CatPot 2015-2016 / Mbed 2 deprecated CatPot_2v20_T_Main

せとうちオープン用のメインプログラム

Dependencies:   mbed AQM1602 HMC6352 PID

setting/def.h@0:b910276f9da2, 2016-05-01 (annotated)

Committer:
lilac0112_1
Date:
Sun May 01 06:30:37 2016 +0000
Revision:
0:b910276f9da2
from 2v10

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 0:b910276f9da2 1 #ifndef _DEF_H_
lilac0112_1 0:b910276f9da2 2 #define _DEF_H_
lilac0112_1 0:b910276f9da2 3
lilac0112_1 0:b910276f9da2 4 //red or green
lilac0112_1 0:b910276f9da2 5 #define RED_CAT//jj
lilac0112_1 0:b910276f9da2 6 //#define GREEN_CAT//lily
lilac0112_1 0:b910276f9da2 7
lilac0112_1 0:b910276f9da2 8 //BT(BlueTooth)
lilac0112_1 0:b910276f9da2 9 #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:b910276f9da2 10 #define TX_KEYCODE 0xAA//あちらのKEYCODE
lilac0112_1 0:b910276f9da2 11 #define RX_KEYCODE 0xAA//こちらのKEYCODE
lilac0112_1 0:b910276f9da2 12 #define KEY 0//KEYCODEは配列の最初
lilac0112_1 0:b910276f9da2 13 #define CHECK DATA_NUM-1//CHECKCODEは配列の最後
lilac0112_1 0:b910276f9da2 14
lilac0112_1 0:b910276f9da2 15
lilac0112_1 0:b910276f9da2 16 //Switch 入力値
lilac0112_1 0:b910276f9da2 17 #define NONE 0
lilac0112_1 0:b910276f9da2 18 #define UP 1
lilac0112_1 0:b910276f9da2 19 #define DOWN 2
lilac0112_1 0:b910276f9da2 20 #define RIGHT 3
lilac0112_1 0:b910276f9da2 21 #define LEFT 4
lilac0112_1 0:b910276f9da2 22
lilac0112_1 0:b910276f9da2 23 //Lcd 設定値
lilac0112_1 0:b910276f9da2 24 #define LCD_COLUMN_NUM 0x11
lilac0112_1 0:b910276f9da2 25 #define BUFSIZE 7
lilac0112_1 0:b910276f9da2 26 #define STATE_NUM_X 0x08
lilac0112_1 0:b910276f9da2 27 #define STATE_NUM_Y 0x10
lilac0112_1 0:b910276f9da2 28
lilac0112_1 0:b910276f9da2 29 #define JUMP_TAG_MAX 0xFFFF
lilac0112_1 0:b910276f9da2 30 //tag
lilac0112_1 0:b910276f9da2 31 #define ZERO_FUNCTION 0
lilac0112_1 0:b910276f9da2 32 #define START 1
lilac0112_1 0:b910276f9da2 33 #define GET_IR 2
lilac0112_1 0:b910276f9da2 34 #define GET_SNS0 3
lilac0112_1 0:b910276f9da2 35 #define GET_PID_VALUE 4
lilac0112_1 0:b910276f9da2 36 #define CALIBRATION_ENTER 5
lilac0112_1 0:b910276f9da2 37 #define CALIBRATION_EXIT 6
lilac0112_1 0:b910276f9da2 38 #define FRONT_RESET 7
lilac0112_1 0:b910276f9da2 39 #define SET_POWER1 8
lilac0112_1 0:b910276f9da2 40 #define SET_POWER2 9
lilac0112_1 0:b910276f9da2 41 #define SOFT_RESET 10
lilac0112_1 0:b910276f9da2 42 #define SET_STRATEGY1 11
lilac0112_1 0:b910276f9da2 43 #define SET_STRATEGY2 12
lilac0112_1 0:b910276f9da2 44 #define SET_STRATEGY3 13
lilac0112_1 0:b910276f9da2 45 #define SET_STRATEGY4 14
lilac0112_1 0:b910276f9da2 46 #define START2 15
lilac0112_1 0:b910276f9da2 47
