雄介 太田
control arm with keyboard
Dependencies: Dynamixel SerialHalfDuplex mbed
Diff: main.cpp
- Revision:
- 0:3217bfe6d555
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Apr 28 17:16:04 2015 +0000
@@ -0,0 +1,354 @@
+/*YOZAKURAのアームコード
+ 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
+ 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
+*/
+
+#include "mbed.h"
+
+Serial pc(USBTX, USBRX); // tx, rx
+DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4);
+
+struct ArmPacketBits {
+ unsigned int mode : 2;
+ unsigned int linear : 2;
+ unsigned int pitch : 2;
+ unsigned int yaw : 2;
+ };
+
+union ArmPacket {
+ struct ArmPacketBits b;
+ unsigned char as_byte;
+ };
+
+/*--Dynamixel:begin-----------------------------------------------------------------------------------------*/
+#include "AX12.h"
+#include "MX28.h"
+
+#define DYNA_DEBUG 0
+
+DigitalOut low(p16); DigitalOut RelaySwitch(p18);
+
+AX12 linear (p13, p14, 0, 1000000); //直動Dynamixel
+MX28 pitch (p13, p14, 1, 1000000); //ピッチDynamixel
+MX28 yaw (p13, p14, 2, 1000000); //ヨーDynamixel
+
+int linear_goal, pitch_goal, yaw_goal;
+
+//最小値，最大値，角速度，初期値を指定[unit:degree]
+//MX:MultiTurnモードでは-2520°～2520°(SetGoalの書き換え不要)
+int linear_min = 100; int linear_MAX = 300; float linear_Speed=0.1; int linear_Init = linear_MAX;
+int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX;
+int yaw_min = 360; int yaw_MAX = 360; float yaw_Speed=0.2; int yaw_Init = 0; //MultiTurnモード
+
+void Dyna_init() {
+ if(DYNA_DEBUG) printf("\nDyna_init\n");
+
+ while(1){
+ if(linear.writeable() & pitch.writeable() & yaw.writeable()) return 0;
+ else if(DYNA_DEBUG) printf("Dynamixel is disconnected.\n");
+ wait(0.5);
+ }
+
+// low = 0; RelaySwitch = 1;
+ linear.SetTorqueLimit(0);
+ pitch.SetTorqueLimit(0);
+ yaw.SetTorqueLimit(0);
+ linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX);
+ linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init;
+ pitch.SetCWLimit(pitch_min); pitch.SetCCWLimit(pitch_MAX);
+ pitch.SetCRSpeed(pitch_Speed); pitch_goal=pitch_Init;
+ yaw.SetCWLimit(yaw_min); yaw.SetCCWLimit(yaw_MAX);
+ yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init;
+ wait(1);
+}
+
+void Dyna_GetData(char* data) {
+ if(DYNA_DEBUG) printf("\nDyna_SetData\n");
+ float lP, lV, pP, pC, yP, yC;
+
+ lP = linear.GetPosition(); lV = linear.GetVolts();
+ pP = pitch.GetPosition(); pC = pitch.GetCurrent();
+ yP = yaw.GetPosition(); yC = yaw.GetCurrent();
+
+ linear_goal=lP; pitch_goal=pP; yaw_goal=yP; //現在角度を目標値に設定
+ sprintf(data,"%4.1f %4.1f %4.1f %4.1f %4.1f %4.1f ",lP,pP,yP,lV,pC,yC);
+}
+
+void Dyna_SetGoal(int mode) {
+ if(DYNA_DEBUG) printf("\nDyna_SetGoal\n");
+ switch(mode){
+ case 61: linear.SetTorqueLimit(1); linear_goal-=10; break;
+ case 66: linear.SetTorqueLimit(1); linear_goal+=20; break;
+ case 30: pitch_goal-=10; break;
+ case 31: pitch_goal+=10; break;
+ case 29: yaw_goal-=10; break;
+ case 28: yaw_goal+=10; break;
+ }
+
+ if(linear_goal<linear_min) linear_goal=linear_min;
+ if(linear_goal>linear_MAX) linear_goal=linear_MAX;
+ linear.SetGoal(linear_goal);
