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@12:bee8f883c33a, 2016-03-10 (annotated)

Committer:
lilac0112_1
Date:
Thu Mar 10 14:08:09 2016 +0000
Revision:
12:bee8f883c33a
Parent:
11:3efae754e6ef
Child:
13:b20921316f3c
changed usw_trig time

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 11:3efae754e6ef 4 //red or green
lilac0112_1 11:3efae754e6ef 5 #define RED_CAT
lilac0112_1 11:3efae754e6ef 6 //#define GREEN_CAT
lilac0112_1 11:3efae754e6ef 7
lilac0112_1 0:ea35c18c85fc 8 //BT(BlueTooth)
lilac0112_1 0:ea35c18c85fc 9 #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 10 #define TX_KEYCODE 0xAA//あちらのKEYCODE
lilac0112_1 0:ea35c18c85fc 11 #define RX_KEYCODE 0xAA//こちらのKEYCODE
lilac0112_1 0:ea35c18c85fc 12 #define KEY 0//KEYCODEは配列の最初
lilac0112_1 0:ea35c18c85fc 13 #define CHECK DATA_NUM-1//CHECKCODEは配列の最後
lilac0112_1 0:ea35c18c85fc 14
lilac0112_1 0:ea35c18c85fc 15
lilac0112_1 0:ea35c18c85fc 16 //Switch 入力値
lilac0112_1 0:ea35c18c85fc 17 #define NONE 0
lilac0112_1 0:ea35c18c85fc 18 #define UP 1
lilac0112_1 0:ea35c18c85fc 19 #define DOWN 2
lilac0112_1 0:ea35c18c85fc 20 #define RIGHT 3
lilac0112_1 0:ea35c18c85fc 21 #define LEFT 4
lilac0112_1 0:ea35c18c85fc 22
lilac0112_1 0:ea35c18c85fc 23 //Lcd 設定値
lilac0112_1 7:efe90188a49d 24 #define LCD_COLUMN_NUM 0x11
lilac0112_1 3:c49ea7ad8e91 25 #define BUFSIZE 7
lilac0112_1 10:6df631c39f9b 26 #define STATE_NUM_X 0x08
lilac0112_1 0:ea35c18c85fc 27 #define STATE_NUM_Y 0x10
lilac0112_1 3:c49ea7ad8e91 28
lilac0112_1 4:52da8da146d4 29 #define JUMP_TAG_MAX 0xFFFF
lilac0112_1 4:52da8da146d4 30 //tag
lilac0112_1 8:25c8c75d182a 31 #define ZERO_FUNCTION 0
lilac0112_1 8:25c8c75d182a 32 #define START 1
lilac0112_1 8:25c8c75d182a 33 #define GET_IR 2
lilac0112_1 10:6df631c39f9b 34 #define GET_SNS0 3
lilac0112_1 8:25c8c75d182a 35 #define GET_PID_VALUE 4
lilac0112_1 8:25c8c75d182a 36 #define CALIBRATION_ENTER 5
lilac0112_1 8:25c8c75d182a 37 #define CALIBRATION_EXIT 6
lilac0112_1 8:25c8c75d182a 38 #define FRONT_RESET 7
lilac0112_1 8:25c8c75d182a 39 #define SET_POWER1 8
lilac0112_1 8:25c8c75d182a 40 #define SET_POWER2 9
lilac0112_1 8:25c8c75d182a 41 #define SOFT_RESET 10
lilac0112_1 8:25c8c75d182a 42 #define SET_STRATEGY1 11
lilac0112_1 8:25c8c75d182a 43 #define SET_STRATEGY2 12
lilac0112_1 8:25c8c75d182a 44 #define SET_STRATEGY3 13
lilac0112_1 8:25c8c75d182a 45 #define SET_STRATEGY4 14
lilac0112_1 8:25c8c75d182a 46 #define START2 15
lilac0112_1 8:25c8c75d182a 47
lilac0112_1 8:25c8c75d182a 48 #define SET_POWER_DOWN 16
lilac0112_1 8:25c8c75d182a 49 #define SET_POWER_UP 17
