Main Program
Dependencies: mbed AQM1602 HMC6352 PID
Diff: def.h
- Revision:
- 2:97a4070c34d7
- Parent:
- 1:f2633c150301
- Child:
- 3:f7c906e52339
--- a/def.h Tue Sep 15 01:40:28 2015 +0000 +++ b/def.h Tue Sep 15 06:04:31 2015 +0000 @@ -1,6 +1,24 @@ #ifndef _DEF_H_ #define _DEF_H_ +/*PID処理*/ +#define RATE 0.052//52 +#define PID_BIAS 0.2 +#define REFERENCE 180.0 +#define MINIMUM 0.0 +#define MAXIMUM 359.0 +#define P_GAIN 1.4//1.4 //0.78 +#define I_GAIN 0.0 //0.0 +#define D_GAIN 0.05 //0.009 +#define OUT_LIMIT 40.0 +#define MAX_POW 100 +#define MIN_POW -100 +#define PID_CYCLE 0.05 //s + +/*Serial Mbed間*/ +#define ADDRESS 0xAA + + //BT(BlueTooth) #define DATA_NUM 8+2//2byte→KEYCODE(拝啓)とCHECKCODE(敬具) 8byte→やりとりするデータ #define TX_KEYCODE 0xAA//あちらのKEYCODE @@ -9,23 +27,30 @@ #define CHECK DATA_NUM-1//CHECKCODEは配列の最後 //ロータリースイッチ 入力値 -#define NONE 0x0 -#define START 0x1 -#define DEBUG0 0x2 -#define DEBUG1 0x3 -#define DEBUG2 0x4 -#define TEST0 0x5 -#define TEST1 0x6 -#define TEST2 0x7 -#define CALIBRATION0 0x8 -#define CALIBRATION1 0x9 -#define CALIBRATION2 0xA -#define SAVE 0xB -#define STORE 0xC -#define DEFENCE0 0xD -#define ATTACK0 0xE - -#define BUFSIZE 10 +typedef enum{ + NONE = 0x0, + START, + DEBUG0, + DEBUG1, + DEBUG2, + TEST0, + TEST1, + TEST2, + CALIBRATION0, + CALIBRATION1, + CALIBRATION2, + SAVE, + STORE, + DEFENCE0, + ATTACK0, + STOP +} SwState; +//スイッチ 入力値 +#define FRONT 0x1 +#define BACK 0x2 +#define EXIT 0x3 +//Lcd出力文字サイズ +#define BUFSIZE 7 typedef struct { uint8_t ping[4];