuke_kyo 0:cf44eb82277c 77 if(linear_mode!=0){
yusuke_kyo 0:cf44eb82277c 78 if(linear_goal<linear_min) linear_goal=linear_min;
yusuke_kyo 0:cf44eb82277c 79 if(linear_goal>linear_MAX) linear_goal=linear_MAX;
yusuke_kyo 0:cf44eb82277c 80 linear.SetGoal(linear_goal);
yusuke_kyo 0:cf44eb82277c 81 }
yusuke_kyo 0:cf44eb82277c 82
yusuke_kyo 0:cf44eb82277c 83 switch(pitch_mode){
yusuke_kyo 0:cf44eb82277c 84 case 0: break;
yusuke_kyo 0:cf44eb82277c 85 case 1: pitch.SetTorqueLimit(1); pitch_goal-=10; break;
yusuke_kyo 0:cf44eb82277c 86 case 2: pitch.SetTorqueLimit(1); pitch_goal+=20; break;
yusuke_kyo 0:cf44eb82277c 87 }
yusuke_kyo 0:cf44eb82277c 88 if(pitch_mode!=0){
yusuke_kyo 0:cf44eb82277c 89 if(pitch_goal<pitch_min) pitch_goal=pitch_min;
yusuke_kyo 0:cf44eb82277c 90 if(pitch_goal>pitch_MAX) pitch_goal=pitch_MAX;
yusuke_kyo 0:cf44eb82277c 91 pitch.SetGoal(pitch_goal);
yusuke_kyo 0:cf44eb82277c 92 }
yusuke_kyo 0:cf44eb82277c 93
yusuke_kyo 0:cf44eb82277c 94 switch(yaw_mode){
yusuke_kyo 0:cf44eb82277c 95 case 0: break;
yusuke_kyo 0:cf44eb82277c 96 case 1: yaw_goal-=20; break;
yusuke_kyo 0:cf44eb82277c 97 case 2: yaw_goal+=20; break;
yusuke_kyo 0:cf44eb82277c 98 }
yusuke_kyo 0:cf44eb82277c 99 if(yaw_mode!=0){
yusuke_kyo 0:cf44eb82277c 100 if(yaw_goal<-2520) yaw_goal=-2520;
yusuke_kyo 0:cf44eb82277c 101 if(yaw_goal>2520) yaw_goal=2520;
yusuke_kyo 0:cf44eb82277c 102 yaw.SetGoal(yaw_goal);
yusuke_kyo 0:cf44eb82277c 103 }
yusuke_kyo 0:cf44eb82277c 104 }
yusuke_kyo 0:cf44eb82277c 105
yusuke_kyo 0:cf44eb82277c 106 void Dyna_home_position() {
yusuke_kyo 0:cf44eb82277c 107 if(DYNA_DEBUG) printf("\nDyna_home_position\n");
yusuke_kyo 0:cf44eb82277c 108 linear.SetTorqueLimit(1);
yusuke_kyo 0:cf44eb82277c 109 pitch.SetTorqueLimit(1);
yusuke_kyo 0:cf44eb82277c 110 yaw.SetTorqueLimit(1);
yusuke_kyo 0:cf44eb82277c 111 float lp;
yusuke_kyo 0:cf44eb82277c 112 linear.SetGoal(linear_Init);
yusuke_kyo 0:cf44eb82277c 113 lp=linear.GetPosition();
yusuke_kyo 0:cf44eb82277c 114 if(lp > linear_MAX - 30) { //ある程度縮んだら
yusuke_kyo 0:cf44eb82277c 115 pitch.SetGoal(306);
yusuke_kyo 0:cf44eb82277c 116 yaw.SetGoal(yaw_Init);
yusuke_kyo 0:cf44eb82277c 117 }
yusuke_kyo 0:cf44eb82277c 118 }
yusuke_kyo 0:cf44eb82277c 119
yusuke_kyo 0:cf44eb82277c 120 void Dyna_reset() {
yusuke_kyo 0:cf44eb82277c 121 if(DYNA_DEBUG) printf("\nDyna_reset\n");
yusuke_kyo 0:cf44eb82277c 122 // RelaySwitch = 0;
yusuke_kyo 0:cf44eb82277c 123 linear.SetTorqueLimit(0);
yusuke_kyo 0:cf44eb82277c 124 pitch.SetTorqueLimit(0);
yusuke_kyo 0:cf44eb82277c 125 yaw.SetTorqueLimit(0);
yusuke_kyo 0:cf44eb82277c 126
yusuke_kyo 0:cf44eb82277c 127 wait(1);
yusuke_kyo 0:cf44eb82277c 128
yusuke_kyo 0:cf44eb82277c 129 // RelaySwitch = 1;
