Diff: main.h

Revision:

4:7c488c059498

Parent:

3:2f74791564c9

Child:

6:2c9cb40ada59

--- a/main.h	Wed Mar 11 07:47:19 2015 +0000
+++ b/main.h	Fri Mar 13 02:10:37 2015 +0000
@@ -47,6 +47,9 @@
 PID pid(P_GAIN,I_GAIN,D_GAIN, RATE);
 Ticker pidupdate;
 
+Timeout STimer;
+bool    WaitFlag=0;
+#define WAIT_TIME 0.2
 
 extern string StringFIN;
 extern void array(int,int,int,int);
@@ -57,10 +60,13 @@
 
 
 double SetDegree = 0;
+double LastDegree = 0;
+double LastDeg = 0;
+double LastPwm[4] = {0};
 
 /*Mbed sensor data */
 uint8_t IrData[3] = {0},IrNum = 12;
-uint8_t PingData[4]={0};
+uint8_t PingData[4]={0};//Left, Right, Back, Front
 unsigned int Compass = 180;
 double SetC = 0, InputPID = 180.0, CompassPID = 0.0;
 int CompassDef = 0;
@@ -70,6 +76,11 @@
 
 enum {FRONT = 1, RIGHT, BACK, LEFT, NA} Direction;
 
+
+/*For move*/
+    int vrl[13]     = {20,20,20,20,-20,-20,-20,-20,-20,-20,20,20,   0};
+    int IrServo[13] = {0,30,60,90,-60,-30,0,30,60,90,-60,-30,       0};
+
 /*mbed sensor data */
 
 volatile  int Angle[180] = {