{"id":2971,"date":"2012-03-30T20:50:44","date_gmt":"2012-03-30T11:50:44","guid":{"rendered":"http:\/\/www.syuheiuda.com\/?p=261"},"modified":"2012-03-30T20:50:44","modified_gmt":"2012-03-30T11:50:44","slug":"%e3%83%ad%e3%83%9c%e3%83%83%e3%83%88%e3%82%a2%e3%83%bc%e3%83%a0%e3%81%be%e3%81%a8%e3%82%81","status":"publish","type":"post","link":"https:\/\/www.syuheiuda.com\/?p=2971","title":{"rendered":"\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u307e\u3068\u3081"},"content":{"rendered":"<p>\u52d5\u753b<br \/>\n<iframe loading=\"lazy\" src=\"http:\/\/www.youtube.com\/embed\/djkt7wkIaXk\" frameborder=\"0\" width=\"560\" height=\"315\"><\/iframe><\/p>\n<p>\u7d20\u6750<\/p>\n<ul>\n<li>\u30a2\u30af\u30ea\u30eb5mm\u539a<\/li>\n<li><a href=\"http:\/\/www.skcj.co.jp\/plexmotion\/products\/p-pmsa\/p-pmsa-b42d3l\/\">P-PMSA-B42D3L<\/a>x2<\/li>\n<li><a href=\"http:\/\/www.skcj.co.jp\/plexmotion\/products\/p-pmsa\/p-pmsa-b56d3\/\">P-PMSA-B56D3<\/a><\/li>\n<li><a href=\"http:\/\/www.sengoku.co.jp\/mod\/sgk_cart\/search.php?toku=%2582%25E0-%2582%25BD-%2582%25B3-%2582%25DA&amp;cond8=or&amp;dai=&amp;chu=&amp;syo=&amp;k3=0&amp;pflg=n&amp;list=2\">4AW5-F4LE<\/a><\/li>\n<li>ArduinoMEGA2560<\/li>\n<li>RAMPS1.4<\/li>\n<\/ul>\n<p>\u30a2\u30af\u30ea\u30eb\u30ab\u30c3\u30c8\u7528\u30c7\u30fc\u30bf<\/p>\n<ul>\n<li><a href=\"https:\/\/blob.syuheiuda.com\/wp-content\/2012\/03\/RobotArm.ai\">RobotArm.ai<\/a><\/li>\n<\/ul>\n<p>\u30d5\u30a1\u30fc\u30e0\u30a6\u30a7\u30a2\uff08Arduino\u5074\uff09<\/p>\n<pre class=\"brush: java; title: ; notranslate\" title=\"\">\n\/\/ For RAMPS 1.4\n #define X_STEP_PIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 54\n #define X_DIR_PIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 55\n #define X_ENABLE_PIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 38\n #define X_MIN_PIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 3\n #define X_MAY_PIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 2\n\n#define Y_STEP_PIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 60\n #define Y_DIR_PIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 61\n #define Y_ENABLE_PIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 56\n #define Y_MIN_PIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 14\n #define Y_MAPIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 15\n\n#define Z_STEP_PIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 46\n #define Z_DIR_PIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 48\n #define Z_ENABLE_PIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 62\n #define Z_MIN_PIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 18\n #define Z_MAX_PIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 19\n\n#define FAN_PIN\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 9\n\nint time=1000;\n int num=4\u00a0\u00a0\u00a0\u00a0 ;\n int text;\n\nvoid setup(){\n