CatPot 2015-2016 / Mbed 2 deprecated CatPot_2v10_T_Main

ジャパンオープン用のメインプログラム

Dependencies:   mbed AQM1602 HMC6352 PID

setting/def.h@5:5ff3a7d5d8c2, 2016-03-04 (annotated)

Committer:
lilac0112_1
Date:
Fri Mar 04 09:01:20 2016 +0000
Revision:
5:5ff3a7d5d8c2
Parent:
4:52da8da146d4
Child:
6:f9167470d819
somehow and new ir_pow_format

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 0:ea35c18c85fc 1 #ifndef _DEF_H_
lilac0112_1 0:ea35c18c85fc 2 #define _DEF_H_
lilac0112_1 0:ea35c18c85fc 3
lilac0112_1 0:ea35c18c85fc 4 //BT(BlueTooth)
lilac0112_1 0:ea35c18c85fc 5 #define DATA_NUM 8+2//2byte→KEYCODE（拝啓）とCHECKCODE（敬具） 8byte→やりとりするデータ
lilac0112_1 0:ea35c18c85fc 6 #define TX_KEYCODE 0xAA//あちらのKEYCODE
lilac0112_1 0:ea35c18c85fc 7 #define RX_KEYCODE 0xAA//こちらのKEYCODE
lilac0112_1 0:ea35c18c85fc 8 #define KEY 0//KEYCODEは配列の最初
lilac0112_1 0:ea35c18c85fc 9 #define CHECK DATA_NUM-1//CHECKCODEは配列の最後
lilac0112_1 0:ea35c18c85fc 10
lilac0112_1 0:ea35c18c85fc 11
lilac0112_1 0:ea35c18c85fc 12 //Switch 入力値
lilac0112_1 0:ea35c18c85fc 13 #define NONE 0
lilac0112_1 0:ea35c18c85fc 14 #define UP 1
lilac0112_1 0:ea35c18c85fc 15 #define DOWN 2
lilac0112_1 0:ea35c18c85fc 16 #define RIGHT 3
lilac0112_1 0:ea35c18c85fc 17 #define LEFT 4
lilac0112_1 0:ea35c18c85fc 18
lilac0112_1 0:ea35c18c85fc 19 //Lcd 設定値
lilac0112_1 3:c49ea7ad8e91 20 #define BUFSIZE 7
lilac0112_1 0:ea35c18c85fc 21 #define STATE_NUM_X 0x04
lilac0112_1 0:ea35c18c85fc 22 #define STATE_NUM_Y 0x10
lilac0112_1 3:c49ea7ad8e91 23
lilac0112_1 4:52da8da146d4 24 #define JUMP_TAG_MAX 0xFFFF
lilac0112_1 4:52da8da146d4 25 //tag
lilac0112_1 4:52da8da146d4 26 #define ZERO_FUNCTION 0x0000
lilac0112_1 4:52da8da146d4 27 #define START 0x0001
lilac0112_1 4:52da8da146d4 28 #define GET_IR 0x0002
lilac0112_1 4:52da8da146d4 29 #define GET_LINE 0x0003
lilac0112_1 4:52da8da146d4 30 #define GET_PID_VALUE 0x0004
lilac0112_1 4:52da8da146d4 31 #define CALIBRATION_ENTER 0x0005
lilac0112_1 4:52da8da146d4 32 #define CALIBRATION_EXIT 0x0006
lilac0112_1 4:52da8da146d4 33 #define FRONT_RESET 0x0007
lilac0112_1 4:52da8da146d4 34 #define SET_POWER1 0x0008
lilac0112_1 4:52da8da146d4 35 #define SET_POWER2 0x0009
lilac0112_1 4:52da8da146d4 36 #define SOFT_RESET 0x000A
lilac0112_1 4:52da8da146d4 37 #define SET_STRATEGY1 0x000B
lilac0112_1 4:52da8da146d4 38 #define SET_STRATEGY2 0x000C
lilac0112_1 4:52da8da146d4 39 #define SET_STRATEGY3 0x000D
lilac0112_1 4:52da8da146d4 40 #define SET_STRATEGY4 0x000E
lilac0112_1 4:52da8da146d4 41 #define START2 0x000F
lilac0112_1 4:52da8da146d4 42
lilac0112_1 3:c49ea7ad8e91 43 typedef struct {//for command
lilac0112_1 3:c49ea7ad8e91 44 char LcdStr[STATE_NUM_X][BUFSIZE];
