雄介 太田 / Mbed 2 deprecated YOZAKURA_ARM_USB_Keyboard_0429

control arm with keyboard

Dependencies:   Dynamixel SerialHalfDuplex mbed

main.cpp@0:3217bfe6d555, 2015-04-28 (annotated)

Committer:
yusuke_kyo
Date:
Tue Apr 28 17:16:04 2015 +0000
Revision:
0:3217bfe6d555
with keyboard

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yusuke_kyo 0:3217bfe6d555 1 /*YOZAKURAのアームコード
yusuke_kyo 0:3217bfe6d555 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 0:3217bfe6d555 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 0:3217bfe6d555 4 */
yusuke_kyo 0:3217bfe6d555 5
yusuke_kyo 0:3217bfe6d555 6 #include "mbed.h"
yusuke_kyo 0:3217bfe6d555 7
yusuke_kyo 0:3217bfe6d555 8 Serial pc(USBTX, USBRX); // tx, rx
yusuke_kyo 0:3217bfe6d555 9 DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4);
yusuke_kyo 0:3217bfe6d555 10
yusuke_kyo 0:3217bfe6d555 11 struct ArmPacketBits {
yusuke_kyo 0:3217bfe6d555 12 unsigned int mode : 2;
yusuke_kyo 0:3217bfe6d555 13 unsigned int linear : 2;
yusuke_kyo 0:3217bfe6d555 14 unsigned int pitch : 2;
yusuke_kyo 0:3217bfe6d555 15 unsigned int yaw : 2;
yusuke_kyo 0:3217bfe6d555 16 };
yusuke_kyo 0:3217bfe6d555 17
yusuke_kyo 0:3217bfe6d555 18 union ArmPacket {
yusuke_kyo 0:3217bfe6d555 19 struct ArmPacketBits b;
yusuke_kyo 0:3217bfe6d555 20 unsigned char as_byte;
yusuke_kyo 0:3217bfe6d555 21 };
yusuke_kyo 0:3217bfe6d555 22
yusuke_kyo 0:3217bfe6d555 23 /*--Dynamixel:begin-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:3217bfe6d555 24 #include "AX12.h"
yusuke_kyo 0:3217bfe6d555 25 #include "MX28.h"
yusuke_kyo 0:3217bfe6d555 26
yusuke_kyo 0:3217bfe6d555 27 #define DYNA_DEBUG 0
yusuke_kyo 0:3217bfe6d555 28
yusuke_kyo 0:3217bfe6d555 29 DigitalOut low(p16); DigitalOut RelaySwitch(p18);
yusuke_kyo 0:3217bfe6d555 30
yusuke_kyo 0:3217bfe6d555 31 AX12 linear (p13, p14, 0, 1000000); //直動Dynamixel
yusuke_kyo 0:3217bfe6d555 32 MX28 pitch (p13, p14, 1, 1000000); //ピッチDynamixel
yusuke_kyo 0:3217bfe6d555 33 MX28 yaw (p13, p14, 2, 1000000); //ヨーDynamixel
yusuke_kyo 0:3217bfe6d555 34
yusuke_kyo 0:3217bfe6d555 35 int linear_goal, pitch_goal, yaw_goal;
yusuke_kyo 0:3217bfe6d555 36
yusuke_kyo 0:3217bfe6d555 37 //最小値，最大値，角速度，初期値を指定[unit:degree]
yusuke_kyo 0:3217bfe6d555 38 //MX:MultiTurnモードでは-2520°～2520°(SetGoalの書き換え不要)
yusuke_kyo 0:3217bfe6d555 39 int linear_min = 100; int linear_MAX = 300; float linear_Speed=0.1; int linear_Init = linear_MAX;
