ジャパンオープン用のメインプログラム
Dependencies: mbed AQM1602 HMC6352 PID
Diff: setting/def.h
- Revision:
- 11:3efae754e6ef
- Parent:
- 10:6df631c39f9b
- Child:
- 12:bee8f883c33a
--- a/setting/def.h Thu Mar 10 03:03:50 2016 +0000 +++ b/setting/def.h Thu Mar 10 08:26:33 2016 +0000 @@ -1,6 +1,10 @@ #ifndef _DEF_H_ #define _DEF_H_ +//red or green +#define RED_CAT +//#define GREEN_CAT + //BT(BlueTooth) #define DATA_NUM 8+2//2byte→KEYCODE(拝啓)とCHECKCODE(敬具) 8byte→やりとりするデータ #define TX_KEYCODE 0xAA//あちらのKEYCODE @@ -53,6 +57,7 @@ #define RW_PID 23 #define TURN_AND_START 24 +#define CALIBRATION_ENTER_OR_EXIT 25 typedef struct {//for command char LcdStr[STATE_NUM_X][BUFSIZE]; @@ -144,6 +149,9 @@ #define F_PING 2 #define B_PING 3 +#define X_PING 0 +#define Y_PING 1 + //0,1...main //2,3...debug board @@ -156,6 +164,17 @@ #define LINE_RF 5 #define LINE_DELAY 0.5 +#ifdef RED_CAT +#define LINE_FIX 0x0 +#define LINE_FREE 0x7 +#endif /*RED_CAT*/ + +#ifdef GREEN_CAT +#define LINE_FIX 0x7 +#define LINE_FREE 0x0 +#endif /*GREEN_CAT*/ + + //思考パターン #define STRATEGY_NUM 12 @@ -166,38 +185,6 @@ #define RAD2DEG(rad) (180.0(rad)/PI) //データ -/* -typedef struct {//ir,line,gyro,mouse,ping - //ping - uint8_t ping[4]; - //ir - uint8_t irKey; - uint8_t irNotice; - uint8_t irSpot[2]; - uint8_t irPosition; - uint8_t IrFlag; - //line - uint8_t lnFlag[3]; - uint8_t ball; - uint8_t KickOffFlag; - //uint8_t LineBind[4];//宣言すると動かない⇒構造体の限界 - uint8_t KickFlag; - //motor - int32_t motorlog[2]; - uint8_t MotorFlag; - double s_pow; - double l_pow; - //cmps&pid - uint8_t PidFlag; - double cmps, CmpsInitialValue, CmpsDiff, FrontDeg;//0<x<360 - double InputPID;//<<gyrosensor - int16_t OutputPID;//>>motor - uint8_t strategy; - uint8_t init_point_flag; - uint8_t stopflag; -} Record; -*/ -//NewStruct typedef struct { //cmps&pid double cmps, CmpsInitialValue, CmpsDiff, FrontDeg;//0<x<360 @@ -210,6 +197,10 @@ //line uint8_t lineSpot[3]; uint8_t lnFlag[3]; + uint8_t lnHold; + uint8_t lnRaw; + uint8_t lnStop[4]; + uint8_t FieldState;//0...outside,1...inside /*uint8_t LineFlag[3]; uint8_t LinePriority[3]; uint8_t LineBind[3];*/