lilac0112_1 8:25c8c75d182a 50 #define SET_STRATEGY_DOWN 18
lilac0112_1 8:25c8c75d182a 51 #define SET_STRATEGY_UP 19
lilac0112_1 4:52da8da146d4 52
lilac0112_1 9:c966191926c5 53 #define DRIVE_KICKER 20
lilac0112_1 10:6df631c39f9b 54 #define DRIVE_DRIBBLER_AND_KICKER 21
lilac0112_1 10:6df631c39f9b 55
lilac0112_1 10:6df631c39f9b 56 #define CALIBRATION_TURN 22
lilac0112_1 10:6df631c39f9b 57 #define RW_PID 23
lilac0112_1 10:6df631c39f9b 58
lilac0112_1 10:6df631c39f9b 59 #define TURN_AND_START 24
lilac0112_1 11:3efae754e6ef 60 #define CALIBRATION_ENTER_OR_EXIT 25
lilac0112_1 9:c966191926c5 61
lilac0112_1 3:c49ea7ad8e91 62 typedef struct {//for command
lilac0112_1 3:c49ea7ad8e91 63 char LcdStr[STATE_NUM_X][BUFSIZE];
lilac0112_1 3:c49ea7ad8e91 64 uint8_t str_num;
lilac0112_1 3:c49ea7ad8e91 65 uint8_t (*CommandFunction)(uint8_t x);
lilac0112_1 4:52da8da146d4 66 uint16_t tag_num;
lilac0112_1 3:c49ea7ad8e91 67 } CommandItem;
lilac0112_1 3:c49ea7ad8e91 68
lilac0112_1 7:efe90188a49d 69
lilac0112_1 7:efe90188a49d 70 //tag
lilac0112_1 7:efe90188a49d 71 #define MODE_ATTACK0 0
lilac0112_1 7:efe90188a49d 72 #define MODE_ATTACK1 1
lilac0112_1 7:efe90188a49d 73 #define MODE_ATTACK2 2
lilac0112_1 7:efe90188a49d 74 #define MODE_ATTACK3 3
lilac0112_1 7:efe90188a49d 75 #define MODE_ATTACK4 4
lilac0112_1 7:efe90188a49d 76 #define MODE_ATTACK5 5
lilac0112_1 7:efe90188a49d 77
lilac0112_1 7:efe90188a49d 78 #define MODE_DEBUG0 6
lilac0112_1 7:efe90188a49d 79 #define MODE_DEBUG1 7
lilac0112_1 7:efe90188a49d 80 #define MODE_DEBUG2 8
lilac0112_1 7:efe90188a49d 81 #define MODE_DEBUG3 9
lilac0112_1 7:efe90188a49d 82 #define MODE_DEBUG4 10
lilac0112_1 7:efe90188a49d 83 #define MODE_DEBUG5 11
lilac0112_1 7:efe90188a49d 84
lilac0112_1 7:efe90188a49d 85 typedef struct {//for active
lilac0112_1 7:efe90188a49d 86 char LcdStr[LCD_COLUMN_NUM];
lilac0112_1 7:efe90188a49d 87 void (*ActiveFunction)(void);
lilac0112_1 7:efe90188a49d 88 uint16_t tag_num;
lilac0112_1 7:efe90188a49d 89 } ActiveItem;
lilac0112_1 7:efe90188a49d 90
lilac0112_1 0:ea35c18c85fc 91 //繰り返し割り込み
lilac0112_1 0:ea35c18c85fc 92 #define DUTY_NUM 1
lilac0112_1 0:ea35c18c85fc 93
lilac0112_1 0:ea35c18c85fc 94 #define DUTY_SW 0
lilac0112_1 0:ea35c18c85fc 95 #define DUTY_GYRO 1
lilac0112_1 0:ea35c18c85fc 96 #define DUTY_PING 2
lilac0112_1 0:ea35c18c85fc 97 #define DUTY_COLOR 3
lilac0112_1 0:ea35c18c85fc 98 #define DUTY_MOUSE 4
lilac0112_1 0:ea35c18c85fc 99
lilac0112_1 0:ea35c18c85fc 100 /*PID処理*/
lilac0112_1 0:ea35c18c85fc 101 #define RATE 0.052//52