yusuke_kyo 0:3217bfe6d555 40 int pitch_min = 172; int pitch_MAX = 334; float pitch_Speed=0.2; int pitch_Init = pitch_MAX;
yusuke_kyo 0:3217bfe6d555 41 int yaw_min = 360; int yaw_MAX = 360; float yaw_Speed=0.2; int yaw_Init = 0; //MultiTurnモード
yusuke_kyo 0:3217bfe6d555 42
yusuke_kyo 0:3217bfe6d555 43 void Dyna_init() {
yusuke_kyo 0:3217bfe6d555 44 if(DYNA_DEBUG) printf("\nDyna_init\n");
yusuke_kyo 0:3217bfe6d555 45
yusuke_kyo 0:3217bfe6d555 46 while(1){
yusuke_kyo 0:3217bfe6d555 47 if(linear.writeable() & pitch.writeable() & yaw.writeable()) return 0;
yusuke_kyo 0:3217bfe6d555 48 else if(DYNA_DEBUG) printf("Dynamixel is disconnected.\n");
yusuke_kyo 0:3217bfe6d555 49 wait(0.5);
yusuke_kyo 0:3217bfe6d555 50 }
yusuke_kyo 0:3217bfe6d555 51
yusuke_kyo 0:3217bfe6d555 52 // low = 0; RelaySwitch = 1;
yusuke_kyo 0:3217bfe6d555 53 linear.SetTorqueLimit(0);
yusuke_kyo 0:3217bfe6d555 54 pitch.SetTorqueLimit(0);
yusuke_kyo 0:3217bfe6d555 55 yaw.SetTorqueLimit(0);
yusuke_kyo 0:3217bfe6d555 56 linear.SetCWLimit(linear_min); linear.SetCCWLimit(linear_MAX);
yusuke_kyo 0:3217bfe6d555 57 linear.SetCRSpeed(linear_Speed); linear_goal=linear_Init;
yusuke_kyo 0:3217bfe6d555 58 pitch.SetCWLimit(pitch_min); pitch.SetCCWLimit(pitch_MAX);
yusuke_kyo 0:3217bfe6d555 59 pitch.SetCRSpeed(pitch_Speed); pitch_goal=pitch_Init;
yusuke_kyo 0:3217bfe6d555 60 yaw.SetCWLimit(yaw_min); yaw.SetCCWLimit(yaw_MAX);
yusuke_kyo 0:3217bfe6d555 61 yaw.SetCRSpeed(yaw_Speed); yaw_goal=yaw_Init;
yusuke_kyo 0:3217bfe6d555 62 wait(1);
yusuke_kyo 0:3217bfe6d555 63 }
yusuke_kyo 0:3217bfe6d555 64
yusuke_kyo 0:3217bfe6d555 65 void Dyna_GetData(char* data) {
yusuke_kyo 0:3217bfe6d555 66 if(DYNA_DEBUG) printf("\nDyna_SetData\n");
yusuke_kyo 0:3217bfe6d555 67 float lP, lV, pP, pC, yP, yC;
yusuke_kyo 0:3217bfe6d555 68
yusuke_kyo 0:3217bfe6d555 69 lP = linear.GetPosition(); lV = linear.GetVolts();
yusuke_kyo 0:3217bfe6d555 70 pP = pitch.GetPosition(); pC = pitch.GetCurrent();
yusuke_kyo 0:3217bfe6d555 71 yP = yaw.GetPosition(); yC = yaw.GetCurrent();
yusuke_kyo 0:3217bfe6d555 72
yusuke_kyo 0:3217bfe6d555 73 linear_goal=lP; pitch_goal=pP; yaw_goal=yP; //現在角度を目標値に設定
yusuke_kyo 0:3217bfe6d555 74 sprintf(data,"%4.1f %4.1f %4.1f %4.1f %4.1f %4.1f ",lP,pP,yP,lV,pC,yC);
yusuke_kyo 0:3217bfe6d555 75 }
yusuke_kyo 0:3217bfe6d555 76
yusuke_kyo 0:3217bfe6d555 77 void Dyna_SetGoal(int mode) {
yusuke_kyo 0:3217bfe6d555 78 if(DYNA_DEBUG) printf("\nDyna_SetGoal\n");
