{"id":9042,"date":"2016-07-19T13:58:25","date_gmt":"2016-07-19T04:58:25","guid":{"rendered":"https:\/\/www.appliot.co.jp\/lazurite-jp\/?p=9042"},"modified":"2016-07-19T14:11:25","modified_gmt":"2016-07-19T05:11:25","slug":"%e3%82%89%e3%81%9a%e3%82%89%e3%81%84%e3%81%a8%e5%a7%ab%e3%81%ae%e6%8c%91%e6%88%a6%e6%97%a5%e8%a8%98%ef%bc%88%e7%ac%ac16%e5%9b%9e%ef%bc%89%e3%83%a2%e3%83%bc%e3%82%bf%e3%83%bc%e3%82%92%e5%8b%95","status":"publish","type":"post","link":"https:\/\/www.appliot.co.jp\/lazurite-jp\/lazurite\/9042.html","title":{"rendered":"\u3089\u305a\u3089\u3044\u3068\u59eb\u306e\u6311\u6226\u65e5\u8a18\uff08\u7b2c16\u56de\uff09~\u30e2\u30fc\u30bf\u30fc\u3092\u52d5\u304b\u3057\u3066\u307f\u3088\u3046\u2460~"},"content":{"rendered":"

\"6\"<\/a><\/p>\n

 <\/p>\n

\u3053\u306e\u56f3\u306f\u3001ORIZURU\u306e\u69cb\u6210\u3067\u3059\u3002DC\u30e2\u30fc\u30bf\u30fc\u3067\u7fbd\u3092\u52d5\u304b\u3057\u3066\u3001\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u3067\u4e0a\u4e0b\u30fb\u5de6\u53f3\u306e\u5236\u5fa1\u3092\u884c\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n

\"orizuru\"<\/a><\/p>\n

ORIZURU\u306b\u642d\u8f09\u3055\u308c\u3066\u3044\u308b\u5c0f\u578b\u7248Lazurite(Lazurite Fly)\u304b\u3089\u3001\uff12\u7a2e\u985e\u306e\u30e2\u30fc\u30bf\u30fc\u3092\u52d5\u304b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n

\uff11\uff0eDC\u30e2\u30fc\u30bf\u30fc\u30fb\u30fb\u30fb\u7fbd\u3092\u30d0\u30bf\u30d0\u30bf\u3068\u7fbd\u3070\u305f\u304b\u305b\u3066\u3044\u307e\u3059\u3002\u30a8\u30f3\u30b8\u30f3\u306e\u50cd\u304d\u3092\u3059\u308b\u30e2\u30fc\u30bf\u30fc\u3067\u3059\u3002<\/p>\n

\uff12\uff0e\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u30fb\u30fb\u30fb\u5c3e\u7ffc\u3092\u5de6\u53f3\u4e0a\u4e0b\u3055\u305b\u3066\u65b9\u5411\u3092\u6c7a\u3081\u308b\u30e2\u30fc\u30bf\u30fc<\/p>\n

\"stamp6\"<\/a>DC\u30e2\u30fc\u30bf\u30fc\u3063\u3066\u3069\u3093\u306a\u3082\u306e\uff1f<\/h2>\n

\u76f4\u6d41\u30e2\u30fc\u30bf\uff08direct-current motor\uff09\u3068\u3082\u547c\u3070\u308c\u3066\u3044\u3066\u3001\u5185\u90e8\u306b\u30a8\u30ca\u30e1\u30eb\u7dda\u3092\u4f55\u91cd\u306b\u3082\u5dfb\u3044\u305f\u30b3\u30a4\u30eb\u3068\u78c1\u77f3\u304c\u5165\u3063\u3066\u3044\u3066\u3001\u30b3\u30a4\u30eb\u306b\u96fb\u6c17\u304c\u6d41\u308c\u3066\u78c1\u6027\u3092\u6301\u3064\u3053\u3068\u3067\u3001\u78c1\u77f3\u3068\u53cd\u767a\u3057\u306a\u304c\u3089\u56de\u8ee2\u3059\u308b\u30e2\u30fc\u30bf\u30fc\u3001\u3068\u306e\u4e8b\u3067\u3059\u3002<\/p>\n

\u6a21\u578b\u3084\u30df\u30cb\u56db\u99c6\u3001\u30e9\u30b8\u30b3\u30f3\u306a\u3069\u3092\u8d70\u3089\u305b\u305f\u308a\u3001\u6247\u98a8\u6a5f\u306e\u7fbd\u3092\u56de\u3059\u3053\u3068\u304c\u51fa\u6765\u308b\u30e2\u30fc\u30bf\u30fc\u3067\u3059\u3002<\/p>\n

