Diff: setting/main.h

Revision:

16:6900f47fa0b5

Parent:

15:88f2c525caca

Child:

17:61edad76efd7

--- a/setting/main.h	Sat Jan 09 02:15:46 2016 +0000
+++ b/setting/main.h	Mon Jan 11 17:45:56 2016 +0000
@@ -3,53 +3,49 @@
 
 #include "def.h"
 
+//pc(Computer)
+RawSerial pc(monitor_tx, monitor_rx);
+//led(main)
+DigitalOut LED[4]={led1, led2, led3, led4};
+//line(bottom)
+BusIn LineIn(lineInA, lineInB, lineInC);
+BusOut LineOut(lineA1, lineA2, lineB1, lineB2, lineC1, lineC2);
+//ballcheck(bottom)
+DigitalIn BallChecker(ballcheck);
+//debug_switch(debug_board)
+Pswitch Sw[4] = {selectsw1, selectsw2, debugsw1, debugsw2};
+//motor(main)
+Serial motor(motor_tx, motor_rx);
+//spi(main)
+SPI spi(SPI_mosi, SPI_miso, SPI_slck);
+DigitalOut spi_ss[4]={SPI_ss_sd, SPI_ss_sonic, SPI_ss_color, SPI_ss_ir};
+//bluetooth(debug_board)
+RawSerial RN42(blue_rxd, blue_txd);
+DigitalOut RN42_Reset(blue_reset);
+//lcd(debug_board)
+AQM1602 Lcd(lcd_sda, lcd_scl);
+//gyro(debug_board)
+MPU6050 mpu(sens_sda, sens_scl);     // sda, scl pin
+InterruptIn INT0(sens_interrupt);     // INT0 pin
+//mouse(bottom)
+adns_9800 mouse_sensor(mouse_mosi, mouse_miso, mouse_slck, mouse_ss);
+//solenoid(bottom)
+DigitalOut kicker(solenoid);
+
+//Serial for motors
+int speed[4]={0};
+string StringFIN;
+//PID
+PID pid(P_GAIN,I_GAIN,D_GAIN, RATE);
+Ticker pidupdate;
+//for Serial
 volatile uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0};
+//for DataSet
 Record data;
-BusOut LED(LED1);
-RawSerial pc(SERIAL_TX, SERIAL_RX);
-RawSerial RN42(D8, D2);
-AQM1602 Lcd(NC, NC);
+// for Time
 Timer t;
 Ticker Duty[DUTY_NUM];
 Timeout Stp;
-
-MPU6050 mpu(D14, D15);     // sda, scl pin
-InterruptIn INT0(D7);     // INT0 pin
-
-
-//BusIn Sw(NC, NC);
-Pswitch Sw(NC);
-
-//Serail for motors
-string StringFIN;
-
-//mouse
-static PinName const MOSI = D11;
-static PinName const MISO = D12;
-static PinName const SCLK = D13;
-static PinName const NCS = D10;
-adns_9800 mouse_sensor(MOSI, MISO, SCLK, NCS);
-
-
-//Lcd出力文字(6文字に揃える．)
-char lcdstr[0x10][0x04][BUFSIZE]={
-    {{"None  "},     {0       },      {0       },      {0       }},
-    {{"Start "},     {0       },      {0       },      {0       }},
-    {{"Debug0"},     {"Ir0   "},      {"Ir1   "},      {"Ir2   "}},
-    {{"Debug1"},     {"Ping0 "},      {"Mouse0"},      {"Gyro0 "}},
-    {{"Debug2"},     {0       },      {0       },      {0       }},
-    {{"Test0 "},     {0       },      {0       },      {0       }},
-    {{"Test1 "},     {0       },      {0       },      {0       }},
-    {{"Test2 "},     {0       },      {0       },      {0       }},
-    {{"Calib0"},     {0       },      {0       },      {0       }},
-    {{"Calib1"},     {0       },      {0       },      {0       }},
-    {{"Calib2"},     {0       },      {0       },      {0       }},
-    {{"Save  "},     {0       },      {0       },      {0       }},
-    {{"Store "},     {0       },      {0       },      {0       }},
-    {{"Def0  "},     {0       },      {0       },      {0       }},
-    {{"Att0  "},     {0       },      {0       },      {0       }},
-    {{"Stop  "},     {0       },      {0       },      {0       }}
-};
 double dutycycle[DUTY_NUM] ={//[s]
     0.2
 };