lilac0112_1 3:c49ea7ad8e91 45 uint8_t str_num;
lilac0112_1 3:c49ea7ad8e91 46 uint8_t (*CommandFunction)(uint8_t x);
lilac0112_1 4:52da8da146d4 47 uint16_t tag_num;
lilac0112_1 3:c49ea7ad8e91 48 } CommandItem;
lilac0112_1 3:c49ea7ad8e91 49
lilac0112_1 0:ea35c18c85fc 50 //繰り返し割り込み
lilac0112_1 0:ea35c18c85fc 51 #define DUTY_NUM 1
lilac0112_1 0:ea35c18c85fc 52
lilac0112_1 0:ea35c18c85fc 53 #define DUTY_SW 0
lilac0112_1 0:ea35c18c85fc 54 #define DUTY_GYRO 1
lilac0112_1 0:ea35c18c85fc 55 #define DUTY_PING 2
lilac0112_1 0:ea35c18c85fc 56 #define DUTY_COLOR 3
lilac0112_1 0:ea35c18c85fc 57 #define DUTY_MOUSE 4
lilac0112_1 0:ea35c18c85fc 58
lilac0112_1 0:ea35c18c85fc 59 /*PID処理*/
lilac0112_1 0:ea35c18c85fc 60 #define RATE 0.052//52
lilac0112_1 0:ea35c18c85fc 61 #define PID_BIAS 1.0
lilac0112_1 0:ea35c18c85fc 62 #define REFERENCE 180.0
lilac0112_1 0:ea35c18c85fc 63 #define MINIMUM 0.0
lilac0112_1 0:ea35c18c85fc 64 #define MAXIMUM 359.9
lilac0112_1 0:ea35c18c85fc 65 #define P_GAIN 1.3//1.25//0.8 //0.78
lilac0112_1 0:ea35c18c85fc 66 #define I_GAIN 0.0 //0.0
lilac0112_1 0:ea35c18c85fc 67 #define D_GAIN 0.01//0.01 //0.009
lilac0112_1 0:ea35c18c85fc 68 #define OUT_LIMIT 30.0
lilac0112_1 0:ea35c18c85fc 69 #define MAX_POW 100
lilac0112_1 0:ea35c18c85fc 70 #define MIN_POW -100
lilac0112_1 0:ea35c18c85fc 71 #define PID_CYCLE 0.05 //s
lilac0112_1 0:ea35c18c85fc 72
lilac0112_1 0:ea35c18c85fc 73 //ir
lilac0112_1 5:5ff3a7d5d8c2 74 //ir_pow_old
lilac0112_1 0:ea35c18c85fc 75 #define IR_X 0
lilac0112_1 0:ea35c18c85fc 76 #define IR_Y 1
lilac0112_1 5:5ff3a7d5d8c2 77 //ir_pow
lilac0112_1 5:5ff3a7d5d8c2 78 #define IR_X_DIR 0
lilac0112_1 5:5ff3a7d5d8c2 79 #define IR_Y_DIR 1
lilac0112_1 5:5ff3a7d5d8c2 80 #define IR_X_TURN 2
lilac0112_1 5:5ff3a7d5d8c2 81 #define IR_Y_TURN 3
lilac0112_1 5:5ff3a7d5d8c2 82
lilac0112_1 0:ea35c18c85fc 83 #define IR_SHORT 0
lilac0112_1 0:ea35c18c85fc 84 #define IR_LONG 1
lilac0112_1 0:ea35c18c85fc 85
lilac0112_1 0:ea35c18c85fc 86 #define X_AXIS 0
lilac0112_1 0:ea35c18c85fc 87 #define Y_AXIS 1
lilac0112_1 0:ea35c18c85fc 88
lilac0112_1 1:3e013ae7900d 89
lilac0112_1 1:3e013ae7900d 90 #define DIS_0 0x0//low_value
lilac0112_1 1:3e013ae7900d 91 #define DIS_1 0x1
lilac0112_1 1:3e013ae7900d 92 #define DIS_2 0x2
lilac0112_1 1:3e013ae7900d 93 #define DIS_3 0x3
lilac0112_1 1:3e013ae7900d 94 #define DIS_4 0x4
lilac0112_1 1:3e013ae7900d 95 #define DIS_5 0x5
lilac0112_1 1:3e013ae7900d 96 #define DIS_6 0x6
lilac0112_1 1:3e013ae7900d 97 #define DIS_7 0x7//high_value
lilac0112_1 1:3e013ae7900d 98
lilac0112_1 0:ea35c18c85fc 99 //ping
lilac0112_1 0:ea35c18c85fc 100 #define L_PING 0
