雄介 太田 / Mbed 2 deprecated YOZAKURA_ARM_USB_0429

control YOZAKURA arm

Dependencies:   Dynamixel SerialHalfDuplex mbed

Fork of YOZAKURA_ARM_USB_0427 by sinyuu masahito

main.cpp@10:b506d604d5f9, 2015-04-29 (annotated)

Committer:
yusuke_kyo
Date:
Wed Apr 29 04:07:52 2015 +0000
Revision:
10:b506d604d5f9
Parent:
9:6f3963858d89 
SetGoal add "if"

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yusuke_kyo 0:8822acabe470 1 /*YOZAKURAのアームコード
yusuke_kyo 0:8822acabe470 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 6:6d9dac9ff798 3 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
yusuke_kyo 0:8822acabe470 4 */
yusuke_kyo 0:8822acabe470 5
yusuke_kyo 0:8822acabe470 6 #include "mbed.h"
yusuke_kyo 0:8822acabe470 7
yusuke_kyo 0:8822acabe470 8 Serial pc(USBTX, USBRX); // tx, rx
yusuke_kyo 0:8822acabe470 9 DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4);
yusuke_kyo 0:8822acabe470 10
masasin 8:bbea423c9206 11 struct ArmPacketBits {
masasin 8:bbea423c9206 12 unsigned int mode : 2;
masasin 8:bbea423c9206 13 unsigned int linear : 2;
masasin 8:bbea423c9206 14 unsigned int pitch : 2;
masasin 8:bbea423c9206 15 unsigned int yaw : 2;
masasin 8:bbea423c9206 16 };
masasin 8:bbea423c9206 17
masasin 8:bbea423c9206 18 union ArmPacket {
masasin 8:bbea423c9206 19 struct ArmPacketBits b;
masasin 8:bbea423c9206 20 unsigned char as_byte;
masasin 8:bbea423c9206 21 };
masasin 8:bbea423c9206 22
yusuke_kyo 0:8822acabe470 23 /*--Dynamixel:begin-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 24 #include "AX12.h"
yusuke_kyo 0:8822acabe470 25 #include "MX28.h"
yusuke_kyo 0:8822acabe470 26
yusuke_kyo 5:581b55deaeb1 27 #define DYNA_DEBUG 0
yusuke_kyo 4:d9ea010641ab 28
yusuke_kyo 0:8822acabe470 29 DigitalOut low(p16); DigitalOut RelaySwitch(p18);
yusuke_kyo 0:8822acabe470 30
yusuke_kyo 0:8822acabe470 31 AX12 linear (p13, p14, 0, 1000000); //直動Dynamixel
yusuke_kyo 0:8822acabe470 32 MX28 pitch (p13, p14, 1, 1000000); //ピッチDynamixel
yusuke_kyo 0:8822acabe470 33 MX28 yaw (p13, p14, 2, 1000000); //ヨーDynamixel
yusuke_kyo 0:8822acabe470 34
yusuke_kyo 0:8822acabe470 35 int linear_goal, pitch_goal, yaw_goal;
yusuke_kyo 0:8822acabe470 36
yusuke_kyo 0:8822acabe470 37 //最小値，最大値，角速度，初期値を指定[unit:degree]
yusuke_kyo 0:8822acabe470 38 //MX:MultiTurnモードでは-2520°～2520°(SetGoalの書き換え不要)
yusuke_kyo 0:8822acabe470 39 int linear_min = 100; int linear_MAX = 300; float linear_Speed=0.1; int linear_Init = linear_MAX;
yusuke_kyo 0:8822acabe470 40 int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX;
