CatPot 2015-2016 / Mbed 2 deprecated CatPot_Main_T_2v00

Main Program

Dependencies:   mbed AQM1602 HMC6352 PID

setting/def.h@26:fbb03281fc7d, 2016-01-31 (annotated)

Committer:
lilac0112_1
Date:
Sun Jan 31 06:53:54 2016 +0000
Revision:
26:fbb03281fc7d
Parent:
24:9fb74ea3c25d
Child:
27:769cb5a7ea37
ball chase

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 1:f2633c150301 1 #ifndef _DEF_H_
lilac0112_1 1:f2633c150301 2 #define _DEF_H_
lilac0112_1 1:f2633c150301 3
lilac0112_1 1:f2633c150301 4 //BT(BlueTooth)
lilac0112_1 1:f2633c150301 5 #define DATA_NUM 8+2//2byte→KEYCODE（拝啓）とCHECKCODE（敬具） 8byte→やりとりするデータ
lilac0112_1 1:f2633c150301 6 #define TX_KEYCODE 0xAA//あちらのKEYCODE
lilac0112_1 1:f2633c150301 7 #define RX_KEYCODE 0xAA//こちらのKEYCODE
lilac0112_1 1:f2633c150301 8 #define KEY 0//KEYCODEは配列の最初
lilac0112_1 1:f2633c150301 9 #define CHECK DATA_NUM-1//CHECKCODEは配列の最後
lilac0112_1 1:f2633c150301 10
lilac0112_1 4:69fd47e1d296 11
lilac0112_1 10:3d0714c1ac75 12 //Switch 入力値
lilac0112_1 16:6900f47fa0b5 13 #define NONE 0
lilac0112_1 16:6900f47fa0b5 14 #define UP 1
lilac0112_1 16:6900f47fa0b5 15 #define DOWN 2
lilac0112_1 16:6900f47fa0b5 16 #define RIGHT 3
lilac0112_1 16:6900f47fa0b5 17 #define LEFT 4
lilac0112_1 15:88f2c525caca 18
lilac0112_1 10:3d0714c1ac75 19 //Lcd 設定値
lilac0112_1 4:69fd47e1d296 20 #define BUFSIZE 10
lilac0112_1 6:4e83c236ee57 21 #define STATE_NUM_X 0x04
lilac0112_1 6:4e83c236ee57 22 #define STATE_NUM_Y 0x10
lilac0112_1 10:3d0714c1ac75 23 //繰り返し割り込み
lilac0112_1 10:3d0714c1ac75 24 #define DUTY_NUM 1
lilac0112_1 6:4e83c236ee57 25
lilac0112_1 10:3d0714c1ac75 26 #define DUTY_SW 0
lilac0112_1 10:3d0714c1ac75 27 #define DUTY_GYRO 1
lilac0112_1 10:3d0714c1ac75 28 #define DUTY_PING 2
lilac0112_1 10:3d0714c1ac75 29 #define DUTY_COLOR 3
lilac0112_1 10:3d0714c1ac75 30 #define DUTY_MOUSE 4
lilac0112_1 1:f2633c150301 31
lilac0112_1 16:6900f47fa0b5 32 /*PID処理*/
lilac0112_1 16:6900f47fa0b5 33 #define RATE 0.052//52
lilac0112_1 24:9fb74ea3c25d 34 #define PID_BIAS 1.0
lilac0112_1 16:6900f47fa0b5 35 #define REFERENCE 180.0
lilac0112_1 16:6900f47fa0b5 36 #define MINIMUM 0.0
lilac0112_1 16:6900f47fa0b5 37 #define MAXIMUM 359.9
lilac0112_1 26:fbb03281fc7d 38 #define P_GAIN 1.3//1.25//0.8 //0.78
lilac0112_1 16:6900f47fa0b5 39 #define I_GAIN 0.0 //0.0
lilac0112_1 26:fbb03281fc7d 40 #define D_GAIN 0.01//0.01 //0.009
lilac0112_1 16:6900f47fa0b5 41 #define OUT_LIMIT 30.0
lilac0112_1 16:6900f47fa0b5 42 #define MAX_POW 100