lilac0112_1 9:c966191926c5 102 #define PID_BIAS 0.0//1.0
lilac0112_1 0:ea35c18c85fc 103 #define REFERENCE 180.0
lilac0112_1 0:ea35c18c85fc 104 #define MINIMUM 0.0
lilac0112_1 0:ea35c18c85fc 105 #define MAXIMUM 359.9
lilac0112_1 0:ea35c18c85fc 106 #define P_GAIN 1.3//1.25//0.8 //0.78
lilac0112_1 0:ea35c18c85fc 107 #define I_GAIN 0.0 //0.0
lilac0112_1 0:ea35c18c85fc 108 #define D_GAIN 0.01//0.01 //0.009
lilac0112_1 0:ea35c18c85fc 109 #define OUT_LIMIT 30.0
lilac0112_1 0:ea35c18c85fc 110 #define MAX_POW 100
lilac0112_1 0:ea35c18c85fc 111 #define MIN_POW -100
lilac0112_1 0:ea35c18c85fc 112 #define PID_CYCLE 0.05 //s
lilac0112_1 0:ea35c18c85fc 113
lilac0112_1 10:6df631c39f9b 114 #define PID_OUT_MIN 5
lilac0112_1 10:6df631c39f9b 115
lilac0112_1 10:6df631c39f9b 116 //hmc
lilac0112_1 10:6df631c39f9b 117 #define HMC_RUN 1
lilac0112_1 10:6df631c39f9b 118 #define HMC_RST 0
lilac0112_1 10:6df631c39f9b 119
lilac0112_1 0:ea35c18c85fc 120 //ir
lilac0112_1 5:5ff3a7d5d8c2 121 //ir_pow_old
lilac0112_1 0:ea35c18c85fc 122 #define IR_X 0
lilac0112_1 0:ea35c18c85fc 123 #define IR_Y 1
lilac0112_1 5:5ff3a7d5d8c2 124 //ir_pow
lilac0112_1 5:5ff3a7d5d8c2 125 #define IR_X_DIR 0
lilac0112_1 5:5ff3a7d5d8c2 126 #define IR_Y_DIR 1
lilac0112_1 5:5ff3a7d5d8c2 127 #define IR_X_TURN 2
lilac0112_1 5:5ff3a7d5d8c2 128 #define IR_Y_TURN 3
lilac0112_1 5:5ff3a7d5d8c2 129
lilac0112_1 0:ea35c18c85fc 130 #define IR_SHORT 0
lilac0112_1 0:ea35c18c85fc 131 #define IR_LONG 1
lilac0112_1 0:ea35c18c85fc 132
lilac0112_1 0:ea35c18c85fc 133 #define X_AXIS 0
lilac0112_1 0:ea35c18c85fc 134 #define Y_AXIS 1
lilac0112_1 0:ea35c18c85fc 135
lilac0112_1 1:3e013ae7900d 136
lilac0112_1 1:3e013ae7900d 137 #define DIS_0 0x0//low_value
lilac0112_1 1:3e013ae7900d 138 #define DIS_1 0x1
lilac0112_1 1:3e013ae7900d 139 #define DIS_2 0x2
lilac0112_1 1:3e013ae7900d 140 #define DIS_3 0x3
lilac0112_1 1:3e013ae7900d 141 #define DIS_4 0x4
lilac0112_1 1:3e013ae7900d 142 #define DIS_5 0x5
lilac0112_1 1:3e013ae7900d 143 #define DIS_6 0x6
lilac0112_1 1:3e013ae7900d 144 #define DIS_7 0x7//high_value
lilac0112_1 1:3e013ae7900d 145
lilac0112_1 0:ea35c18c85fc 146 //ping
lilac0112_1 10:6df631c39f9b 147 #define L_PING 1
lilac0112_1 10:6df631c39f9b 148 #define R_PING 0
lilac0112_1 0:ea35c18c85fc 149 #define F_PING 2
lilac0112_1 0:ea35c18c85fc 150 #define B_PING 3
lilac0112_1 0:ea35c18c85fc 151
lilac0112_1 11:3efae754e6ef 152 #define X_PING 0
lilac0112_1 11:3efae754e6ef 153 #define Y_PING 1
lilac0112_1 11:3efae754e6ef 154
lilac0112_1 0:ea35c18c85fc 155 //0,1...main
