【サンプル】Node-RED

基本的な使い方はこちらをご覧下さい。KeiganPi チュートリアル Node-RED

以下のデータをコピーして、Node-REDエディタの右上メニュー>[読み込み > フローをクリップボードから読み込み]で表示されたウインドウに貼り付けてご使用下さい。

基本接続

KeiganMotor にUSB接続し、モーターのLEDを点滅させるフロー

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モーター制御

KeiganMotor に接続し「スピード設定＆回転」「位置制御（相対位置）」「位置制御（絶対位置）」を行うフロー

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回転位置の到達と検出

KeiganMotor が目標の座標に到達したらLEDを変化させます。制限時間内に到達しない場合はエラーとしてLEDを赤点滅させます。

フローデータ

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回転往復

2種類の回転往復のサンプル

現在の位置から+360度〜-360度の範囲でモーターが往復回転します。
右180度20rpm回転→3秒停止→右180度20rpm回転→3秒停止→原点に40rpmで戻るを繰り返します。

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モーターの値取得

KeiganMotor の設定値、モーターログ、回転情報を取得し、Debugタブに表示するフロー

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Dashboard からの制御（回転）

Dashboard にKeiganMotor の回転情報を表示し、各ボタンから回転操作を行うフロー

Dashboard（WebブラウザからNode-REDを操作するGUI）からモーターの情報表示と操作がおこなえます。
このフローはDashboardを使用します。実行時にNode-REDエディターからDashboardを表示して下さい。

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Dashboard からの制御（座標）

Dashboard から速度、座標、トルクを入力し、リアルタイムに位置制御を行うフロー

Dashboard からの入力に応じて、コマンドのパラメータを動的に変更する事で、リアルタイムな制御が可能になります。

Dashboard から速度、座標、トルクを設定してリアルタイムに位置制御がおこなえます。
このフローはDashboard を使用します。
実行時にNode-REDエディターからDashboardを表示して下さい。