yusuke_kyo 0:cf44eb82277c 130 linear.SetTorqueLimit(1);
yusuke_kyo 0:cf44eb82277c 131 pitch.SetTorqueLimit(1);
yusuke_kyo 0:cf44eb82277c 132 yaw.SetTorqueLimit(1);
yusuke_kyo 0:cf44eb82277c 133 }
yusuke_kyo 0:cf44eb82277c 134
yusuke_kyo 0:cf44eb82277c 135 void Dyna_end() {
yusuke_kyo 0:cf44eb82277c 136 if(DYNA_DEBUG) printf("\nDyna_end\n");
yusuke_kyo 0:cf44eb82277c 137 // RelaySwitch = 0;
yusuke_kyo 0:cf44eb82277c 138 linear.SetTorqueLimit(0);
yusuke_kyo 0:cf44eb82277c 139 pitch.SetTorqueLimit(0);
yusuke_kyo 0:cf44eb82277c 140 yaw.SetTorqueLimit(0);
yusuke_kyo 0:cf44eb82277c 141 }
yusuke_kyo 0:cf44eb82277c 142 /*--Dynamixel:end-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:cf44eb82277c 143
yusuke_kyo 0:cf44eb82277c 144
yusuke_kyo 0:cf44eb82277c 145 /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
yusuke_kyo 0:cf44eb82277c 146 /*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
yusuke_kyo 0:cf44eb82277c 147 /*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:cf44eb82277c 148
yusuke_kyo 0:cf44eb82277c 149 I2C MEMS1(p9, p10); // sda, scl
yusuke_kyo 0:cf44eb82277c 150 I2C MEMS2(p28, p27); // sda, scl
yusuke_kyo 0:cf44eb82277c 151
yusuke_kyo 0:cf44eb82277c 152 #define D6T_addr 0x14
yusuke_kyo 0:cf44eb82277c 153 #define D6T_cmd 0x4c
yusuke_kyo 0:cf44eb82277c 154
yusuke_kyo 0:cf44eb82277c 155 #define THERMO_DEBUG 0
yusuke_kyo 0:cf44eb82277c 156
yusuke_kyo 0:cf44eb82277c 157 char I2C_rd1[64]; // 生データ
yusuke_kyo 0:cf44eb82277c 158 short datr1[16]; // 16点 温度データ（10倍整数）
yusuke_kyo 0:cf44eb82277c 159 short PTAT1; // センサ内部PTAT温度データ（10倍整数）
yusuke_kyo 0:cf44eb82277c 160 double dt1[16]; // 16点 温度データ
yusuke_kyo 0:cf44eb82277c 161 double dt1_temp[16];
yusuke_kyo 0:cf44eb82277c 162 short d_PTAT1; // センサ内部PTAT温度データ
yusuke_kyo 0:cf44eb82277c 163
yusuke_kyo 0:cf44eb82277c 164 char I2C_rd2[64]; // 生データ
yusuke_kyo 0:cf44eb82277c 165 short datr2[16]; // 16点 温度データ（10倍整数）
yusuke_kyo 0:cf44eb82277c 166 short PTAT2; // センサ内部PTAT温度データ（10倍整数）
yusuke_kyo 0:cf44eb82277c 167 double dt2[16]; // 16点 温度データ
yusuke_kyo 0:cf44eb82277c 168 double dt2_temp[16];
yusuke_kyo 0:cf44eb82277c 169 short d_PTAT2; // センサ内部PTAT温度データ
yusuke_kyo 0:cf44eb82277c 170
yusuke_kyo 0:cf44eb82277c 171 void GetThermo(char* data) {
yusuke_kyo 0:cf44eb82277c 172 char con[6];
yusuke_kyo 0:cf44eb82277c 173 sprintf(data,"");
yusuke_kyo 0:cf44eb82277c 174
yusuke_kyo 0:cf44eb82277c 175 /*MEMS1*/
yusuke_kyo 0:cf44eb82277c 176 int i,j;
yusuke_kyo 0:cf44eb82277c 177 int itemp;
yusuke_kyo 0:cf44eb82277c 178
yusuke_kyo 0:cf44eb82277c 179 //// measure
yusuke_kyo 0:cf44eb82277c 180 MEMS1.start();
yusuke_kyo 0:cf44eb82277c 181 MEMS1.write(D6T_addr);
yusuke_kyo 0:cf44eb82277c 182 MEMS1.write(D6T_cmd);