yusuke_kyo 0:3217bfe6d555 79 switch(mode){
yusuke_kyo 0:3217bfe6d555 80 case 61: linear.SetTorqueLimit(1); linear_goal-=10; break;
yusuke_kyo 0:3217bfe6d555 81 case 66: linear.SetTorqueLimit(1); linear_goal+=20; break;
yusuke_kyo 0:3217bfe6d555 82 case 30: pitch_goal-=10; break;
yusuke_kyo 0:3217bfe6d555 83 case 31: pitch_goal+=10; break;
yusuke_kyo 0:3217bfe6d555 84 case 29: yaw_goal-=10; break;
yusuke_kyo 0:3217bfe6d555 85 case 28: yaw_goal+=10; break;
yusuke_kyo 0:3217bfe6d555 86 }
yusuke_kyo 0:3217bfe6d555 87
yusuke_kyo 0:3217bfe6d555 88 if(linear_goal<linear_min) linear_goal=linear_min;
yusuke_kyo 0:3217bfe6d555 89 if(linear_goal>linear_MAX) linear_goal=linear_MAX;
yusuke_kyo 0:3217bfe6d555 90 linear.SetGoal(linear_goal);
yusuke_kyo 0:3217bfe6d555 91
yusuke_kyo 0:3217bfe6d555 92 if(pitch_goal<pitch_min) pitch_goal=pitch_min;
yusuke_kyo 0:3217bfe6d555 93 if(pitch_goal>pitch_MAX) pitch_goal=pitch_MAX;
yusuke_kyo 0:3217bfe6d555 94 pitch.SetGoal(pitch_goal);
yusuke_kyo 0:3217bfe6d555 95
yusuke_kyo 0:3217bfe6d555 96
yusuke_kyo 0:3217bfe6d555 97 if(yaw_goal<-2520) yaw_goal=-2520;
yusuke_kyo 0:3217bfe6d555 98 if(yaw_goal>2520) yaw_goal=2520;
yusuke_kyo 0:3217bfe6d555 99 yaw.SetGoal(yaw_goal);
yusuke_kyo 0:3217bfe6d555 100 }
yusuke_kyo 0:3217bfe6d555 101
yusuke_kyo 0:3217bfe6d555 102 void Dyna_home_position() {
yusuke_kyo 0:3217bfe6d555 103 if(DYNA_DEBUG) printf("\nDyna_home_position\n");
yusuke_kyo 0:3217bfe6d555 104 linear.SetTorqueLimit(1);
yusuke_kyo 0:3217bfe6d555 105 pitch.SetTorqueLimit(1);
yusuke_kyo 0:3217bfe6d555 106 yaw.SetTorqueLimit(1);
yusuke_kyo 0:3217bfe6d555 107 float lp;
yusuke_kyo 0:3217bfe6d555 108 linear.SetGoal(linear_Init);
yusuke_kyo 0:3217bfe6d555 109 lp=linear.GetPosition();
yusuke_kyo 0:3217bfe6d555 110 if(lp > linear_MAX - 30) { //ある程度縮んだら
yusuke_kyo 0:3217bfe6d555 111 pitch.SetGoal(pitch_Init);
yusuke_kyo 0:3217bfe6d555 112 yaw.SetGoal(yaw_Init);
yusuke_kyo 0:3217bfe6d555 113 }
yusuke_kyo 0:3217bfe6d555 114 }
yusuke_kyo 0:3217bfe6d555 115
yusuke_kyo 0:3217bfe6d555 116 void Dyna_reset() {
yusuke_kyo 0:3217bfe6d555 117 if(DYNA_DEBUG) printf("\nDyna_reset\n");
yusuke_kyo 0:3217bfe6d555 118 // RelaySwitch = 0;
yusuke_kyo 0:3217bfe6d555 119 linear.SetTorqueLimit(0);
yusuke_kyo 0:3217bfe6d555 120 pitch.SetTorqueLimit(0);
yusuke_kyo 0:3217bfe6d555 121 yaw.SetTorqueLimit(0);
yusuke_kyo 0:3217bfe6d555 122
