雄介 太田 / Mbed 2 deprecated YOZAKURA_ARM_USB_Keyboard

control YOZAKURA ARM with keyboard

Dependencies:   Dynamixel MEMS_Thermal_Sensor SerialHalfDuplex mbed

main.cpp@3:7a30251664f0, 2015-04-24 (annotated)

Committer:
yusuke_kyo
Date:
Fri Apr 24 03:21:58 2015 +0000
Revision:
3:7a30251664f0
Parent:
2:b46156a5c6a5 
uparrow,downarrow,rightarrow

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yusuke_kyo 0:009877004633 1 /*YOZAKURAのアームコード
yusuke_kyo 0:009877004633 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 0:009877004633 3 シリアル通信で受け取るデータ　R_Data=｛mode[2bit],linear_ref[2bit],pitch_ref[2bit],yaw_ref[2bit]} 計1byte
yusuke_kyo 0:009877004633 4 */
yusuke_kyo 0:009877004633 5
yusuke_kyo 0:009877004633 6 #include "mbed.h"
yusuke_kyo 0:009877004633 7
yusuke_kyo 0:009877004633 8 Serial pc(USBTX, USBRX); // tx, rx
yusuke_kyo 0:009877004633 9 DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4);
yusuke_kyo 0:009877004633 10
yusuke_kyo 0:009877004633 11 /*--Dynamixel:begin-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:009877004633 12 #include "AX12.h"
yusuke_kyo 0:009877004633 13 #include "MX28.h"
yusuke_kyo 0:009877004633 14
yusuke_kyo 0:009877004633 15 DigitalOut low(p16); DigitalOut RelaySwitch(p18);
yusuke_kyo 0:009877004633 16
yusuke_kyo 0:009877004633 17 AX12 linear (p13, p14, 0, 1000000); //直動Dynamixel
yusuke_kyo 0:009877004633 18 MX28 pitch (p13, p14, 1, 1000000); //ピッチDynamixel
yusuke_kyo 0:009877004633 19 MX28 yaw (p13, p14, 2, 1000000); //ヨーDynamixel
yusuke_kyo 0:009877004633 20
yusuke_kyo 0:009877004633 21 int linear_goal, pitch_goal, yaw_goal;
yusuke_kyo 0:009877004633 22
yusuke_kyo 0:009877004633 23 //最小値，最大値，角速度，初期値を指定[unit:degree]
yusuke_kyo 0:009877004633 24 //MX:MultiTurnモードでは-2520°～2520°(SetGoalの書き換え不要)
yusuke_kyo 0:009877004633 25 int linear_min = 100; int linear_MAX = 300; float linear_Speed=0.1; int linear_Init = linear_MAX;
yusuke_kyo 0:009877004633 26 int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX;
yusuke_kyo 0:009877004633 27 int yaw_min = 360; int yaw_MAX = 360; float yaw_Speed=0.2; int yaw_Init = 0; //MultiTurnモード
yusuke_kyo 0:009877004633 28
yusuke_kyo 0:009877004633 29 void Dyna_init() {
yusuke_kyo 0:009877004633 30 low = 0; RelaySwitch = 1;
yusuke_kyo 0:009877004633 31 linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX);
yusuke_kyo 0:009877004633 32 linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init; linear.SetGoal(linear_Init);
yusuke_kyo 0:009877004633 33 pitch.SetCWLimit(pitch_min); pitch.SetCCWLimit(pitch_MAX);
yusuke_kyo 0:009877004633 34 pitch.SetCRSpeed(pitch_Speed); pitch_goal=linear_Init; pitch.SetGoal(pitch_Init);
yusuke_kyo 0:009877004633 35 yaw.SetCWLimit(yaw_min); yaw.SetCCWLimit(yaw_MAX);
yusuke_kyo 0:009877004633 36 yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init; yaw.SetGoal(yaw_Init);
yusuke_kyo 0:009877004633 37 wait(1);
yusuke_kyo 0:009877004633 38 }
yusuke_kyo 0:009877004633 39
yusuke_kyo 0:009877004633 40 void Dyna_GetData(char* data) {
yusuke_kyo 0:009877004633 41 float lP, lV, pP, pC, yP, yC;
yusuke_kyo 0:009877004633 42
