雄介 太田 / Mbed 2 deprecated YOZAKURA_ARM_USB_Keyboard

control YOZAKURA ARM with keyboard

Dependencies:   Dynamixel MEMS_Thermal_Sensor SerialHalfDuplex mbed

main.cpp@2:b46156a5c6a5, 2015-04-22 (annotated)

Committer:
yusuke_kyo
Date:
Wed Apr 22 18:10:04 2015 +0000
Revision:
2:b46156a5c6a5
Parent:
1:604074771dbc
Child:
3:7a30251664f0
delite Dyna_homeposition etc.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yusuke_kyo 0:009877004633 1 /*YOZAKURAのアームコード
yusuke_kyo 0:009877004633 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 0:009877004633 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 0:009877004633 4 */
yusuke_kyo 0:009877004633 5
yusuke_kyo 0:009877004633 6 #include "mbed.h"
yusuke_kyo 0:009877004633 7
yusuke_kyo 0:009877004633 8 Serial pc(USBTX, USBRX); // tx, rx
yusuke_kyo 0:009877004633 9 DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4);
yusuke_kyo 0:009877004633 10
yusuke_kyo 0:009877004633 11 /*--Dynamixel:begin-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:009877004633 12 #include "AX12.h"
yusuke_kyo 0:009877004633 13 #include "MX28.h"
yusuke_kyo 0:009877004633 14
yusuke_kyo 0:009877004633 15 DigitalOut low(p16); DigitalOut RelaySwitch(p18);
yusuke_kyo 0:009877004633 16
yusuke_kyo 0:009877004633 17 AX12 linear (p13, p14, 0, 1000000); //直動Dynamixel
yusuke_kyo 0:009877004633 18 MX28 pitch (p13, p14, 1, 1000000); //ピッチDynamixel
yusuke_kyo 0:009877004633 19 MX28 yaw (p13, p14, 2, 1000000); //ヨーDynamixel
yusuke_kyo 0:009877004633 20
yusuke_kyo 0:009877004633 21 int linear_goal, pitch_goal, yaw_goal;
yusuke_kyo 0:009877004633 22
yusuke_kyo 0:009877004633 23 //最小値，最大値，角速度，初期値を指定[unit:degree]
yusuke_kyo 0:009877004633 24 //MX:MultiTurnモードでは-2520°～2520°(SetGoalの書き換え不要)
yusuke_kyo 0:009877004633 25 int linear_min = 100; int linear_MAX = 300; float linear_Speed=0.1; int linear_Init = linear_MAX;
yusuke_kyo 0:009877004633 26 int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX;
yusuke_kyo 0:009877004633 27 int yaw_min = 360; int yaw_MAX = 360; float yaw_Speed=0.2; int yaw_Init = 0; //MultiTurnモード
yusuke_kyo 0:009877004633 28
yusuke_kyo 0:009877004633 29 void Dyna_init() {
yusuke_kyo 0:009877004633 30 low = 0; RelaySwitch = 1;
yusuke_kyo 0:009877004633 31 linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX);
yusuke_kyo 0:009877004633 32 linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init; linear.SetGoal(linear_Init);
yusuke_kyo 0:009877004633 33 pitch.SetCWLimit(pitch_min); pitch.SetCCWLimit(pitch_MAX);
yusuke_kyo 0:009877004633 34 pitch.SetCRSpeed(pitch_Speed); pitch_goal=linear_Init; pitch.SetGoal(pitch_Init);
yusuke_kyo 0:009877004633 35 yaw.SetCWLimit(yaw_min); yaw.SetCCWLimit(yaw_MAX);
yusuke_kyo 0:009877004633 36 yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; yaw.SetGoal(yaw_Init);
yusuke_kyo 0:009877004633 37 wait(1);
yusuke_kyo 0:009877004633 38 }
yusuke_kyo 0:009877004633 39
yusuke_kyo 0:009877004633 40 void Dyna_GetData(char* data) {
