Diff: main.cpp

Revision:

0:3b39104fae2f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Aug 18 11:43:26 2015 +0000
@@ -0,0 +1,200 @@
+/*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 1
+
+DigitalOut low(p16); DigitalOut RelaySwitch(p18);
+
+MX28 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 = 170; int linear_MAX = 280; 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=0.4; int yaw_Init = 0; //MultiTurnモード
+
+void Dyna_init() {
+    if(DYNA_DEBUG) printf("\nDyna_init\n");
+    
+//    while(!s.writeable()){
+//        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 97:linear.SetTorqueLimit(1); linear.TorqueEnable(1); linear_goal-=10;
+                if(linear_goal<linear_min) linear_goal=linear_min;
+                if(linear_goal>linear_MAX) linear_goal=linear_MAX;
+                linear.SetGoal(linear_goal);        
+                break;
+        case 102: linear.SetTorqueLimit(1); linear.TorqueEnable(1); linear_goal+=20;
+                if(linear_goal<linear_min) linear_goal=linear_min;
+                if(linear_goal>linear_MAX) linear_goal=linear_MAX;
+                linear.SetGoal(linear_goal);        
+                break;
+        case 30:pitch.SetTorqueLimit(1); pitch_goal-=20;
+                if(pitch_goal<pitch_min) pitch_goal=pitch_min;
+                if(pitch_goal>pitch_MAX) pitch_goal=pitch_MAX; 
+                pitch.SetGoal(pitch_goal);
+                break;
+        case 31:pitch.SetTorqueLimit(1); pitch_goal+=5;
+                if(pitch_goal<pitch_min) pitch_goal=pitch_min;
+                if(pitch_goal>pitch_MAX) pitch_goal=pitch_MAX; 
+                pitch.SetGoal(pitch_goal);
+                break;
+        case 28:yaw_goal-=10; 
+                if(yaw_goal<-2520) yaw_goal=-2520;
+                if(yaw_goal>2520) yaw_goal=2520; 
+                yaw.SetGoal(yaw_goal);
+                break;
+        case 29:yaw_goal+=10;
+                if(yaw_goal<-2520) yaw_goal=-2520;
+                if(yaw_goal>2520) yaw_goal=2520; 
+                yaw.SetGoal(yaw_goal);
+                break;    }
+}
+
+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-----------------------------------------------------------------------------------------*/
+
+/*---------------
+    MAIN LOOP
+----------------*/
+#define DEBUG 1
+
+int main() {
+    myled1=1; myled2=1; myled3=1; myled4=1;
+    pc.baud(38400);
+    
+    char Dyna_data[50];
+    
+    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;
+    int mode;
+    
+    while(1) {
+                myled1=0; myled2=0; myled3=0; myled4=0;
+            /*--Dynamixel:begin---------------------------------------------------------------*/       
+                //Dynamixelへの命令を判定               
+                mode=pc.getc();
+                printf("mode : %d\n",mode);
+                
+                //目標角度を変更
+                myled2=1;
+                Dyna_SetGoal(mode);
+                myled2=0;
+            /*--Dynamixel: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;
+                pc.printf("%s\n",Dyna_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