CatPot 2015-2016
Main Program
Dependencies: mbed AQM1602 HMC6352 PID
setting/def.h@21:d69a8f3c76e1, 2016-01-30 (annotated)
- Committer:
- lilac0112_1
- Date:
- Sat Jan 30 09:02:03 2016 +0000
- Revision:
- 21:d69a8f3c76e1
- Parent:
- 19:342da3a5a474
- Child:
- 22:a95f7c63af3c
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| lilac0112_1 | 1:f2633c150301 | 1 | #ifndef _DEF_H_ |
| lilac0112_1 | 1:f2633c150301 | 2 | #define _DEF_H_ |
| lilac0112_1 | 1:f2633c150301 | 3 | |
| lilac0112_1 | 1:f2633c150301 | 4 | //BT(BlueTooth) |
| lilac0112_1 | 1:f2633c150301 | 5 | #define DATA_NUM 8+2//2byte→KEYCODE（拝啓）とCHECKCODE（敬具） 8byte→やりとりするデータ |
| lilac0112_1 | 1:f2633c150301 | 6 | #define TX_KEYCODE 0xAA//あちらのKEYCODE |
| lilac0112_1 | 1:f2633c150301 | 7 | #define RX_KEYCODE 0xAA//こちらのKEYCODE |
| lilac0112_1 | 1:f2633c150301 | 8 | #define KEY 0//KEYCODEは配列の最初 |
| lilac0112_1 | 1:f2633c150301 | 9 | #define CHECK DATA_NUM-1//CHECKCODEは配列の最後 |
| lilac0112_1 | 1:f2633c150301 | 10 | |
| lilac0112_1 | 4:69fd47e1d296 | 11 | |
| lilac0112_1 | 10:3d0714c1ac75 | 12 | //Switch 入力値 |
| lilac0112_1 | 16:6900f47fa0b5 | 13 | #define NONE 0 |
| lilac0112_1 | 16:6900f47fa0b5 | 14 | #define UP 1 |
| lilac0112_1 | 16:6900f47fa0b5 | 15 | #define DOWN 2 |
| lilac0112_1 | 16:6900f47fa0b5 | 16 | #define RIGHT 3 |
| lilac0112_1 | 16:6900f47fa0b5 | 17 | #define LEFT 4 |
| lilac0112_1 | 15:88f2c525caca | 18 | |
| lilac0112_1 | 10:3d0714c1ac75 | 19 | //Lcd 設定値 |
| lilac0112_1 | 4:69fd47e1d296 | 20 | #define BUFSIZE 10 |
| lilac0112_1 | 6:4e83c236ee57 | 21 | #define STATE_NUM_X 0x04 |
| lilac0112_1 | 6:4e83c236ee57 | 22 | #define STATE_NUM_Y 0x10 |
| lilac0112_1 | 10:3d0714c1ac75 | 23 | //繰り返し割り込み |
| lilac0112_1 | 10:3d0714c1ac75 | 24 | #define DUTY_NUM 1 |
| lilac0112_1 | 6:4e83c236ee57 | 25 | |
| lilac0112_1 | 10:3d0714c1ac75 | 26 | #define DUTY_SW 0 |
| lilac0112_1 | 10:3d0714c1ac75 | 27 | #define DUTY_GYRO 1 |
| lilac0112_1 | 10:3d0714c1ac75 | 28 | #define DUTY_PING 2 |
| lilac0112_1 | 10:3d0714c1ac75 | 29 | #define DUTY_COLOR 3 |
| lilac0112_1 | 10:3d0714c1ac75 | 30 | #define DUTY_MOUSE 4 |
| lilac0112_1 | 1:f2633c150301 | 31 | |
| lilac0112_1 | 13:f8f5bd2f0525 | 32 | //MPU6050関連 |
| lilac0112_1 | 13:f8f5bd2f0525 | 33 | //config.h |
| lilac0112_1 | 13:f8f5bd2f0525 | 34 | |
| lilac0112_1 | 16:6900f47fa0b5 | 35 | /*PID処理*/ |
| lilac0112_1 | 16:6900f47fa0b5 | 36 | #define RATE 0.052//52 |
| lilac0112_1 | 16:6900f47fa0b5 | 37 | #define PID_BIAS 0.2 |
| lilac0112_1 | 16:6900f47fa0b5 | 38 | #define REFERENCE 180.0 |