lilac0112_1 0:b910276f9da2 48 #define SET_POWER_DOWN 16
lilac0112_1 0:b910276f9da2 49 #define SET_POWER_UP 17
lilac0112_1 0:b910276f9da2 50 #define SET_STRATEGY_DOWN 18
lilac0112_1 0:b910276f9da2 51 #define SET_STRATEGY_UP 19
lilac0112_1 0:b910276f9da2 52
lilac0112_1 0:b910276f9da2 53 #define DRIVE_KICKER 20
lilac0112_1 0:b910276f9da2 54 #define DRIVE_DRIBBLER_AND_KICKER 21
lilac0112_1 0:b910276f9da2 55
lilac0112_1 0:b910276f9da2 56 #define CALIBRATION_TURN 22
lilac0112_1 0:b910276f9da2 57 #define RW_PID 23
lilac0112_1 0:b910276f9da2 58
lilac0112_1 0:b910276f9da2 59 #define TURN_AND_START 24
lilac0112_1 0:b910276f9da2 60 #define CALIBRATION_ENTER_OR_EXIT 25
lilac0112_1 0:b910276f9da2 61
lilac0112_1 0:b910276f9da2 62 typedef struct {//for command
lilac0112_1 0:b910276f9da2 63 char LcdStr[STATE_NUM_X][BUFSIZE];
lilac0112_1 0:b910276f9da2 64 uint8_t str_num;
lilac0112_1 0:b910276f9da2 65 uint8_t (*CommandFunction)(uint8_t x);
lilac0112_1 0:b910276f9da2 66 uint16_t tag_num;
lilac0112_1 0:b910276f9da2 67 } CommandItem;
lilac0112_1 0:b910276f9da2 68
lilac0112_1 0:b910276f9da2 69
lilac0112_1 0:b910276f9da2 70 //tag
lilac0112_1 0:b910276f9da2 71 #define MODE_ATTACK0 0
lilac0112_1 0:b910276f9da2 72 #define MODE_ATTACK1 1
lilac0112_1 0:b910276f9da2 73 #define MODE_ATTACK2 2
lilac0112_1 0:b910276f9da2 74 #define MODE_ATTACK3 3
lilac0112_1 0:b910276f9da2 75 #define MODE_ATTACK4 4
lilac0112_1 0:b910276f9da2 76 #define MODE_ATTACK5 5
lilac0112_1 0:b910276f9da2 77
lilac0112_1 0:b910276f9da2 78 #define MODE_DEBUG0 6
lilac0112_1 0:b910276f9da2 79 #define MODE_DEBUG1 7
lilac0112_1 0:b910276f9da2 80 #define MODE_DEBUG2 8
lilac0112_1 0:b910276f9da2 81 #define MODE_DEBUG3 9
lilac0112_1 0:b910276f9da2 82 #define MODE_DEBUG4 10
lilac0112_1 0:b910276f9da2 83 #define MODE_DEBUG5 11
lilac0112_1 0:b910276f9da2 84
lilac0112_1 0:b910276f9da2 85 typedef struct {//for active
lilac0112_1 0:b910276f9da2 86 char LcdStr[LCD_COLUMN_NUM];
lilac0112_1 0:b910276f9da2 87 void (*ActiveFunction)(void);
lilac0112_1 0:b910276f9da2 88 uint16_t tag_num;
lilac0112_1 0:b910276f9da2 89 } ActiveItem;
lilac0112_1 0:b910276f9da2 90
lilac0112_1 0:b910276f9da2 91 //繰り返し割り込み
lilac0112_1 0:b910276f9da2 92 #define DUTY_NUM 1
lilac0112_1 0:b910276f9da2 93
lilac0112_1 0:b910276f9da2 94 #define DUTY_SW 0
lilac0112_1 0:b910276f9da2 95 #define DUTY_GYRO 1
lilac0112_1 0:b910276f9da2 96 #define DUTY_PING 2
lilac0112_1 0:b910276f9da2 97 #define DUTY_COLOR 3
lilac0112_1 0:b910276f9da2 98 #define DUTY_MOUSE 4
lilac0112_1 0:b910276f9da2 99
lilac0112_1 0:b910276f9da2 100 /*PID処理*/
lilac0112_1 0:b910276f9da2 101 #define RATE 0.052//52
