sasasa
Dependencies: HMC6352 PID eeprom mbed
Fork of ver1_2_2_1 by
Diff: main.h
- Revision:
- 0:74bf4953c0d1
- Child:
- 1:89408fff7cc9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.h Sat Mar 09 10:11:06 2013 +0000 @@ -0,0 +1,62 @@ + + +#define RATE 0.052 +#define Long 1.0 +#define ENTER 0 +#define EXIT 1 +#define MOT_NUM 4 +#define MOTDRIVER_WAIT 300 //ms +#define BAUD_RATE 115200 +#define ON 1 +#define OFF 0 + +#define MOT1 1 +#define MOT2 1 +#define MOT3 1 +#define MOT4 1 + +#define OUT_LIMIT 30.0 + +DigitalOut led1(LED1); +DigitalOut led2(LED2); +DigitalOut led3(LED3); +HMC6352 compass(p9, p10); +Serial driver(p28, p27); // tx, rx +Serial pc(USBTX, USBRX); // tx, rx +DigitalIn StartButton(p21); +DigitalIn CalibEnterButton(p22); +DigitalIn CalibExitButton(p23); +PID pid(0.42, 1.0, 0.013, RATE); //30.0 0.35 1.0 0.012 +Ticker pidUpdata; +Ticker IR; +Ticker ultrasonic; +Timer timer1; +Timer timer2; +Timer timer_ir; /* 赤外線用タイマー */ + + +int speed[MOT_NUM] = {0}; + +static float lastData = 0.0; +static float inputPID = 180.0; +static float standard; +static float compassPID = 0.0; + +extern string StringFIN; + +extern int direction; +extern int Distance; +extern int IR_found; +extern double ball_sankaku[16][2]; +extern uint16_t ultrasonicVal[3]; + +extern void Ultrasonic(void); +extern void IR_Position(void); +extern void PidUpdata(void); +extern void array(int,int,int,int); + +enum{ + HOME_WAIT, + DIFFENCE, +}; +