Serial.begin(9600);\n pinMode(X_STEP_PIN,OUTPUT);\n pinMode(X_DIR_PIN,OUTPUT);\n pinMode(X_ENABLE_PIN,OUTPUT);\n digitalWrite(X_STEP_PIN,HIGH);\n digitalWrite(X_DIR_PIN,HIGH);\n pinMode(Y_STEP_PIN,OUTPUT);\n pinMode(Y_DIR_PIN,OUTPUT);\n pinMode(Y_ENABLE_PIN,OUTPUT);\n digitalWrite(Y_STEP_PIN,HIGH);\n digitalWrite(Y_DIR_PIN,HIGH);\n pinMode(Z_STEP_PIN,OUTPUT);\n pinMode(Z_DIR_PIN,OUTPUT);\n pinMode(Z_ENABLE_PIN,OUTPUT);\n digitalWrite(Z_STEP_PIN,HIGH);\n digitalWrite(Z_DIR_PIN,HIGH);\n pinMode(FAN_PIN,OUTPUT);\n digitalWrite(FAN_PIN,HIGH);\n }\n\nvoid loop(){\n if (Serial.available() &gt; 0) {\n text=Serial.read();\n Serial.print(text);\n }\n if(text==49){\n digitalWrite(X_DIR_PIN,LOW);\n step(125,num,X_STEP_PIN);\n }\n if(text==51){\n digitalWrite(X_DIR_PIN,HIGH);\n step(125,num,X_STEP_PIN);\n }\n if(text==52){\n digitalWrite(Y_DIR_PIN,LOW);\n step(125,num,Y_STEP_PIN);\n }\n if(text==54){\n digitalWrite(Y_DIR_PIN,HIGH);\n step(125,num,Y_STEP_PIN);\n }\n if(text==55){\n digitalWrite(Z_DIR_PIN,LOW);\n step(125,num,Z_STEP_PIN);\n }\n if(text==57){\n digitalWrite(Z_DIR_PIN,HIGH);\n step(125,num,Z_STEP_PIN);\n }\n text=0;\n }\n\nvoid step(int time,int num,int pin){\n for(int i=0;i&lt;num;i++){\n digitalWrite(pin,HIGH);\n delayMicroseconds(time);\n digitalWrite(pin,LOW);\n delayMicroseconds(time);\n }\n }<\/pre>\n<p>\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\uff08PC\u5074\uff09<\/p>\n<pre class=\"brush: java; title: ; notranslate\" title=\"\">import processing.serial.*;\n\nfloat x1=0, x2=0, y1=-200, y2=-200, r1=radians(0), r2=radians(135);\n int flag_r2=0;\n int top_flag=0;\n int middle_flag=0;\n int bottom_flag=0;\n\n\/\/ Serial\u30af\u30e9\u30b9\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\n Serial myPort;\n \/\/ \u30b7\u30ea\u30a2\u30eb\u30dd\u30fc\u30c8\u304b\u3089\u53d6\u5f97\u3057\u305f\u30c7\u30fc\u30bf(Byte)\n int tmp;\n int tmp2;\n\nvoid setup() {\n size(640, 640);\n \/\/ Mac\u306e\u30b7\u30ea\u30a2\u30eb\u306e\u30ea\u30b9\u30c8\u306e\u6700\u521d\u306e\u30dd\u30fc\u30c8\u304cFTDI\u30a2\u30c0\u30d7\u30bf\u306e\u30dd\u30fc\u30c8\n String portName = Serial.list()&#x5B;0];\n \/\/ \u30dd\u30fc\u30c8\u3068\u30b9\u30d4\u30fc\u30c9\u3092\u8a2d\u5b9a\u3057\u3066\u3001Serial\u30af\u30e9\u30b9\u3092\u521d\u671f\u5316\u3001\n myPort = new Serial(this, portName, 9600);\n }\n\nvoid draw() {\n background(255, 255, 255);\n arc(320, 240, 200, 200, -PI, 0);\n arc(320, 240, 200, 300, 0, PI);\n translate(320, 540);\n ellipse(0, 0, 10, 10);\n rotate(r1);\n line(0, 0, x1, y1);\n translate(x1, y1);\n ellipse(0, 0, 10, 10);\n rotate(r2);\n line(0, 0, x2, y2);\n if (top_flag!=1&amp;&amp;degrees(r2)&gt;0) {\n tmp='4';\n r2-=PI\/400;\n myPort.write(tmp);\n }\n else if (top_flag!