lilac0112_1 0:b910276f9da2 102 #define PID_BIAS 0.0//1.0
lilac0112_1 0:b910276f9da2 103 #define REFERENCE 180.0
lilac0112_1 0:b910276f9da2 104 #define MINIMUM 0.0
lilac0112_1 0:b910276f9da2 105 #define MAXIMUM 359.9
lilac0112_1 0:b910276f9da2 106 #define P_GAIN 1.3//1.25//0.8 //0.78
lilac0112_1 0:b910276f9da2 107 #define I_GAIN 0.0 //0.0
lilac0112_1 0:b910276f9da2 108 #define D_GAIN 0.01//0.01 //0.009
lilac0112_1 0:b910276f9da2 109 #define OUT_LIMIT 30.0
lilac0112_1 0:b910276f9da2 110 #define MAX_POW 100
lilac0112_1 0:b910276f9da2 111 #define MIN_POW -100
lilac0112_1 0:b910276f9da2 112 #define PID_CYCLE 0.05 //s
lilac0112_1 0:b910276f9da2 113
lilac0112_1 0:b910276f9da2 114 #define PID_OUT_MIN 5
lilac0112_1 0:b910276f9da2 115
lilac0112_1 0:b910276f9da2 116 //hmc
lilac0112_1 0:b910276f9da2 117 #define HMC_RUN 1
lilac0112_1 0:b910276f9da2 118 #define HMC_RST 0
lilac0112_1 0:b910276f9da2 119
lilac0112_1 0:b910276f9da2 120 //ir
lilac0112_1 0:b910276f9da2 121 //ir_pow_old
lilac0112_1 0:b910276f9da2 122 #define IR_X 0
lilac0112_1 0:b910276f9da2 123 #define IR_Y 1
lilac0112_1 0:b910276f9da2 124 //ir_pow
lilac0112_1 0:b910276f9da2 125 #define IR_X_DIR 0
lilac0112_1 0:b910276f9da2 126 #define IR_Y_DIR 1
lilac0112_1 0:b910276f9da2 127 #define IR_X_TURN 2
lilac0112_1 0:b910276f9da2 128 #define IR_Y_TURN 3
lilac0112_1 0:b910276f9da2 129
lilac0112_1 0:b910276f9da2 130 #define IR_SHORT 0
lilac0112_1 0:b910276f9da2 131 #define IR_LONG 1
lilac0112_1 0:b910276f9da2 132
lilac0112_1 0:b910276f9da2 133 #define X_AXIS 0
lilac0112_1 0:b910276f9da2 134 #define Y_AXIS 1
lilac0112_1 0:b910276f9da2 135
lilac0112_1 0:b910276f9da2 136
lilac0112_1 0:b910276f9da2 137 #define DIS_0 0x0//low_value
lilac0112_1 0:b910276f9da2 138 #define DIS_1 0x1
lilac0112_1 0:b910276f9da2 139 #define DIS_2 0x2
lilac0112_1 0:b910276f9da2 140 #define DIS_3 0x3
lilac0112_1 0:b910276f9da2 141 #define DIS_4 0x4
lilac0112_1 0:b910276f9da2 142 #define DIS_5 0x5
lilac0112_1 0:b910276f9da2 143 #define DIS_6 0x6
lilac0112_1 0:b910276f9da2 144 #define DIS_7 0x7//high_value
lilac0112_1 0:b910276f9da2 145
lilac0112_1 0:b910276f9da2 146 //ping
lilac0112_1 0:b910276f9da2 147 #define L_PING 1
lilac0112_1 0:b910276f9da2 148 #define R_PING 0
lilac0112_1 0:b910276f9da2 149 #define F_PING 2
lilac0112_1 0:b910276f9da2 150 #define B_PING 3
lilac0112_1 0:b910276f9da2 151
lilac0112_1 0:b910276f9da2 152 #define X_PING 0
lilac0112_1 0:b910276f9da2 153 #define Y_PING 1
lilac0112_1 0:b910276f9da2 154
lilac0112_1 0:b910276f9da2 155 //0,1...main
lilac0112_1 0:b910276f9da2 156 //2,3...debug board
lilac0112_1 0:b910276f9da2 157
lilac0112_1 0:b910276f9da2 158 //line