yusuke_kyo 0:8822acabe470 41 int yaw_min = 360; int yaw_MAX = 360; float yaw_Speed=0.2; int yaw_Init = 0; //MultiTurnモード
yusuke_kyo 0:8822acabe470 42
yusuke_kyo 0:8822acabe470 43 void Dyna_init() {
yusuke_kyo 10:b506d604d5f9 44 if(DYNA_DEBUG) printf("\nDyna_init\n");
yusuke_kyo 0:8822acabe470 45 // low = 0; RelaySwitch = 1;
yusuke_kyo 0:8822acabe470 46 linear.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 47 pitch.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 48 yaw.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 49 linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX);
yusuke_kyo 0:8822acabe470 50 linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init;
yusuke_kyo 0:8822acabe470 51 pitch.SetCWLimit(pitch_min); pitch.SetCCWLimit(pitch_MAX);
yusuke_kyo 0:8822acabe470 52 pitch.SetCRSpeed(pitch_Speed); pitch_goal=pitch_Init;
yusuke_kyo 0:8822acabe470 53 yaw.SetCWLimit(yaw_min); yaw.SetCCWLimit(yaw_MAX);
yusuke_kyo 0:8822acabe470 54 yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init;
yusuke_kyo 0:8822acabe470 55 wait(1);
yusuke_kyo 0:8822acabe470 56 }
yusuke_kyo 0:8822acabe470 57
yusuke_kyo 0:8822acabe470 58 void Dyna_GetData(char* data) {
yusuke_kyo 4:d9ea010641ab 59 if(DYNA_DEBUG) printf("\nDyna_SetData\n");
yusuke_kyo 0:8822acabe470 60 float lP, lV, pP, pC, yP, yC;
yusuke_kyo 0:8822acabe470 61
yusuke_kyo 0:8822acabe470 62 lP = linear.GetPosition(); lV = linear.GetVolts();
yusuke_kyo 0:8822acabe470 63 pP = pitch.GetPosition(); pC = pitch.GetCurrent();
yusuke_kyo 0:8822acabe470 64 yP = yaw.GetPosition(); yC = yaw.GetCurrent();
yusuke_kyo 0:8822acabe470 65
yusuke_kyo 0:8822acabe470 66 linear_goal=lP; pitch_goal=pP; yaw_goal=yP; //現在角度を目標値に設定
yusuke_kyo 6:6d9dac9ff798 67 sprintf(data,"%4.1f %4.1f %4.1f %4.1f %4.1f %4.1f ",lP,pP,yP,lV,pC,yC);
yusuke_kyo 0:8822acabe470 68 }
yusuke_kyo 0:8822acabe470 69
yusuke_kyo 0:8822acabe470 70 void Dyna_SetGoal(int linear_mode, int pitch_mode, int yaw_mode) {
yusuke_kyo 4:d9ea010641ab 71 if(DYNA_DEBUG) printf("\nDyna_SetGoal\n");
yusuke_kyo 0:8822acabe470 72 switch(linear_mode){
yusuke_kyo 0:8822acabe470 73 case 0: break;
masasin 9:6f3963858d89 74 case 1: linear.SetTorqueLimit(1); linear_goal-=10; break;
masasin 9:6f3963858d89 75 case 2: linear.SetTorqueLimit(1); linear_goal+=20; break;
yusuke_kyo 0:8822acabe470 76 }
yusuke_kyo 10:b506d604d5f9 77 if(linear_mode!=0){
yusuke_kyo 10:b506d604d5f9 78 if(linear_goal<linear_min) linear_goal=linear_min;
yusuke_kyo 10:b506d604d5f9 79 if(linear_goal>linear_MAX) linear_goal=linear_MAX;
