File content as of revision 4:f7946508daa8:

/*PID処理*/
#define RATE    0.052//52
#define PID_BIAS    0.1
#define REFERENCE   180.0
#define MINIMUM     0.1
#define MAXIMUM     360.0
#define P_GAIN  1.8//1.4    //0.78   
#define I_GAIN  0.0     //0.0
#define D_GAIN  0.03  //0.009
#define OUT_LIMIT   50.0
#define MAX_POW     100
#define MIN_POW     -100

/*回り込みの計算用*/
#define PI 3.1415926

/*LPC1114 I2C Slave Address*/
#define ADDRESS_R 0xAA
#define ADDRESS_L 0xAC

/*BusIn sw　入力値*/
#define StartS 0x01
#define Debug1 0x02
#define Debug2 0x04
#define Debug3 0x06
#define Kicker 0x08
#define Calibration 0x10


#define CW 1
#define CCW -1
#define ENTER   0
#define EXIT    1


BusIn   Sw(p22,p23,p24,p25,p26);
BusIn   Line(p5,p6,p7,p8);//No reading line → 0b1111 ,not pull up
DigitalOut  Led[4] = {LED1,LED2,LED3,LED4};
DigitalOut  Kick(p29);

Servo       S555(p21);
I2C         Sensor(p9,p10);//sda,scl
HMC6352     hmc6352(p9,p10);//sda,scl
AQM0802A    Lcd(p28,p27);//sda,scl
Serial      Motor(p13,p14);//tx,rx
Serial      pc(USBTX,USBRX);

/*Compass PID SetUp*/
PID pid(P_GAIN,I_GAIN,D_GAIN, RATE);

extern string StringFIN;
extern void array(int,int,int,int);

int speed[4] = {0};            
typedef enum {FRONT = 1, RIGHT, BACK, LEFT, NA} Direction;
enum {SONIC = 0x01, BALL};


int TargetCoordinates[12][2][2] = {
    {{0,1},{0,1}},//p,q+6
    {{0,1},{0,1}},//p,q+5
    {{0,1},{0,1}},//p,q+4
    {{0,1},{0,1}},//p,q+3
    {{0,1},{0,1}},//p,q+2
    {{0,1},{0,1}},//p,q+1
    {{0,1},{0,1}},//p,q
    {{0,1},{0,1}},//p-1,q
    {{0,1},{0,1}},//p-2,q
    {{0,1},{0,1}},//p-3,q
    {{0,1},{0,1}},//p-4,q
    {{0,1},{0,1}},//0,q
    };
    
/*
    |               |
    |               |
    |       o       |
    |               |
    |               |
    |---------------p,q
    
    
*/