+
+ if(pitch_goal<pitch_min) pitch_goal=pitch_min;
+ if(pitch_goal>pitch_MAX) pitch_goal=pitch_MAX;
+ pitch.SetGoal(pitch_goal);
+
+
+ if(yaw_goal<-2520) yaw_goal=-2520;
+ if(yaw_goal>2520) yaw_goal=2520;
+ yaw.SetGoal(yaw_goal);
+}
+
+void Dyna_home_position() {
+ if(DYNA_DEBUG) printf("\nDyna_home_position\n");
+ linear.SetTorqueLimit(1);
+ pitch.SetTorqueLimit(1);
+ yaw.SetTorqueLimit(1);
+ float lp;
+ linear.SetGoal(linear_Init);
+ lp=linear.GetPosition();
+ if(lp > linear_MAX - 30) { //ある程度縮んだら
+ pitch.SetGoal(pitch_Init);
+ yaw.SetGoal(yaw_Init);
+ }
+}
+
+void Dyna_reset() {
+ if(DYNA_DEBUG) printf("\nDyna_reset\n");
+// RelaySwitch = 0;
+ linear.SetTorqueLimit(0);
+ pitch.SetTorqueLimit(0);
+ yaw.SetTorqueLimit(0);
+
+ wait(1);
+
+// RelaySwitch = 1;
+ linear.SetTorqueLimit(1);
+ pitch.SetTorqueLimit(1);
+ yaw.SetTorqueLimit(1);
+}
+
+void Dyna_end() {
+ if(DYNA_DEBUG) printf("\nDyna_end\n");
+// RelaySwitch = 0;
+ linear.SetTorqueLimit(0);
+ pitch.SetTorqueLimit(0);
+ yaw.SetTorqueLimit(0);
+}
+/*--Dynamixel:end-----------------------------------------------------------------------------------------*/
+
+
+/*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
+/*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
+/*データシート：http://www.omron.co.jp/ecb/products/sensor/special/mems/pdf/AN-D6T-01JP_r2.pdf*/
+
+I2C MEMS1(p9, p10); // sda, scl
+I2C MEMS2(p28, p27); // sda, scl
+
+#define D6T_addr 0x14
+#define D6T_cmd 0x4c
+
+#define THERMO_DEBUG 0
+
+char I2C_rd1[64]; // 生データ
+short datr1[16]; // 16点 温度データ（10倍整数）
+short PTAT1; // センサ内部PTAT温度データ（10倍整数）
+double dt1[16]; // 16点 温度データ
+double dt1_temp[16];
+short d_PTAT1; // センサ内部PTAT温度データ
+
+char I2C_rd2[64]; // 生データ
+short datr2[16]; // 16点 温度データ（10倍整数）
+short PTAT2; // センサ内部PTAT温度データ（10倍整数）
+double dt2[16]; // 16点 温度データ
+double dt2_temp[16];
+short d_PTAT2; // センサ内部PTAT温度データ
+
+void GetThermo(char* data) {
+ char con[6];
+ sprintf(data,"");
+
+ /*MEMS1*/
+ int i,j;
+ int itemp;
+
+ //// measure
+ MEMS1.start();
+ MEMS1.write(D6T_addr);
+ MEMS1.write(D6T_cmd);
+ // Repeated Start condition
+ MEMS1.read(D6T_addr,I2C_rd1,35);
+// if(check_PEC(I2C_rd) == -1) continue; // error
+ for(i=0,j=0;i<17;i++){
+ itemp = (I2C_rd1[j++] & 0xff);
+ itemp += I2C_rd1[j++] * 256;
+ if(i == 0) PTAT1 = itemp;
+ else datr1[i-1] = itemp;
+ }
+ for(i=0;i<16;i++){
+ dt1[i] = 0.1 * datr1[i];
+ }
+ for(int i=0;i<16;i++){
+ if(dt1[i]<50 && dt1[i]>5) {
+ sprintf(con,"%3.1f ",dt1[i]);
+ dt1_temp[i]=dt1[i];
+ }
+ else sprintf(con,"%3.1f ",dt1_temp[i]);
+ strcat(data,con);
+ }
+ if(THERMO_DEBUG){
+ printf("\nThermal_Sensor 1");
+ for(i=0;i<16;i++){
+ if(i%4==0) printf("\n");
+ printf("%3.1f ",dt1[i]);
+ } printf("\n");
+ }
+ d_PTAT1 = 0.1 * PTAT1;
+// wait(0.1);
+ /*MEMS1*/
+
+ /*MEMS2*/
+ //// measure
+ MEMS2.start();
+ MEMS2.write(D6T_addr);
+ MEMS2.write(D6T_cmd);
+ // Repeated Start condition
+ MEMS2.read(D6T_addr,I2C_rd2,35);
+// if(check_PEC(I2C_rd) == -1) continue; // error
+ for(i=0,j=0;i<17;i++){
+ itemp = (I2C_rd2[j++] & 0xff);
+ itemp += I2C_rd2[j++] * 256;
