Diff: setting/def.h

Revision:

0:b910276f9da2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/setting/def.h	Sun May 01 06:30:37 2016 +0000
@@ -0,0 +1,317 @@
+#ifndef _DEF_H_
+#define _DEF_H_
+
+//red or green
+#define RED_CAT//jj
+//#define GREEN_CAT//lily
+
+//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
+#define RX_KEYCODE 0xAA//こちらのKEYCODE
+#define KEY 0//KEYCODEは配列の最初
+#define CHECK DATA_NUM-1//CHECKCODEは配列の最後
+
+
+//Switch 入力値
+#define NONE    0
+#define UP      1
+#define DOWN    2
+#define RIGHT   3
+#define LEFT    4
+
+//Lcd 設定値
+#define LCD_COLUMN_NUM 0x11
+#define BUFSIZE 7
+#define STATE_NUM_X 0x08
+#define STATE_NUM_Y 0x10
+
+#define JUMP_TAG_MAX 0xFFFF
+//tag
+#define ZERO_FUNCTION       0
+#define START               1
+#define GET_IR              2
+#define GET_SNS0            3
+#define GET_PID_VALUE       4
+#define CALIBRATION_ENTER   5
+#define CALIBRATION_EXIT    6
+#define FRONT_RESET         7
+#define SET_POWER1          8
+#define SET_POWER2          9
+#define SOFT_RESET          10
+#define SET_STRATEGY1       11
+#define SET_STRATEGY2       12
+#define SET_STRATEGY3       13
+#define SET_STRATEGY4       14
+#define START2              15
+
+#define SET_POWER_DOWN      16
+#define SET_POWER_UP        17
+#define SET_STRATEGY_DOWN   18
+#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
+#define CALIBRATION_ENTER_OR_EXIT 25
+
+typedef struct {//for command
+    char LcdStr[STATE_NUM_X][BUFSIZE];
+    uint8_t str_num;
+    uint8_t (*CommandFunction)(uint8_t x);
+    uint16_t tag_num;
+} CommandItem;
+
+
+//tag
+#define MODE_ATTACK0 0
+#define MODE_ATTACK1 1
+#define MODE_ATTACK2 2
+#define MODE_ATTACK3 3
+#define MODE_ATTACK4 4
+#define MODE_ATTACK5 5
+
+#define MODE_DEBUG0 6
+#define MODE_DEBUG1 7
+#define MODE_DEBUG2 8
+#define MODE_DEBUG3 9
+#define MODE_DEBUG4 10
+#define MODE_DEBUG5 11
+
+typedef struct {//for active
+    char LcdStr[LCD_COLUMN_NUM];
+    void (*ActiveFunction)(void);
+    uint16_t tag_num;
+} ActiveItem;
+
+//繰り返し割り込み
+#define DUTY_NUM 1
+
+#define DUTY_SW     0
+#define DUTY_GYRO   1
+#define DUTY_PING   2
+#define DUTY_COLOR  3
+#define DUTY_MOUSE  4
+
+/*PID処理*/
+#define RATE    0.052//52
+#define PID_BIAS    0.0//1.0
+#define REFERENCE   180.0
+#define MINIMUM     0.0
+#define MAXIMUM     359.9
+#define P_GAIN  1.3//1.25//0.8    //0.78   
+#define I_GAIN  0.0     //0.0
+#define D_GAIN  0.01//0.01  //0.009
+#define OUT_LIMIT   30.0
+#define MAX_POW     100
+#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
+#define IR_Y 1
+//ir_pow
+#define IR_X_DIR    0
+#define IR_Y_DIR    1
+#define IR_X_TURN   2
+#define IR_Y_TURN   3
+
+#define IR_SHORT 0
+#define IR_LONG 1
+
+#define X_AXIS 0
+#define Y_AXIS 1
+
+
+#define DIS_0 0x0//low_value
+#define DIS_1 0x1
+#define DIS_2 0x2
+#define DIS_3 0x3
+#define DIS_4 0x4
+#define DIS_5 0x5
+#define DIS_6 0x6
+#define DIS_7 0x7//high_value
+
+//ping
+#define L_PING 1
+#define R_PING 0
+#define F_PING 2
+#define B_PING 3
+
+#define X_PING 0
+#define Y_PING 1
+
+//0,1...main
+//2,3...debug board
+
+//line
+#define LINE_EMPTY 0xFF
+
+#define A_SPOT 0
+#define B_SPOT 1
+#define C_SPOT 2
+#define AB_SPOT 3
+
+#define LINE_RF 5
+#define LINE_DELAY_1 0.5//1.0
+#define LINE_DELAY_2 0.125//0.5//.25
+#define LINE_DELAY_3 0.125//.25
