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@9:c966191926c5, 2016-03-08 (annotated)

Committer:
lilac0112_1
Date:
Tue Mar 08 09:52:22 2016 +0000
Revision:
9:c966191926c5
Parent:
8:25c8c75d182a
Child:
10:6df631c39f9b
somehow

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 7:efe90188a49d 20 #define LCD_COLUMN_NUM 0x11
lilac0112_1 3:c49ea7ad8e91 21 #define BUFSIZE 7
lilac0112_1 0:ea35c18c85fc 22 #define STATE_NUM_X 0x04
lilac0112_1 0:ea35c18c85fc 23 #define STATE_NUM_Y 0x10
lilac0112_1 3:c49ea7ad8e91 24
lilac0112_1 4:52da8da146d4 25 #define JUMP_TAG_MAX 0xFFFF
lilac0112_1 4:52da8da146d4 26 //tag
lilac0112_1 8:25c8c75d182a 27 #define ZERO_FUNCTION 0
lilac0112_1 8:25c8c75d182a 28 #define START 1
lilac0112_1 8:25c8c75d182a 29 #define GET_IR 2
lilac0112_1 8:25c8c75d182a 30 #define GET_LINE 3
lilac0112_1 8:25c8c75d182a 31 #define GET_PID_VALUE 4
lilac0112_1 8:25c8c75d182a 32 #define CALIBRATION_ENTER 5
lilac0112_1 8:25c8c75d182a 33 #define CALIBRATION_EXIT 6
lilac0112_1 8:25c8c75d182a 34 #define FRONT_RESET 7
lilac0112_1 8:25c8c75d182a 35 #define SET_POWER1 8
lilac0112_1 8:25c8c75d182a 36 #define SET_POWER2 9
lilac0112_1 8:25c8c75d182a 37 #define SOFT_RESET 10
lilac0112_1 8:25c8c75d182a 38 #define SET_STRATEGY1 11
lilac0112_1 8:25c8c75d182a 39 #define SET_STRATEGY2 12
lilac0112_1 8:25c8c75d182a 40 #define SET_STRATEGY3 13
lilac0112_1 8:25c8c75d182a 41 #define SET_STRATEGY4 14
lilac0112_1 8:25c8c75d182a 42 #define START2 15
lilac0112_1 8:25c8c75d182a 43
lilac0112_1 8:25c8c75d182a 44 #define SET_POWER_DOWN 16
lilac0112_1 8:25c8c75d182a 45 #define SET_POWER_UP 17
lilac0112_1 8:25c8c75d182a 46 #define SET_STRATEGY_DOWN 18
lilac0112_1 8:25c8c75d182a 47 #define SET_STRATEGY_UP 19
lilac0112_1 4:52da8da146d4 48
lilac0112_1 9:c966191926c5 49 #define DRIVE_KICKER 20
lilac0112_1 9:c966191926c5 50
lilac0112_1 3:c49ea7ad8e91 51 typedef struct {//for command
lilac0112_1 3:c49ea7ad8e91 52 char LcdStr[STATE_NUM_X][BUFSIZE];
lilac0112_1 3:c49ea7ad8e91 53 uint8_t str_num;
lilac0112_1 3:c49ea7ad8e91 54 uint8_t (*CommandFunction)(uint8_t x);
lilac0112_1 4:52da8da146d4 55 uint16_t tag_num;
lilac0112_1 3:c49ea7ad8e91 56 } CommandItem;
lilac0112_1 3:c49ea7ad8e91 57
lilac0112_1 7:efe90188a49d 58
lilac0112_1 7:efe90188a49d 59 //tag
lilac0112_1 7:efe90188a49d 60 #define MODE_ATTACK0 0
lilac0112_1 7:efe90188a49d 61 #define MODE_ATTACK1 1
lilac0112_1 7:efe90188a49d 62 #define MODE_ATTACK2 2
lilac0112_1 7:efe90188a49d 63 #define MODE_ATTACK3 3
lilac0112_1 7:efe90188a49d 64 #define MODE_ATTACK4 4
lilac0112_1 7:efe90188a49d 65 #define MODE_ATTACK5 5
lilac0112_1 7:efe90188a49d 66
lilac0112_1 7:efe90188a49d 67 #define MODE_DEBUG0 6
lilac0112_1 7:efe90188a49d 68 #define MODE_DEBUG1 7
lilac0112_1 7:efe90188a49d 69 #define MODE_DEBUG2 8
lilac0112_1 7:efe90188a49d 70 #define MODE_DEBUG3 9
