sasasa
Dependencies: HMC6352 PID eeprom mbed
Fork of ver1_2_2_1 by
main.h
- Committer:
- akudohune
- Date:
- 2013-03-09
- Revision:
- 0:74bf4953c0d1
- Child:
- 1:89408fff7cc9
File content as of revision 0:74bf4953c0d1:
#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, };