yusuke_kyo 0:009877004633 43 lP = linear.GetPosition(); lV = linear.GetVolts();
yusuke_kyo 0:009877004633 44 pP = pitch.GetPosition(); pC = pitch.GetCurrent();
yusuke_kyo 0:009877004633 45 yP = yaw.GetPosition(); yC = yaw.GetCurrent();
yusuke_kyo 0:009877004633 46
yusuke_kyo 0:009877004633 47 linear_goal=lP; pitch_goal=pP; yaw_goal=yP; //現在角度を目標値に設定
yusuke_kyo 3:7a30251664f0 48 printf("linearPosition : %4.1f[degree]\n",lP); printf("Voltage : %4.1f[V]\n",lV);
yusuke_kyo 3:7a30251664f0 49 printf("pitchPosition : %4.1f[degree]\n",pP); printf("pitchCurrent : %4.1f[A]\n",pC);
yusuke_kyo 3:7a30251664f0 50 printf("yawPosition : %4.1f[degree]\n",yP); printf("yawCurrent : %4.1f[A]\n",yC);
yusuke_kyo 3:7a30251664f0 51 sprintf(data,"%4.1f %4.1f %4.1f %4.1f %4.1f %4.1f ",lP,lV,pP,pC,yP,yC);
yusuke_kyo 0:009877004633 52 }
yusuke_kyo 0:009877004633 53
yusuke_kyo 0:009877004633 54 void Dyna_SetGoal(int linear_mode, int pitch_mode, int yaw_mode) {
yusuke_kyo 0:009877004633 55 switch(linear_mode){
yusuke_kyo 3:7a30251664f0 56 case 29: break;
yusuke_kyo 3:7a30251664f0 57 case 30: linear.SetTorqueLimit(1); linear_goal+=5; break;
yusuke_kyo 3:7a30251664f0 58 case 31: linear.SetTorqueLimit(1); linear_goal-=5; break;
yusuke_kyo 0:009877004633 59 }
yusuke_kyo 0:009877004633 60 linear.SetGoal(linear_goal);
yusuke_kyo 0:009877004633 61
yusuke_kyo 0:009877004633 62 switch(pitch_mode){
yusuke_kyo 3:7a30251664f0 63 case 29: break;
yusuke_kyo 3:7a30251664f0 64 case 30: pitch_goal+=5; break;
yusuke_kyo 3:7a30251664f0 65 case 31: pitch_goal-=5; break;
yusuke_kyo 0:009877004633 66 }
yusuke_kyo 0:009877004633 67 pitch.SetGoal(pitch_goal);
yusuke_kyo 0:009877004633 68
yusuke_kyo 0:009877004633 69 switch(yaw_mode){
yusuke_kyo 3:7a30251664f0 70 case 29: break;
yusuke_kyo 3:7a30251664f0 71 case 30: yaw_goal+=5; break;
yusuke_kyo 3:7a30251664f0 72 case 31: yaw_goal-=5; break;
yusuke_kyo 0:009877004633 73 }
yusuke_kyo 0:009877004633 74 yaw.SetGoal(yaw_goal);
yusuke_kyo 0:009877004633 75 }
yusuke_kyo 0:009877004633 76 /*--Dynamixel:end-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:009877004633 77
yusuke_kyo 0:009877004633 78
yusuke_kyo 0:009877004633 79 /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
yusuke_kyo 0:009877004633 80 /*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
yusuke_kyo 0:009877004633 81 /*データシート：http://www.omron.co.jp/ecb/products/sensor/special/mems/pdf/AN-D6T-01JP_r2.pdf*/
yusuke_kyo 0:009877004633 82 #include "MEMS.h"
yusuke_kyo 0:009877004633 83
yusuke_kyo 0:009877004633 84 MEMS MEMS1(p9, p10); // sda, scl
yusuke_kyo 0:009877004633 85 MEMS MEMS2(p28, p27); // sda, scl
yusuke_kyo 0:009877004633 86
yusuke_kyo 0:009877004633 87 #define THERMO_DEBUG 1
yusuke_kyo 0:009877004633 88
yusuke_kyo 0:009877004633 89 void GetThermo(char* data) {
yusuke_kyo 0:009877004633 90 float ThD1[16], ThD2[16];
yusuke_kyo 0:009877004633 91 char con[10];
yusuke_kyo 0:009877004633 92
yusuke_kyo 0:009877004633 93 MEMS1.temp(ThD1);
yusuke_kyo 0:009877004633 94 MEMS2.temp(ThD2);
yusuke_kyo 0:009877004633 95
yusuke_kyo 0:009877004633 96 for(int i=0;i<16;i++){