lilac0112_1 7:efe90188a49d 71 #define MODE_DEBUG4 10
lilac0112_1 7:efe90188a49d 72 #define MODE_DEBUG5 11
lilac0112_1 7:efe90188a49d 73
lilac0112_1 7:efe90188a49d 74 typedef struct {//for active
lilac0112_1 7:efe90188a49d 75 char LcdStr[LCD_COLUMN_NUM];
lilac0112_1 7:efe90188a49d 76 void (*ActiveFunction)(void);
lilac0112_1 7:efe90188a49d 77 uint16_t tag_num;
lilac0112_1 7:efe90188a49d 78 } ActiveItem;
lilac0112_1 7:efe90188a49d 79
lilac0112_1 0:ea35c18c85fc 80 //繰り返し割り込み
lilac0112_1 0:ea35c18c85fc 81 #define DUTY_NUM 1
lilac0112_1 0:ea35c18c85fc 82
lilac0112_1 0:ea35c18c85fc 83 #define DUTY_SW 0
lilac0112_1 0:ea35c18c85fc 84 #define DUTY_GYRO 1
lilac0112_1 0:ea35c18c85fc 85 #define DUTY_PING 2
lilac0112_1 0:ea35c18c85fc 86 #define DUTY_COLOR 3
lilac0112_1 0:ea35c18c85fc 87 #define DUTY_MOUSE 4
lilac0112_1 0:ea35c18c85fc 88
lilac0112_1 0:ea35c18c85fc 89 /*PID処理*/
lilac0112_1 0:ea35c18c85fc 90 #define RATE 0.052//52
lilac0112_1 9:c966191926c5 91 #define PID_BIAS 0.0//1.0
lilac0112_1 0:ea35c18c85fc 92 #define REFERENCE 180.0
lilac0112_1 0:ea35c18c85fc 93 #define MINIMUM 0.0
lilac0112_1 0:ea35c18c85fc 94 #define MAXIMUM 359.9
lilac0112_1 0:ea35c18c85fc 95 #define P_GAIN 1.3//1.25//0.8 //0.78
lilac0112_1 0:ea35c18c85fc 96 #define I_GAIN 0.0 //0.0
lilac0112_1 0:ea35c18c85fc 97 #define D_GAIN 0.01//0.01 //0.009
lilac0112_1 0:ea35c18c85fc 98 #define OUT_LIMIT 30.0
lilac0112_1 0:ea35c18c85fc 99 #define MAX_POW 100
lilac0112_1 0:ea35c18c85fc 100 #define MIN_POW -100
lilac0112_1 0:ea35c18c85fc 101 #define PID_CYCLE 0.05 //s
lilac0112_1 0:ea35c18c85fc 102
lilac0112_1 0:ea35c18c85fc 103 //ir
lilac0112_1 5:5ff3a7d5d8c2 104 //ir_pow_old
lilac0112_1 0:ea35c18c85fc 105 #define IR_X 0
lilac0112_1 0:ea35c18c85fc 106 #define IR_Y 1
lilac0112_1 5:5ff3a7d5d8c2 107 //ir_pow
lilac0112_1 5:5ff3a7d5d8c2 108 #define IR_X_DIR 0
lilac0112_1 5:5ff3a7d5d8c2 109 #define IR_Y_DIR 1
lilac0112_1 5:5ff3a7d5d8c2 110 #define IR_X_TURN 2
lilac0112_1 5:5ff3a7d5d8c2 111 #define IR_Y_TURN 3
lilac0112_1 5:5ff3a7d5d8c2 112
lilac0112_1 0:ea35c18c85fc 113 #define IR_SHORT 0
lilac0112_1 0:ea35c18c85fc 114 #define IR_LONG 1
lilac0112_1 0:ea35c18c85fc 115
lilac0112_1 0:ea35c18c85fc 116 #define X_AXIS 0
lilac0112_1 0:ea35c18c85fc 117 #define Y_AXIS 1
lilac0112_1 0:ea35c18c85fc 118
lilac0112_1 1:3e013ae7900d 119
lilac0112_1 1:3e013ae7900d 120 #define DIS_0 0x0//low_value
lilac0112_1 1:3e013ae7900d 121 #define DIS_1 0x1
lilac0112_1 1:3e013ae7900d 122 #define DIS_2 0x2
lilac0112_1 1:3e013ae7900d 123 #define DIS_3 0x3
lilac0112_1 1:3e013ae7900d 124 #define DIS_4 0x4
lilac0112_1 1:3e013ae7900d 125 #define DIS_5 0x5
lilac0112_1 1:3e013ae7900d 126 #define DIS_6 0x6
lilac0112_1 1:3e013ae7900d 127 #define DIS_7 0x7//high_value
lilac0112_1 1:3e013ae7900d 128
lilac0112_1 0:ea35c18c85fc 129 //ping