yusuke_kyo 0:009877004633 41 float lP, lV, pP, pC, yP, yC;
yusuke_kyo 0:009877004633 42
yusuke_kyo 0:009877004633 43 lP = linear.GetPosition(); lV = linear.GetVolts();
yusuke_kyo 0:009877004633 44 pP = pitch.GetPosition(); pC = pitch.GetCurrent();
yusuke_kyo 0:009877004633 45 yP = yaw.GetPosition(); yC = yaw.GetCurrent();
yusuke_kyo 0:009877004633 46
yusuke_kyo 0:009877004633 47 linear_goal=lP; pitch_goal=pP; yaw_goal=yP; //現在角度を目標値に設定
yusuke_kyo 0:009877004633 48 printf("linearPosition : %4f[degree]\n",lP); printf("Voltage : %4f[V]\n",lV);
yusuke_kyo 0:009877004633 49 printf("pitchPosition : %4f[degree]\n",pP); printf("pitchCurrent : %4f[A]\n",pC);
yusuke_kyo 0:009877004633 50 printf("yawPosition : %4f[degree]\n",yP); printf("yawCurrent : %4f[A]\n",yC);
yusuke_kyo 0:009877004633 51 sprintf(data,"%4f %4f %4f %4f %4f %4f ",lP,lV,pP,pC,yP,yC);
yusuke_kyo 0:009877004633 52 }
yusuke_kyo 0:009877004633 53
yusuke_kyo 0:009877004633 54 void Dyna_SetGoal(int linear_mode, int pitch_mode, int yaw_mode) {
yusuke_kyo 0:009877004633 55 switch(linear_mode){
yusuke_kyo 0:009877004633 56 case 0: break;
yusuke_kyo 0:009877004633 57 case 1: linear.SetTorqueLimit(1); linear_goal+=5; break;
yusuke_kyo 0:009877004633 58 case 2: linear.SetTorqueLimit(1); linear_goal-=5; break;
yusuke_kyo 0:009877004633 59 }
yusuke_kyo 0:009877004633 60 linear.SetGoal(linear_goal);
yusuke_kyo 0:009877004633 61
yusuke_kyo 0:009877004633 62 switch(pitch_mode){
yusuke_kyo 0:009877004633 63 case 0: break;
yusuke_kyo 0:009877004633 64 case 1: pitch_goal+=5; break;
yusuke_kyo 0:009877004633 65 case 2: pitch_goal-=5; break;
yusuke_kyo 0:009877004633 66 }
yusuke_kyo 0:009877004633 67 pitch.SetGoal(pitch_goal);
yusuke_kyo 0:009877004633 68
yusuke_kyo 0:009877004633 69 switch(yaw_mode){
yusuke_kyo 0:009877004633 70 case 0: break;
yusuke_kyo 0:009877004633 71 case 1: yaw_goal+=5; break;
yusuke_kyo 0:009877004633 72 case 2: yaw_goal-=5; break;
yusuke_kyo 0:009877004633 73 }
yusuke_kyo 0:009877004633 74 yaw.SetGoal(yaw_goal);
yusuke_kyo 0:009877004633 75 }
yusuke_kyo 0:009877004633 76 /*--Dynamixel:end-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:009877004633 77
yusuke_kyo 0:009877004633 78
yusuke_kyo 0:009877004633 79 /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
yusuke_kyo 0:009877004633 80 /*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
yusuke_kyo 0:009877004633 81 /*データシート：http://www.omron.co.jp/ecb/products/sensor/special/mems/pdf/AN-D6T-01JP_r2.pdf*/
yusuke_kyo 0:009877004633 82 #include "MEMS.h"
yusuke_kyo 0:009877004633 83
yusuke_kyo 0:009877004633 84 MEMS MEMS1(p9, p10); // sda, scl
yusuke_kyo 0:009877004633 85 MEMS MEMS2(p28, p27); // sda, scl
yusuke_kyo 0:009877004633 86
yusuke_kyo 0:009877004633 87 #define THERMO_DEBUG 1
yusuke_kyo 0:009877004633 88
yusuke_kyo 0:009877004633 89 void GetThermo(char* data) {
yusuke_kyo 0:009877004633 90 float ThD1[16], ThD2[16];
yusuke_kyo 0:009877004633 91 char con[10];
yusuke_kyo 0:009877004633 92
yusuke_kyo 0:009877004633 93 MEMS1.temp(ThD1);