yusuke_kyo 10:b506d604d5f9 80 linear.SetGoal(linear_goal);
yusuke_kyo 10:b506d604d5f9 81 }
yusuke_kyo 0:8822acabe470 82
yusuke_kyo 0:8822acabe470 83 switch(pitch_mode){
yusuke_kyo 0:8822acabe470 84 case 0: break;
yusuke_kyo 10:b506d604d5f9 85 case 1: pitch.SetTorqueLimit(1); pitch_goal-=10; break;
yusuke_kyo 10:b506d604d5f9 86 case 2: pitch.SetTorqueLimit(1); pitch_goal+=10; break;
yusuke_kyo 10:b506d604d5f9 87 }
yusuke_kyo 10:b506d604d5f9 88 if(pitch_mode!=0){
yusuke_kyo 10:b506d604d5f9 89 if(pitch_goal<pitch_min) pitch_goal=pitch_min;
yusuke_kyo 10:b506d604d5f9 90 if(pitch_goal>pitch_MAX) pitch_goal=pitch_MAX;
yusuke_kyo 10:b506d604d5f9 91 pitch.SetGoal(pitch_goal);
yusuke_kyo 10:b506d604d5f9 92 }
yusuke_kyo 0:8822acabe470 93
yusuke_kyo 0:8822acabe470 94 switch(yaw_mode){
yusuke_kyo 0:8822acabe470 95 case 0: break;
masasin 9:6f3963858d89 96 case 1: yaw_goal-=10; break;
masasin 9:6f3963858d89 97 case 2: yaw_goal+=10; break;
yusuke_kyo 0:8822acabe470 98 }
yusuke_kyo 10:b506d604d5f9 99 if(yaw_mode!=0){
yusuke_kyo 10:b506d604d5f9 100 if(yaw_goal<-2520) yaw_goal=-2520;
yusuke_kyo 10:b506d604d5f9 101 if(yaw_goal>2520) yaw_goal=2520;
yusuke_kyo 10:b506d604d5f9 102 yaw.SetGoal(yaw_goal);
yusuke_kyo 10:b506d604d5f9 103 }
yusuke_kyo 0:8822acabe470 104 }
yusuke_kyo 0:8822acabe470 105
yusuke_kyo 0:8822acabe470 106 void Dyna_home_position() {
yusuke_kyo 4:d9ea010641ab 107 if(DYNA_DEBUG) printf("\nDyna_home_position\n");
yusuke_kyo 0:8822acabe470 108 linear.SetTorqueLimit(1);
yusuke_kyo 0:8822acabe470 109 pitch.SetTorqueLimit(1);
yusuke_kyo 0:8822acabe470 110 yaw.SetTorqueLimit(1);
yusuke_kyo 0:8822acabe470 111 float lp;
yusuke_kyo 0:8822acabe470 112 linear.SetGoal(linear_Init);
yusuke_kyo 0:8822acabe470 113 lp=linear.GetPosition();
yusuke_kyo 0:8822acabe470 114 if(lp > linear_MAX - 30) { //ある程度縮んだら
yusuke_kyo 0:8822acabe470 115 pitch.SetGoal(pitch_Init);
yusuke_kyo 0:8822acabe470 116 yaw.SetGoal(yaw_Init);
yusuke_kyo 0:8822acabe470 117 }
yusuke_kyo 0:8822acabe470 118 }
yusuke_kyo 0:8822acabe470 119
yusuke_kyo 0:8822acabe470 120 void Dyna_reset() {
yusuke_kyo 4:d9ea010641ab 121 if(DYNA_DEBUG) printf("\nDyna_reset\n");
yusuke_kyo 0:8822acabe470 122 // RelaySwitch = 0;
yusuke_kyo 0:8822acabe470 123 linear.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 124 pitch.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 125 yaw.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 126
yusuke_kyo 4:d9ea010641ab 127 wait(1);
yusuke_kyo 0:8822acabe470 128
