3: 2010-04-02 (金) 14:31:23 sho |
現: 2010-10-06 (水) 12:11:10 eid7gud |
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| 先ず手を大きく開きます。~ | | 先ず手を大きく開きます。~ |
- | 負荷を測定し、負荷の値が閾値より小さければ少し手を閉じ、大きければ何もせず負荷の測定へ戻るを繰り返します。 | + | 負荷を測定し、負荷の値が閾値より小さければ少し手を閉じ、閾値以上ならば何もせず負荷の測定へ戻るを繰り返します。 |
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| **準備 [#i6f753bf] | | **準備 [#i6f753bf] |
| #include <fd.h> | | #include <fd.h> |
| #define KEY_QUIT { if(fd_rx_buff()) fd_SoftReset();} | | #define KEY_QUIT { if(fd_rx_buff()) fd_SoftReset();} |
| + | |
| void main (void) { | | void main (void) { |
| uint16_t PresentLoad; | | uint16_t PresentLoad; |
| uint16_t GoalPosition = 300; | | uint16_t GoalPosition = 300; |
| + | |
| fd_Init (0, BT_CONSOLE, FD_BEEP_MMI | FD_BEEP_PACKETERR | FD_BEEP_LOWVOLTAGE | FD_BEEP_BOOTUP, 7.4); | | fd_Init (0, BT_CONSOLE, FD_BEEP_MMI | FD_BEEP_PACKETERR | FD_BEEP_LOWVOLTAGE | FD_BEEP_BOOTUP, 7.4); |
| fd_DXWriteWordData (1, 34, 200); | | fd_DXWriteWordData (1, 34, 200); |
| fd_DXWriteWordData (1, 30, 300); | | fd_DXWriteWordData (1, 30, 300); |
| + | |
| while (1) { | | while (1) { |
| fd_DXReadWordData (1, 40, &PresentLoad); | | fd_DXReadWordData (1, 40, &PresentLoad); |
| #ref(RobotHand_p15.png, 100%) | | #ref(RobotHand_p15.png, 100%) |
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- | [[次のチャプターへ>FDIII-HC Starter Kit Guide Chaptert5.4]]~ | + | #html(<object width="480" height="385"><param name="movie" value="http://www.youtube.com/v/F8ZTZNc_tpk?fs=1&hl=ja_JP&rel=0"></param><param name="allowFullScreen" value="true"></param><param name="allowscriptaccess" value="always"></param><embed src="http://www.youtube.com/v/F8ZTZNc_tpk?fs=1&hl=ja_JP&rel=0" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" width="480" height="385"></embed></object>) |
| + | |
| + | [[次のチャプターへ>FDIII-HC Starter Kit Guide Chapter5.4]]~ |
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| [[FDIII-HC Starter Kit Guide]]に戻る | | [[FDIII-HC Starter Kit Guide]]に戻る |