yusuke_kyo 0:cf44eb82277c 183 // Repeated Start condition
yusuke_kyo 0:cf44eb82277c 184 MEMS1.read(D6T_addr,I2C_rd1,35);
yusuke_kyo 0:cf44eb82277c 185 // if(check_PEC(I2C_rd) == -1) continue; // error
yusuke_kyo 0:cf44eb82277c 186 for(i=0,j=0;i<17;i++){
yusuke_kyo 0:cf44eb82277c 187 itemp = (I2C_rd1[j++] & 0xff);
yusuke_kyo 0:cf44eb82277c 188 itemp += I2C_rd1[j++] * 256;
yusuke_kyo 0:cf44eb82277c 189 if(i == 0) PTAT1 = itemp;
yusuke_kyo 0:cf44eb82277c 190 else datr1[i-1] = itemp;
yusuke_kyo 0:cf44eb82277c 191 }
yusuke_kyo 0:cf44eb82277c 192 for(i=0;i<16;i++){
yusuke_kyo 0:cf44eb82277c 193 dt1[i] = 0.1 * datr1[i];
yusuke_kyo 0:cf44eb82277c 194 }
yusuke_kyo 0:cf44eb82277c 195 for(int i=0;i<16;i++){
yusuke_kyo 0:cf44eb82277c 196 if(dt1[i]<50 && dt1[i]>5) {
yusuke_kyo 0:cf44eb82277c 197 sprintf(con,"%3.1f ",dt1[i]);
yusuke_kyo 0:cf44eb82277c 198 dt1_temp[i]=dt1[i];
yusuke_kyo 0:cf44eb82277c 199 }
yusuke_kyo 0:cf44eb82277c 200 else sprintf(con,"%3.1f ",dt1_temp[i]);
yusuke_kyo 0:cf44eb82277c 201 strcat(data,con);
yusuke_kyo 0:cf44eb82277c 202 }
yusuke_kyo 0:cf44eb82277c 203 if(THERMO_DEBUG){
yusuke_kyo 0:cf44eb82277c 204 printf("\nThermal_Sensor 1");
yusuke_kyo 0:cf44eb82277c 205 for(i=0;i<16;i++){
yusuke_kyo 0:cf44eb82277c 206 if(i%4==0) printf("\n");
yusuke_kyo 0:cf44eb82277c 207 printf("%3.1f ",dt1[i]);
yusuke_kyo 0:cf44eb82277c 208 } printf("\n");
yusuke_kyo 0:cf44eb82277c 209 }
yusuke_kyo 0:cf44eb82277c 210 d_PTAT1 = 0.1 * PTAT1;
yusuke_kyo 0:cf44eb82277c 211 // wait(0.1);
yusuke_kyo 0:cf44eb82277c 212 /*MEMS1*/
yusuke_kyo 0:cf44eb82277c 213
yusuke_kyo 0:cf44eb82277c 214 /*MEMS2*/
yusuke_kyo 0:cf44eb82277c 215 //// measure
yusuke_kyo 0:cf44eb82277c 216 MEMS2.start();
yusuke_kyo 0:cf44eb82277c 217 MEMS2.write(D6T_addr);
yusuke_kyo 0:cf44eb82277c 218 MEMS2.write(D6T_cmd);
yusuke_kyo 0:cf44eb82277c 219 // Repeated Start condition
yusuke_kyo 0:cf44eb82277c 220 MEMS2.read(D6T_addr,I2C_rd2,35);
yusuke_kyo 0:cf44eb82277c 221 // if(check_PEC(I2C_rd) == -1) continue; // error
yusuke_kyo 0:cf44eb82277c 222 for(i=0,j=0;i<17;i++){
yusuke_kyo 0:cf44eb82277c 223 itemp = (I2C_rd2[j++] & 0xff);
yusuke_kyo 0:cf44eb82277c 224 itemp += I2C_rd2[j++] * 256;
yusuke_kyo 0:cf44eb82277c 225 if(i == 0) PTAT2 = itemp;
yusuke_kyo 0:cf44eb82277c 226 else datr2[i-1] = itemp;
yusuke_kyo 0:cf44eb82277c 227 }
yusuke_kyo 0:cf44eb82277c 228 for(i=0;i<16;i++){
yusuke_kyo 0:cf44eb82277c 229 dt2[i] = 0.1 * datr2[i];
yusuke_kyo 0:cf44eb82277c 230 }
yusuke_kyo 0:cf44eb82277c 231 for(int i=0;i<16;i++){
yusuke_kyo 0:cf44eb82277c 232 if(dt2[i]<50 && dt2[i]>5) {
yusuke_kyo 0:cf44eb82277c 233 sprintf(con,"%3.1f ",dt2[i]);
yusuke_kyo 0:cf44eb82277c 234 dt2_temp[i]=dt2[i];