+
+#define LINE_REPEAT 1
+
+#define L_LINE 1
+#define R_LINE 0
+#define F_LINE 2
+#define B_LINE 3
+
+#define X_LINE 0
+#define Y_LINE 1
+
+#define LINE_INSIDE 0
+#define LINE_OUTSIDE 1
+
+//hard error
+
+#ifdef RED_CAT
+#define LINE_FIX 0x0
+#define LINE_FREE 0x7
+
+//右後左ド
+#define MD_1CH (1)
+#define MD_2CH (1)
+#define MD_3CH (1)
+#define MD_4CH (-1)
+#endif /*RED_CAT*/
+
+#ifdef GREEN_CAT
+#define LINE_FIX 0x7
+#define LINE_FREE 0x0
+
+//右後左ド
+#define MD_1CH (1)
+#define MD_2CH (1)
+#define MD_3CH (-1)
+#define MD_4CH (-1)
+#endif /*GREEN_CAT*/
+
+
+//思考パターン
+#define STRATEGY_NUM 12
+
+//計算
+#define ROUND(x) ((x > 0) ? (x + 0.5) : (x - 0.5))//x...整数
+#define PI  3.14159265358979323846
+#define DEG2RAD(deg)  (PI*(deg)/180.0)
+#define RAD2DEG(rad)  (180.0(rad)/PI)
+
+//データ
+typedef struct {
+    //cmps&pid
+    double cmps, CmpsInitialValue, CmpsInitialValue2, CmpsInitialValue0, CmpsDiff;//0<x<360
+    int16_t FrontDeg, AtkDeg, HoldDeg, GoalDeg;
+    //正．．．右回転
+    //負．．．左回転
+    double InputPID;//<<gyrosensor
+    int16_t OutputPID;//>>motor
+} CompassVal;
+typedef struct {
+    //ping
+    uint8_t ping[4];
+    //line
+    uint8_t lineSpot[3];
+    uint8_t lnFlag[3];
+    uint8_t NonWall[4];
+    uint8_t NearWall[2];
+    uint8_t ReturnDir[2];
+    
+    uint8_t lnHold;
+    uint8_t lnRaw;
+    uint8_t lnRawMemory[3];
+    uint8_t lnRawOrder[3];//first_second_third
+    uint8_t lnRawOrderLog1[3];//first_second_third
+    uint8_t lnRawOrderLog2[3];//first_second_third
+    uint8_t lnRawRise[3];
+    uint8_t lnRawReturn;
+    uint8_t lnRawLastRise;
+    uint8_t lnStop[2];
+    //uint8_t lnStay[2];
+    uint8_t lnStay[2];
+    uint8_t lnStayNow[2];
+    uint8_t lnCorner[4];
+    uint8_t lnRepeat;
+    uint8_t FieldSpot;//0...inside,1...outside
+    uint8_t lnOrder[3];//first_second_third
+    
+    uint8_t lnState;
+    /*uint8_t LineFlag[3];
+    uint8_t LinePriority[3];
+    uint8_t LineBind[3];*/
+    //ir(spi)
+    uint8_t irKey;//2bit
+    uint8_t irValPhase[2];//3*2bit
+    uint8_t irDif[2];//3bit
+    uint8_t irPosition;//5bit
+    
+    uint8_t irSpot[2];//4*2bit//old
+    //ir(playing)
+    uint8_t irNotice;
+    uint8_t irLastNotice;
+    uint8_t irStayNotice;
+    uint8_t irLastPosition;
+    //ball
+    uint8_t ball;
+} SensorVal;
+typedef struct {
+    //system,flag
+    uint8_t strategy;
+    uint16_t jump_flag;//0<=x<=JUMP_TAG_NUM
+    uint8_t stopflag;
+    uint8_t KickOffFlag;
+    uint8_t DribbleFlag;
+    uint8_t KickStopFlag;
+    uint8_t TurnStopFlag;
+    
+    uint8_t BallHoldJudgeFlag;
+    uint8_t BallHoldFlag;
+    
+    uint8_t BackHomeFlag;
+    uint8_t HomeStayFlag[2];
+    uint8_t TurnStartFlag;
+    uint8_t MotorFlag;
+    uint8_t InfoFlag;
+    //uint8_t PidFlag;
+    uint8_t DefenceFlag;
+    //blind//on...1/off...0
+    uint8_t IrBlind;
+    uint8_t LineBlind;
+    uint8_t PingBlind;
+    
+    uint8_t DriBlind;
+    uint8_t DriMotorBlind;
+    uint8_t TurnAtkBlind;
+    uint8_t TurnDriBlind;
+    uint8_t TurnHoldBlind;
+    uint8_t KickBlind;
+    uint8_t HomeBlind;
+    
+    //motor 
+    uint8_t pow_num;
+    uint8_t s_pow;
+    uint8_t m_pow;
+    uint8_t l_pow;
+    uint8_t dri_pow;
+    uint8_t ir_pow_table;
+} SystemVal;
+
+#endif
\ No newline at end of file