lilac0112_1 0:b910276f9da2 159 #define LINE_EMPTY 0xFF
lilac0112_1 0:b910276f9da2 160
lilac0112_1 0:b910276f9da2 161 #define A_SPOT 0
lilac0112_1 0:b910276f9da2 162 #define B_SPOT 1
lilac0112_1 0:b910276f9da2 163 #define C_SPOT 2
lilac0112_1 0:b910276f9da2 164 #define AB_SPOT 3
lilac0112_1 0:b910276f9da2 165
lilac0112_1 0:b910276f9da2 166 #define LINE_RF 5
lilac0112_1 0:b910276f9da2 167 #define LINE_DELAY_1 0.5//1.0
lilac0112_1 0:b910276f9da2 168 #define LINE_DELAY_2 0.125//0.5//.25
lilac0112_1 0:b910276f9da2 169 #define LINE_DELAY_3 0.125//.25
lilac0112_1 0:b910276f9da2 170
lilac0112_1 0:b910276f9da2 171 #define LINE_REPEAT 1
lilac0112_1 0:b910276f9da2 172
lilac0112_1 0:b910276f9da2 173 #define L_LINE 1
lilac0112_1 0:b910276f9da2 174 #define R_LINE 0
lilac0112_1 0:b910276f9da2 175 #define F_LINE 2
lilac0112_1 0:b910276f9da2 176 #define B_LINE 3
lilac0112_1 0:b910276f9da2 177
lilac0112_1 0:b910276f9da2 178 #define X_LINE 0
lilac0112_1 0:b910276f9da2 179 #define Y_LINE 1
lilac0112_1 0:b910276f9da2 180
lilac0112_1 0:b910276f9da2 181 #define LINE_INSIDE 0
lilac0112_1 0:b910276f9da2 182 #define LINE_OUTSIDE 1
lilac0112_1 0:b910276f9da2 183
lilac0112_1 0:b910276f9da2 184 //hard error
lilac0112_1 0:b910276f9da2 185
lilac0112_1 0:b910276f9da2 186 #ifdef RED_CAT
lilac0112_1 0:b910276f9da2 187 #define LINE_FIX 0x0
lilac0112_1 0:b910276f9da2 188 #define LINE_FREE 0x7
lilac0112_1 0:b910276f9da2 189
lilac0112_1 0:b910276f9da2 190 //右後左ド
lilac0112_1 0:b910276f9da2 191 #define MD_1CH (1)
lilac0112_1 0:b910276f9da2 192 #define MD_2CH (1)
lilac0112_1 0:b910276f9da2 193 #define MD_3CH (1)
lilac0112_1 0:b910276f9da2 194 #define MD_4CH (-1)
lilac0112_1 0:b910276f9da2 195 #endif /*RED_CAT*/
lilac0112_1 0:b910276f9da2 196
lilac0112_1 0:b910276f9da2 197 #ifdef GREEN_CAT
lilac0112_1 0:b910276f9da2 198 #define LINE_FIX 0x7
lilac0112_1 0:b910276f9da2 199 #define LINE_FREE 0x0
lilac0112_1 0:b910276f9da2 200
lilac0112_1 0:b910276f9da2 201 //右後左ド
lilac0112_1 0:b910276f9da2 202 #define MD_1CH (1)
lilac0112_1 0:b910276f9da2 203 #define MD_2CH (1)
lilac0112_1 0:b910276f9da2 204 #define MD_3CH (-1)
lilac0112_1 0:b910276f9da2 205 #define MD_4CH (-1)
lilac0112_1 0:b910276f9da2 206 #endif /*GREEN_CAT*/
lilac0112_1 0:b910276f9da2 207
lilac0112_1 0:b910276f9da2 208
lilac0112_1 0:b910276f9da2 209 //思考パターン
lilac0112_1 0:b910276f9da2 210 #define STRATEGY_NUM 12
lilac0112_1 0:b910276f9da2 211
lilac0112_1 0:b910276f9da2 212 //計算
lilac0112_1 0:b910276f9da2 213 #define ROUND(x) ((x > 0) ? (x + 0.5) : (x - 0.5))//x...整数
lilac0112_1 0:b910276f9da2 214 #define PI 3.14159265358979323846