\"19\"<\/a>\u00a0 \u00a0 \u00a0\"26\"<\/a><\/p>\n

\uff0b\u304b\u3089\uff0d\u3078\u96fb\u6c17\u3092\u6d41\u3059\u3068\u30e2\u30fc\u30bf\u30fc\u304c\u56de\u308a\u307e\u3059\u3002\uff0d\u304b\u3089\uff0b\u3060\u3068\u9006\u56de\u8ee2\u3057\u307e\u3059\u3002\u8eca\u306e\u30bf\u30a4\u30e4\u306a\u3089\u6b63\u56de\u8ee2\u3055\u305b\u3066\u524d\u9032\u3001\u9006\u56de\u8ee2\u3067\u30d0\u30c3\u30af\u3059\u308b\u611f\u3058\u3067\u3059\u3002\u307e\u305f\u3001\uff0b\u304b\u3089\uff0d\u3001\uff0d\u304b\u3089\uff0b\u306e\u6b63\u8ca0\u4e21\u65b9\u304c\u3042\u308b\u3082\u306e\u3092H\u30d6\u30ea\u30c3\u30b8\u3068\u3082\u547c\u3076\u305d\u3046\u3067\u3059\u3002<\/p>\n

ORIZURU\u306e\u5834\u5408\u3001\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306e\u30b9\u30e9\u30a4\u30c9\u30dc\u30ea\u30e5\u30fc\u30e0\u3092\u64cd\u4f5c\u3057\u3066DC\u30e2\u30fc\u30bf\u30fc\u3092\u52d5\u304b\u3057\u3066\u3044\u307e\u3059\u3002DC\u30e2\u30fc\u30bf\u30fc\u306e\u5024\u306f\uff10\uff5e\uff11\uff10\uff12\uff13\u306e\u9593\u3067\u3001\u30ec\u30d0\u30fc\u306e\u4f4d\u7f6e\u306b\u3088\u3063\u3066\u529b\u306e\u5f37\u3055\u304c\u5909\u308f\u3063\u3066\u304d\u307e\u3059\u3002\uff10\u306e\u4f4d\u7f6e\u306a\u3089\uff10\uff0f\uff11\uff10\uff12\uff13\u306e\u529b\u3092\u51fa\u3057\u3066\u3044\u308b\u3001\u771f\u3093\u4e2d\u8fba\u308a\u306a\u3089\uff15\uff11\uff10\uff0f\uff11\uff10\uff12\uff13\u3001MAX\u3067\uff11\uff10\uff12\uff13\uff0f\uff11\uff10\uff12\uff13\u3067\u30d5\u30eb\u30d1\u30ef\u30fc\u3067\u30e2\u30fc\u30bf\u30fc\u304c\u52d5\u3044\u3066\u3044\u307e\u3059\u3002<\/p>\n

\"34\"\u3000\u3000\u3000\"35\"<\/p>\n

\u203b\u03bc\uff53\uff08\u30de\u30a4\u30af\u30ed\u30bb\u30c3\u30af\uff09\uff1d1\/1,000,000\u79d2\u3000\uff4d\uff53\uff08\u30df\u30ea\u30bb\u30c3\u30af\uff09\uff1d1\/1,000\u79d2<\/h5>\n

 <\/p>\n

\uff24\uff23\u30e2\u30fc\u30bf\u30fc\u306e\u529b\u306f\u300e\u5206\u6570\u300f\u3067\u8003\u3048\u307e\u3059\u3002\u307e\u305a\u3001\u5206\u6bcd\u306b\u3042\u305f\u308b\u5468\u671f\u3092\u6c7a\u3081\u3066\u3001\u305d\u306e\u5468\u671f\u306e\u3046\u3061\u306e\u4f55\uff05\u306e\u529b\u3092\u51fa\u3059\u304b\u3092\u6c7a\u3081\u3066\u3044\u307e\u3059\u3002\u4f8b\u3048\u3070\u3001\u4e0b\u306e\u56f3\u306e\u5834\u5408\u3001<\/p>\n

    \n
  1. \u300c\u5468\u671f\u304c\uff11\uff10\uff10\u3067A\u304c\uff15\uff10\u300d\u3092\u5206\u6570\u306b\u3059\u308b\u3068\u2192\uff15\uff10\uff0f\uff11\uff10\uff10\uff08\uff15\uff10\uff05\u306e\u529b\uff09<\/li>\n
  2. \u300c\u5468\u671f\u304c\uff0d\uff11\uff10\uff10\u3067B\u304c\uff0d\uff14\uff10\u300d\u3092\u5206\u6570\u306b\u3059\u308b\u3068\u2192\uff0d\uff14\uff10\uff0f\uff0d\uff11\uff10\uff10\uff08\uff14\uff10\uff05\u306e\u529b\uff09<\/li>\n<\/ol>\n