lilac0112_1 0:ea35c18c85fc 101 #define R_PING 1
lilac0112_1 0:ea35c18c85fc 102 #define F_PING 2
lilac0112_1 0:ea35c18c85fc 103 #define B_PING 3
lilac0112_1 0:ea35c18c85fc 104
lilac0112_1 0:ea35c18c85fc 105 //0,1...main
lilac0112_1 0:ea35c18c85fc 106 //2,3...debug board
lilac0112_1 0:ea35c18c85fc 107
lilac0112_1 0:ea35c18c85fc 108 //line
lilac0112_1 0:ea35c18c85fc 109 #define A_SPOT 0
lilac0112_1 0:ea35c18c85fc 110 #define B_SPOT 1
lilac0112_1 0:ea35c18c85fc 111 #define C_SPOT 2
lilac0112_1 0:ea35c18c85fc 112 #define AB_SPOT 3
lilac0112_1 0:ea35c18c85fc 113
lilac0112_1 0:ea35c18c85fc 114 #define LINE_RF 5
lilac0112_1 0:ea35c18c85fc 115 #define LINE_DELAY 0.5
lilac0112_1 0:ea35c18c85fc 116
lilac0112_1 0:ea35c18c85fc 117 //思考パターン
lilac0112_1 0:ea35c18c85fc 118 #define STRATEGY_NUM 12
lilac0112_1 0:ea35c18c85fc 119
lilac0112_1 0:ea35c18c85fc 120 //計算
lilac0112_1 0:ea35c18c85fc 121 #define ROUND(x) ((x > 0) ? (x + 0.5) : (x - 0.5))//x...整数
lilac0112_1 0:ea35c18c85fc 122 #define PI 3.14159265358979323846
lilac0112_1 0:ea35c18c85fc 123 #define DEG2RAD(deg) (PI*(deg)/180.0)
lilac0112_1 0:ea35c18c85fc 124 #define RAD2DEG(rad) (180.0(rad)/PI)
lilac0112_1 0:ea35c18c85fc 125
lilac0112_1 0:ea35c18c85fc 126 //データ
lilac0112_1 1:3e013ae7900d 127 /*
lilac0112_1 0:ea35c18c85fc 128 typedef struct {//ir,line,gyro,mouse,ping
lilac0112_1 0:ea35c18c85fc 129 //ping
lilac0112_1 0:ea35c18c85fc 130 uint8_t ping[4];
lilac0112_1 0:ea35c18c85fc 131 //ir
lilac0112_1 0:ea35c18c85fc 132 uint8_t irKey;
lilac0112_1 0:ea35c18c85fc 133 uint8_t irNotice;
lilac0112_1 0:ea35c18c85fc 134 uint8_t irSpot[2];
lilac0112_1 0:ea35c18c85fc 135 uint8_t irPosition;
lilac0112_1 0:ea35c18c85fc 136 uint8_t IrFlag;
lilac0112_1 0:ea35c18c85fc 137 //line
lilac0112_1 0:ea35c18c85fc 138 uint8_t lnFlag[3];
lilac0112_1 0:ea35c18c85fc 139 uint8_t ball;
lilac0112_1 0:ea35c18c85fc 140 uint8_t KickOffFlag;
lilac0112_1 0:ea35c18c85fc 141 //uint8_t LineBind[4];//宣言すると動かない⇒構造体の限界
lilac0112_1 0:ea35c18c85fc 142 uint8_t KickFlag;
lilac0112_1 0:ea35c18c85fc 143 //motor
lilac0112_1 0:ea35c18c85fc 144 int32_t motorlog[2];
lilac0112_1 0:ea35c18c85fc 145 uint8_t MotorFlag;
lilac0112_1 0:ea35c18c85fc 146 double s_pow;
lilac0112_1 0:ea35c18c85fc 147 double l_pow;
lilac0112_1 0:ea35c18c85fc 148 //cmps&pid
lilac0112_1 0:ea35c18c85fc 149 uint8_t PidFlag;
lilac0112_1 0:ea35c18c85fc 150 double cmps, CmpsInitialValue, CmpsDiff, FrontDeg;//0<x<360
lilac0112_1 0:ea35c18c85fc 151 double InputPID;//<<gyrosensor
lilac0112_1 0:ea35c18c85fc 152 int16_t OutputPID;//>>motor
lilac0112_1 0:ea35c18c85fc 153 uint8_t strategy;
