CatPot 2015-2016 / Mbed 2 deprecated CatPot_Main_T_2v00

Main Program

Dependencies:   mbed AQM1602 HMC6352 PID

setting/main.h@40:f68474b1d5e7, 2016-02-04 (annotated)

Committer:
lilac0112_1
Date:
Thu Feb 04 07:12:34 2016 +0000
Revision:
40:f68474b1d5e7
Parent:
35:a0421268ee95
Child:
42:02aaa806d929
Line...Return by IrRange; pow 30 ; Turn good

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 18:97eba56f82e4 11 BusOut LineSignalHolder(lineInA, lineInB, lineInC);
lilac0112_1 21:d69a8f3c76e1 12 BusIn RawLineSignal(lineA2, lineB2, lineC2);
lilac0112_1 21:d69a8f3c76e1 13 BusIn HeldLineSignal(lineA1, lineB1, lineC1);
lilac0112_1 21:d69a8f3c76e1 14 InterruptIn Line[3]={lineA2, lineB2, lineC2};
lilac0112_1 16:6900f47fa0b5 15 //ballcheck(bottom)
lilac0112_1 16:6900f47fa0b5 16 DigitalIn BallChecker(ballcheck);
lilac0112_1 16:6900f47fa0b5 17 //debug_switch(debug_board)
lilac0112_1 17:61edad76efd7 18 DigitalIn Sw[4] = {selectsw1, selectsw2, debugsw1, debugsw2};
lilac0112_1 16:6900f47fa0b5 19 //motor(main)
lilac0112_1 16:6900f47fa0b5 20 Serial motor(motor_tx, motor_rx);
lilac0112_1 16:6900f47fa0b5 21 //spi(main)
lilac0112_1 16:6900f47fa0b5 22 SPI spi(SPI_mosi, SPI_miso, SPI_slck);
lilac0112_1 16:6900f47fa0b5 23 DigitalOut spi_ss[4]={SPI_ss_sd, SPI_ss_sonic, SPI_ss_color, SPI_ss_ir};
lilac0112_1 16:6900f47fa0b5 24 //bluetooth(debug_board)
lilac0112_1 16:6900f47fa0b5 25 RawSerial RN42(blue_rxd, blue_txd);
lilac0112_1 16:6900f47fa0b5 26 DigitalOut RN42_Reset(blue_reset);
lilac0112_1 16:6900f47fa0b5 27 //lcd(debug_board)
lilac0112_1 16:6900f47fa0b5 28 AQM1602 Lcd(lcd_sda, lcd_scl);
lilac0112_1 21:d69a8f3c76e1 29 //cmps(debug_board)
lilac0112_1 21:d69a8f3c76e1 30 HMC6352 hmc(sens_sda, sens_scl);
lilac0112_1 16:6900f47fa0b5 31 //mouse(bottom)
lilac0112_1 16:6900f47fa0b5 32 adns_9800 mouse_sensor(mouse_mosi, mouse_miso, mouse_slck, mouse_ss);
lilac0112_1 16:6900f47fa0b5 33 //solenoid(bottom)
lilac0112_1 16:6900f47fa0b5 34 DigitalOut kicker(solenoid);
lilac0112_1 16:6900f47fa0b5 35
lilac0112_1 16:6900f47fa0b5 36 //Serial for motors
lilac0112_1 16:6900f47fa0b5 37 int speed[4]={0};
lilac0112_1 16:6900f47fa0b5 38 string StringFIN;
lilac0112_1 16:6900f47fa0b5 39 //PID
lilac0112_1 16:6900f47fa0b5 40 PID pid(P_GAIN,I_GAIN,D_GAIN, RATE);
lilac0112_1 16:6900f47fa0b5 41 Ticker pidupdate;
lilac0112_1 16:6900f47fa0b5 42 //for Serial
lilac0112_1 14:6f214ea5722e 43 volatile uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0};
lilac0112_1 16:6900f47fa0b5 44 //for DataSet
lilac0112_1 14:6f214ea5722e 45 Record data;
lilac0112_1 19:342da3a5a474 46 //for transition
lilac0112_1 19:342da3a5a474 47 Ticker Sw_ticker;
lilac0112_1 19:342da3a5a474 48 Timeout button;
lilac0112_1 19:342da3a5a474 49 bool state[4]={0,0,0,0};
lilac0112_1 19:342da3a5a474 50 uint8_t statesum=0, last_statesum=0;
lilac0112_1 16:6900f47fa0b5 51 // for Time
lilac0112_1 24:9fb74ea3c25d 52 Ticker Motor_ticker;
lilac0112_1 24:9fb74ea3c25d 53 Ticker Line_ticker;
lilac0112_1 24:9fb74ea3c25d 54 Ticker Ir_ticker;
lilac0112_1 24:9fb74ea3c25d 55 Ticker Solenoid_ticker;
lilac0112_1 24:9fb74ea3c25d 56 Timeout Solenoid_timeout;
lilac0112_1 40:f68474b1d5e7 57 Timeout Line_timeout[3];
lilac0112_1 14:6f214ea5722e 58 Ticker Duty[DUTY_NUM];
lilac0112_1 14:6f214ea5722e 59 Timeout Stp;
lilac0112_1 14:6f214ea5722e 60 double dutycycle[DUTY_NUM] ={//[s]
lilac0112_1 14:6f214ea5722e 61 0.2
lilac0112_1 14:6f214ea5722e 62 };
lilac0112_1 14:6f214ea5722e 63
lilac0112_1 14:6f214ea5722e 64 #endif /*_MAIN_H_*/