yusuke_kyo 0:009877004633 94 MEMS2.temp(ThD2);
yusuke_kyo 0:009877004633 95
yusuke_kyo 0:009877004633 96 for(int i=0;i<16;i++){
yusuke_kyo 0:009877004633 97 sprintf(con,"%3.1f ",ThD1[i]);
yusuke_kyo 0:009877004633 98 strcat(data,con);
yusuke_kyo 0:009877004633 99 }
yusuke_kyo 0:009877004633 100
yusuke_kyo 0:009877004633 101 if(THERMO_DEBUG) {
yusuke_kyo 0:009877004633 102 printf("\nThermalSensor1\n");
yusuke_kyo 0:009877004633 103 for(int i=0;i<16;i++){
yusuke_kyo 0:009877004633 104 if(i%4==0) printf("\n");
yusuke_kyo 0:009877004633 105 printf("%3.1f ",ThD1[i]);
yusuke_kyo 0:009877004633 106 }
yusuke_kyo 0:009877004633 107 }
yusuke_kyo 0:009877004633 108
yusuke_kyo 0:009877004633 109 for(int i=0;i<16;i++){
yusuke_kyo 0:009877004633 110 sprintf(con,"%3.1f ",ThD2[i]);
yusuke_kyo 0:009877004633 111 strcat(data,con);
yusuke_kyo 0:009877004633 112 }
yusuke_kyo 0:009877004633 113
yusuke_kyo 0:009877004633 114 if(THERMO_DEBUG) {
yusuke_kyo 0:009877004633 115 printf("\nThermalSensor2\n");
yusuke_kyo 0:009877004633 116 for(int i=0;i<16;i++){
yusuke_kyo 0:009877004633 117 if(i%4==0) printf("\n");
yusuke_kyo 0:009877004633 118 printf("%3.1f ",ThD2[i]);
yusuke_kyo 0:009877004633 119 }
yusuke_kyo 0:009877004633 120 }
yusuke_kyo 0:009877004633 121 }
yusuke_kyo 0:009877004633 122 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
yusuke_kyo 0:009877004633 123
yusuke_kyo 0:009877004633 124
yusuke_kyo 0:009877004633 125 /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
yusuke_kyo 0:009877004633 126 /*CO2センサモジュール：A051020-AQ6B-01*/
yusuke_kyo 0:009877004633 127 /*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
yusuke_kyo 0:009877004633 128 /*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 0:009877004633 129 #include "mbed.h"
yusuke_kyo 0:009877004633 130
yusuke_kyo 0:009877004633 131 AnalogIn ain(p20);
yusuke_kyo 0:009877004633 132
yusuke_kyo 0:009877004633 133 #define CO2_DEBUG 0
yusuke_kyo 0:009877004633 134
yusuke_kyo 0:009877004633 135 float GetCO2() {
yusuke_kyo 0:009877004633 136 float v; //生データ：電圧
yusuke_kyo 0:009877004633 137 float sensor_v,CO2;
yusuke_kyo 0:009877004633 138
yusuke_kyo 0:009877004633 139 v = ain.read()*3.3;
yusuke_kyo 0:009877004633 140 sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
yusuke_kyo 0:009877004633 141 CO2 = sensor_v * 1000 + 400; //データシートより
yusuke_kyo 0:009877004633 142
yusuke_kyo 0:009877004633 143 if(CO2_DEBUG) printf("\n%4f",CO2);
yusuke_kyo 0:009877004633 144
yusuke_kyo 0:009877004633 145 return(CO2);
yusuke_kyo 0:009877004633 146 }
yusuke_kyo 0:009877004633 147 /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
yusuke_kyo 0:009877004633 148
yusuke_kyo 0:009877004633 149
yusuke_kyo 0:009877004633 150 /*---------------
yusuke_kyo 0:009877004633 151 MAIN ROOP
yusuke_kyo 0:009877004633 152 ----------------*/
yusuke_kyo 0:009877004633 153 int main() {
yusuke_kyo 0:009877004633 154 char Dyna_data[100];
yusuke_kyo 0:009877004633 155 char Thermo_data[100];