yusuke_kyo 0:009877004633 97 sprintf(con,"%3.1f ",ThD1[i]);
yusuke_kyo 0:009877004633 98 strcat(data,con);
yusuke_kyo 0:009877004633 99 }
yusuke_kyo 0:009877004633 100
yusuke_kyo 0:009877004633 101 if(THERMO_DEBUG) {
yusuke_kyo 0:009877004633 102 printf("\nThermalSensor1\n");
yusuke_kyo 0:009877004633 103 for(int i=0;i<16;i++){
yusuke_kyo 0:009877004633 104 if(i%4==0) printf("\n");
yusuke_kyo 0:009877004633 105 printf("%3.1f ",ThD1[i]);
yusuke_kyo 0:009877004633 106 }
yusuke_kyo 3:7a30251664f0 107 printf("\n");
yusuke_kyo 0:009877004633 108 }
yusuke_kyo 0:009877004633 109
yusuke_kyo 0:009877004633 110 for(int i=0;i<16;i++){
yusuke_kyo 0:009877004633 111 sprintf(con,"%3.1f ",ThD2[i]);
yusuke_kyo 0:009877004633 112 strcat(data,con);
yusuke_kyo 0:009877004633 113 }
yusuke_kyo 0:009877004633 114
yusuke_kyo 0:009877004633 115 if(THERMO_DEBUG) {
yusuke_kyo 0:009877004633 116 printf("\nThermalSensor2\n");
yusuke_kyo 0:009877004633 117 for(int i=0;i<16;i++){
yusuke_kyo 0:009877004633 118 if(i%4==0) printf("\n");
yusuke_kyo 0:009877004633 119 printf("%3.1f ",ThD2[i]);
yusuke_kyo 0:009877004633 120 }
yusuke_kyo 3:7a30251664f0 121 printf("\n");
yusuke_kyo 0:009877004633 122 }
yusuke_kyo 0:009877004633 123 }
yusuke_kyo 0:009877004633 124 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
yusuke_kyo 0:009877004633 125
yusuke_kyo 0:009877004633 126
yusuke_kyo 0:009877004633 127 /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
yusuke_kyo 0:009877004633 128 /*CO2センサモジュール：A051020-AQ6B-01*/
yusuke_kyo 0:009877004633 129 /*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
yusuke_kyo 0:009877004633 130 /*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 0:009877004633 131 #include "mbed.h"
yusuke_kyo 0:009877004633 132
yusuke_kyo 0:009877004633 133 AnalogIn ain(p20);
yusuke_kyo 0:009877004633 134
yusuke_kyo 0:009877004633 135 #define CO2_DEBUG 0
yusuke_kyo 0:009877004633 136
yusuke_kyo 0:009877004633 137 float GetCO2() {
yusuke_kyo 0:009877004633 138 float v; //生データ：電圧
yusuke_kyo 0:009877004633 139 float sensor_v,CO2;
yusuke_kyo 0:009877004633 140
yusuke_kyo 0:009877004633 141 v = ain.read()*3.3;
yusuke_kyo 0:009877004633 142 sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
yusuke_kyo 0:009877004633 143 CO2 = sensor_v * 1000 + 400; //データシートより
yusuke_kyo 0:009877004633 144
yusuke_kyo 3:7a30251664f0 145 if(CO2_DEBUG) printf("\nCO2:%4f\n",CO2);
yusuke_kyo 0:009877004633 146
yusuke_kyo 0:009877004633 147 return(CO2);
yusuke_kyo 0:009877004633 148 }
yusuke_kyo 0:009877004633 149 /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
yusuke_kyo 0:009877004633 150
yusuke_kyo 0:009877004633 151
yusuke_kyo 0:009877004633 152 /*---------------
yusuke_kyo 0:009877004633 153 MAIN ROOP
yusuke_kyo 0:009877004633 154 ----------------*/
yusuke_kyo 0:009877004633 155 int main() {
yusuke_kyo 0:009877004633 156 char Dyna_data[100];
yusuke_kyo 0:009877004633 157 char Thermo_data[100];
yusuke_kyo 0:009877004633 158 float CO2_data;
yusuke_kyo 0:009877004633 159
yusuke_kyo 0:009877004633 160 Dyna_init();
yusuke_kyo 0:009877004633 161