lilac0112_1 0:b910276f9da2 215 #define DEG2RAD(deg) (PI*(deg)/180.0)
lilac0112_1 0:b910276f9da2 216 #define RAD2DEG(rad) (180.0(rad)/PI)
lilac0112_1 0:b910276f9da2 217
lilac0112_1 0:b910276f9da2 218 //データ
lilac0112_1 0:b910276f9da2 219 typedef struct {
lilac0112_1 0:b910276f9da2 220 //cmps&pid
lilac0112_1 0:b910276f9da2 221 double cmps, CmpsInitialValue, CmpsInitialValue2, CmpsInitialValue0, CmpsDiff;//0<x<360
lilac0112_1 0:b910276f9da2 222 int16_t FrontDeg, AtkDeg, HoldDeg, GoalDeg;
lilac0112_1 0:b910276f9da2 223 //正．．．右回転
lilac0112_1 0:b910276f9da2 224 //負．．．左回転
lilac0112_1 0:b910276f9da2 225 double InputPID;//<<gyrosensor
lilac0112_1 0:b910276f9da2 226 int16_t OutputPID;//>>motor
lilac0112_1 0:b910276f9da2 227 } CompassVal;
lilac0112_1 0:b910276f9da2 228 typedef struct {
lilac0112_1 0:b910276f9da2 229 //ping
lilac0112_1 0:b910276f9da2 230 uint8_t ping[4];
lilac0112_1 0:b910276f9da2 231 //line
lilac0112_1 0:b910276f9da2 232 uint8_t lineSpot[3];
lilac0112_1 0:b910276f9da2 233 uint8_t lnFlag[3];
lilac0112_1 0:b910276f9da2 234 uint8_t NonWall[4];
lilac0112_1 0:b910276f9da2 235 uint8_t NearWall[2];
lilac0112_1 0:b910276f9da2 236 uint8_t ReturnDir[2];
lilac0112_1 0:b910276f9da2 237
lilac0112_1 0:b910276f9da2 238 uint8_t lnHold;
lilac0112_1 0:b910276f9da2 239 uint8_t lnRaw;
lilac0112_1 0:b910276f9da2 240 uint8_t lnRawMemory[3];
lilac0112_1 0:b910276f9da2 241 uint8_t lnRawOrder[3];//first_second_third
lilac0112_1 0:b910276f9da2 242 uint8_t lnRawOrderLog1[3];//first_second_third
lilac0112_1 0:b910276f9da2 243 uint8_t lnRawOrderLog2[3];//first_second_third
lilac0112_1 0:b910276f9da2 244 uint8_t lnRawRise[3];
lilac0112_1 0:b910276f9da2 245 uint8_t lnRawReturn;
lilac0112_1 0:b910276f9da2 246 uint8_t lnRawLastRise;
lilac0112_1 0:b910276f9da2 247 uint8_t lnStop[2];
lilac0112_1 0:b910276f9da2 248 //uint8_t lnStay[2];
lilac0112_1 0:b910276f9da2 249 uint8_t lnStay[2];
lilac0112_1 0:b910276f9da2 250 uint8_t lnStayNow[2];
lilac0112_1 0:b910276f9da2 251 uint8_t lnCorner[4];
lilac0112_1 0:b910276f9da2 252 uint8_t lnRepeat;
lilac0112_1 0:b910276f9da2 253 uint8_t FieldSpot;//0...inside,1...outside
lilac0112_1 0:b910276f9da2 254 uint8_t lnOrder[3];//first_second_third
lilac0112_1 0:b910276f9da2 255
lilac0112_1 0:b910276f9da2 256 uint8_t lnState;
lilac0112_1 0:b910276f9da2 257 /*uint8_t LineFlag[3];
lilac0112_1 0:b910276f9da2 258 uint8_t LinePriority[3];
lilac0112_1 0:b910276f9da2 259 uint8_t LineBind[3];*/
lilac0112_1 0:b910276f9da2 260 //ir(spi)
lilac0112_1 0:b910276f9da2 261 uint8_t irKey;//2bit
lilac0112_1 0:b910276f9da2 262 uint8_t irValPhase[2];//3*2bit
lilac0112_1 0:b910276f9da2 263 uint8_t irDif[2];//3bit