| lilac0112_1 | 16:6900f47fa0b5 | 39 | #define MINIMUM 0.0 |
| lilac0112_1 | 16:6900f47fa0b5 | 40 | #define MAXIMUM 359.9 |
| lilac0112_1 | 16:6900f47fa0b5 | 41 | #define P_GAIN 1.4//1.4 //0.78 |
| lilac0112_1 | 16:6900f47fa0b5 | 42 | #define I_GAIN 0.0 //0.0 |
| lilac0112_1 | 16:6900f47fa0b5 | 43 | #define D_GAIN 0.05 //0.009 |
| lilac0112_1 | 16:6900f47fa0b5 | 44 | #define OUT_LIMIT 30.0 |
| lilac0112_1 | 16:6900f47fa0b5 | 45 | #define MAX_POW 100 |
| lilac0112_1 | 16:6900f47fa0b5 | 46 | #define MIN_POW -100 |
| lilac0112_1 | 16:6900f47fa0b5 | 47 | #define PID_CYCLE 0.05 //s |
| lilac0112_1 | 16:6900f47fa0b5 | 48 | |
| lilac0112_1 | 19:342da3a5a474 | 49 | //思考パターン |
| lilac0112_1 | 19:342da3a5a474 | 50 | #define STRATEGY_NUM 1 |
| lilac0112_1 | 19:342da3a5a474 | 51 | |
| lilac0112_1 | 16:6900f47fa0b5 | 52 | //計算 |
| lilac0112_1 | 16:6900f47fa0b5 | 53 | #define ROUND(x) ((x > 0) ? (x + 0.5) : (x - 0.5))//x...整数 |
| lilac0112_1 | 16:6900f47fa0b5 | 54 | #define PI 3.14159265358979323846 |
| lilac0112_1 | 16:6900f47fa0b5 | 55 | #define DEG2RAD(deg) (PI*(deg)/180.0) |
| lilac0112_1 | 16:6900f47fa0b5 | 56 | #define RAD2DEG(rad) (180.0(rad)/PI) |
| lilac0112_1 | 16:6900f47fa0b5 | 57 | |
| lilac0112_1 | 13:f8f5bd2f0525 | 58 | //データ |
| lilac0112_1 | 18:97eba56f82e4 | 59 | typedef struct {//ir,line,gyro,mouse,ping |
| lilac0112_1 | 18:97eba56f82e4 | 60 | uint8_t ping[2]; |
| lilac0112_1 | 18:97eba56f82e4 | 61 | uint8_t irPosition; |
| lilac0112_1 | 18:97eba56f82e4 | 62 | uint8_t irState; |
| lilac0112_1 | 18:97eba56f82e4 | 63 | uint8_t rawLn; |
| lilac0112_1 | 18:97eba56f82e4 | 64 | uint8_t heldLn; |
| lilac0112_1 | 18:97eba56f82e4 | 65 | uint8_t ball; |
| lilac0112_1 | 18:97eba56f82e4 | 66 | uint8_t AvailableKick; |
| lilac0112_1 | 18:97eba56f82e4 | 67 | int32_t mouse[2];//0...x,1...y//1cm nearlyeq 1000count |
| lilac0112_1 | 21:d69a8f3c76e1 | 68 | double cmps, CmpsInitialValue, FrontDeg;//0<x<360 |
| lilac0112_1 | 21:d69a8f3c76e1 | 69 | double InputPID;//<<gyrosensor |
| lilac0112_1 | 18:97eba56f82e4 | 70 | uint16_t OutputPID;//>>motor |
| lilac0112_1 | 18:97eba56f82e4 | 71 | //uint8_t color[3]; |
| lilac0112_1 | 18:97eba56f82e4 | 72 | //uint8_t lcdpoint[2];//0...x,1...y |
| lilac0112_1 | 18:97eba56f82e4 | 73 | uint8_t strategy; |
| lilac0112_1 | 18:97eba56f82e4 | 74 | uint8_t init_point_flag; |
| lilac0112_1 | 10:3d0714c1ac75 | 75 | uint8_t stopflag; |
| lilac0112_1 | 1:f2633c150301 | 76 | } Record; |
| lilac0112_1 | 1:f2633c150301 | 77 | |
| lilac0112_1 | 1:f2633c150301 | 78 | #endif |