yusuke_kyo 0:8822acabe470 129 // RelaySwitch = 1;
yusuke_kyo 0:8822acabe470 130 linear.SetTorqueLimit(1);
yusuke_kyo 0:8822acabe470 131 pitch.SetTorqueLimit(1);
yusuke_kyo 0:8822acabe470 132 yaw.SetTorqueLimit(1);
yusuke_kyo 0:8822acabe470 133 }
yusuke_kyo 0:8822acabe470 134
yusuke_kyo 0:8822acabe470 135 void Dyna_end() {
yusuke_kyo 4:d9ea010641ab 136 if(DYNA_DEBUG) printf("\nDyna_end\n");
yusuke_kyo 0:8822acabe470 137 // RelaySwitch = 0;
yusuke_kyo 0:8822acabe470 138 linear.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 139 pitch.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 140 yaw.SetTorqueLimit(0);
yusuke_kyo 0:8822acabe470 141 }
yusuke_kyo 0:8822acabe470 142 /*--Dynamixel:end-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 143
yusuke_kyo 0:8822acabe470 144
yusuke_kyo 0:8822acabe470 145 /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 146 /*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
yusuke_kyo 0:8822acabe470 147 /*データシート：http://www.omron.co.jp/ecb/products/sensor/special/mems/pdf/AN-D6T-01JP_r2.pdf*/
yusuke_kyo 0:8822acabe470 148
yusuke_kyo 0:8822acabe470 149 I2C MEMS1(p9, p10); // sda, scl
yusuke_kyo 0:8822acabe470 150 I2C MEMS2(p28, p27); // sda, scl
yusuke_kyo 0:8822acabe470 151
yusuke_kyo 0:8822acabe470 152 #define D6T_addr 0x14
yusuke_kyo 0:8822acabe470 153 #define D6T_cmd 0x4c
yusuke_kyo 0:8822acabe470 154
yusuke_kyo 5:581b55deaeb1 155 #define THERMO_DEBUG 0
yusuke_kyo 3:6a932d0aac7d 156
yusuke_kyo 3:6a932d0aac7d 157 char I2C_rd1[64]; // 生データ
yusuke_kyo 3:6a932d0aac7d 158 short datr1[16]; // 16点 温度データ（10倍整数）
yusuke_kyo 3:6a932d0aac7d 159 short PTAT1; // センサ内部PTAT温度データ（10倍整数）
yusuke_kyo 3:6a932d0aac7d 160 double dt1[16]; // 16点 温度データ
yusuke_kyo 3:6a932d0aac7d 161 double dt1_temp[16];
yusuke_kyo 3:6a932d0aac7d 162 short d_PTAT1; // センサ内部PTAT温度データ
yusuke_kyo 3:6a932d0aac7d 163
yusuke_kyo 3:6a932d0aac7d 164 char I2C_rd2[64]; // 生データ
yusuke_kyo 3:6a932d0aac7d 165 short datr2[16]; // 16点 温度データ（10倍整数）
yusuke_kyo 3:6a932d0aac7d 166 short PTAT2; // センサ内部PTAT温度データ（10倍整数）
yusuke_kyo 3:6a932d0aac7d 167 double dt2[16]; // 16点 温度データ
yusuke_kyo 3:6a932d0aac7d 168 double dt2_temp[16];
yusuke_kyo 3:6a932d0aac7d 169 short d_PTAT2; // センサ内部PTAT温度データ
yusuke_kyo 0:8822acabe470 170
yusuke_kyo 0:8822acabe470 171 void GetThermo(char* data) {
yusuke_kyo 3:6a932d0aac7d 172 char con[6];
yusuke_kyo 3:6a932d0aac7d 173 sprintf(data,"");
yusuke_kyo 0:8822acabe470 174
yusuke_kyo 0:8822acabe470 175 /*MEMS1*/
yusuke_kyo 0:8822acabe470 176 int i,j;
yusuke_kyo 0:8822acabe470 177 int itemp;