yusuke_kyo 0:cf44eb82277c 235 }
yusuke_kyo 0:cf44eb82277c 236 else sprintf(con,"%3.1f ",dt2_temp[i]);
yusuke_kyo 0:cf44eb82277c 237 strcat(data,con);
yusuke_kyo 0:cf44eb82277c 238 }
yusuke_kyo 0:cf44eb82277c 239 if(THERMO_DEBUG){
yusuke_kyo 0:cf44eb82277c 240 printf("\nThermal_Sensor 2");
yusuke_kyo 0:cf44eb82277c 241 for(i=0;i<16;i++){
yusuke_kyo 0:cf44eb82277c 242 if(i%4==0) printf("\n");
yusuke_kyo 0:cf44eb82277c 243 printf("%3.1f ",dt2[i]);
yusuke_kyo 0:cf44eb82277c 244 } printf("\n");
yusuke_kyo 0:cf44eb82277c 245 }
yusuke_kyo 0:cf44eb82277c 246 d_PTAT2 = 0.1 * PTAT2;
yusuke_kyo 0:cf44eb82277c 247 // wait(0.1);
yusuke_kyo 0:cf44eb82277c 248 /*MEMS2*/
yusuke_kyo 0:cf44eb82277c 249 }
yusuke_kyo 0:cf44eb82277c 250 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
yusuke_kyo 0:cf44eb82277c 251
yusuke_kyo 0:cf44eb82277c 252 /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
yusuke_kyo 0:cf44eb82277c 253 /*CO2センサモジュール：A051020-AQ6B-01*/
yusuke_kyo 0:cf44eb82277c 254 /*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
yusuke_kyo 0:cf44eb82277c 255 /*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:cf44eb82277c 256 #include "mbed.h"
yusuke_kyo 0:cf44eb82277c 257
yusuke_kyo 0:cf44eb82277c 258 AnalogIn ain(p17);
yusuke_kyo 0:cf44eb82277c 259
yusuke_kyo 0:cf44eb82277c 260 #define CO2_DEBUG 0
yusuke_kyo 0:cf44eb82277c 261
yusuke_kyo 0:cf44eb82277c 262 float GetCO2() {
yusuke_kyo 0:cf44eb82277c 263 float v; //生データ：電圧
yusuke_kyo 0:cf44eb82277c 264 float sensor_v,CO2;
yusuke_kyo 0:cf44eb82277c 265
yusuke_kyo 0:cf44eb82277c 266 v = ain.read()*3.3;
yusuke_kyo 0:cf44eb82277c 267 sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
yusuke_kyo 0:cf44eb82277c 268 CO2 = sensor_v * 1000 + 400; //データシートより
yusuke_kyo 0:cf44eb82277c 269
yusuke_kyo 0:cf44eb82277c 270 if(CO2_DEBUG) printf("\nCO2:%4.1f\n",CO2);
yusuke_kyo 0:cf44eb82277c 271
yusuke_kyo 0:cf44eb82277c 272 return(CO2);
yusuke_kyo 0:cf44eb82277c 273 }
yusuke_kyo 0:cf44eb82277c 274 /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
yusuke_kyo 0:cf44eb82277c 275
yusuke_kyo 0:cf44eb82277c 276 Ticker timeout;
yusuke_kyo 0:cf44eb82277c 277
yusuke_kyo 0:cf44eb82277c 278 void roop(){
yusuke_kyo 0:cf44eb82277c 279
yusuke_kyo 0:cf44eb82277c 280 // printf("roop restart\n");
yusuke_kyo 0:cf44eb82277c 281
yusuke_kyo 0:cf44eb82277c 282 myled1=1; myled2=1; myled3=1; myled4=1;
yusuke_kyo 0:cf44eb82277c 283 // pc.baud(38400);
yusuke_kyo 0:cf44eb82277c 284
yusuke_kyo 0:cf44eb82277c 285 char Dyna_data[50];
yusuke_kyo 0:cf44eb82277c 286 char Thermo_data[200];
yusuke_kyo 0:cf44eb82277c 287 float CO2_data;
yusuke_kyo 0:cf44eb82277c 288
yusuke_kyo 0:cf44eb82277c 289 myled1=1; myled2=1; myled3=0; myled4=0;
