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Dependencies: AQM0802A HMC6352 PID Servo mbed
main.h@4:f7946508daa8, 2015-03-03 (annotated)
- Committer:
- ryuna
- Date:
- Tue Mar 03 02:36:28 2015 +0000
- Revision:
- 4:f7946508daa8
- Parent:
- 3:0c994b3a882e
- Child:
- 5:dace4f3b6e4a
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ryuna | 3:0c994b3a882e | 1 | |
ryuna | 3:0c994b3a882e | 2 | /*PID処理*/ |
ryuna | 4:f7946508daa8 | 3 | #define RATE 0.052//52 |
ryuna | 4:f7946508daa8 | 4 | #define PID_BIAS 0.1 |
ryuna | 3:0c994b3a882e | 5 | #define REFERENCE 180.0 |
ryuna | 3:0c994b3a882e | 6 | #define MINIMUM 0.1 |
ryuna | 3:0c994b3a882e | 7 | #define MAXIMUM 360.0 |
ryuna | 3:0c994b3a882e | 8 | #define P_GAIN 1.8//1.4 //0.78 |
ryuna | 3:0c994b3a882e | 9 | #define I_GAIN 0.0 //0.0 |
ryuna | 4:f7946508daa8 | 10 | #define D_GAIN 0.03 //0.009 |
ryuna | 3:0c994b3a882e | 11 | #define OUT_LIMIT 50.0 |
ryuna | 3:0c994b3a882e | 12 | #define MAX_POW 100 |
ryuna | 3:0c994b3a882e | 13 | #define MIN_POW -100 |
ryuna | 3:0c994b3a882e | 14 | |
ryuna | 3:0c994b3a882e | 15 | /*回り込みの計算用*/ |
ryuna | 3:0c994b3a882e | 16 | #define PI 3.1415926 |
ryuna | 3:0c994b3a882e | 17 | |
ryuna | 3:0c994b3a882e | 18 | /*LPC1114 I2C Slave Address*/ |
ryuna | 3:0c994b3a882e | 19 | #define ADDRESS_R 0xAA |
ryuna | 3:0c994b3a882e | 20 | #define ADDRESS_L 0xAC |
ryuna | 3:0c994b3a882e | 21 | |
ryuna | 3:0c994b3a882e | 22 | /*BusIn sw 入力値*/ |
ryuna | 3:0c994b3a882e | 23 | #define StartS 0x01 |
ryuna | 3:0c994b3a882e | 24 | #define Debug1 0x02 |
ryuna | 3:0c994b3a882e | 25 | #define Debug2 0x04 |
ryuna | 3:0c994b3a882e | 26 | #define Debug3 0x06 |
ryuna | 3:0c994b3a882e | 27 | #define Kicker 0x08 |
ryuna | 3:0c994b3a882e | 28 | #define Calibration 0x10 |
ryuna | 3:0c994b3a882e | 29 | |
ryuna | 3:0c994b3a882e | 30 | |
ryuna | 3:0c994b3a882e | 31 | #define CW 1 |
ryuna | 3:0c994b3a882e | 32 | #define CCW -1 |
ryuna | 4:f7946508daa8 | 33 | #define ENTER 0 |
ryuna | 4:f7946508daa8 | 34 | #define EXIT 1 |
ryuna | 4:f7946508daa8 | 35 | |
ryuna | 3:0c994b3a882e | 36 | |
ryuna | 3:0c994b3a882e | 37 | BusIn Sw(p22,p23,p24,p25,p26); |
ryuna | 3:0c994b3a882e | 38 | BusIn Line(p5,p6,p7,p8);//No reading line → 0b1111 ,not pull up |