yusuke_kyo 0:8822acabe470 178
yusuke_kyo 0:8822acabe470 179 //// measure
yusuke_kyo 0:8822acabe470 180 MEMS1.start();
yusuke_kyo 0:8822acabe470 181 MEMS1.write(D6T_addr);
yusuke_kyo 0:8822acabe470 182 MEMS1.write(D6T_cmd);
yusuke_kyo 0:8822acabe470 183 // Repeated Start condition
yusuke_kyo 0:8822acabe470 184 MEMS1.read(D6T_addr,I2C_rd1,35);
yusuke_kyo 0:8822acabe470 185 // if(check_PEC(I2C_rd) == -1) continue; // error
yusuke_kyo 0:8822acabe470 186 for(i=0,j=0;i<17;i++){
yusuke_kyo 0:8822acabe470 187 itemp = (I2C_rd1[j++] & 0xff);
yusuke_kyo 0:8822acabe470 188 itemp += I2C_rd1[j++] * 256;
yusuke_kyo 0:8822acabe470 189 if(i == 0) PTAT1 = itemp;
yusuke_kyo 0:8822acabe470 190 else datr1[i-1] = itemp;
yusuke_kyo 0:8822acabe470 191 }
yusuke_kyo 0:8822acabe470 192 for(i=0;i<16;i++){
yusuke_kyo 0:8822acabe470 193 dt1[i] = 0.1 * datr1[i];
yusuke_kyo 0:8822acabe470 194 }
yusuke_kyo 0:8822acabe470 195 for(int i=0;i<16;i++){
yusuke_kyo 3:6a932d0aac7d 196 if(dt1[i]<50 && dt1[i]>5) {
yusuke_kyo 3:6a932d0aac7d 197 sprintf(con,"%3.1f ",dt1[i]);
yusuke_kyo 3:6a932d0aac7d 198 dt1_temp[i]=dt1[i];
yusuke_kyo 3:6a932d0aac7d 199 }
yusuke_kyo 3:6a932d0aac7d 200 else sprintf(con,"%3.1f ",dt1_temp[i]);
yusuke_kyo 0:8822acabe470 201 strcat(data,con);
yusuke_kyo 0:8822acabe470 202 }
yusuke_kyo 2:f0efe1d10f8a 203 if(THERMO_DEBUG){
yusuke_kyo 3:6a932d0aac7d 204 printf("\nThermal_Sensor 1");
yusuke_kyo 2:f0efe1d10f8a 205 for(i=0;i<16;i++){
yusuke_kyo 2:f0efe1d10f8a 206 if(i%4==0) printf("\n");
yusuke_kyo 2:f0efe1d10f8a 207 printf("%3.1f ",dt1[i]);
yusuke_kyo 2:f0efe1d10f8a 208 } printf("\n");
yusuke_kyo 2:f0efe1d10f8a 209 }
yusuke_kyo 0:8822acabe470 210 d_PTAT1 = 0.1 * PTAT1;
yusuke_kyo 7:58eb1e1e9143 211 // wait(0.1);
yusuke_kyo 0:8822acabe470 212 /*MEMS1*/
yusuke_kyo 0:8822acabe470 213
yusuke_kyo 3:6a932d0aac7d 214 /*MEMS2*/
yusuke_kyo 0:8822acabe470 215 //// measure
yusuke_kyo 0:8822acabe470 216 MEMS2.start();
yusuke_kyo 0:8822acabe470 217 MEMS2.write(D6T_addr);
yusuke_kyo 0:8822acabe470 218 MEMS2.write(D6T_cmd);
yusuke_kyo 0:8822acabe470 219 // Repeated Start condition
yusuke_kyo 0:8822acabe470 220 MEMS2.read(D6T_addr,I2C_rd2,35);
yusuke_kyo 0:8822acabe470 221 // if(check_PEC(I2C_rd) == -1) continue; // error
yusuke_kyo 0:8822acabe470 222 for(i=0,j=0;i<17;i++){
yusuke_kyo 0:8822acabe470 223 itemp = (I2C_rd2[j++] & 0xff);
yusuke_kyo 0:8822acabe470 224 itemp += I2C_rd2[j++] * 256;
yusuke_kyo 0:8822acabe470 225 if(i == 0) PTAT2 = itemp;
yusuke_kyo 0:8822acabe470 226 else datr2[i-1] = itemp;
