CatPot 2015-2016 / Mbed 2 deprecated CatPot_Main_T

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Dependencies:   AQM0802A HMC6352 MultiSerial PID Servo mbed

def.h@1:e3248f278663, 2015-01-27 (annotated)

Committer:
lilac0112_1
Date:
Tue Jan 27 14:03:48 2015 +0000
Revision:
1:e3248f278663
Added a function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 1:e3248f278663 1 /*回り込みの計算用*/
lilac0112_1 1:e3248f278663 2 #define PI 3.141593/*割と早めにきってある*/
lilac0112_1 1:e3248f278663 3 #define SHORT_LEN 15 /*cm換算　楕円のB辺の長さを定義しておく*/
lilac0112_1 1:e3248f278663 4
lilac0112_1 1:e3248f278663 5 #define ADDRESS_R 0xA0
lilac0112_1 1:e3248f278663 6 #define ADDRESS_L 0xC0
lilac0112_1 1:e3248f278663 7
lilac0112_1 1:e3248f278663 8 /*BusIn sw　入力値*/
lilac0112_1 1:e3248f278663 9 #define Calibration 0x01
lilac0112_1 1:e3248f278663 10 #define Kicker 0x02
lilac0112_1 1:e3248f278663 11 #define Debug1 0x04
lilac0112_1 1:e3248f278663 12 #define Debug2 0x08
lilac0112_1 1:e3248f278663 13 #define StartS 0x10
lilac0112_1 1:e3248f278663 14
lilac0112_1 1:e3248f278663 15 #define READ_IR 0x01 //送る物指定
lilac0112_1 1:e3248f278663 16 #define READ_PING 0x02
lilac0112_1 1:e3248f278663 17
lilac0112_1 1:e3248f278663 18 /*Pattern*/
lilac0112_1 1:e3248f278663 19 #define Nomal 0
lilac0112_1 1:e3248f278663 20 #define TEST 1
lilac0112_1 1:e3248f278663 21 #define DEMO 2
lilac0112_1 1:e3248f278663 22
lilac0112_1 1:e3248f278663 23 /*Ir Boarder*/
lilac0112_1 1:e3248f278663 24
lilac0112_1 1:e3248f278663 25 #define NEAR 250
lilac0112_1 1:e3248f278663 26 #define MID 200
lilac0112_1 1:e3248f278663 27 #define FAR 150
lilac0112_1 1:e3248f278663 28
lilac0112_1 1:e3248f278663 29 /*Servo*/
lilac0112_1 1:e3248f278663 30 #define HOME 0.0
lilac0112_1 1:e3248f278663 31 #define UNIT 360.0 / 12
lilac0112_1 1:e3248f278663 32
lilac0112_1 1:e3248f278663 33 #define CORRECTION 11.0 / 9.0 * (-1.0) //補正値
lilac0112_1 1:e3248f278663 34
lilac0112_1 1:e3248f278663 35 #define ONE (HOME + 1*UNIT)*CORRECTION
lilac0112_1 1:e3248f278663 36 #define TWO (HOME + 2*UNIT)*CORRECTION
lilac0112_1 1:e3248f278663 37 #define THREE (HOME + 3*UNIT)*CORRECTION
lilac0112_1 1:e3248f278663 38 #define FOUR (HOME - 2*UNIT)*CORRECTION
lilac0112_1 1:e3248f278663 39 #define FIVE (HOME - 1*UNIT)*CORRECTION
lilac0112_1 1:e3248f278663 40 #define SIX HOME*CORRECTION
lilac0112_1 1:e3248f278663 41 #define SEVEN (HOME + 1*UNIT)*CORRECTION
lilac0112_1 1:e3248f278663 42 #define EIGHT (HOME + 2*UNIT)*CORRECTION
lilac0112_1 1:e3248f278663 43 #define NINE (HOME - 3*UNIT)*CORRECTION
lilac0112_1 1:e3248f278663 44 #define TEN (HOME - 2*UNIT)*CORRECTION
lilac0112_1 1:e3248f278663 45 #define ELEVEN (HOME - 1*UNIT)*CORRECTION
lilac0112_1 1:e3248f278663 46 #define TWELVE HOME*CORRECTION
lilac0112_1 1:e3248f278663 47
lilac0112_1 1:e3248f278663 48 #define F90 +90.0
lilac0112_1 1:e3248f278663 49 #define L90 -90.0
lilac0112_1 1:e3248f278663 50
lilac0112_1 1:e3248f278663 51 #define FIRST 1-1
lilac0112_1 1:e3248f278663 52 #define SECOND 2-1
lilac0112_1 1:e3248f278663 53 #define THIRD 3-1
lilac0112_1 1:e3248f278663 54 #define FOURTH 4-1
lilac0112_1 1:e3248f278663 55 #define FIFTH 5-1
lilac0112_1 1:e3248f278663 56 #define SIXTH 6-1
lilac0112_1 1:e3248f278663 57 #define SEVENTH 7-1
lilac0112_1 1:e3248f278663 58 #define EIGHTH 8-1
lilac0112_1 1:e3248f278663 59 #define NINTH 9-1
lilac0112_1 1:e3248f278663 60 #define TENTH 10-1
lilac0112_1 1:e3248f278663 61 #define ELEVENTH 11-1
lilac0112_1 1:e3248f278663 62 #define TWELFTH 12-1
lilac0112_1 1:e3248f278663 63
lilac0112_1 1:e3248f278663 64
lilac0112_1 1:e3248f278663 65
lilac0112_1 1:e3248f278663 66 //ex.) Servo::position(float degrees)
lilac0112_1 1:e3248f278663 67 //○ Servo.position(HOME);
lilac0112_1 1:e3248f278663 68 //× Servo=HOME;
lilac0112_1 1:e3248f278663 69 //Servo=0.5≡Servo.position(0);