Main Program
Dependencies: mbed AQM1602 HMC6352 PID
setting/main.h
- Committer:
- lilac0112_1
- Date:
- 2016-01-18
- Revision:
- 17:61edad76efd7
- Parent:
- 16:6900f47fa0b5
- Child:
- 18:97eba56f82e4
File content as of revision 17:61edad76efd7:
#ifndef _MAIN_H_ #define _MAIN_H_ #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) DigitalIn 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; // for Time Ticker Sw_ticker; Timer t; Ticker Duty[DUTY_NUM]; Timeout Stp; double dutycycle[DUTY_NUM] ={//[s] 0.2 }; #endif /*_MAIN_H_*/