yusuke_kyo 0:3217bfe6d555 123 wait(1);
yusuke_kyo 0:3217bfe6d555 124
yusuke_kyo 0:3217bfe6d555 125 // RelaySwitch = 1;
yusuke_kyo 0:3217bfe6d555 126 linear.SetTorqueLimit(1);
yusuke_kyo 0:3217bfe6d555 127 pitch.SetTorqueLimit(1);
yusuke_kyo 0:3217bfe6d555 128 yaw.SetTorqueLimit(1);
yusuke_kyo 0:3217bfe6d555 129 }
yusuke_kyo 0:3217bfe6d555 130
yusuke_kyo 0:3217bfe6d555 131 void Dyna_end() {
yusuke_kyo 0:3217bfe6d555 132 if(DYNA_DEBUG) printf("\nDyna_end\n");
yusuke_kyo 0:3217bfe6d555 133 // RelaySwitch = 0;
yusuke_kyo 0:3217bfe6d555 134 linear.SetTorqueLimit(0);
yusuke_kyo 0:3217bfe6d555 135 pitch.SetTorqueLimit(0);
yusuke_kyo 0:3217bfe6d555 136 yaw.SetTorqueLimit(0);
yusuke_kyo 0:3217bfe6d555 137 }
yusuke_kyo 0:3217bfe6d555 138 /*--Dynamixel:end-----------------------------------------------------------------------------------------*/
yusuke_kyo 0:3217bfe6d555 139
yusuke_kyo 0:3217bfe6d555 140
yusuke_kyo 0:3217bfe6d555 141 /*--Thermal_Sensor:begin----------------------------------------------------------------------------------*/
yusuke_kyo 0:3217bfe6d555 142 /*MEMS非接触温度センサ：形D6T-44L-06 4×4素子タイプ*/
yusuke_kyo 0:3217bfe6d555 143 /*データシート：http://www.omron.co.jp/ecb/products/sensor/special/mems/pdf/AN-D6T-01JP_r2.pdf*/
yusuke_kyo 0:3217bfe6d555 144
yusuke_kyo 0:3217bfe6d555 145 I2C MEMS1(p9, p10); // sda, scl
yusuke_kyo 0:3217bfe6d555 146 I2C MEMS2(p28, p27); // sda, scl
yusuke_kyo 0:3217bfe6d555 147
yusuke_kyo 0:3217bfe6d555 148 #define D6T_addr 0x14
yusuke_kyo 0:3217bfe6d555 149 #define D6T_cmd 0x4c
yusuke_kyo 0:3217bfe6d555 150
yusuke_kyo 0:3217bfe6d555 151 #define THERMO_DEBUG 0
yusuke_kyo 0:3217bfe6d555 152
yusuke_kyo 0:3217bfe6d555 153 char I2C_rd1[64]; // 生データ
yusuke_kyo 0:3217bfe6d555 154 short datr1[16]; // 16点 温度データ（10倍整数）
yusuke_kyo 0:3217bfe6d555 155 short PTAT1; // センサ内部PTAT温度データ（10倍整数）
yusuke_kyo 0:3217bfe6d555 156 double dt1[16]; // 16点 温度データ
yusuke_kyo 0:3217bfe6d555 157 double dt1_temp[16];
yusuke_kyo 0:3217bfe6d555 158 short d_PTAT1; // センサ内部PTAT温度データ
yusuke_kyo 0:3217bfe6d555 159
yusuke_kyo 0:3217bfe6d555 160 char I2C_rd2[64]; // 生データ
yusuke_kyo 0:3217bfe6d555 161 short datr2[16]; // 16点 温度データ（10倍整数）
yusuke_kyo 0:3217bfe6d555 162 short PTAT2; // センサ内部PTAT温度データ（10倍整数）
yusuke_kyo 0:3217bfe6d555 163 double dt2[16]; // 16点 温度データ
yusuke_kyo 0:3217bfe6d555 164 double dt2_temp[16];
yusuke_kyo 0:3217bfe6d555 165 short d_PTAT2; // センサ内部PTAT温度データ
yusuke_kyo 0:3217bfe6d555 166