yusuke_kyo 0:cf44eb82277c 290 // while(1){
yusuke_kyo 0:cf44eb82277c 291 Dyna_init();
yusuke_kyo 0:cf44eb82277c 292 // }
yusuke_kyo 0:cf44eb82277c 293 Dyna_home_position();
yusuke_kyo 0:cf44eb82277c 294 wait(2);
yusuke_kyo 0:cf44eb82277c 295 Dyna_home_position();
yusuke_kyo 0:cf44eb82277c 296 wait(2);
yusuke_kyo 0:cf44eb82277c 297 myled1=0; myled2=0; myled3=1; myled4=0;
yusuke_kyo 0:cf44eb82277c 298
yusuke_kyo 0:cf44eb82277c 299 union ArmPacket Read_data;
yusuke_kyo 0:cf44eb82277c 300
yusuke_kyo 0:cf44eb82277c 301 char Send_data[250];
yusuke_kyo 0:cf44eb82277c 302 //int Read_data;
yusuke_kyo 0:cf44eb82277c 303 int Joy_mode, linear_mode, pitch_mode, yaw_mode;
yusuke_kyo 0:cf44eb82277c 304
yusuke_kyo 0:cf44eb82277c 305 while(1) {
yusuke_kyo 0:cf44eb82277c 306 //=pc.getc();
yusuke_kyo 0:cf44eb82277c 307 Read_data.as_byte=pc.getc();
yusuke_kyo 0:cf44eb82277c 308 wait_ms(1);
yusuke_kyo 0:cf44eb82277c 309 if(Read_data.as_byte == 7) {printf("arm\n"); continue;}
yusuke_kyo 0:cf44eb82277c 310 // if(Read_data.as_byte == 7) {printf("arm\n");}
yusuke_kyo 0:cf44eb82277c 311
yusuke_kyo 0:cf44eb82277c 312 //Joy_mode = Read_data & 0x03; //ジョイスティックのモード判定
yusuke_kyo 0:cf44eb82277c 313 Joy_mode = Read_data.b.mode; //ジョイスティックのモード判定
yusuke_kyo 0:cf44eb82277c 314 // if(DEBUG) printf("Joy_mode : %d\n",Joy_mode);
yusuke_kyo 0:cf44eb82277c 315
yusuke_kyo 0:cf44eb82277c 316 switch(Joy_mode){
yusuke_kyo 0:cf44eb82277c 317 case 0: //通常モード
yusuke_kyo 0:cf44eb82277c 318 myled1=0; myled2=0; myled3=0; myled4=0;
yusuke_kyo 0:cf44eb82277c 319 /*--Dynamixel:begin---------------------------------------------------------------*/
yusuke_kyo 0:cf44eb82277c 320 //Dynamixelへの命令を判定
yusuke_kyo 0:cf44eb82277c 321 //linear_mode = Read_data & 0xc0; linear_mode = linear_mode >> 6; if(DEBUG) printf("linear_mode : %d\n",linear_mode);
yusuke_kyo 0:cf44eb82277c 322 // pitch_mode = Read_data & 0x30; pitch_mode = pitch_mode >> 4; if(DEBUG) printf("pitch_mode : %d\n",pitch_mode);
yusuke_kyo 0:cf44eb82277c 323 // yaw_mode = Read_data & 0x0c; yaw_mode = yaw_mode >> 2; if(DEBUG) printf("yaw_mode : %d\n",yaw_mode);
yusuke_kyo 0:cf44eb82277c 324 linear_mode = Read_data.b.linear;
yusuke_kyo 0:cf44eb82277c 325 pitch_mode = Read_data.b.pitch;
yusuke_kyo 0:cf44eb82277c 326 yaw_mode = Read_data.b.yaw;
yusuke_kyo 0:cf44eb82277c 327
yusuke_kyo 0:cf44eb82277c 328 //目標角度を変更
yusuke_kyo 0:cf44eb82277c 329 myled2=1;
yusuke_kyo 0:cf44eb82277c 330 Dyna_SetGoal(linear_mode, pitch_mode, yaw_mode);
yusuke_kyo 0:cf44eb82277c 331 myled2=0;
yusuke_kyo 0:cf44eb82277c 332 /*--Dynamixel:end------------------------------------------------------------------*/
yusuke_kyo 0:cf44eb82277c 333 break;
