def.h

00001 #ifndef _DEF_H_
00002 #define _DEF_H_
00003 
00004 //BT(BlueTooth)
00005 #define DATA_NUM 8+2//2byte→KEYCODE（拝啓）とCHECKCODE（敬具） 8byte→やりとりするデータ
00006 #define TX_KEYCODE 0xAA//あちらのKEYCODE
00007 #define RX_KEYCODE 0xAA//こちらのKEYCODE
00008 #define KEY 0//KEYCODEは配列の最初
00009 #define CHECK DATA_NUM-1//CHECKCODEは配列の最後
00010 
00011 
00012 //Switch 入力値
00013 #define NONE    0
00014 #define UP      1
00015 #define DOWN    2
00016 #define RIGHT   3
00017 #define LEFT    4
00018 
00019 //Lcd 設定値
00020 #define BUFSIZE 10
00021 #define STATE_NUM_X 0x04
00022 #define STATE_NUM_Y 0x10
00023 //繰り返し割り込み
00024 #define DUTY_NUM 1
00025 
00026 #define DUTY_SW     0
00027 #define DUTY_GYRO   1
00028 #define DUTY_PING   2
00029 #define DUTY_COLOR  3
00030 #define DUTY_MOUSE  4
00031 
00032 /*PID処理*/
00033 #define RATE    0.052//52
00034 #define PID_BIAS    1.0
00035 #define REFERENCE   180.0
00036 #define MINIMUM     0.0
00037 #define MAXIMUM     359.9
00038 #define P_GAIN  1.3//1.25//0.8    //0.78   
00039 #define I_GAIN  0.0     //0.0
00040 #define D_GAIN  0.01//0.01  //0.009
00041 #define OUT_LIMIT   30.0
00042 #define MAX_POW     100
00043 #define MIN_POW     -100
00044 #define PID_CYCLE   0.05   //s
00045 
00046 //ir 
00047 #define IR_X 0
00048 #define IR_Y 1
00049 #define IR_SHORT 0
00050 #define IR_LONG 1
00051 
00052 #define X_AXIS 0
00053 #define Y_AXIS 1
00054 
00055 //ping
00056 #define L_PING 0
00057 #define R_PING 1
00058 
00059 //line
00060 
00061 #define A_SPOT 0
00062 #define B_SPOT 1
00063 #define C_SPOT 2
00064 #define AB_SPOT 3
00065 
00066 #define LINE_RF 5
00067 #define LINE_DELAY 0.5
00068 #define RELEASE_VAL 150
00069 
00070 //思考パターン
00071 #define STRATEGY_NUM 12
00072 
00073 //計算
00074 #define ROUND(x) ((x > 0) ? (x + 0.5) : (x - 0.5))//x...整数
00075 #define PI  3.14159265358979323846
00076 #define DEG2RAD(deg)  (PI*(deg)/180.0)
00077 #define RAD2DEG(rad)  (180.0(rad)/PI)
00078 
00079 //データ
00080 typedef struct {//ir,line,gyro,mouse,ping
00081     //ping
00082     uint8_t ping[2];
00083     //ir
00084     uint8_t irKey;
00085     uint8_t irNotice;
00086     uint8_t irSpot[2];
00087     uint8_t irPosition;
00088     uint8_t IrFlag;
00089     //line
00090     uint8_t lnFlag[3];
00091     uint8_t ball;
00092     uint8_t KickOffFlag;
00093     //uint8_t LineBind[4];//宣言すると動かない⇒構造体の限界
00094     uint8_t KickFlag;
00095     int32_t mouse[2];//0...x,1...y//1cm nearlyeq 1000count
00096     //motor 
00097     int32_t motorlog[2];
00098     uint8_t MotorFlag;
00099     double s_pow;
00100     double l_pow;
00101     //cmps&pid
00102     uint8_t PidFlag;
00103     double cmps, CmpsInitialValue, CmpsDiff, FrontDeg;//0<x<360
00104     double InputPID;//<<gyrosensor
00105     int16_t OutputPID;//>>motor
00106     //uint8_t color[3];
00107     //uint8_t lcdpoint[2];//0...x,1...y
00108     uint8_t strategy;
00109     uint8_t init_point_flag;
00110     uint8_t stopflag;
00111 } Record;
00112 
00113 #endif