yusuke_kyo 0:009877004633 156 float CO2_data;
yusuke_kyo 0:009877004633 157
yusuke_kyo 0:009877004633 158 Dyna_init();
yusuke_kyo 0:009877004633 159
yusuke_kyo 0:009877004633 160 char Send_data[200];
yusuke_kyo 0:009877004633 161 int Read_data;
yusuke_kyo 0:009877004633 162 int Joy_mode, linear_mode, pitch_mode, yaw_mode;
yusuke_kyo 0:009877004633 163
yusuke_kyo 0:009877004633 164 while(1) {
yusuke_kyo 0:009877004633 165
yusuke_kyo 0:009877004633 166 /*--Dynamixel:begin---------------------------------------------------------------*/
yusuke_kyo 0:009877004633 167 // //Dynamixelへの命令を判定
yusuke_kyo 0:009877004633 168 // linear_mode = R_data & 0x0c; linear_mode = linear_mode >> 2;
yusuke_kyo 0:009877004633 169 // pitch_mode = R_data & 0x30; pitch_mode = pitch_mode >> 4;
yusuke_kyo 0:009877004633 170 // yaw_mode = R_data & 0xc0; yaw_mode = yaw_mode >> 6;
yusuke_kyo 0:009877004633 171
yusuke_kyo 0:009877004633 172 //現在の角度・電圧・電流を取得
yusuke_kyo 0:009877004633 173 myled1=1;
yusuke_kyo 0:009877004633 174 Dyna_GetData(Dyna_data);
yusuke_kyo 1:604074771dbc 175 printf("%s\n",Dyna_data);
yusuke_kyo 0:009877004633 176 myled1=0;
yusuke_kyo 0:009877004633 177
yusuke_kyo 0:009877004633 178 printf("linear_mode : \n");
yusuke_kyo 0:009877004633 179 linear_mode=pc.getc();
yusuke_kyo 0:009877004633 180 printf("pitch_mode : \n");
yusuke_kyo 0:009877004633 181 pitch_mode=pc.getc();
yusuke_kyo 0:009877004633 182 printf("yaw_mode : \n");
yusuke_kyo 0:009877004633 183 yaw_mode=pc.getc();
yusuke_kyo 0:009877004633 184
yusuke_kyo 0:009877004633 185 //目標角度を変更
yusuke_kyo 0:009877004633 186 myled2=1;
yusuke_kyo 0:009877004633 187 Dyna_SetGoal(linear_mode, pitch_mode, yaw_mode);
yusuke_kyo 0:009877004633 188 myled2=0;
yusuke_kyo 0:009877004633 189 /*--Dynamixel:end------------------------------------------------------------------*/
yusuke_kyo 0:009877004633 190
yusuke_kyo 0:009877004633 191 /*--Thermal_Sensor:begin-----------------------------------------------------------*/
yusuke_kyo 0:009877004633 192 //値を取得
yusuke_kyo 0:009877004633 193 myled3=1;
yusuke_kyo 0:009877004633 194 GetThermo(Thermo_data);
yusuke_kyo 0:009877004633 195 /*--Thermal_Sensor:end-------------------------------------------------------------*/
yusuke_kyo 0:009877004633 196
yusuke_kyo 0:009877004633 197 /*--CO2_Sensor:begin---------------------------------------------------------------*/
yusuke_kyo 0:009877004633 198 //値を取得
yusuke_kyo 0:009877004633 199 CO2_data=GetCO2();
yusuke_kyo 0:009877004633 200 myled3=0;
yusuke_kyo 0:009877004633 201 /*--CO2_Sensor:end-----------------------------------------------------------------*/
yusuke_kyo 0:009877004633 202
yusuke_kyo 0:009877004633 203 //値を送信
yusuke_kyo 0:009877004633 204 myled4=1;
yusuke_kyo 0:009877004633 205 sprintf(Send_data,"%s%s%f",Dyna_data,Thermo_data,CO2_data);
yusuke_kyo 0:009877004633 206 printf("%s\n",Send_data);
yusuke_kyo 0:009877004633 207 myled4=0;
yusuke_kyo 0:009877004633 208
yusuke_kyo 0:009877004633 209 }
yusuke_kyo 0:009877004633 210 }