yusuke_kyo 0:cf44eb82277c 334
yusuke_kyo 0:cf44eb82277c 335 case 1: //ホームポジション
yusuke_kyo 0:cf44eb82277c 336 myled1=1; myled2=0; myled3=0; myled4=1; Dyna_home_position(); break;
yusuke_kyo 0:cf44eb82277c 337
yusuke_kyo 0:cf44eb82277c 338 case 2: //リセット
yusuke_kyo 0:cf44eb82277c 339 myled1=0; myled2=1; myled3=1; myled4=0; Dyna_reset(); break;
yusuke_kyo 0:cf44eb82277c 340
yusuke_kyo 0:cf44eb82277c 341 case 3: //終了
yusuke_kyo 0:cf44eb82277c 342 myled1=1; myled2=1; myled3=1; myled4=1; Dyna_end(); break;
yusuke_kyo 0:cf44eb82277c 343 }
yusuke_kyo 0:cf44eb82277c 344
yusuke_kyo 0:cf44eb82277c 345 /*--Thermal_Sensor:begin-----------------------------------------------------------*/
yusuke_kyo 0:cf44eb82277c 346 //値を取得
yusuke_kyo 0:cf44eb82277c 347 myled3=1;
yusuke_kyo 0:cf44eb82277c 348 GetThermo(Thermo_data);
yusuke_kyo 0:cf44eb82277c 349 /*--Thermal_Sensor:end-------------------------------------------------------------*/
yusuke_kyo 0:cf44eb82277c 350
yusuke_kyo 0:cf44eb82277c 351 /*--CO2_Sensor:begin---------------------------------------------------------------*/
yusuke_kyo 0:cf44eb82277c 352 //値を取得
yusuke_kyo 0:cf44eb82277c 353 CO2_data=GetCO2();
yusuke_kyo 0:cf44eb82277c 354 myled3=0;
yusuke_kyo 0:cf44eb82277c 355 /*--CO2_Sensor:end-----------------------------------------------------------------*/
yusuke_kyo 0:cf44eb82277c 356
yusuke_kyo 0:cf44eb82277c 357 //現在の角度・電圧・電流を取得
yusuke_kyo 0:cf44eb82277c 358 myled1=1;
yusuke_kyo 0:cf44eb82277c 359 Dyna_GetData(Dyna_data);
yusuke_kyo 0:cf44eb82277c 360 myled1=0;
yusuke_kyo 0:cf44eb82277c 361
yusuke_kyo 0:cf44eb82277c 362 //値を送信
yusuke_kyo 0:cf44eb82277c 363 myled4=1;
yusuke_kyo 0:cf44eb82277c 364 sprintf(Send_data,"%s%s%4.1f",Dyna_data,Thermo_data,CO2_data);
yusuke_kyo 0:cf44eb82277c 365 pc.printf("%s\n",Send_data);
yusuke_kyo 0:cf44eb82277c 366 myled4=0;
yusuke_kyo 0:cf44eb82277c 367 }
yusuke_kyo 0:cf44eb82277c 368 }
yusuke_kyo 0:cf44eb82277c 369 /*---------------
yusuke_kyo 0:cf44eb82277c 370 MAIN LOOP
yusuke_kyo 0:cf44eb82277c 371 ----------------*/
yusuke_kyo 0:cf44eb82277c 372 #define DEBUG 0
yusuke_kyo 0:cf44eb82277c 373
yusuke_kyo 0:cf44eb82277c 374
yusuke_kyo 0:cf44eb82277c 375
yusuke_kyo 0:cf44eb82277c 376 int main() {
yusuke_kyo 0:cf44eb82277c 377 pc.baud(38400);
yusuke_kyo 0:cf44eb82277c 378 timeout.attach(&roop,0.2);
yusuke_kyo 0:cf44eb82277c 379 while(1){
yusuke_kyo 0:cf44eb82277c 380 }
yusuke_kyo 0:cf44eb82277c 381 }
yusuke_kyo 0:cf44eb82277c 382
yusuke_kyo 0:cf44eb82277c 383 /* 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 0:cf44eb82277c 384 home_position 40
yusuke_kyo 0:cf44eb82277c 385 reset 80
yusuke_kyo 0:cf44eb82277c 386 end c0
yusuke_kyo 0:cf44eb82277c 387 */