File content as of revision 0:3b39104fae2f:

/*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
*/