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(Radian)","chartType":"line","legend":"false","xformat":"HH:mm:ss","interpolate":"linear","nodata":"","dot":false,"ymin":"-40","ymax":"40","removeOlder":"5","removeOlderPoints":"50","removeOlderUnit":"1","cutout":0,"useOneColor":false,"colors":["#1f77b4","#aec7e8","#ff7f0e","#2ca02c","#98df8a","#d62728","#ff9896","#9467bd","#c5b0d5"],"useOldStyle":false,"outputs":1,"x":1170,"y":180,"wires":[[]]},{"id":"3bfaac86.c0b744","type":"change","z":"1310c0a9.5a858f","name":"position","rules":[{"t":"set","p":"payload","pt":"msg","to":"payload.position","tot":"msg"}],"action":"","property":"","from":"","to":"","reg":false,"x":980,"y":180,"wires":[["f7be8adb.b72888"]]},{"id":"d76da236.7c56e","type":"comment","z":"1310c0a9.5a858f","name":"Distance初期値設定、スライダーに初期値設定","info":"","x":1230,"y":400,"wires":[]},{"id":"4c6d4542.a80dcc","type":"km-motor-usb-selector","z":"1310c0a9.5a858f","name":"","selectMotorName":"","selectMotorNameself":false,"isInitializScan":false,"isMotorKeepalive":false,"x":280,"y":780,"wires":[["49468982.bc1248"]]},{"id":"c42924be.8ef388","type":"inject","z":"1310c0a9.5a858f","name":"Stop","topic":"","payload":"true","payloadType":"bool","repeat":"","crontab":"","once":false,"onceDelay":0.1,"x":110,"y":780,"wires":[["4c6d4542.a80dcc"]]},{"id":"49468982.bc1248","type":"km-motor-sequencer","z":"1310c0a9.5a858f","name":"","cmdJson":"{\"cmd\":\"cmdDisable\"}","isErrStop":true,"x":480,"y":780,"wires":[[]]},{"id":"fdf3fee1.3a36f","type":"comment","z":"1310c0a9.5a858f","name":"モーター停止","info":"","x":90,"y":720,"wires":[]},{"id":"8814aa79.bafa48","type":"km-motor-usb-selector","z":"1310c0a9.5a858f","name":"","selectMotorName":"","selectMotorNameself":false,"isInitializScan":true,"isMotorKeepalive":false,"x":280,"y":900,"wires":[[]]},{"id":"cc1dbb74.298cb8","type":"inject","z":"1310c0a9.5a858f","name":"","topic":"","payload":"scan","payloadType":"str","repeat":"","crontab":"","once":false,"onceDelay":"0.5","x":110,"y":900,"wires":[["8814aa79.bafa48"]]},{"id":"ea7c995d.00d828","type":"comment","z":"1310c0a9.5a858f","name":"入力に文字列\"scan\"を入れるとモーターを再検出します","info":"","x":580,"y":900,"wires":[]},{"id":"2ff59413.f954cc","type":"comment","z":"1310c0a9.5a858f","name":"モーターの再検出（通常は使用しません。フロー実行中に新しいモーターを接続した場合にのみ使用）","info":"","x":370,"y":860,"wires":[]},{"id":"fe117277.322a7","type":"ui_slider","z":"1310c0a9.5a858f","name":"","label":"Torque","tooltip":"","group":"f9969c77.4cd4d","order":4,"width":0,"height":0,"passthru":false,"outs":"end","topic":"","min":"0","max":"1","step":"0.01","x":630,"y":600,"wires":[["f9f1f250.3108"]]},{"id":"f9f1f250.3108","type":"km-motor-usb-selector","z":"1310c0a9.5a858f","name":"","selectMotorName":"","selectMotorNameself":false,"isInitializScan":false,"isMotorKeepalive":false,"x":820,"y":600,"wires":[["75bce6e5.430d28"]]},{"id":"75bce6e5.430d28","type":"km-motor-sequencer","z":"1310c0a9.5a858f","name":"","cmdJson":"{\"cmd\":\"cmdMaxTorque\",\"arg\":\"msg.payload\"}","isErrStop":true,"x":1110,"y":600,"wires":[[]]},{"id":"b512f473.0a3af8","type":"change","z":"1310c0a9.5a858f","name":"","rules":[{"t":"set","p":"payload","pt":"msg","to":"1","tot":"num"}],"action":"","property":"","from":"","to":"","reg":false,"x":460,"y":600,"wires":[["fe117277.322a7"]]},{"id":"86cb548d.438168","type":"comment","z":"1310c0a9.5a858f","name":"トルク初期値設定","info":"","x":470,"y":560,"wires":[]},{"id":"f9969c77.4cd4d","type":"ui_group","z":"","name":"Dashboardからの制御（座標）","tab":"ff246c2b.4566a","order":1,"disp":false,"width":"8","collapse":false},{"id":"ff246c2b.4566a","type":"ui_tab","z":"","name":"Dashboardからの制御（座標）","icon":"dashboard","order":2,"disabled":false,"hidden":false}]

物理PUSHボタンでシャットダウン

GPIOに接続した物理ボタンを長押しする事で、KeiganPiをシャットダウンするサンプルです。
物理PUSHボタンはKeiganPiに附属の物やそれ以外も使用可能です。
物理PUSHボタンの接続例はこちらをご覧下さい。

