{"id":832,"date":"2017-07-06T20:48:02","date_gmt":"2017-07-06T11:48:02","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=832"},"modified":"2017-07-08T00:16:18","modified_gmt":"2017-07-07T15:16:18","slug":"gripper-on-fawkes","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=832","title":{"rendered":"Gripper on Fawkes"},"content":{"rendered":"<p>RT-SHOP \u306e<a href=\"http:\/\/www.rt-shop.jp\/index.php?main_page=product_info&#038;cPath=1348_1&#038;products_id=2441\">\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u3000&#8221;CRANE+&#8221;\uff08\u30af\u30e9\u30a4\u30f3\u30d7\u30e9\u30b9\uff09<\/a>\u3092\u8cfc\u5165\u3057\u3066\u307f\u307e\u3057\u305f\uff0e<\/p>\n<p>\u30e2\u30fc\u30bf\u30fc\u3068\u3057\u3066\uff0cDynamixel AX-12A\u3092\u4f7f\u3063\u3066\u304a\u308a\uff0c\u89d2\u5ea6\u306e\u8aad\u307f\u53d6\u308a\u304c\u53ef\u80fd\u3068\u306a\u3063\u3066\u3044\u307e\u3059\uff0e<\/p>\n<p>Logistics League \u3067\u7528\u3044\u3066\u3044\u308bFawkes \u306b\u3082dynamixel \u7528\u306eplugin \u304c\u7528\u610f\u3055\u308c\u3066\u3044\u307e\u3059\uff0e<br \/>\n\u305d\u306e\u8fba\u308a\u306e\u4f7f\u3044\u65b9\u306e\u30e1\u30e2\u3067\u3059\uff0e<\/p>\n<p>\u307e\u305a\uff0cfawkes-robotino\/cfg\/conf.d\/dynamixel.yaml \u306e\u5909\u66f4\u7b87\u6240\u3067\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n  # top element, e.g. ptu or example. \r\n  ax12gripper: \r\n    active: true\r\n    device: \/dev\/usb2ax \r\n<\/pre>\n<p>\u307e\u305a\u306f\uff0cactive \u306e\u9805\u76ee\u3092false \u304b\u3089true \u306b\u5909\u3048\u307e\u3057\u3087\u3046\uff0e<br \/>\n\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u306e\u901a\u4fe1\u306b\u306f\uff0cUSB \u2192 RS232C \u5909\u63db\u30e2\u30b8\u30e5\u30fc\u30eb\u3092\u901a\u3057\u3066\u884c\u3044\u307e\u3059\u306e\u3067\uff0c<br \/>\n\u30e2\u30b8\u30e5\u30fc\u30eb\u306e\u30c7\u30d0\u30a4\u30b9\u306busb2ax \u3068\u3057\u3066\u30b7\u30f3\u30dc\u30ea\u30c3\u30af\u30ea\u30f3\u30af\u3092\u5f35\u3063\u3066\u304a\u304d\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">sudo ln -s \/dev\/ttyUSB0 \/dev\/usb2ax\r\nsudo chmod 6666 \/dev\/usb2ax<\/pre>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n    # Either set the desired servo IDs that should be found in the servo chain \r\n    # or leave this field empty (servos: &#x5B;]) to discover all available servos \r\n    servos: &#x5B;1, 5] \r\n<\/pre>\n<p>\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u306eID \u3092\u3044\u308c\u307e\u3057\u3087\u3046\uff0e<br \/>\n\u3088\u304f\u308f\u304b\u3089\u306a\u304b\u3063\u305f\u3089\uff0cservos: [] \u306e\u3088\u3046\u306b\u62ec\u5f27\u3060\u3051\u306b\u3057\u305f\u3089\uff0c1\u304b\u3089\u9806\u306b\u63a2\u3057\u3066\u304f\u308c\u307e\u3059\uff0e<\/p>\n<p>\u305d\u3057\u3066\uff0c\u4e00\u756a\u5927\u5207\u306a\u5909\u66f4\u304c\uff0c\u30b7\u30ea\u30a2\u30eb\u901a\u4fe1\u306e\u901a\u4fe1\u901f\u5ea6\u3067\u3059\uff0e<br \/>\nfawkes-robotino\/fawkes\/src\/plugins\/dynamixel\/servo_chain.cpp <\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n  \/\/ cfsetospeed(&amp;param, B57600); \r\n  \/\/ cfsetispeed(&amp;param, B57600); \r\n  cfsetospeed(&amp;param, B1000000); \r\n  cfsetispeed(&amp;param, B1000000); \r\n<\/pre>\n<p>\u30b5\u30fc\u30dc\u306e\u901a\u4fe1\u901f\u5ea6\u306e\u521d\u671f\u5024\u306f\uff0c1000000bps \u3067\u3059\u306e\u3067\uff0c57600bps \u304b\u3089\u5909\u66f4\u3057\u307e\u3059\uff0e<br \/>\n\u305d\u306e\u5f8c\uff0c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">make all gui<\/pre>\n<p> \u3092\u5fd8\u308c\u306a\u3044\u3088\u3046\u306b\uff0e<\/p>\n<p>\u8d77\u52d5\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u306e\u30e1\u30bf\u30bf\u30b0\u306f\uff0c\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\uff0e<br \/>\nfawkes-robotino\/cfg\/conf.d\/meta_plugins.yaml <\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">m-btr: ros,m-bare,m-fv,navgraph,navgraph-generator,navgraph-generator-mps,skiller,m-clips,clips-agent,joystick,dynamixel,ax12_gripper<\/pre>\n<p>firevision \u306e\u8abf\u5b50\u304c\u60aa\u3044\u306e\u3067\uff0cm-fv \u306e\u307f\u306b\u524a\u3063\u3066\u3044\u307e\u3059\uff0e<\/p>\n<p>joystick \u306e\u4f7f\u3044\u65b9\u306b\u95a2\u3057\u3066\u306f\uff0c\u3053\u308c\u304b\u3089\u8aad\u307f\u53d6\u304d\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nvoid\r\nGripperAX12AThread::loop()\r\n{\r\n...\r\n    joystick_if_-&gt;read();\r\n\r\n    if (joystick_if_-&gt;pressed_buttons() &amp; JoystickInterface::BUTTON_13) {\r\n        goto_gripper(__cfg_left_open_angle, __cfg_right_open_angle);\r\n    } else if (joystick_if_-&gt;pressed_buttons() &amp; JoystickInterface::BUTTON_12) {\r\n        goto_gripper(__cfg_left_close_angle, __cfg_right_close_angle);\r\n    }\r\n<\/pre>\n<p>\u3068\u306e\u3053\u3068\u3067\uff0c<s>\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u306a\u304c\u3089<\/s>\uff08&#038;\u304c\u4e00\u3064\u306a\u306e\u3067\uff0c\u62bc\u3055\u308c\u305f\u30dc\u30bf\u30f3\u60c5\u5831\u306812,13\u756a\u30dc\u30bf\u30f3\u3068\u306eAND\u3092\u53d6\u3063\u3066\uff0c\u62bc\u4e0b\u30c1\u30a7\u30c3\u30af\u3057\u3066\u3044\u308b\u3060\u3051\u3067\u3057\u305f\uff09\uff0c12\u756a\uff0c13\u756a\u306e\u30dc\u30bf\u30f3\u3092\u62bc\u305b\u3070\uff0c\u30b0\u30ea\u30c3\u30d1\u30fc\u3092\u9589\u3058\u305f\u308a\u958b\u3044\u305f\u308a\u3067\u304d\u308b\u305d\u3046\u3067\u3059\uff0e <\/p>\n<p>\u3063\u3066\uff0c12\uff0c13\u756a\u306e\u30dc\u30bf\u30f3\u3063\u3066\u3069\u308c\u3084\u306d\u3093\u2026\uff0e<br \/>\n\u898b\u3064\u3051\u3089\u308c\u306a\u304b\u3063\u305f\u306e\u3067\uff0cBUTTON_1 \u3068 BUTTON_2\u306b\u5909\u66f4\u3057\u305f\u3089\uff0c\u53f3\u5074\u306e\u30dc\u30bf\u30f3\u3067\u30e2\u30fc\u30bf\u30fc\u304c\u52d5\u4f5c\u3057\u307e\u3057\u305f\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>RT-SHOP \u306e\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u3000&#8221;CRANE+&#8221;\uff08\u30af\u30e9 &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=832\"> <span class=\"screen-reader-text\">Gripper on Fawkes<\/span> \u7d9a\u304d\u3092\u8aad\u3080 &raquo;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_crdt_document":"","footnotes":""},"categories":[10,3,2,9],"tags":[],"class_list":["post-832","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-logistics-league","category-robocup","category-robotino-3"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/832","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=832"}],"version-history":[{"count":8,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/832\/revisions"}],"predecessor-version":[{"id":840,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/832\/revisions\/840"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=832"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=832"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=832"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}