Diff: main.h

Revision:

3:0c994b3a882e

Parent:

0:dfe81bdcb486

Child:

4:f7946508daa8

--- a/main.h	Fri Feb 13 10:11:49 2015 +0000
+++ b/main.h	Mon Mar 02 05:55:33 2015 +0000
@@ -1,3 +1,58 @@
+
+/*PID処理*/
+#define RATE    0.18//52
+#define PID_BIAS    0.3
+#define REFERENCE   180.0
+#define MINIMUM     0.1
+#define MAXIMUM     360.0
+#define P_GAIN  1.8//1.4    //0.78   
+#define I_GAIN  0.0     //0.0
+#define D_GAIN  0.05  //0.009
+#define OUT_LIMIT   50.0
+#define MAX_POW     100
+#define MIN_POW     -100
+
+/*回り込みの計算用*/
+#define PI 3.1415926
+
+/*LPC1114 I2C Slave Address*/
+#define ADDRESS_R 0xAA
+#define ADDRESS_L 0xAC
+
+/*BusIn sw　入力値*/
+#define StartS 0x01
+#define Debug1 0x02
+#define Debug2 0x04
+#define Debug3 0x06
+#define Kicker 0x08
+#define Calibration 0x10
+
+
+#define CW 1
+#define CCW -1
+
+BusIn   Sw(p22,p23,p24,p25,p26);
+BusIn   Line(p5,p6,p7,p8);//No reading line → 0b1111 ,not pull up
+DigitalOut  Led[4] = {LED1,LED2,LED3,LED4};
+DigitalOut  Kick(p29);
+
+Servo       S555(p21);
+I2C         Sensor(p9,p10);//sda,scl
+HMC6352     hmc6352(p9,p10);//sda,scl
+AQM0802A    Lcd(p28,p27);//sda,scl
+Serial      Motor(p13,p14);//tx,rx
+Serial      pc(USBTX,USBRX);
+
+/*Compass PID SetUp*/
+PID pid(P_GAIN,I_GAIN,D_GAIN, RATE);
+
+extern string StringFIN;
+extern void array(int,int,int,int);
+
+int speed[4] = {0};            
+typedef enum {FRONT = 1, RIGHT, BACK, LEFT, NA} Direction;
+enum {SONIC = 0x01, BALL};
+
 
 int TargetCoordinates[12][2][2] = {
     {{0,1},{0,1}},//p,q+6