lilac0112_1 0:ea35c18c85fc 154 uint8_t init_point_flag;
lilac0112_1 0:ea35c18c85fc 155 uint8_t stopflag;
lilac0112_1 0:ea35c18c85fc 156 } Record;
lilac0112_1 1:3e013ae7900d 157 */
lilac0112_1 0:ea35c18c85fc 158 //NewStruct
lilac0112_1 0:ea35c18c85fc 159 typedef struct {
lilac0112_1 0:ea35c18c85fc 160 //cmps&pid
lilac0112_1 0:ea35c18c85fc 161 double cmps, CmpsInitialValue, CmpsDiff, FrontDeg;//0<x<360
lilac0112_1 0:ea35c18c85fc 162 double InputPID;//<<gyrosensor
lilac0112_1 0:ea35c18c85fc 163 int16_t OutputPID;//>>motor
lilac0112_1 0:ea35c18c85fc 164 } CompassVal;
lilac0112_1 0:ea35c18c85fc 165 typedef struct {
lilac0112_1 0:ea35c18c85fc 166 //ping
lilac0112_1 0:ea35c18c85fc 167 uint8_t ping[4];
lilac0112_1 0:ea35c18c85fc 168 //line
lilac0112_1 0:ea35c18c85fc 169 uint8_t lineSpot[3];
lilac0112_1 2:635947de1583 170 uint8_t lnFlag[3];
lilac0112_1 2:635947de1583 171 /*uint8_t LineFlag[3];
lilac0112_1 2:635947de1583 172 uint8_t LinePriority[3];
lilac0112_1 2:635947de1583 173 uint8_t LineBind[3];*/
lilac0112_1 0:ea35c18c85fc 174 //ir(spi)
lilac0112_1 0:ea35c18c85fc 175 uint8_t irKey;//2bit
lilac0112_1 1:3e013ae7900d 176 uint8_t irValPhase[2];//3*2bit
lilac0112_1 2:635947de1583 177 uint8_t irDif[2];//3bit
lilac0112_1 2:635947de1583 178 uint8_t irPosition;//5bit
lilac0112_1 2:635947de1583 179
lilac0112_1 2:635947de1583 180 uint8_t irSpot[2];//4*2bit//old
lilac0112_1 0:ea35c18c85fc 181 //ir(playing)
lilac0112_1 0:ea35c18c85fc 182 uint8_t irNotice;
lilac0112_1 0:ea35c18c85fc 183 //ball
lilac0112_1 0:ea35c18c85fc 184 uint8_t ball;
lilac0112_1 0:ea35c18c85fc 185 } SensorVal;
lilac0112_1 0:ea35c18c85fc 186 typedef struct {
lilac0112_1 0:ea35c18c85fc 187 //system,flag
lilac0112_1 0:ea35c18c85fc 188 uint8_t strategy;
lilac0112_1 4:52da8da146d4 189 uint16_t jump_flag;//0<=x<=JUMP_TAG_NUM
lilac0112_1 0:ea35c18c85fc 190 uint8_t stopflag;
lilac0112_1 0:ea35c18c85fc 191 uint8_t KickOffFlag;
lilac0112_1 0:ea35c18c85fc 192 uint8_t DribbleFlag;
lilac0112_1 0:ea35c18c85fc 193 uint8_t KickFlag;
lilac0112_1 0:ea35c18c85fc 194 uint8_t MotorFlag;
lilac0112_1 0:ea35c18c85fc 195 uint8_t IrFlag;
lilac0112_1 0:ea35c18c85fc 196 uint8_t UswFlag;
lilac0112_1 0:ea35c18c85fc 197 uint8_t UswFlag_2;
lilac0112_1 0:ea35c18c85fc 198 uint8_t PidFlag;
lilac0112_1 0:ea35c18c85fc 199 //motor
lilac0112_1 0:ea35c18c85fc 200 double s_pow;
lilac0112_1 5:5ff3a7d5d8c2 201 double m_pow;
lilac0112_1 0:ea35c18c85fc 202 double l_pow;
lilac0112_1 0:ea35c18c85fc 203 int8_t dri_pow;
lilac0112_1 2:635947de1583 204 uint8_t ir_pow_table;
lilac0112_1 0:ea35c18c85fc 205 } SystemVal;
lilac0112_1 2:635947de1583 206
lilac0112_1 0:ea35c18c85fc 207 #endif