yusuke_kyo 0:8822acabe470 227 }
yusuke_kyo 0:8822acabe470 228 for(i=0;i<16;i++){
yusuke_kyo 0:8822acabe470 229 dt2[i] = 0.1 * datr2[i];
yusuke_kyo 0:8822acabe470 230 }
yusuke_kyo 0:8822acabe470 231 for(int i=0;i<16;i++){
yusuke_kyo 10:b506d604d5f9 232 if(dt2[i]<50 && dt2[i]>5) {
yusuke_kyo 3:6a932d0aac7d 233 sprintf(con,"%3.1f ",dt2[i]);
yusuke_kyo 3:6a932d0aac7d 234 dt2_temp[i]=dt2[i];
yusuke_kyo 3:6a932d0aac7d 235 }
yusuke_kyo 3:6a932d0aac7d 236 else sprintf(con,"%3.1f ",dt2_temp[i]);
yusuke_kyo 0:8822acabe470 237 strcat(data,con);
yusuke_kyo 0:8822acabe470 238 }
yusuke_kyo 2:f0efe1d10f8a 239 if(THERMO_DEBUG){
yusuke_kyo 3:6a932d0aac7d 240 printf("\nThermal_Sensor 2");
yusuke_kyo 2:f0efe1d10f8a 241 for(i=0;i<16;i++){
yusuke_kyo 2:f0efe1d10f8a 242 if(i%4==0) printf("\n");
yusuke_kyo 2:f0efe1d10f8a 243 printf("%3.1f ",dt2[i]);
yusuke_kyo 2:f0efe1d10f8a 244 } printf("\n");
yusuke_kyo 2:f0efe1d10f8a 245 }
yusuke_kyo 0:8822acabe470 246 d_PTAT2 = 0.1 * PTAT2;
yusuke_kyo 7:58eb1e1e9143 247 // wait(0.1);
yusuke_kyo 0:8822acabe470 248 /*MEMS2*/
yusuke_kyo 0:8822acabe470 249 }
yusuke_kyo 0:8822acabe470 250 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 251
yusuke_kyo 0:8822acabe470 252 /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 253 /*CO2センサモジュール：A051020-AQ6B-01*/
yusuke_kyo 0:8822acabe470 254 /*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
yusuke_kyo 0:8822acabe470 255 /*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 0:8822acabe470 256 #include "mbed.h"
yusuke_kyo 0:8822acabe470 257
yusuke_kyo 10:b506d604d5f9 258 AnalogIn ain(p17);
yusuke_kyo 0:8822acabe470 259
yusuke_kyo 5:581b55deaeb1 260 #define CO2_DEBUG 0
yusuke_kyo 0:8822acabe470 261
yusuke_kyo 0:8822acabe470 262 float GetCO2() {
yusuke_kyo 0:8822acabe470 263 float v; //生データ：電圧
yusuke_kyo 0:8822acabe470 264 float sensor_v,CO2;
yusuke_kyo 0:8822acabe470 265
yusuke_kyo 0:8822acabe470 266 v = ain.read()*3.3;
yusuke_kyo 0:8822acabe470 267 sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
yusuke_kyo 0:8822acabe470 268 CO2 = sensor_v * 1000 + 400; //データシートより
yusuke_kyo 0:8822acabe470 269
yusuke_kyo 0:8822acabe470 270 if(CO2_DEBUG) printf("\nCO2:%4.1f\n",CO2);
yusuke_kyo 0:8822acabe470 271
yusuke_kyo 0:8822acabe470 272 return(CO2);
yusuke_kyo 0:8822acabe470 273 }
yusuke_kyo 0:8822acabe470 274 /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 275
yusuke_kyo 0:8822acabe470 276
yusuke_kyo 0:8822acabe470 277 /*---------------
masasin 8:bbea423c9206 278 MAIN LOOP