lilac0112_1 0:ea35c18c85fc 156 //2,3...debug board
lilac0112_1 0:ea35c18c85fc 157
lilac0112_1 0:ea35c18c85fc 158 //line
lilac0112_1 0:ea35c18c85fc 159 #define A_SPOT 0
lilac0112_1 0:ea35c18c85fc 160 #define B_SPOT 1
lilac0112_1 0:ea35c18c85fc 161 #define C_SPOT 2
lilac0112_1 0:ea35c18c85fc 162 #define AB_SPOT 3
lilac0112_1 0:ea35c18c85fc 163
lilac0112_1 0:ea35c18c85fc 164 #define LINE_RF 5
lilac0112_1 0:ea35c18c85fc 165 #define LINE_DELAY 0.5
lilac0112_1 0:ea35c18c85fc 166
lilac0112_1 12:bee8f883c33a 167 #define L_LINE 1
lilac0112_1 12:bee8f883c33a 168 #define R_LINE 0
lilac0112_1 12:bee8f883c33a 169 #define F_LINE 2
lilac0112_1 12:bee8f883c33a 170 #define B_LINE 3
lilac0112_1 12:bee8f883c33a 171
lilac0112_1 12:bee8f883c33a 172 #define X_LINE 1
lilac0112_1 12:bee8f883c33a 173 #define Y_LINE 0
lilac0112_1 12:bee8f883c33a 174
lilac0112_1 12:bee8f883c33a 175 #define LINE_INSIDE 0
lilac0112_1 12:bee8f883c33a 176 #define LINE_OUTSIDE 1
lilac0112_1 12:bee8f883c33a 177
lilac0112_1 11:3efae754e6ef 178 #ifdef RED_CAT
lilac0112_1 11:3efae754e6ef 179 #define LINE_FIX 0x0
lilac0112_1 11:3efae754e6ef 180 #define LINE_FREE 0x7
lilac0112_1 11:3efae754e6ef 181 #endif /*RED_CAT*/
lilac0112_1 11:3efae754e6ef 182
lilac0112_1 11:3efae754e6ef 183 #ifdef GREEN_CAT
lilac0112_1 11:3efae754e6ef 184 #define LINE_FIX 0x7
lilac0112_1 11:3efae754e6ef 185 #define LINE_FREE 0x0
lilac0112_1 11:3efae754e6ef 186 #endif /*GREEN_CAT*/
lilac0112_1 11:3efae754e6ef 187
lilac0112_1 11:3efae754e6ef 188
lilac0112_1 0:ea35c18c85fc 189 //思考パターン
lilac0112_1 0:ea35c18c85fc 190 #define STRATEGY_NUM 12
lilac0112_1 0:ea35c18c85fc 191
lilac0112_1 0:ea35c18c85fc 192 //計算
lilac0112_1 0:ea35c18c85fc 193 #define ROUND(x) ((x > 0) ? (x + 0.5) : (x - 0.5))//x...整数
lilac0112_1 0:ea35c18c85fc 194 #define PI 3.14159265358979323846
lilac0112_1 0:ea35c18c85fc 195 #define DEG2RAD(deg) (PI*(deg)/180.0)
lilac0112_1 0:ea35c18c85fc 196 #define RAD2DEG(rad) (180.0(rad)/PI)
lilac0112_1 0:ea35c18c85fc 197
lilac0112_1 0:ea35c18c85fc 198 //データ
lilac0112_1 0:ea35c18c85fc 199 typedef struct {
lilac0112_1 0:ea35c18c85fc 200 //cmps&pid
lilac0112_1 0:ea35c18c85fc 201 double cmps, CmpsInitialValue, CmpsDiff, FrontDeg;//0<x<360
lilac0112_1 0:ea35c18c85fc 202 double InputPID;//<<gyrosensor
lilac0112_1 0:ea35c18c85fc 203 int16_t OutputPID;//>>motor
lilac0112_1 0:ea35c18c85fc 204 } CompassVal;
lilac0112_1 0:ea35c18c85fc 205 typedef struct {
lilac0112_1 0:ea35c18c85fc 206 //ping
lilac0112_1 0:ea35c18c85fc 207 uint8_t ping[4];
lilac0112_1 0:ea35c18c85fc 208 //line