lilac0112_1 0:ea35c18c85fc 130 #define L_PING 0
lilac0112_1 0:ea35c18c85fc 131 #define R_PING 1
lilac0112_1 0:ea35c18c85fc 132 #define F_PING 2
lilac0112_1 0:ea35c18c85fc 133 #define B_PING 3
lilac0112_1 0:ea35c18c85fc 134
lilac0112_1 0:ea35c18c85fc 135 //0,1...main
lilac0112_1 0:ea35c18c85fc 136 //2,3...debug board
lilac0112_1 0:ea35c18c85fc 137
lilac0112_1 0:ea35c18c85fc 138 //line
lilac0112_1 0:ea35c18c85fc 139 #define A_SPOT 0
lilac0112_1 0:ea35c18c85fc 140 #define B_SPOT 1
lilac0112_1 0:ea35c18c85fc 141 #define C_SPOT 2
lilac0112_1 0:ea35c18c85fc 142 #define AB_SPOT 3
lilac0112_1 0:ea35c18c85fc 143
lilac0112_1 0:ea35c18c85fc 144 #define LINE_RF 5
lilac0112_1 0:ea35c18c85fc 145 #define LINE_DELAY 0.5
lilac0112_1 0:ea35c18c85fc 146
lilac0112_1 0:ea35c18c85fc 147 //思考パターン
lilac0112_1 0:ea35c18c85fc 148 #define STRATEGY_NUM 12
lilac0112_1 0:ea35c18c85fc 149
lilac0112_1 0:ea35c18c85fc 150 //計算
lilac0112_1 0:ea35c18c85fc 151 #define ROUND(x) ((x > 0) ? (x + 0.5) : (x - 0.5))//x...整数
lilac0112_1 0:ea35c18c85fc 152 #define PI 3.14159265358979323846
lilac0112_1 0:ea35c18c85fc 153 #define DEG2RAD(deg) (PI*(deg)/180.0)
lilac0112_1 0:ea35c18c85fc 154 #define RAD2DEG(rad) (180.0(rad)/PI)
lilac0112_1 0:ea35c18c85fc 155
lilac0112_1 0:ea35c18c85fc 156 //データ
lilac0112_1 1:3e013ae7900d 157 /*
lilac0112_1 0:ea35c18c85fc 158 typedef struct {//ir,line,gyro,mouse,ping
lilac0112_1 0:ea35c18c85fc 159 //ping
lilac0112_1 0:ea35c18c85fc 160 uint8_t ping[4];
lilac0112_1 0:ea35c18c85fc 161 //ir
lilac0112_1 0:ea35c18c85fc 162 uint8_t irKey;
lilac0112_1 0:ea35c18c85fc 163 uint8_t irNotice;
lilac0112_1 0:ea35c18c85fc 164 uint8_t irSpot[2];
lilac0112_1 0:ea35c18c85fc 165 uint8_t irPosition;
lilac0112_1 0:ea35c18c85fc 166 uint8_t IrFlag;
lilac0112_1 0:ea35c18c85fc 167 //line
lilac0112_1 0:ea35c18c85fc 168 uint8_t lnFlag[3];
lilac0112_1 0:ea35c18c85fc 169 uint8_t ball;
lilac0112_1 0:ea35c18c85fc 170 uint8_t KickOffFlag;
lilac0112_1 0:ea35c18c85fc 171 //uint8_t LineBind[4];//宣言すると動かない⇒構造体の限界
lilac0112_1 0:ea35c18c85fc 172 uint8_t KickFlag;
lilac0112_1 0:ea35c18c85fc 173 //motor
lilac0112_1 0:ea35c18c85fc 174 int32_t motorlog[2];
lilac0112_1 0:ea35c18c85fc 175 uint8_t MotorFlag;
lilac0112_1 0:ea35c18c85fc 176 double s_pow;
lilac0112_1 0:ea35c18c85fc 177 double l_pow;
lilac0112_1 0:ea35c18c85fc 178 //cmps&pid
lilac0112_1 0:ea35c18c85fc 179 uint8_t PidFlag;
lilac0112_1 0:ea35c18c85fc 180 double cmps, CmpsInitialValue, CmpsDiff, FrontDeg;//0<x<360
lilac0112_1 0:ea35c18c85fc 181 double InputPID;//<<gyrosensor
lilac0112_1 0:ea35c18c85fc 182 int16_t OutputPID;//>>motor
lilac0112_1 0:ea35c18c85fc 183 uint8_t strategy;
lilac0112_1 0:ea35c18c85fc 184 uint8_t init_point_flag;
lilac0112_1 0:ea35c18c85fc 185 uint8_t stopflag;
lilac0112_1 0:ea35c18c85fc 186 } Record;