yusuke_kyo 0:8822acabe470 279 ----------------*/
yusuke_kyo 5:581b55deaeb1 280 #define DEBUG 0
yusuke_kyo 0:8822acabe470 281
yusuke_kyo 0:8822acabe470 282 int main() {
masasin 8:bbea423c9206 283 myled1=1; myled2=1; myled3=1; myled4=1;
yusuke_kyo 7:58eb1e1e9143 284 pc.baud(38400);
yusuke_kyo 7:58eb1e1e9143 285
yusuke_kyo 3:6a932d0aac7d 286 char Dyna_data[50];
yusuke_kyo 3:6a932d0aac7d 287 char Thermo_data[200];
yusuke_kyo 10:b506d604d5f9 288 float CO2_data;
yusuke_kyo 0:8822acabe470 289
masasin 8:bbea423c9206 290 myled1=1; myled2=1; myled3=0; myled4=0;
yusuke_kyo 0:8822acabe470 291 Dyna_init();
yusuke_kyo 10:b506d604d5f9 292 // Dyna_home_position();
yusuke_kyo 10:b506d604d5f9 293 // wait(2);
yusuke_kyo 10:b506d604d5f9 294 // Dyna_home_position();
yusuke_kyo 10:b506d604d5f9 295 // wait(2);
masasin 8:bbea423c9206 296 myled1=0; myled2=0; myled3=1; myled4=0;
yusuke_kyo 0:8822acabe470 297
masasin 8:bbea423c9206 298 union ArmPacket Read_data;
masasin 8:bbea423c9206 299
yusuke_kyo 3:6a932d0aac7d 300 char Send_data[250];
masasin 8:bbea423c9206 301 //int Read_data;
yusuke_kyo 0:8822acabe470 302 int Joy_mode, linear_mode, pitch_mode, yaw_mode;
yusuke_kyo 0:8822acabe470 303
yusuke_kyo 0:8822acabe470 304 while(1) {
masasin 8:bbea423c9206 305 //Read_data=pc.getc();
masasin 8:bbea423c9206 306 Read_data.as_byte=pc.getc();
yusuke_kyo 0:8822acabe470 307 wait_ms(1);
masasin 8:bbea423c9206 308 if(Read_data.as_byte == 7) {printf("arm\n"); continue;}
masasin 8:bbea423c9206 309 //Joy_mode = Read_data & 0x03; //ジョイスティックのモード判定
masasin 8:bbea423c9206 310 Joy_mode = Read_data.b.mode; //ジョイスティックのモード判定
yusuke_kyo 4:d9ea010641ab 311 if(DEBUG) printf("Joy_mode : %d\n",Joy_mode);
yusuke_kyo 10:b506d604d5f9 312
yusuke_kyo 0:8822acabe470 313 switch(Joy_mode){
yusuke_kyo 0:8822acabe470 314 case 0: //通常モード
yusuke_kyo 0:8822acabe470 315 myled1=0; myled2=0; myled3=0; myled4=0;
yusuke_kyo 0:8822acabe470 316 /*--Dynamixel:begin---------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 317 //Dynamixelへの命令を判定
masasin 8:bbea423c9206 318 //linear_mode = Read_data & 0xc0; linear_mode = linear_mode >> 6; if(DEBUG) printf("linear_mode : %d\n",linear_mode);
masasin 8:bbea423c9206 319 // pitch_mode = Read_data & 0x30; pitch_mode = pitch_mode >> 4; if(DEBUG) printf("pitch_mode : %d\n",pitch_mode);
masasin 8:bbea423c9206 320 // yaw_mode = Read_data & 0x0c; yaw_mode = yaw_mode >> 2; if(DEBUG) printf("yaw_mode : %d\n",yaw_mode);
masasin 8:bbea423c9206 321 linear_mode = Read_data.b.linear;
masasin 8:bbea423c9206 322 pitch_mode = Read_data.b.pitch;
