2
Dependencies: AQM0802A HMC6352 PID Servo mbed
main.h
- Committer:
- ryuna
- Date:
- 2015-03-02
- Revision:
- 3:0c994b3a882e
- Parent:
- 0:dfe81bdcb486
- Child:
- 4:f7946508daa8
File content as of revision 3:0c994b3a882e:
/*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 {{0,1},{0,1}},//p,q+5 {{0,1},{0,1}},//p,q+4 {{0,1},{0,1}},//p,q+3 {{0,1},{0,1}},//p,q+2 {{0,1},{0,1}},//p,q+1 {{0,1},{0,1}},//p,q {{0,1},{0,1}},//p-1,q {{0,1},{0,1}},//p-2,q {{0,1},{0,1}},//p-3,q {{0,1},{0,1}},//p-4,q {{0,1},{0,1}},//0,q }; /* | | | | | o | | | | | |---------------p,q */