    \u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n

    \"31\"<\/a>\u3000\"33\"<\/a><\/p>\n

    DC\u30e2\u30fc\u30bf\u30fc\u3092\u52d5\u3059\u30d7\u30ed\u30b0\u30e9\u30e0<\/h2>\n

    ORIZURU\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u304b\u3089\u7121\u7dda\u3067\u9001\u4fe1\u3055\u308c\u305f\u5024\u3092\u53d7\u4fe1\u3057\u3066\u3001\uff24\uff23\u30e2\u30fc\u30bf\u30fc\u3092\u52d5\u304b\u3059\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u3059\u2193\u2193\u2193<\/p>\n

    [c]
    \n#define DEBUG<\/p>\n

    #define SUBGHZ_CH 36
    \n#define SUBGHZ_PANID 0xABCD
    \nuint8_t rx_data[256];
    \nuint32_t last_recv_time = 0;
    \nSUBGHZ_STATUS rx;<\/p>\n

    #define MOTOR_PS 17
    \n#define MOTOR_PWM 2<\/p>\n

    void setup(void)
    \n{
    \n SUBGHZ_MSG msg;
    \n long myAddress;
    \n#ifdef DEBUG
    \n Serial.begin(115200);
    \n#endif<\/p>\n

    msg = SubGHz.init();
    \n if(msg != SUBGHZ_OK)
    \n {
    \n SubGHz.msgOut(msg);
    \n while(1){ }
    \n }<\/p>\n

    #ifdef DEBUG
    \n myAddress = SubGHz.getMyAddress();
    \n Serial.print("myAddress1 = ");
    \n Serial.println_long(myAddress,HEX);
    \n#endif
    \n msg = SubGHz.begin(SUBGHZ_CH, SUBGHZ_PANID, SUBGHZ_100KBPS, SUBGHZ_PWR_1MW);
    \n if(msg != SUBGHZ_OK)
    \n {
    \n SubGHz.msgOut(msg);
    \n while(1){ }
    \n }
    \n msg = SubGHz.rxEnable(NULL);
    \n if(msg != SUBGHZ_OK)
    \n {
    \n SubGHz.msgOut(msg);
    \n while(1){ }
    \n }
    \n pinMode(25,OUTPUT);
    \n digitalWrite(25,HIGH);<\/p>\n

    \/\/ initializing motor
    \n digitalWrite(MOTOR_PWM, LOW);
    \n digitalWrite(MOTOR_PS, HIGH);<\/p>\n

    pinMode(MOTOR_PWM,OUTPUT);
    \n pinMode(MOTOR_PS,OUTPUT);<\/p>\n

    hhb.init(3,1023);
    \n hhb.attach(3,4,5);
    \n hhb.attach(3,6,7);
    \n hhb.write(3,0);
    \n hhb.start(3);<\/p>\n

    return;
    \n}<\/p>\n

    void loop(void)
    \n{
    \n uint32_t get_time;
    \n uint32_t delta_time;
    \n short len;
    \n short motor[3];<\/p>\n

    do
    \n {
    \n len = SubGHz.readData(rx_data,sizeof(rx_data));
    \n } while (len <= 0);
    \n memcpy(motor,&rx_data[7],6);<\/p>\n

    #ifdef DEBUG
    \n \/\/ Serial Output
    \n get_time = millis();
    \n SubGHz.getStatus(NULL,&rx);
    \n delta_time = get_time – last_recv_time;
    \n last_recv_time = get_time;
    \n Serial.print_long(delta_time,DEC);<\/p>\n

    Serial.print(" ");
    \n Serial.print_long((long)rx.rssi,DEC);<\/p>\n

    Serial.print(" ");
    \n Serial.print_long((long)rx.status,DEC);<\/p>\n

    Serial.print(" ");
    \n Serial.print_long((long)motor[2],DEC);<\/p>\n

    Serial.println("");
    \n#endif
    \n hhb.write(3,(unsigned short)motor[2]);
    \n hhb.update();
    \n return;
    \n}<\/p>\n

