雄介 太田
/
YOZAKURA_ARM_USB_0503
Arm code
main.cpp@0:cf44eb82277c, 2015-05-03 (annotated)
- Committer:
- yusuke_kyo
- Date:
- Sun May 03 16:18:03 2015 +0000
- Revision:
- 0:cf44eb82277c
Arm code;
Who changed what in which revision?
User | Revision | Line number | New 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 | */ |