CatPot 2015-2016 / Mbed 2 deprecated CatPot_Main_T_2v00

Main Program

Dependencies:   mbed AQM1602 HMC6352 PID

setting/main.h@16:6900f47fa0b5, 2016-01-11 (annotated)

Committer:
lilac0112_1
Date:
Mon Jan 11 17:45:56 2016 +0000
Revision:
16:6900f47fa0b5
Parent:
15:88f2c525caca
Child:
17:61edad76efd7
type pin number

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 14:6f214ea5722e 1 #ifndef _MAIN_H_
lilac0112_1 14:6f214ea5722e 2 #define _MAIN_H_
lilac0112_1 14:6f214ea5722e 3
lilac0112_1 14:6f214ea5722e 4 #include "def.h"
lilac0112_1 14:6f214ea5722e 5
lilac0112_1 16:6900f47fa0b5 6 //pc(Computer)
lilac0112_1 16:6900f47fa0b5 7 RawSerial pc(monitor_tx, monitor_rx);
lilac0112_1 16:6900f47fa0b5 8 //led(main)
lilac0112_1 16:6900f47fa0b5 9 DigitalOut LED[4]={led1, led2, led3, led4};
lilac0112_1 16:6900f47fa0b5 10 //line(bottom)
lilac0112_1 16:6900f47fa0b5 11 BusIn LineIn(lineInA, lineInB, lineInC);
lilac0112_1 16:6900f47fa0b5 12 BusOut LineOut(lineA1, lineA2, lineB1, lineB2, lineC1, lineC2);
lilac0112_1 16:6900f47fa0b5 13 //ballcheck(bottom)
lilac0112_1 16:6900f47fa0b5 14 DigitalIn BallChecker(ballcheck);
lilac0112_1 16:6900f47fa0b5 15 //debug_switch(debug_board)
lilac0112_1 16:6900f47fa0b5 16 Pswitch Sw[4] = {selectsw1, selectsw2, debugsw1, debugsw2};
lilac0112_1 16:6900f47fa0b5 17 //motor(main)
lilac0112_1 16:6900f47fa0b5 18 Serial motor(motor_tx, motor_rx);
lilac0112_1 16:6900f47fa0b5 19 //spi(main)
lilac0112_1 16:6900f47fa0b5 20 SPI spi(SPI_mosi, SPI_miso, SPI_slck);
lilac0112_1 16:6900f47fa0b5 21 DigitalOut spi_ss[4]={SPI_ss_sd, SPI_ss_sonic, SPI_ss_color, SPI_ss_ir};
lilac0112_1 16:6900f47fa0b5 22 //bluetooth(debug_board)
lilac0112_1 16:6900f47fa0b5 23 RawSerial RN42(blue_rxd, blue_txd);
lilac0112_1 16:6900f47fa0b5 24 DigitalOut RN42_Reset(blue_reset);
lilac0112_1 16:6900f47fa0b5 25 //lcd(debug_board)
lilac0112_1 16:6900f47fa0b5 26 AQM1602 Lcd(lcd_sda, lcd_scl);
lilac0112_1 16:6900f47fa0b5 27 //gyro(debug_board)
lilac0112_1 16:6900f47fa0b5 28 MPU6050 mpu(sens_sda, sens_scl); // sda, scl pin
lilac0112_1 16:6900f47fa0b5 29 InterruptIn INT0(sens_interrupt); // INT0 pin
lilac0112_1 16:6900f47fa0b5 30 //mouse(bottom)
lilac0112_1 16:6900f47fa0b5 31 adns_9800 mouse_sensor(mouse_mosi, mouse_miso, mouse_slck, mouse_ss);
lilac0112_1 16:6900f47fa0b5 32 //solenoid(bottom)
lilac0112_1 16:6900f47fa0b5 33 DigitalOut kicker(solenoid);
lilac0112_1 16:6900f47fa0b5 34
lilac0112_1 16:6900f47fa0b5 35 //Serial for motors
lilac0112_1 16:6900f47fa0b5 36 int speed[4]={0};
lilac0112_1 16:6900f47fa0b5 37 string StringFIN;
lilac0112_1 16:6900f47fa0b5 38 //PID
lilac0112_1 16:6900f47fa0b5 39 PID pid(P_GAIN,I_GAIN,D_GAIN, RATE);
lilac0112_1 16:6900f47fa0b5 40 Ticker pidupdate;
lilac0112_1 16:6900f47fa0b5 41 //for Serial
lilac0112_1 14:6f214ea5722e 42 volatile uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0};
lilac0112_1 16:6900f47fa0b5 43 //for DataSet
lilac0112_1 14:6f214ea5722e 44 Record data;
lilac0112_1 16:6900f47fa0b5 45 // for Time
lilac0112_1 14:6f214ea5722e 46 Timer t;
lilac0112_1 14:6f214ea5722e 47 Ticker Duty[DUTY_NUM];
lilac0112_1 14:6f214ea5722e 48 Timeout Stp;
lilac0112_1 14:6f214ea5722e 49 double dutycycle[DUTY_NUM] ={//[s]
lilac0112_1 14:6f214ea5722e 50 0.2
lilac0112_1 14:6f214ea5722e 51 };
lilac0112_1 14:6f214ea5722e 52
lilac0112_1 14:6f214ea5722e 53 #endif /*_MAIN_H_*/