    [\/c]<\/p>\n

    \uff15\uff14\uff5e\uff15\uff18\u884c\u76ee\u3001\uff19\uff15\uff5e\uff19\uff16\u884c\u76ee\u306e\u300e\uff48\uff48\uff42\u300f\u304cDC\u30e2\u30fc\u30bf\u30fc\u7528\u306eLazurite\u5c02\u7528\u95a2\u6570\u3067\u3059\u3002\u5185\u5bb9\u306f\u3053\u3061\u3089\u306b\u8a18\u8f09\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u958b\u767a\u8005\u3044\u308f\u304f\u3001\u5168\u3066\u30cf\u30fc\u30c9\u30a6\u30a8\u30a2\u3067\u5236\u5fa1\u3057\u3066\u3044\u308b\u306e\u3067\u3001\u30e2\u30fc\u30bf\u30fc\u3092\u5236\u5fa1\u3059\u308b\u30bf\u30a4\u30df\u30f3\u30b0\u304c\u305a\u308c\u305a\u306b\u3001\u52d5\u4f5c\u304c\u5b89\u5b9a\u3057\u3066\u3044\u308b\u305d\u3046\u3067\u3059\u3002
    \n\u2192    https:\/\/www.appliot.co.jp\/lazurite-jp\/contents\/reference\/motor.html<\/a><\/p>\n

    Hardware H-Bridge\u30e9\u30a4\u30d6\u30e9\u30ea: hhb<\/h3>\n

    \u30e2\u30fc\u30bf\u30fc\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u521d\u671f\u5316\uff1a<\/h4>\n

    \u307e\u305a\u306f\u521d\u671f\u5316\u3059\u308b\u90e8\u5206\u3092\u898b\u3066\u307f\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n

    54\u884c\u76ee\uff1ahhb.init(3,1023);<\/p>\n

    \u3053\u308c\u306f\u30e2\u30fc\u30bf\u30fc\u3092\u5236\u5fa1\u3059\u308b3\u756a\u56de\u8def\u3092DC\uff93\uff70\uff80\uff70\u3067\u4f7f\u3046\u3001\u305d\u306e\u6642\u306e\u5468\u671f\uff08\u9593\u9694\uff09\u306f\uff11\uff10\uff12\uff13\u03bc\uff53\uff08\uff11\uff0e\uff10\uff12\uff13\uff4d\uff53\uff09\u3068\u3044\u3046\u5ba3\u8a00\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n

    55\u884c\u76ee\uff1ahhb.attach(3,4,5);<\/p>\n

    56\u884c\u76ee\uff1ahhb.attach(3,6,7);<\/p>\n

    3\u756a\u56de\u8def\u306e\u51fa\u529b\u3092\u6b63\u50744pin\u3001\u8ca0\u50745pin\u306b\u3059\u308b\uff1b3\u756a\u56de\u8def\u306e\u51fa\u529b\u3092\u6b63\u50746pin\u3001\u8ca0\u50747pin\u306b\u3059\u308b<\/p>\n

    \"40\"<\/a><\/p>\n

    \uff157\u884c\u76ee\uff1ahhb.write(3,0);<\/p>\n

    3\u756a\u56de\u8def\u306e\u51fa\u529b\u3092\uff10\u306b\u3059\u308b<\/p>\n

    \uff158\u884c\u76ee\uff1ahhb.start(3);<\/p>\n

    \u30e2\u30fc\u30bf\u30fc\u7528\u306e\u56de\u8def\u3092\u52d5\u304b\u3057\u3066\u4fe1\u53f7\u3092\u51fa\u529b\u3059\u308b<\/p>\n

    \u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u304b\u3089\u9001\u3089\u308c\u305f\u30e2\u30fc\u30bf\u30fc\u306e\u5024\u3092\u53cd\u6620\u3059\u308b<\/h4>\n

    \uff17\uff12\uff5e\uff17\uff14\u884c\u76ee\uff1a\u3000\u3053\u3053\u3067\u53d7\u4fe1\u3057\u305f\u30c7\u30fc\u30bf\u3092motor\u3068\u3044\u3046\u5909\u6570\u306b\u30b3\u30d4\u30fc\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n

    \uff19\uff15\u884c\u76ee\uff1a\u3000hhb.write(3,(unsigned short)motor[2]);
    \n\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u304b\u3089\u53d7\u4fe1\u3057\u305fDC\u30e2\u30fc\u30bf\u306e\u5024\u306fmotor[2]\u306b\u683c\u7d0d\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u305d\u308c\u3092\u30013\u756a\u306e\u30e2\u30fc\u30bf\u56de\u8def\u306b\u305d\u306e\u307e\u307e\u66f8\u304d\u3053\u3093\u3067\u3044\u307e\u3059\u3002\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u304b\u3089\u9001\u4fe1\u3055\u308c\u3066\u304f\u308b\u5024\u304c0\uff5e1023\u3067\u3001DC\u30e2\u30fc\u30bf\u306e\u5468\u671f\u30821.023ms(1023us)\u306b\u3057\u3066\u3044\u308b\u306e\u3067\u3001\u305d\u306e\u307e\u307e\u66f8\u304d\u3053\u3080\u3053\u3068\u304c\u51fa\u6765\u308b\u3093\u3067\u3059\u306d\u3002<\/p>\n