yusuke_kyo 0:3217bfe6d555 167 void GetThermo(char* data) {
yusuke_kyo 0:3217bfe6d555 168 char con[6];
yusuke_kyo 0:3217bfe6d555 169 sprintf(data,"");
yusuke_kyo 0:3217bfe6d555 170
yusuke_kyo 0:3217bfe6d555 171 /*MEMS1*/
yusuke_kyo 0:3217bfe6d555 172 int i,j;
yusuke_kyo 0:3217bfe6d555 173 int itemp;
yusuke_kyo 0:3217bfe6d555 174
yusuke_kyo 0:3217bfe6d555 175 //// measure
yusuke_kyo 0:3217bfe6d555 176 MEMS1.start();
yusuke_kyo 0:3217bfe6d555 177 MEMS1.write(D6T_addr);
yusuke_kyo 0:3217bfe6d555 178 MEMS1.write(D6T_cmd);
yusuke_kyo 0:3217bfe6d555 179 // Repeated Start condition
yusuke_kyo 0:3217bfe6d555 180 MEMS1.read(D6T_addr,I2C_rd1,35);
yusuke_kyo 0:3217bfe6d555 181 // if(check_PEC(I2C_rd) == -1) continue; // error
yusuke_kyo 0:3217bfe6d555 182 for(i=0,j=0;i<17;i++){
yusuke_kyo 0:3217bfe6d555 183 itemp = (I2C_rd1[j++] & 0xff);
yusuke_kyo 0:3217bfe6d555 184 itemp += I2C_rd1[j++] * 256;
yusuke_kyo 0:3217bfe6d555 185 if(i == 0) PTAT1 = itemp;
yusuke_kyo 0:3217bfe6d555 186 else datr1[i-1] = itemp;
yusuke_kyo 0:3217bfe6d555 187 }
yusuke_kyo 0:3217bfe6d555 188 for(i=0;i<16;i++){
yusuke_kyo 0:3217bfe6d555 189 dt1[i] = 0.1 * datr1[i];
yusuke_kyo 0:3217bfe6d555 190 }
yusuke_kyo 0:3217bfe6d555 191 for(int i=0;i<16;i++){
yusuke_kyo 0:3217bfe6d555 192 if(dt1[i]<50 && dt1[i]>5) {
yusuke_kyo 0:3217bfe6d555 193 sprintf(con,"%3.1f ",dt1[i]);
yusuke_kyo 0:3217bfe6d555 194 dt1_temp[i]=dt1[i];
yusuke_kyo 0:3217bfe6d555 195 }
yusuke_kyo 0:3217bfe6d555 196 else sprintf(con,"%3.1f ",dt1_temp[i]);
yusuke_kyo 0:3217bfe6d555 197 strcat(data,con);
yusuke_kyo 0:3217bfe6d555 198 }
yusuke_kyo 0:3217bfe6d555 199 if(THERMO_DEBUG){
yusuke_kyo 0:3217bfe6d555 200 printf("\nThermal_Sensor 1");
yusuke_kyo 0:3217bfe6d555 201 for(i=0;i<16;i++){
yusuke_kyo 0:3217bfe6d555 202 if(i%4==0) printf("\n");
yusuke_kyo 0:3217bfe6d555 203 printf("%3.1f ",dt1[i]);
yusuke_kyo 0:3217bfe6d555 204 } printf("\n");
yusuke_kyo 0:3217bfe6d555 205 }
yusuke_kyo 0:3217bfe6d555 206 d_PTAT1 = 0.1 * PTAT1;
yusuke_kyo 0:3217bfe6d555 207 // wait(0.1);
yusuke_kyo 0:3217bfe6d555 208 /*MEMS1*/
yusuke_kyo 0:3217bfe6d555 209
yusuke_kyo 0:3217bfe6d555 210 /*MEMS2*/
yusuke_kyo 0:3217bfe6d555 211 //// measure
yusuke_kyo 0:3217bfe6d555 212 MEMS2.start();
yusuke_kyo 0:3217bfe6d555 213 MEMS2.write(D6T_addr);
yusuke_kyo 0:3217bfe6d555 214 MEMS2.write(D6T_cmd);
yusuke_kyo 0:3217bfe6d555 215 // Repeated Start condition
