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/main.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 _MAIN_H_
lilac0112_1 0:b910276f9da2 2 #define _MAIN_H_
lilac0112_1 0:b910276f9da2 3
lilac0112_1 0:b910276f9da2 4 #include "def.h"
lilac0112_1 0:b910276f9da2 5
lilac0112_1 0:b910276f9da2 6 //pc(Computer)
lilac0112_1 0:b910276f9da2 7 RawSerial pc(monitor_tx, monitor_rx);
lilac0112_1 0:b910276f9da2 8 //led(main)
lilac0112_1 0:b910276f9da2 9 //DigitalOut LED[4]={led1, led2, led3, led4};
lilac0112_1 0:b910276f9da2 10 BusOut LED(led1, led2, led3, led4);
lilac0112_1 0:b910276f9da2 11 //line(bottom)
lilac0112_1 0:b910276f9da2 12 BusOut LineKeeper(lineInA, lineInB, lineInC);
lilac0112_1 0:b910276f9da2 13 BusIn LineRaw(lineA2, lineB2, lineC2);
lilac0112_1 0:b910276f9da2 14 BusIn LineHold(lineA1, lineB1, lineC1);
lilac0112_1 0:b910276f9da2 15 InterruptIn Line[3]={lineA2, lineB2, lineC2};
lilac0112_1 0:b910276f9da2 16 InterruptIn LineHolding[3]={lineA1, lineB1, lineC1};
lilac0112_1 0:b910276f9da2 17 //ballcheck(bottom)
lilac0112_1 0:b910276f9da2 18 InterruptIn BallChecker(ballcheck);
lilac0112_1 0:b910276f9da2 19 AnalogIn BallCheckerA(ballcheck);
lilac0112_1 0:b910276f9da2 20 //debug_switch(debug_board)
lilac0112_1 0:b910276f9da2 21 DigitalIn Sw[4] = {selectsw1, selectsw2, debugsw1, debugsw2};
lilac0112_1 0:b910276f9da2 22 //motor(main)
lilac0112_1 0:b910276f9da2 23 Serial motor(motor_tx, motor_rx);
lilac0112_1 0:b910276f9da2 24 //spi(main)
lilac0112_1 0:b910276f9da2 25 SPI spi(SPI_mosi, SPI_miso, SPI_slck);
lilac0112_1 0:b910276f9da2 26 DigitalOut spi_ss[4]={SPI_ss_sd, SPI_ss_sonic, SPI_ss_color, SPI_ss_ir};
lilac0112_1 0:b910276f9da2 27 //bluetooth(debug_board)
lilac0112_1 0:b910276f9da2 28 RawSerial RN42(blue_rxd, blue_txd);
lilac0112_1 0:b910276f9da2 29 DigitalOut hmc_reset(blue_reset);
lilac0112_1 0:b910276f9da2 30 //lcd(debug_board)
lilac0112_1 0:b910276f9da2 31 AQM1602 Lcd(lcd_sda, lcd_scl);
lilac0112_1 0:b910276f9da2 32 //cmps(debug_board)
lilac0112_1 0:b910276f9da2 33 HMC6352 hmc(sens_sda, sens_scl);
lilac0112_1 0:b910276f9da2 34 //mouse(bottom)
lilac0112_1 0:b910276f9da2 35 adns_9800 mouse_sensor(mouse_mosi, mouse_miso, mouse_slck, mouse_ss);
lilac0112_1 0:b910276f9da2 36 //solenoid(bottom)
lilac0112_1 0:b910276f9da2 37 DigitalOut kicker(solenoid);
lilac0112_1 0:b910276f9da2 38
lilac0112_1 0:b910276f9da2 39 //Serial for motors
lilac0112_1 0:b910276f9da2 40 int speed[4]={0};
lilac0112_1 0:b910276f9da2 41 string StringFIN;
lilac0112_1 0:b910276f9da2 42 //PID
lilac0112_1 0:b910276f9da2 43 PID pid(P_GAIN,I_GAIN,D_GAIN, RATE);
lilac0112_1 0:b910276f9da2 44 //Ticker pidupdate;
lilac0112_1 0:b910276f9da2 45 //for Serial
lilac0112_1 0:b910276f9da2 46 volatile uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0};
lilac0112_1 0:b910276f9da2 47 //for DataSet
lilac0112_1 0:b910276f9da2 48 //Record data;
lilac0112_1 0:b910276f9da2 49 //NewStruct
lilac0112_1 0:b910276f9da2 50 CompassVal cmps_set;
lilac0112_1 0:b910276f9da2 51 SensorVal data;
lilac0112_1 0:b910276f9da2 52 SystemVal sys;
lilac0112_1 0:b910276f9da2 53 //for transition
lilac0112_1 0:b910276f9da2 54 Ticker Sw_ticker;
lilac0112_1 0:b910276f9da2 55 Timeout button;
lilac0112_1 0:b910276f9da2 56 bool state[4]={0,0,0,0};
lilac0112_1 0:b910276f9da2 57 uint8_t statesum=0, last_statesum=0;
lilac0112_1 0:b910276f9da2 58 // for Time
lilac0112_1 0:b910276f9da2 59 Ticker Motor_ticker;
lilac0112_1 0:b910276f9da2 60 //Ticker Line_ticker;
lilac0112_1 0:b910276f9da2 61 Ticker Info_ticker;
lilac0112_1 0:b910276f9da2 62 //Ticker Hmc_ticker;
lilac0112_1 0:b910276f9da2 63
lilac0112_1 0:b910276f9da2 64 //Timeout Line_timeout[3];
lilac0112_1 0:b910276f9da2 65 Timeout Line_reset;
lilac0112_1 0:b910276f9da2 66
lilac0112_1 0:b910276f9da2 67 Timeout Solenoid_timeout;
lilac0112_1 0:b910276f9da2 68 Timeout Kick_stop;
lilac0112_1 0:b910276f9da2 69
lilac0112_1 0:b910276f9da2 70 Timeout Turn_timeout;
lilac0112_1 0:b910276f9da2 71 Timeout Turn_stop;
lilac0112_1 0:b910276f9da2 72
lilac0112_1 0:b910276f9da2 73 Timeout Ball_judge;
lilac0112_1 0:b910276f9da2 74
lilac0112_1 0:b910276f9da2 75 //Timeout Kick_now;
lilac0112_1 0:b910276f9da2 76 //Timeout Front_now;
lilac0112_1 0:b910276f9da2 77 //Timeout Line_home;
lilac0112_1 0:b910276f9da2 78
lilac0112_1 0:b910276f9da2 79 Ticker Duty[DUTY_NUM];
lilac0112_1 0:b910276f9da2 80 Timeout Stp;
lilac0112_1 0:b910276f9da2 81 double dutycycle[DUTY_NUM] ={//[s]
lilac0112_1 0:b910276f9da2 82 0.2
lilac0112_1 0:b910276f9da2 83 };
lilac0112_1 0:b910276f9da2 84
lilac0112_1 0:b910276f9da2 85 #endif /*_MAIN_H_*/