masasin 8:bbea423c9206 323 yaw_mode = Read_data.b.yaw;
yusuke_kyo 0:8822acabe470 324
yusuke_kyo 0:8822acabe470 325 //目標角度を変更
yusuke_kyo 0:8822acabe470 326 myled2=1;
yusuke_kyo 0:8822acabe470 327 Dyna_SetGoal(linear_mode, pitch_mode, yaw_mode);
yusuke_kyo 0:8822acabe470 328 myled2=0;
masasin 8:bbea423c9206 329 /*--Dynamixel:end------------------------------------------------------------------*/
masasin 8:bbea423c9206 330 break;
masasin 8:bbea423c9206 331
masasin 8:bbea423c9206 332 case 1: //ホームポジション
masasin 8:bbea423c9206 333 myled1=1; myled2=0; myled3=0; myled4=1; Dyna_home_position(); break;
masasin 8:bbea423c9206 334
masasin 8:bbea423c9206 335 case 2: //リセット
masasin 8:bbea423c9206 336 myled1=0; myled2=1; myled3=1; myled4=0; Dyna_reset(); break;
masasin 8:bbea423c9206 337
masasin 8:bbea423c9206 338 case 3: //終了
masasin 8:bbea423c9206 339 myled1=1; myled2=1; myled3=1; myled4=1; Dyna_end(); break;
masasin 8:bbea423c9206 340 }
yusuke_kyo 10:b506d604d5f9 341
yusuke_kyo 0:8822acabe470 342 /*--Thermal_Sensor:begin-----------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 343 //値を取得
yusuke_kyo 0:8822acabe470 344 myled3=1;
yusuke_kyo 0:8822acabe470 345 GetThermo(Thermo_data);
yusuke_kyo 0:8822acabe470 346 /*--Thermal_Sensor:end-------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 347
yusuke_kyo 0:8822acabe470 348 /*--CO2_Sensor:begin---------------------------------------------------------------*/
yusuke_kyo 0:8822acabe470 349 //値を取得
yusuke_kyo 0:8822acabe470 350 CO2_data=GetCO2();
yusuke_kyo 0:8822acabe470 351 myled3=0;
yusuke_kyo 0:8822acabe470 352 /*--CO2_Sensor:end-----------------------------------------------------------------*/
yusuke_kyo 10:b506d604d5f9 353
yusuke_kyo 10:b506d604d5f9 354 //現在の角度・電圧・電流を取得
yusuke_kyo 10:b506d604d5f9 355 myled1=1;
yusuke_kyo 10:b506d604d5f9 356 Dyna_GetData(Dyna_data);
yusuke_kyo 10:b506d604d5f9 357 myled1=0;
yusuke_kyo 0:8822acabe470 358
yusuke_kyo 0:8822acabe470 359 //値を送信
yusuke_kyo 0:8822acabe470 360 myled4=1;
yusuke_kyo 4:d9ea010641ab 361 sprintf(Send_data,"%s%s%4.1f",Dyna_data,Thermo_data,CO2_data);
yusuke_kyo 6:6d9dac9ff798 362 pc.printf("%s\n",Send_data);
masasin 8:bbea423c9206 363 myled4=0;
yusuke_kyo 0:8822acabe470 364 }
yusuke_kyo 4:d9ea010641ab 365 }
yusuke_kyo 4:d9ea010641ab 366
yusuke_kyo 4:d9ea010641ab 367 /* CoolTermのSend stringを使う場合 Hex : 16進数で値を送信可能 なので
yusuke_kyo 4:d9ea010641ab 368 home_position 40
yusuke_kyo 4:d9ea010641ab 369 reset 80
yusuke_kyo 4:d9ea010641ab 370 end c0
yusuke_kyo 4:d9ea010641ab 371 */