lilac0112_1 0:b910276f9da2 264 uint8_t irPosition;//5bit
lilac0112_1 0:b910276f9da2 265
lilac0112_1 0:b910276f9da2 266 uint8_t irSpot[2];//4*2bit//old
lilac0112_1 0:b910276f9da2 267 //ir(playing)
lilac0112_1 0:b910276f9da2 268 uint8_t irNotice;
lilac0112_1 0:b910276f9da2 269 uint8_t irLastNotice;
lilac0112_1 0:b910276f9da2 270 uint8_t irStayNotice;
lilac0112_1 0:b910276f9da2 271 uint8_t irLastPosition;
lilac0112_1 0:b910276f9da2 272 //ball
lilac0112_1 0:b910276f9da2 273 uint8_t ball;
lilac0112_1 0:b910276f9da2 274 } SensorVal;
lilac0112_1 0:b910276f9da2 275 typedef struct {
lilac0112_1 0:b910276f9da2 276 //system,flag
lilac0112_1 0:b910276f9da2 277 uint8_t strategy;
lilac0112_1 0:b910276f9da2 278 uint16_t jump_flag;//0<=x<=JUMP_TAG_NUM
lilac0112_1 0:b910276f9da2 279 uint8_t stopflag;
lilac0112_1 0:b910276f9da2 280 uint8_t KickOffFlag;
lilac0112_1 0:b910276f9da2 281 uint8_t DribbleFlag;
lilac0112_1 0:b910276f9da2 282 uint8_t KickStopFlag;
lilac0112_1 0:b910276f9da2 283 uint8_t TurnStopFlag;
lilac0112_1 0:b910276f9da2 284
lilac0112_1 0:b910276f9da2 285 uint8_t BallHoldJudgeFlag;
lilac0112_1 0:b910276f9da2 286 uint8_t BallHoldFlag;
lilac0112_1 0:b910276f9da2 287
lilac0112_1 0:b910276f9da2 288 uint8_t BackHomeFlag;
lilac0112_1 0:b910276f9da2 289 uint8_t HomeStayFlag[2];
lilac0112_1 0:b910276f9da2 290 uint8_t TurnStartFlag;
lilac0112_1 0:b910276f9da2 291 uint8_t MotorFlag;
lilac0112_1 0:b910276f9da2 292 uint8_t InfoFlag;
lilac0112_1 0:b910276f9da2 293 //uint8_t PidFlag;
lilac0112_1 0:b910276f9da2 294 uint8_t DefenceFlag;
lilac0112_1 0:b910276f9da2 295 //blind//on...1/off...0
lilac0112_1 0:b910276f9da2 296 uint8_t IrBlind;
lilac0112_1 0:b910276f9da2 297 uint8_t LineBlind;
lilac0112_1 0:b910276f9da2 298 uint8_t PingBlind;
lilac0112_1 0:b910276f9da2 299
lilac0112_1 0:b910276f9da2 300 uint8_t DriBlind;
lilac0112_1 0:b910276f9da2 301 uint8_t DriMotorBlind;
lilac0112_1 0:b910276f9da2 302 uint8_t TurnAtkBlind;
lilac0112_1 0:b910276f9da2 303 uint8_t TurnDriBlind;
lilac0112_1 0:b910276f9da2 304 uint8_t TurnHoldBlind;
lilac0112_1 0:b910276f9da2 305 uint8_t KickBlind;
lilac0112_1 0:b910276f9da2 306 uint8_t HomeBlind;
lilac0112_1 0:b910276f9da2 307
lilac0112_1 0:b910276f9da2 308 //motor
lilac0112_1 0:b910276f9da2 309 uint8_t pow_num;
lilac0112_1 0:b910276f9da2 310 uint8_t s_pow;
lilac0112_1 0:b910276f9da2 311 uint8_t m_pow;
lilac0112_1 0:b910276f9da2 312 uint8_t l_pow;
lilac0112_1 0:b910276f9da2 313 uint8_t dri_pow;
lilac0112_1 0:b910276f9da2 314 uint8_t ir_pow_table;
lilac0112_1 0:b910276f9da2 315 } SystemVal;
lilac0112_1 0:b910276f9da2 316
lilac0112_1 0:b910276f9da2 317 #endif