=1&amp;&amp;degrees(r2)&lt;=0) {\n top_flag=1;\n }\n if (top_flag==1&amp;&amp;degrees(r2)&lt;90) {\n for (int i=0;i&lt;5;i++) {\n tmp='6';\n r2+=PI\/400;\n myPort.write(tmp);\n }\n tmp='1';\n r1-=PI\/400;\n myPort.write(tmp);\n }\n else if (top_flag==1&amp;&amp;degrees(r2)&gt;=90) {\n middle_flag=1;\n top_flag=0;\n tmp='1';\n r1-=PI\/400;\n myPort.write(tmp);\n }\n if (middle_flag==1&amp;&amp;degrees(r2)&lt;135) {\n for (int i=0;i&lt;3;i++) {\n tmp='6';\n r2+=PI\/400;\n myPort.write(tmp);\n }\n if(degrees(r1)&gt;-30){\n tmp='1';\n r1-=PI\/400;\n myPort.write(tmp);\n }\n }else if (middle_flag==1&amp;&amp;degrees(r2)&gt;=135){\n middle_flag=0;\n bottom_flag=1;\n }\n if(bottom_flag==1&amp;&amp;degrees(r1)&lt;0){\n tmp='3';\n r1+=PI\/400;\n myPort.write(tmp);\n }else if(bottom_flag==1&amp;&amp;degrees(r1)&gt;=0){\n bottom_flag=0;\n for(int i=0;i&lt;0;i++){\n tmp='7';\n myPort.write(tmp);\n }\n }\n\ndelay(10);\n\nif ((keyPressed == true) &amp;&amp; (key == '1')) {\n tmp='1';\n r1-=PI\/400;\n myPort.write(tmp);\n }\n if ((keyPressed == true) &amp;&amp; (key == '3')) {\n tmp='3';\n r1+=PI\/400;\n myPort.write(tmp);\n }\n if ((keyPressed == true) &amp;&amp; (key == '4')) {\n tmp='4';\n r2-=PI\/400;\n myPort.write(tmp);\n }\n if ((keyPressed == true) &amp;&amp; (key == '6')) {\n tmp='6';\n r2+=PI\/400;\n myPort.write(tmp);\n }\n if ((keyPressed == true) &amp;&amp; (key == '7')) {\n tmp='7';\n myPort.write(tmp);\n }\n if ((keyPressed == true) &amp;&amp; (key == '9')) {\n tmp='9';\n myPort.write(tmp);\n }\n tmp=0;\n }\n void serialEvent(Serial p) {\n \/\/\u5909\u6570x\u306b\u30b7\u30ea\u30a2\u30eb\u901a\u4fe1\u3067\u8aad\u307f\u8fbc\u3093\u3060\u5024\u3092\u4ee3\u5165\n tmp2=myPort.read();\n }<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>\u52d5\u753b \u7d20\u6750 \u30a2\u30af\u30ea\u30eb5mm\u539a P-PMSA-B42D3Lx2 P-PMSA-B5&hellip;<\/p>\n<p class=\"more-link-p\"><a class=\"more-link\" href=\"https:\/\/www.syuheiuda.com\/?p=2971\">Read more &rarr;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"_locale":"","_original_post":""},"categories":[15,18],"tags":[],"views":3431,"_links":{"self":[{"href":"https:\/\/www.syuheiuda.com\/index.php?rest_route=\/wp\/v2\/posts\/2971"}],"collection":[{"href":"https:\/\/www.syuheiuda.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.syuheiuda.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.syuheiuda.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.syuheiuda.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2971"}],"version-history":[{"count":0,"href":"https:\/\/www.syuheiuda.com\/index.php?rest_route=\/wp\/v2\/posts\/2971\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.syuheiuda.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2971"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.syuheiuda.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2971"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.syuheiuda.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2971"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}