Main Program
Dependencies: mbed AQM1602 HMC6352 PID
setting/def.h
- Committer:
- lilac0112_1
- Date:
- 2016-01-11
- Revision:
- 16:6900f47fa0b5
- Parent:
- 15:88f2c525caca
- Child:
- 18:97eba56f82e4
File content as of revision 16:6900f47fa0b5:
#ifndef _DEF_H_ #define _DEF_H_ //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 #define RX_KEYCODE 0xAA//こちらのKEYCODE #define KEY 0//KEYCODEは配列の最初 #define CHECK DATA_NUM-1//CHECKCODEは配列の最後 //Switch 入力値 #define NONE 0 #define UP 1 #define DOWN 2 #define RIGHT 3 #define LEFT 4 //Lcd 設定値 #define BUFSIZE 10 #define STATE_NUM_X 0x04 #define STATE_NUM_Y 0x10 //繰り返し割り込み #define DUTY_NUM 1 #define DUTY_SW 0 #define DUTY_GYRO 1 #define DUTY_PING 2 #define DUTY_COLOR 3 #define DUTY_MOUSE 4 //MPU6050関連 //config.h /*PID処理*/ #define RATE 0.052//52 #define PID_BIAS 0.2 #define REFERENCE 180.0 #define MINIMUM 0.0 #define MAXIMUM 359.9 #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 30.0 #define MAX_POW 100 #define MIN_POW -100 #define PID_CYCLE 0.05 //s //計算 #define ROUND(x) ((x > 0) ? (x + 0.5) : (x - 0.5))//x...整数 #define PI 3.14159265358979323846 #define DEG2RAD(deg) (PI*(deg)/180.0) #define RAD2DEG(rad) (180.0(rad)/PI) //データ typedef struct { uint8_t ping[4]; uint8_t ir[12]; uint8_t irLong[6]; uint8_t line[3]; int mouse[2];//0...x,1...y//1cm nearlyeq 1000count uint16_t gyro, GyroInitialValue, FrontDeg;//0<x<3599 double InputPID;//<<gyrosensor double OutputPID;//>>motor uint8_t color[3]; uint8_t lcdpoint[2]; uint8_t stopflag; } Record; #endif