yusuke_kyo 0:3217bfe6d555 216 MEMS2.read(D6T_addr,I2C_rd2,35);
yusuke_kyo 0:3217bfe6d555 217 // if(check_PEC(I2C_rd) == -1) continue; // error
yusuke_kyo 0:3217bfe6d555 218 for(i=0,j=0;i<17;i++){
yusuke_kyo 0:3217bfe6d555 219 itemp = (I2C_rd2[j++] & 0xff);
yusuke_kyo 0:3217bfe6d555 220 itemp += I2C_rd2[j++] * 256;
yusuke_kyo 0:3217bfe6d555 221 if(i == 0) PTAT2 = itemp;
yusuke_kyo 0:3217bfe6d555 222 else datr2[i-1] = itemp;
yusuke_kyo 0:3217bfe6d555 223 }
yusuke_kyo 0:3217bfe6d555 224 for(i=0;i<16;i++){
yusuke_kyo 0:3217bfe6d555 225 dt2[i] = 0.1 * datr2[i];
yusuke_kyo 0:3217bfe6d555 226 }
yusuke_kyo 0:3217bfe6d555 227 for(int i=0;i<16;i++){
yusuke_kyo 0:3217bfe6d555 228 if(dt1[i]<50 && dt1[i]>5) {
yusuke_kyo 0:3217bfe6d555 229 sprintf(con,"%3.1f ",dt2[i]);
yusuke_kyo 0:3217bfe6d555 230 dt2_temp[i]=dt2[i];
yusuke_kyo 0:3217bfe6d555 231 }
yusuke_kyo 0:3217bfe6d555 232 else sprintf(con,"%3.1f ",dt2_temp[i]);
yusuke_kyo 0:3217bfe6d555 233 strcat(data,con);
yusuke_kyo 0:3217bfe6d555 234 }
yusuke_kyo 0:3217bfe6d555 235 if(THERMO_DEBUG){
yusuke_kyo 0:3217bfe6d555 236 printf("\nThermal_Sensor 2");
yusuke_kyo 0:3217bfe6d555 237 for(i=0;i<16;i++){
yusuke_kyo 0:3217bfe6d555 238 if(i%4==0) printf("\n");
yusuke_kyo 0:3217bfe6d555 239 printf("%3.1f ",dt2[i]);
yusuke_kyo 0:3217bfe6d555 240 } printf("\n");
yusuke_kyo 0:3217bfe6d555 241 }
yusuke_kyo 0:3217bfe6d555 242 d_PTAT2 = 0.1 * PTAT2;
yusuke_kyo 0:3217bfe6d555 243 // wait(0.1);
yusuke_kyo 0:3217bfe6d555 244 /*MEMS2*/
yusuke_kyo 0:3217bfe6d555 245 }
yusuke_kyo 0:3217bfe6d555 246 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
yusuke_kyo 0:3217bfe6d555 247
yusuke_kyo 0:3217bfe6d555 248 /*--CO2_Sensor:begin--------------------------------------------------------------------------------------*/
yusuke_kyo 0:3217bfe6d555 249 /*CO2センサモジュール：A051020-AQ6B-01*/
yusuke_kyo 0:3217bfe6d555 250 /*データシート：http://www.fisinc.co.jp/common/pdf/A051020-AQ6.pdf*/
yusuke_kyo 0:3217bfe6d555 251 /*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 0:3217bfe6d555 252 #include "mbed.h"
yusuke_kyo 0:3217bfe6d555 253
yusuke_kyo 0:3217bfe6d555 254 AnalogIn ain(p17);
yusuke_kyo 0:3217bfe6d555 255
yusuke_kyo 0:3217bfe6d555 256 #define CO2_DEBUG 0
yusuke_kyo 0:3217bfe6d555 257
yusuke_kyo 0:3217bfe6d555 258 float GetCO2() {
yusuke_kyo 0:3217bfe6d555 259 float v; //生データ：電圧
yusuke_kyo 0:3217bfe6d555 260 float sensor_v,CO2;
yusuke_kyo 0:3217bfe6d555 261
