Diff: main.h

Revision:

5:09afcbe0c18f

Parent:

4:2857f273a7f4

Child:

6:bfc0e8d2d3ae

--- a/main.h	Wed Mar 11 01:03:00 2015 +0000
+++ b/main.h	Fri Mar 13 01:14:38 2015 +0000
@@ -13,6 +13,9 @@
 #define MIN_POW     -100
 #define PID_CYCLE   0.05   //s
 
+/*Servoなんか*/
+#define WAIT_TIME 0.20
+
 /*Serial Mbed間*/
 #define ADDRESS 0xAA
 
@@ -22,6 +25,8 @@
 #define Debug1 0x02
 #define Debug2 0x04
 #define Debug3 0x08
+#define Debug12 0x06
+#define Debug23 0x0C
 #define Kicker 0x10
 
 #define CW 1
@@ -46,6 +51,9 @@
 Ticker pidupdate;
 
 
+/*Servo timer */
+Timeout STimer;
+
 extern string StringFIN;
 extern void array(int,int,int,int);
 extern void micon_rx(void);
@@ -59,9 +67,11 @@
 /*Mbed sensor data */
 uint8_t IrData[3] = {0},IrNum = 0;
 uint8_t PingData[4]={0};
-unsigned int Compass = 0;
+int Compass = 0;
+unsigned int CompassDef = 0;
 double SetC = 0, InputPID = 180.0, CompassPID = 0.0;
 
+bool WaitFlag = 0;
 
 /* motor driver*/
 
@@ -119,29 +129,29 @@
 volatile int  DegreeToVector[5] = {1,-1,-1,1,1};
 
 int wrapDegree[24] = { 0,//
-                    15,//15
+                    30,//15
                     60,//30
-                    80,//45
-                    100,//60
-                    110,//75
-                    180,//90
-                    180,//105
-                    185,//120
-                    230,//135
-                    250,//150
-                    260,//165
+                    90,//45
+                    130,//60
+                    140,//75
+                    170,//90
+                    170,//105
+                    170,//120
+                    180,//135
+                    200,//150
+                    220,//165
                     90, //180 or270
-                    100,//195
-                    110,//210
-                    130,//225
+                    130,//195
+                    150,//210
+                    180,//225
                     175,//240
-                    180,//255
-                    180,//270
-                    250,//285
-                    260,//300
-                    280,//315
-                    300,//330
-                    345//345                
+                    195,//255
+                    195,//270
+                    240,//285
+                    230,//300
+                    270,//315
+                    290,//330
+                    320//345                
                     };