+ if(i == 0) PTAT2 = itemp;
+ else datr2[i-1] = itemp;
+ }
+ for(i=0;i<16;i++){
+ dt2[i] = 0.1 * datr2[i];
+ }
+ for(int i=0;i<16;i++){
+ if(dt1[i]<50 && dt1[i]>5) {
+ sprintf(con,"%3.1f ",dt2[i]);
+ dt2_temp[i]=dt2[i];
+ }
+ else sprintf(con,"%3.1f ",dt2_temp[i]);
+ strcat(data,con);
+ }
+ if(THERMO_DEBUG){
+ printf("\nThermal_Sensor 2");
+ for(i=0;i<16;i++){
+ if(i%4==0) printf("\n");
+ printf("%3.1f ",dt2[i]);
+ } printf("\n");
+ }
+ d_PTAT2 = 0.1 * PTAT2;
+// wait(0.1);
+ /*MEMS2*/
+}
+/*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
+
+/*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
+/*CO2センサモジュール：A051020-AQ6B-01*/
+/*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
+/*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*/
+#include "mbed.h"
+
+AnalogIn ain(p17);
+
+#define CO2_DEBUG 0
+
+float GetCO2() {
+ float v; //生データ：電圧
+ float sensor_v,CO2;
+
+ v = ain.read()*3.3;
+ sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
+ CO2 = sensor_v * 1000 + 400; //データシートより
+
+ if(CO2_DEBUG) printf("\nCO2:%4.1f\n",CO2);
+
+ return(CO2);
+}
+/*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
+
+
+/*---------------
+ MAIN LOOP
+----------------*/
+#define DEBUG 0
+
+int main() {
+ myled1=1; myled2=1; myled3=1; myled4=1;
+ pc.baud(38400);
+
+ char Dyna_data[50];
+ char Thermo_data[200];
+ float CO2_data;
+
+ myled1=1; myled2=1; myled3=0; myled4=0;
+ Dyna_init();
+ Dyna_home_position();
+ wait(2);
+ Dyna_home_position();
+ wait(2);
+ myled1=0; myled2=0; myled3=1; myled4=0;
+
+ union ArmPacket Read_data;
+
+ char Send_data[250];
+ //int Read_data;
+// int Joy_mode, linear_mode, pitch_mode, yaw_mode;
+ int mode;
+
+ while(1) {
+
+ myled1=0; myled2=0; myled3=0; myled4=0;
+ /*--Dynamixel:begin---------------------------------------------------------------*/
+ //Dynamixelへの命令を判定
+// printf("linear_mode : ");
+// linear_mode=pc.getc();
+// printf("%d\n",linear_mode);
+// printf("pitch_mode : ");
+// pitch_mode=pc.getc();
+// printf("%d\n",pitch_mode);
+// printf("yaw_mode : ");
+// yaw_mode=pc.getc();
+// printf("%d\n",yaw_mode);
+
+ mode=pc.getc();
+ printf("mode : %d\n",mode);
+
+ //目標角度を変更
+ myled2=1;
+ Dyna_SetGoal(mode);
+ myled2=0;
+ /*--Dynamixel:end------------------------------------------------------------------*/
+
+ /*--Thermal_Sensor:begin-----------------------------------------------------------*/
+ //値を取得
+ myled3=1;
+ GetThermo(Thermo_data);
+ /*--Thermal_Sensor:end-------------------------------------------------------------*/
+
+ /*--CO2_Sensor:begin---------------------------------------------------------------*/
+ //値を取得
+ CO2_data=GetCO2();
+ myled3=0;
+ /*--CO2_Sensor:end-----------------------------------------------------------------*/
+
+ //現在の角度・電圧・電流を取得
+ myled1=1;
+ Dyna_GetData(Dyna_data);
+ myled1=0;
+
+ //値を送信
+ myled4=1;
+ sprintf(Send_data,"%s%s%4.1f",Dyna_data,Thermo_data,CO2_data);
+ pc.printf("%s\n",Send_data);
+ myled4=0;
+ }
+}
+
+/* CoolTermのSend stringを使う場合 Hex : 16進数で値を送信可能 なので
+ home_position 40
+ reset 80
+ end c0
+*/
\ No newline at end of file