[{"id":"6bd8bb0f.230f34","type":"tab","label":"物理ボタンでシステム停止","disabled":false,"info":""},{"id":"ca9251f0.c458a","type":"trigger","z":"6bd8bb0f.230f34","op1":"","op2":"","op1type":"nul","op2type":"payl","duration":"3","extend":true,"units":"s","reset":"","bytopic":"all","name":"","x":240,"y":100,"wires":[["d3733c30.21589"]]},{"id":"704ea072.ed857","type":"comment","z":"6bd8bb0f.230f34","name":"物理ボタン（赤）3秒間長押しでシャットダウン","info":"","x":200,"y":60,"wires":[]},{"id":"64b0d0d2.2796c","type":"rpi-gpio in","z":"6bd8bb0f.230f34","name":"","pin":"37","intype":"up","debounce":"25","read":false,"x":120,"y":440,"wires":[["f1c3383a.01e558"]]},{"id":"f1c3383a.01e558","type":"debug","z":"6bd8bb0f.230f34","name":"緑ボタン","active":false,"tosidebar":true,"console":false,"tostatus":false,"complete":"payload","targetType":"msg","x":340,"y":440,"wires":[]},{"id":"59d06999.edc778","type":"rpi-gpio in","z":"6bd8bb0f.230f34","name":"","pin":"35","intype":"up","debounce":"25","read":false,"x":120,"y":500,"wires":[["f5631aeb.5fb468"]]},{"id":"d919b8e2.3c60f8","type":"rpi-gpio in","z":"6bd8bb0f.230f34","name":"","pin":"33","intype":"up","debounce":"25","read":false,"x":120,"y":560,"wires":[["f02cefc9.478cc"]]},{"id":"f5631aeb.5fb468","type":"debug","z":"6bd8bb0f.230f34","name":"黄色ボタン","active":false,"tosidebar":true,"console":false,"tostatus":false,"complete":"payload","targetType":"msg","x":350,"y":500,"wires":[]},{"id":"e1d4239b.7b5b","type":"comment","z":"6bd8bb0f.230f34","name":"物理ボタンの動作確認　https://docs.keigan-motor.com/keiganpi/add_button","info":"","x":290,"y":360,"wires":[]},{"id":"f02cefc9.478cc","type":"debug","z":"6bd8bb0f.230f34","name":"赤ボタン","active":false,"tosidebar":true,"console":false,"tostatus":false,"complete":"payload","targetType":"msg","x":340,"y":560,"wires":[]},{"id":"4070b6a3.d073a8","type":"comment","z":"6bd8bb0f.230f34","name":"物理ボタン押下で「0」離すと「1」","info":"","x":200,"y":400,"wires":[]},{"id":"2cf88ced.a10314","type":"rpi-gpio in","z":"6bd8bb0f.230f34","name":"","pin":"33","intype":"up","debounce":"25","read":false,"x":100,"y":100,"wires":[["ca9251f0.c458a"]]},{"id":"d3733c30.21589","type":"switch","z":"6bd8bb0f.230f34","name":"","property":"payload","propertyType":"msg","rules":[{"t":"eq","v":"0","vt":"num"},{"t":"else"}],"checkall":"true","repair":false,"outputs":2,"x":370,"y":100,"wires":[["799b569b.9d6c18"],[]]},{"id":"84fc2d97.8b36a","type":"inject","z":"6bd8bb0f.230f34","name":"RasPi 再起動","topic":"","payload":"true","payloadType":"bool","repeat":"","crontab":"","once":false,"onceDelay":0.1,"x":350,"y":180,"wires":[["850e8317.20561"]]},{"id":"b0ece292.162f6","type":"inject","z":"6bd8bb0f.230f34","name":"NodeRed 再起動","topic":"","payload":"true","payloadType":"bool","repeat":"","crontab":"","once":false,"onceDelay":0.1,"x":360,"y":260,"wires":[["f5fb0c36.2ee1e"]]},{"id":"799b569b.9d6c18","type":"exec","z":"6bd8bb0f.230f34","command":"sudo halt -p","addpay":false,"append":"","useSpawn":"false","timer":"","oldrc":false,"name":"RasPi シャットダウン","x":600,"y":100,"wires":[[],[],["fba73a7f.4f2f28"]]},{"id":"fba73a7f.4f2f28","type":"debug","z":"6bd8bb0f.230f34","name":"System Error","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"payload","x":850,"y":100,"wires":[]},{"id":"f5fb0c36.2ee1e","type":"exec","z":"6bd8bb0f.230f34","command":"node-red-restart","addpay":false,"append":"","useSpawn":"false","timer":"","oldrc":false,"name":"NodeRed 再起動","x":590,"y":260,"wires":[[],[],["fba73a7f.4f2f28"]]},{"id":"850e8317.20561","type":"exec","z":"6bd8bb0f.230f34","command":"sudo reboot","addpay":false,"append":"","useSpawn":"false","timer":"","oldrc":false,"name":"RasPi 再起動","x":570,"y":180,"wires":[[],[],["fba73a7f.4f2f28"]]}]

リモート操作ドリー

遠隔地にある2台のKeiganPiを中継サーバーを介して接続し、コントロールします。

接続構成

KeiganPiを2つ用意し、片方は操作側、もう片方はKeiganMotorと接続してドリーを操作する受信側とします。
お互いをMQTTサーバーと接続します。
MQTTサーバーにはクラウドサービスのビーボットを使用します。

　このデモに使用するフロー

※フローファイルはzip形式で圧縮されています、ダウンロード後解凍して使用して下さい。

　ビーボットの設定

https://beebotte.com/ にアクセスし必要な情報を入力しアカウントを作成。作成したアカウントでログイン。
My ChannelsからCreate Newボタンを押して新規Channelを作成
以下の赤ワクの部分のみ入力。
Channel Nameに「nodeRedTwoWheeledCar」
Resources Nameに「node_red_two_wheeled」