yusuke_kyo 0:3217bfe6d555 262 v = ain.read()*3.3;
yusuke_kyo 0:3217bfe6d555 263 sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
yusuke_kyo 0:3217bfe6d555 264 CO2 = sensor_v * 1000 + 400; //データシートより
yusuke_kyo 0:3217bfe6d555 265
yusuke_kyo 0:3217bfe6d555 266 if(CO2_DEBUG) printf("\nCO2:%4.1f\n",CO2);
yusuke_kyo 0:3217bfe6d555 267
yusuke_kyo 0:3217bfe6d555 268 return(CO2);
yusuke_kyo 0:3217bfe6d555 269 }
yusuke_kyo 0:3217bfe6d555 270 /*--CO2_Sensor:end----------------------------------------------------------------------------------------*/
yusuke_kyo 0:3217bfe6d555 271
yusuke_kyo 0:3217bfe6d555 272
yusuke_kyo 0:3217bfe6d555 273 /*---------------
yusuke_kyo 0:3217bfe6d555 274 MAIN LOOP
yusuke_kyo 0:3217bfe6d555 275 ----------------*/
yusuke_kyo 0:3217bfe6d555 276 #define DEBUG 0
yusuke_kyo 0:3217bfe6d555 277
yusuke_kyo 0:3217bfe6d555 278 int main() {
yusuke_kyo 0:3217bfe6d555 279 myled1=1; myled2=1; myled3=1; myled4=1;
yusuke_kyo 0:3217bfe6d555 280 pc.baud(38400);
yusuke_kyo 0:3217bfe6d555 281
yusuke_kyo 0:3217bfe6d555 282 char Dyna_data[50];
yusuke_kyo 0:3217bfe6d555 283 char Thermo_data[200];
yusuke_kyo 0:3217bfe6d555 284 float CO2_data;
yusuke_kyo 0:3217bfe6d555 285
yusuke_kyo 0:3217bfe6d555 286 myled1=1; myled2=1; myled3=0; myled4=0;
yusuke_kyo 0:3217bfe6d555 287 Dyna_init();
yusuke_kyo 0:3217bfe6d555 288 Dyna_home_position();
yusuke_kyo 0:3217bfe6d555 289 wait(2);
yusuke_kyo 0:3217bfe6d555 290 Dyna_home_position();
yusuke_kyo 0:3217bfe6d555 291 wait(2);
yusuke_kyo 0:3217bfe6d555 292 myled1=0; myled2=0; myled3=1; myled4=0;
yusuke_kyo 0:3217bfe6d555 293
yusuke_kyo 0:3217bfe6d555 294 union ArmPacket Read_data;
yusuke_kyo 0:3217bfe6d555 295
yusuke_kyo 0:3217bfe6d555 296 char Send_data[250];
yusuke_kyo 0:3217bfe6d555 297 //int Read_data;
yusuke_kyo 0:3217bfe6d555 298 // int Joy_mode, linear_mode, pitch_mode, yaw_mode;
yusuke_kyo 0:3217bfe6d555 299 int mode;
yusuke_kyo 0:3217bfe6d555 300
yusuke_kyo 0:3217bfe6d555 301 while(1) {
yusuke_kyo 0:3217bfe6d555 302
yusuke_kyo 0:3217bfe6d555 303 myled1=0; myled2=0; myled3=0; myled4=0;
yusuke_kyo 0:3217bfe6d555 304 /*--Dynamixel:begin---------------------------------------------------------------*/
yusuke_kyo 0:3217bfe6d555 305 //Dynamixelへの命令を判定
yusuke_kyo 0:3217bfe6d555 306 // printf("linear_mode : ");
yusuke_kyo 0:3217bfe6d555 307 // linear_mode=pc.getc();
yusuke_kyo 0:3217bfe6d555 308 // printf("%d\n",linear_mode);