    \uff19\uff16\u884c\u76ee\uff1a\u3000hhb.update();
    \nhhb\u30e9\u30a4\u30d6\u30e9\u30ea\u3067\u306fwrite\u3059\u308b\u3060\u3051\u3067\u306fDC\u30e2\u30fc\u30bf\u30fc\u306e\u5024\u304c\u53cd\u6620\u3055\u308c\u307e\u305b\u3093\u3002update\u3092\u3057\u3066\u521d\u3081\u3066\u305d\u306e\u5024\u304c\u6709\u52b9\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n

    \uff13\u756a\u56de\u8def\u3068\u306f\uff1f\uff1f<\/h4>\n

    \u7a81\u7136\u767b\u5834\u3057\u305f\u3001\uff13\u756a\u56de\u8def\u3068\u306f\u4f55\u3067\u3057\u3087\u3046\u304b\uff1f<\/p>\n

    Lazurite\u306e\u30de\u30a4\u30b3\u30f3\u306b\u306f\uff14\u500b\u306e\u30e2\u30fc\u30bf\u30fc\u3092\u52d5\u304b\u3059\u56de\u8def\u304c\u5165\u3063\u3066\u3044\u3066\u3001\u305d\u308c\u3092DC\u30e2\u30fc\u30bf\u30fc\u3084\u30b5\u30fc\u30dc\u306b\u5272\u308a\u5f53\u3066\u3066\u4f7f\u7528\u3057\u3066\u3044\u308b\u3088\u3046\u3067\u3059\u3002\u4eca\u56de\u306eORIZURU\u306f\u3001\u30b5\u30fc\u30dc 2\u500b\u3001DC\u30e2\u30fc\u30bf1\u500b\u306a\u306e\u3067\u3059\u304c\u3001\u8272\u3005\u3068\u8a33\u304c\u3042\u3063\u3066\u6b21\u306e\u3088\u3046\u306b\u4f7f\u7528\u3057\u3066\u3044\u308b\u305d\u3046\u3067\u3059\u3002<\/p>\n

    \"37\"\"39\"<\/p>\n

    ORIZURU\u3067\u306e\u4f7f\u7528\u65b9\u6cd5\uff1a<\/h4>\n

    \u30b5\u30fc\u30dc 1 = FTM0\u306e0\u3092\u4f7f\u7528
    \n\u30b5\u30fc\u30dc2=FTM1\u306e2\u3092\u4f7f\u7528
    \nDC\u30e2\u30fc\u30bf=FTM3\u3068FTM4\u3092\u4f7f\u7528
    \n\uff08\u4eca\u56de\u306e\u30b5\u30f3\u30d7\u30eb\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u306fFTM3\u3057\u304b\u4f7f\u7528\u3057\u3066\u3044\u307e\u305b\u3093\uff09<\/p>\n

    \u8272\u3005\u306a\u4e8b\u60c5\u304c\u3042\u308b\u3088\u3046\u306a\u306e\u3067\u3059\u304c\u3001\u3068\u308a\u3042\u3048\u305aFTM3\u3092\u4f7f\u7528\u3057\u3066DC\u30e2\u30fc\u30bf\u3092\u52d5\u304b\u3057\u3066\u3044\u308b\u3068\u3044\u3046\u4e8b\u306f\u89e3\u308a\u307e\u3057\u305f\u3002\u3060\u304b\u3089hhb.init(3,1023)\u306e\u3088\u3046\u306b\u30013\u756a\u306e\u56de\u8def\u3092\u7528\u3044\u3066\u3044\u305f\u306e\u3067\u3059\u306d\u3002<\/p>\n

    \u4eca\u9031\u306f\u3053\u3053\u307e\u3067\u3067\u3059\u3002\u5b9f\u969b\u306b\u52d5\u3044\u305f\u3068\u3053\u308d\u306f\u6700\u5f8c\u306b\u304a\u898b\u305b\u3057\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n

     <\/p>\n

     <\/p>\n","protected":false},"excerpt":{"rendered":"

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