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:
- 10:6df631c39f9b
- Parent:
- 9:c966191926c5
- Child:
- 11:3efae754e6ef
--- a/setting/def.h Tue Mar 08 09:52:22 2016 +0000 +++ b/setting/def.h Thu Mar 10 03:03:50 2016 +0000 @@ -19,7 +19,7 @@ //Lcd 設定値 #define LCD_COLUMN_NUM 0x11 #define BUFSIZE 7 -#define STATE_NUM_X 0x04 +#define STATE_NUM_X 0x08 #define STATE_NUM_Y 0x10 #define JUMP_TAG_MAX 0xFFFF @@ -27,7 +27,7 @@ #define ZERO_FUNCTION 0 #define START 1 #define GET_IR 2 -#define GET_LINE 3 +#define GET_SNS0 3 #define GET_PID_VALUE 4 #define CALIBRATION_ENTER 5 #define CALIBRATION_EXIT 6 @@ -47,6 +47,12 @@ #define SET_STRATEGY_UP 19 #define DRIVE_KICKER 20 +#define DRIVE_DRIBBLER_AND_KICKER 21 + +#define CALIBRATION_TURN 22 +#define RW_PID 23 + +#define TURN_AND_START 24 typedef struct {//for command char LcdStr[STATE_NUM_X][BUFSIZE]; @@ -100,6 +106,12 @@ #define MIN_POW -100 #define PID_CYCLE 0.05 //s +#define PID_OUT_MIN 5 + +//hmc +#define HMC_RUN 1 +#define HMC_RST 0 + //ir //ir_pow_old #define IR_X 0 @@ -127,8 +139,8 @@ #define DIS_7 0x7//high_value //ping -#define L_PING 0 -#define R_PING 1 +#define L_PING 1 +#define R_PING 0 #define F_PING 2 #define B_PING 3 @@ -220,12 +232,14 @@ uint8_t stopflag; uint8_t KickOffFlag; uint8_t DribbleFlag; + uint8_t BallHoldFlag; uint8_t BackHomeFlag; + uint8_t TurnStartFlag; uint8_t KickFlag; uint8_t MotorFlag; uint8_t IrFlag; uint8_t UswFlag; - uint8_t UswFlag_2; + uint8_t UswFlag2; uint8_t PidFlag; //blind//on...1/off...0 uint8_t IrBlind;