yusuke_kyo 0:009877004633 162 char Send_data[200];
yusuke_kyo 0:009877004633 163 int Read_data;
yusuke_kyo 0:009877004633 164 int Joy_mode, linear_mode, pitch_mode, yaw_mode;
yusuke_kyo 0:009877004633 165
yusuke_kyo 0:009877004633 166 while(1) {
yusuke_kyo 0:009877004633 167
yusuke_kyo 0:009877004633 168 /*--Dynamixel:begin---------------------------------------------------------------*/
yusuke_kyo 0:009877004633 169 // //Dynamixelへの命令を判定
yusuke_kyo 0:009877004633 170 // linear_mode = R_data & 0x0c; linear_mode = linear_mode >> 2;
yusuke_kyo 0:009877004633 171 // pitch_mode = R_data & 0x30; pitch_mode = pitch_mode >> 4;
yusuke_kyo 0:009877004633 172 // yaw_mode = R_data & 0xc0; yaw_mode = yaw_mode >> 6;
yusuke_kyo 0:009877004633 173
yusuke_kyo 0:009877004633 174 //現在の角度・電圧・電流を取得
yusuke_kyo 0:009877004633 175 myled1=1;
yusuke_kyo 0:009877004633 176 Dyna_GetData(Dyna_data);
yusuke_kyo 1:604074771dbc 177 printf("%s\n",Dyna_data);
yusuke_kyo 0:009877004633 178 myled1=0;
yusuke_kyo 0:009877004633 179
yusuke_kyo 3:7a30251664f0 180 printf("linear_mode : ");
yusuke_kyo 0:009877004633 181 linear_mode=pc.getc();
yusuke_kyo 3:7a30251664f0 182 printf("%d\n",linear_mode);
yusuke_kyo 3:7a30251664f0 183 printf("pitch_mode : ");
yusuke_kyo 0:009877004633 184 pitch_mode=pc.getc();
yusuke_kyo 3:7a30251664f0 185 printf("%d\n",pitch_mode);
yusuke_kyo 3:7a30251664f0 186 printf("yaw_mode : ");
yusuke_kyo 0:009877004633 187 yaw_mode=pc.getc();
yusuke_kyo 3:7a30251664f0 188 printf("%d\n",yaw_mode);
yusuke_kyo 0:009877004633 189
yusuke_kyo 0:009877004633 190 //目標角度を変更
yusuke_kyo 0:009877004633 191 myled2=1;
yusuke_kyo 0:009877004633 192 Dyna_SetGoal(linear_mode, pitch_mode, yaw_mode);
yusuke_kyo 0:009877004633 193 myled2=0;
yusuke_kyo 0:009877004633 194 /*--Dynamixel:end------------------------------------------------------------------*/
yusuke_kyo 0:009877004633 195
yusuke_kyo 3:7a30251664f0 196 // /*--Thermal_Sensor:begin-----------------------------------------------------------*/
yusuke_kyo 3:7a30251664f0 197 // //値を取得
yusuke_kyo 3:7a30251664f0 198 // myled3=1;
yusuke_kyo 3:7a30251664f0 199 // GetThermo(Thermo_data);
yusuke_kyo 3:7a30251664f0 200 // /*--Thermal_Sensor:end-------------------------------------------------------------*/
yusuke_kyo 3:7a30251664f0 201 //
yusuke_kyo 3:7a30251664f0 202 // /*--CO2_Sensor:begin---------------------------------------------------------------*/
yusuke_kyo 3:7a30251664f0 203 // //値を取得
yusuke_kyo 3:7a30251664f0 204 // CO2_data=GetCO2();
yusuke_kyo 3:7a30251664f0 205 // myled3=0;
yusuke_kyo 3:7a30251664f0 206 // /*--CO2_Sensor:end-----------------------------------------------------------------*/
yusuke_kyo 3:7a30251664f0 207 //
yusuke_kyo 3:7a30251664f0 208 // //値を送信
yusuke_kyo 3:7a30251664f0 209 // myled4=1;
yusuke_kyo 3:7a30251664f0 210 // sprintf(Send_data,"%s%s%f",Dyna_data,Thermo_data,CO2_data);
yusuke_kyo 3:7a30251664f0 211 // printf("\n%s\n",Send_data);
yusuke_kyo 3:7a30251664f0 212 // myled4=0;
yusuke_kyo 0:009877004633 213
yusuke_kyo 0:009877004633 214 }
yusuke_kyo 0:009877004633 215 }