File content as of revision 2:97a4070c34d7:

#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
#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

//ロータリースイッチ　入力値
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];
    uint8_t ir[12];
    uint8_t irLong[6];
    uint8_t line[3];
    uint8_t mouse[2];
    uint16_t compass;
    uint8_t color[3];
} Record;

#endif