lilac0112_1 0:ea35c18c85fc 209 uint8_t lineSpot[3];
lilac0112_1 2:635947de1583 210 uint8_t lnFlag[3];
lilac0112_1 11:3efae754e6ef 211 uint8_t lnHold;
lilac0112_1 11:3efae754e6ef 212 uint8_t lnRaw;
lilac0112_1 11:3efae754e6ef 213 uint8_t lnStop[4];
lilac0112_1 12:bee8f883c33a 214 uint8_t FieldState;//0...inside,1...outside
lilac0112_1 2:635947de1583 215 /*uint8_t LineFlag[3];
lilac0112_1 2:635947de1583 216 uint8_t LinePriority[3];
lilac0112_1 2:635947de1583 217 uint8_t LineBind[3];*/
lilac0112_1 0:ea35c18c85fc 218 //ir(spi)
lilac0112_1 0:ea35c18c85fc 219 uint8_t irKey;//2bit
lilac0112_1 1:3e013ae7900d 220 uint8_t irValPhase[2];//3*2bit
lilac0112_1 2:635947de1583 221 uint8_t irDif[2];//3bit
lilac0112_1 2:635947de1583 222 uint8_t irPosition;//5bit
lilac0112_1 2:635947de1583 223
lilac0112_1 2:635947de1583 224 uint8_t irSpot[2];//4*2bit//old
lilac0112_1 0:ea35c18c85fc 225 //ir(playing)
lilac0112_1 0:ea35c18c85fc 226 uint8_t irNotice;
lilac0112_1 0:ea35c18c85fc 227 //ball
lilac0112_1 0:ea35c18c85fc 228 uint8_t ball;
lilac0112_1 0:ea35c18c85fc 229 } SensorVal;
lilac0112_1 0:ea35c18c85fc 230 typedef struct {
lilac0112_1 0:ea35c18c85fc 231 //system,flag
lilac0112_1 0:ea35c18c85fc 232 uint8_t strategy;
lilac0112_1 4:52da8da146d4 233 uint16_t jump_flag;//0<=x<=JUMP_TAG_NUM
lilac0112_1 0:ea35c18c85fc 234 uint8_t stopflag;
lilac0112_1 0:ea35c18c85fc 235 uint8_t KickOffFlag;
lilac0112_1 0:ea35c18c85fc 236 uint8_t DribbleFlag;
lilac0112_1 10:6df631c39f9b 237 uint8_t BallHoldFlag;
lilac0112_1 8:25c8c75d182a 238 uint8_t BackHomeFlag;
lilac0112_1 10:6df631c39f9b 239 uint8_t TurnStartFlag;
lilac0112_1 0:ea35c18c85fc 240 uint8_t KickFlag;
lilac0112_1 0:ea35c18c85fc 241 uint8_t MotorFlag;
lilac0112_1 0:ea35c18c85fc 242 uint8_t IrFlag;
lilac0112_1 0:ea35c18c85fc 243 uint8_t UswFlag;
lilac0112_1 10:6df631c39f9b 244 uint8_t UswFlag2;
lilac0112_1 0:ea35c18c85fc 245 uint8_t PidFlag;
lilac0112_1 8:25c8c75d182a 246 //blind//on...1/off...0
lilac0112_1 8:25c8c75d182a 247 uint8_t IrBlind;
lilac0112_1 8:25c8c75d182a 248 uint8_t LineBlind;
lilac0112_1 8:25c8c75d182a 249 uint8_t PingBlind;
lilac0112_1 0:ea35c18c85fc 250 //motor
lilac0112_1 7:efe90188a49d 251 uint8_t pow_num;
lilac0112_1 6:f9167470d819 252 uint8_t s_pow;
lilac0112_1 6:f9167470d819 253 uint8_t m_pow;
lilac0112_1 6:f9167470d819 254 uint8_t l_pow;
lilac0112_1 6:f9167470d819 255 uint8_t dri_pow;
lilac0112_1 2:635947de1583 256 uint8_t ir_pow_table;
lilac0112_1 0:ea35c18c85fc 257 } SystemVal;
lilac0112_1 2:635947de1583 258
lilac0112_1 0:ea35c18c85fc 259 #endif