yusuke_kyo 0:3217bfe6d555 309 // printf("pitch_mode : ");
yusuke_kyo 0:3217bfe6d555 310 // pitch_mode=pc.getc();
yusuke_kyo 0:3217bfe6d555 311 // printf("%d\n",pitch_mode);
yusuke_kyo 0:3217bfe6d555 312 // printf("yaw_mode : ");
yusuke_kyo 0:3217bfe6d555 313 // yaw_mode=pc.getc();
yusuke_kyo 0:3217bfe6d555 314 // printf("%d\n",yaw_mode);
yusuke_kyo 0:3217bfe6d555 315
yusuke_kyo 0:3217bfe6d555 316 mode=pc.getc();
yusuke_kyo 0:3217bfe6d555 317 printf("mode : %d\n",mode);
yusuke_kyo 0:3217bfe6d555 318
yusuke_kyo 0:3217bfe6d555 319 //目標角度を変更
yusuke_kyo 0:3217bfe6d555 320 myled2=1;
yusuke_kyo 0:3217bfe6d555 321 Dyna_SetGoal(mode);
yusuke_kyo 0:3217bfe6d555 322 myled2=0;
yusuke_kyo 0:3217bfe6d555 323 /*--Dynamixel:end------------------------------------------------------------------*/
yusuke_kyo 0:3217bfe6d555 324
yusuke_kyo 0:3217bfe6d555 325 /*--Thermal_Sensor:begin-----------------------------------------------------------*/
yusuke_kyo 0:3217bfe6d555 326 //値を取得
yusuke_kyo 0:3217bfe6d555 327 myled3=1;
yusuke_kyo 0:3217bfe6d555 328 GetThermo(Thermo_data);
yusuke_kyo 0:3217bfe6d555 329 /*--Thermal_Sensor:end-------------------------------------------------------------*/
yusuke_kyo 0:3217bfe6d555 330
yusuke_kyo 0:3217bfe6d555 331 /*--CO2_Sensor:begin---------------------------------------------------------------*/
yusuke_kyo 0:3217bfe6d555 332 //値を取得
yusuke_kyo 0:3217bfe6d555 333 CO2_data=GetCO2();
yusuke_kyo 0:3217bfe6d555 334 myled3=0;
yusuke_kyo 0:3217bfe6d555 335 /*--CO2_Sensor:end-----------------------------------------------------------------*/
yusuke_kyo 0:3217bfe6d555 336
yusuke_kyo 0:3217bfe6d555 337 //現在の角度・電圧・電流を取得
yusuke_kyo 0:3217bfe6d555 338 myled1=1;
yusuke_kyo 0:3217bfe6d555 339 Dyna_GetData(Dyna_data);
yusuke_kyo 0:3217bfe6d555 340 myled1=0;
yusuke_kyo 0:3217bfe6d555 341
yusuke_kyo 0:3217bfe6d555 342 //値を送信
yusuke_kyo 0:3217bfe6d555 343 myled4=1;
yusuke_kyo 0:3217bfe6d555 344 sprintf(Send_data,"%s%s%4.1f",Dyna_data,Thermo_data,CO2_data);
yusuke_kyo 0:3217bfe6d555 345 pc.printf("%s\n",Send_data);
yusuke_kyo 0:3217bfe6d555 346 myled4=0;
yusuke_kyo 0:3217bfe6d555 347 }
yusuke_kyo 0:3217bfe6d555 348 }
yusuke_kyo 0:3217bfe6d555 349
yusuke_kyo 0:3217bfe6d555 350 /* 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 0:3217bfe6d555 351 home_position 40
yusuke_kyo 0:3217bfe6d555 352 reset 80
yusuke_kyo 0:3217bfe6d555 353 end c0
yusuke_kyo 0:3217bfe6d555 354 */