lilac0112_1 1:3e013ae7900d 187 */
lilac0112_1 0:ea35c18c85fc 188 //NewStruct
lilac0112_1 0:ea35c18c85fc 189 typedef struct {
lilac0112_1 0:ea35c18c85fc 190 //cmps&pid
lilac0112_1 0:ea35c18c85fc 191 double cmps, CmpsInitialValue, CmpsDiff, FrontDeg;//0<x<360
lilac0112_1 0:ea35c18c85fc 192 double InputPID;//<<gyrosensor
lilac0112_1 0:ea35c18c85fc 193 int16_t OutputPID;//>>motor
lilac0112_1 0:ea35c18c85fc 194 } CompassVal;
lilac0112_1 0:ea35c18c85fc 195 typedef struct {
lilac0112_1 0:ea35c18c85fc 196 //ping
lilac0112_1 0:ea35c18c85fc 197 uint8_t ping[4];
lilac0112_1 0:ea35c18c85fc 198 //line
lilac0112_1 0:ea35c18c85fc 199 uint8_t lineSpot[3];
lilac0112_1 2:635947de1583 200 uint8_t lnFlag[3];
lilac0112_1 2:635947de1583 201 /*uint8_t LineFlag[3];
lilac0112_1 2:635947de1583 202 uint8_t LinePriority[3];
lilac0112_1 2:635947de1583 203 uint8_t LineBind[3];*/
lilac0112_1 0:ea35c18c85fc 204 //ir(spi)
lilac0112_1 0:ea35c18c85fc 205 uint8_t irKey;//2bit
lilac0112_1 1:3e013ae7900d 206 uint8_t irValPhase[2];//3*2bit
lilac0112_1 2:635947de1583 207 uint8_t irDif[2];//3bit
lilac0112_1 2:635947de1583 208 uint8_t irPosition;//5bit
lilac0112_1 2:635947de1583 209
lilac0112_1 2:635947de1583 210 uint8_t irSpot[2];//4*2bit//old
lilac0112_1 0:ea35c18c85fc 211 //ir(playing)
lilac0112_1 0:ea35c18c85fc 212 uint8_t irNotice;
lilac0112_1 0:ea35c18c85fc 213 //ball
lilac0112_1 0:ea35c18c85fc 214 uint8_t ball;
lilac0112_1 0:ea35c18c85fc 215 } SensorVal;
lilac0112_1 0:ea35c18c85fc 216 typedef struct {
lilac0112_1 0:ea35c18c85fc 217 //system,flag
lilac0112_1 0:ea35c18c85fc 218 uint8_t strategy;
lilac0112_1 4:52da8da146d4 219 uint16_t jump_flag;//0<=x<=JUMP_TAG_NUM
lilac0112_1 0:ea35c18c85fc 220 uint8_t stopflag;
lilac0112_1 0:ea35c18c85fc 221 uint8_t KickOffFlag;
lilac0112_1 0:ea35c18c85fc 222 uint8_t DribbleFlag;
lilac0112_1 8:25c8c75d182a 223 uint8_t BackHomeFlag;
lilac0112_1 0:ea35c18c85fc 224 uint8_t KickFlag;
lilac0112_1 0:ea35c18c85fc 225 uint8_t MotorFlag;
lilac0112_1 0:ea35c18c85fc 226 uint8_t IrFlag;
lilac0112_1 0:ea35c18c85fc 227 uint8_t UswFlag;
lilac0112_1 0:ea35c18c85fc 228 uint8_t UswFlag_2;
lilac0112_1 0:ea35c18c85fc 229 uint8_t PidFlag;
lilac0112_1 8:25c8c75d182a 230 //blind//on...1/off...0
lilac0112_1 8:25c8c75d182a 231 uint8_t IrBlind;
lilac0112_1 8:25c8c75d182a 232 uint8_t LineBlind;
lilac0112_1 8:25c8c75d182a 233 uint8_t PingBlind;
lilac0112_1 0:ea35c18c85fc 234 //motor
lilac0112_1 7:efe90188a49d 235 uint8_t pow_num;
lilac0112_1 6:f9167470d819 236 uint8_t s_pow;
lilac0112_1 6:f9167470d819 237 uint8_t m_pow;
lilac0112_1 6:f9167470d819 238 uint8_t l_pow;
lilac0112_1 6:f9167470d819 239 uint8_t dri_pow;
lilac0112_1 2:635947de1583 240 uint8_t ir_pow_table;
lilac0112_1 0:ea35c18c85fc 241 } SystemVal;
lilac0112_1 2:635947de1583 242
lilac0112_1 0:ea35c18c85fc 243 #endif