ryuna | 3:0c994b3a882e | 39 | DigitalOut Led[4] = {LED1,LED2,LED3,LED4}; |
ryuna | 3:0c994b3a882e | 40 | DigitalOut Kick(p29); |
ryuna | 3:0c994b3a882e | 41 | |
ryuna | 3:0c994b3a882e | 42 | Servo S555(p21); |
ryuna | 3:0c994b3a882e | 43 | I2C Sensor(p9,p10);//sda,scl |
ryuna | 3:0c994b3a882e | 44 | HMC6352 hmc6352(p9,p10);//sda,scl |
ryuna | 3:0c994b3a882e | 45 | AQM0802A Lcd(p28,p27);//sda,scl |
ryuna | 3:0c994b3a882e | 46 | Serial Motor(p13,p14);//tx,rx |
ryuna | 3:0c994b3a882e | 47 | Serial pc(USBTX,USBRX); |
ryuna | 3:0c994b3a882e | 48 | |
ryuna | 3:0c994b3a882e | 49 | /*Compass PID SetUp*/ |
ryuna | 3:0c994b3a882e | 50 | PID pid(P_GAIN,I_GAIN,D_GAIN, RATE); |
ryuna | 3:0c994b3a882e | 51 | |
ryuna | 3:0c994b3a882e | 52 | extern string StringFIN; |
ryuna | 3:0c994b3a882e | 53 | extern void array(int,int,int,int); |
ryuna | 3:0c994b3a882e | 54 | |
ryuna | 3:0c994b3a882e | 55 | int speed[4] = {0}; |
ryuna | 3:0c994b3a882e | 56 | typedef enum {FRONT = 1, RIGHT, BACK, LEFT, NA} Direction; |
ryuna | 3:0c994b3a882e | 57 | enum {SONIC = 0x01, BALL}; |
ryuna | 3:0c994b3a882e | 58 | |
ryuna | 0:dfe81bdcb486 | 59 | |
ryuna | 0:dfe81bdcb486 | 60 | int TargetCoordinates[12][2][2] = { |
ryuna | 0:dfe81bdcb486 | 61 | {{0,1},{0,1}},//p,q+6 |
ryuna | 0:dfe81bdcb486 | 62 | {{0,1},{0,1}},//p,q+5 |
ryuna | 0:dfe81bdcb486 | 63 | {{0,1},{0,1}},//p,q+4 |
ryuna | 0:dfe81bdcb486 | 64 | {{0,1},{0,1}},//p,q+3 |
ryuna | 0:dfe81bdcb486 | 65 | {{0,1},{0,1}},//p,q+2 |
ryuna | 0:dfe81bdcb486 | 66 | {{0,1},{0,1}},//p,q+1 |
ryuna | 0:dfe81bdcb486 | 67 | {{0,1},{0,1}},//p,q |
ryuna | 0:dfe81bdcb486 | 68 | {{0,1},{0,1}},//p-1,q |
ryuna | 0:dfe81bdcb486 | 69 | {{0,1},{0,1}},//p-2,q |
ryuna | 0:dfe81bdcb486 | 70 | {{0,1},{0,1}},//p-3,q |
ryuna | 0:dfe81bdcb486 | 71 | {{0,1},{0,1}},//p-4,q |
ryuna | 0:dfe81bdcb486 | 72 | {{0,1},{0,1}},//0,q |
ryuna | 0:dfe81bdcb486 | 73 | }; |
ryuna | 0:dfe81bdcb486 | 74 | |
ryuna | 0:dfe81bdcb486 | 75 | /* |
ryuna | 0:dfe81bdcb486 | 76 | | | |
ryuna | 0:dfe81bdcb486 | 77 | | | |
ryuna | 0:dfe81bdcb486 | 78 | | o | |
ryuna | 0:dfe81bdcb486 | 79 | | | |
ryuna | 0:dfe81bdcb486 | 80 | | | |
ryuna | 0:dfe81bdcb486 | 81 | |---------------p,q |
ryuna | 0:dfe81bdcb486 | 82 | |
ryuna | 0:dfe81bdcb486 | 83 | |
ryuna | 0:dfe81bdcb486 | 84 | */ |