lilac0112_1 16:6900f47fa0b5 43 #define MIN_POW -100
lilac0112_1 16:6900f47fa0b5 44 #define PID_CYCLE 0.05 //s
lilac0112_1 16:6900f47fa0b5 45
lilac0112_1 24:9fb74ea3c25d 46 //ir
lilac0112_1 24:9fb74ea3c25d 47 #define IR_X 0
lilac0112_1 24:9fb74ea3c25d 48 #define IR_Y 1
lilac0112_1 24:9fb74ea3c25d 49 #define IR_SHORT 0
lilac0112_1 24:9fb74ea3c25d 50 #define IR_LONG 1
lilac0112_1 24:9fb74ea3c25d 51
lilac0112_1 24:9fb74ea3c25d 52 #define X_AXIS 0
lilac0112_1 24:9fb74ea3c25d 53 #define Y_AXIS 1
lilac0112_1 24:9fb74ea3c25d 54
lilac0112_1 19:342da3a5a474 55 //思考パターン
lilac0112_1 22:a95f7c63af3c 56 #define STRATEGY_NUM 12
lilac0112_1 19:342da3a5a474 57
lilac0112_1 16:6900f47fa0b5 58 //計算
lilac0112_1 16:6900f47fa0b5 59 #define ROUND(x) ((x > 0) ? (x + 0.5) : (x - 0.5))//x...整数
lilac0112_1 16:6900f47fa0b5 60 #define PI 3.14159265358979323846
lilac0112_1 16:6900f47fa0b5 61 #define DEG2RAD(deg) (PI*(deg)/180.0)
lilac0112_1 16:6900f47fa0b5 62 #define RAD2DEG(rad) (180.0(rad)/PI)
lilac0112_1 16:6900f47fa0b5 63
lilac0112_1 13:f8f5bd2f0525 64 //データ
lilac0112_1 18:97eba56f82e4 65 typedef struct {//ir,line,gyro,mouse,ping
lilac0112_1 22:a95f7c63af3c 66 //ping
lilac0112_1 18:97eba56f82e4 67 uint8_t ping[2];
lilac0112_1 22:a95f7c63af3c 68 //ir
lilac0112_1 22:a95f7c63af3c 69 uint8_t irKey;
lilac0112_1 22:a95f7c63af3c 70 uint8_t irNotice;
lilac0112_1 22:a95f7c63af3c 71 uint8_t irSpot[2];
lilac0112_1 24:9fb74ea3c25d 72 uint8_t irPosition;
lilac0112_1 24:9fb74ea3c25d 73 uint8_t IrFlag;
lilac0112_1 22:a95f7c63af3c 74 //line
lilac0112_1 22:a95f7c63af3c 75 uint8_t lnFlag[3];
lilac0112_1 18:97eba56f82e4 76 uint8_t ball;
lilac0112_1 24:9fb74ea3c25d 77 uint8_t KickFlag;
lilac0112_1 18:97eba56f82e4 78 int32_t mouse[2];//0...x,1...y//1cm nearlyeq 1000count
lilac0112_1 24:9fb74ea3c25d 79 //motor
lilac0112_1 24:9fb74ea3c25d 80 int32_t motorlog[2];
lilac0112_1 22:a95f7c63af3c 81 //cmps&pid
lilac0112_1 23:d95d8d3e89f3 82 double cmps, CmpsInitialValue, CmpsDiff, FrontDeg;//0<x<360
lilac0112_1 21:d69a8f3c76e1 83 double InputPID;//<<gyrosensor
lilac0112_1 24:9fb74ea3c25d 84 int16_t OutputPID;//>>motor
lilac0112_1 18:97eba56f82e4 85 //uint8_t color[3];
lilac0112_1 18:97eba56f82e4 86 //uint8_t lcdpoint[2];//0...x,1...y
lilac0112_1 18:97eba56f82e4 87 uint8_t strategy;
lilac0112_1 18:97eba56f82e4 88 uint8_t init_point_flag;
lilac0112_1 10:3d0714c1ac75 89 uint8_t stopflag;
lilac0112_1 1:f2633c150301 90 } Record;
lilac0112_1 1:f2633c150301 91
lilac0112_1 1:f2633c150301 92 #endif