雄介 太田
linear -> MX28
Dependencies: Dynamixel SerialHalfDuplex mbed
Revision 0:3b39104fae2f, committed 2015-08-18
- Comitter:
- yusuke_kyo
- Date:
- Tue Aug 18 11:43:26 2015 +0000
- Commit message:
- linear -> MX28
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Dynamixel.lib Tue Aug 18 11:43:26 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/yusuke_kyo/code/Dynamixel/#874b672847bc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SerialHalfDuplex.lib Tue Aug 18 11:43:26 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/yusuke_kyo/code/SerialHalfDuplex/#9fdccecae31f
--- /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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Aug 18 11:43:26 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/433970e64889 \ No newline at end of file