Diff: main.h

Revision:

4:2857f273a7f4

Parent:

3:4a39486ff238

Child:

5:09afcbe0c18f

--- a/main.h	Tue Mar 10 13:22:00 2015 +0000
+++ b/main.h	Wed Mar 11 01:03:00 2015 +0000
@@ -1,10 +1,10 @@
 
 /*PID処理*/
 #define RATE    0.052//52
-#define PID_BIAS    0.3
+#define PID_BIAS    0.2
 #define REFERENCE   180.0
-#define MINIMUM     0.1
-#define MAXIMUM     360.0
+#define MINIMUM     0.0
+#define MAXIMUM     359.0
 #define P_GAIN  1.4//1.4    //0.78   
 #define I_GAIN  0.0     //0.0
 #define D_GAIN  0.05  //0.009
@@ -29,16 +29,14 @@
 #define ENTER   0
 #define EXIT    1
 
-
+Serial Mbed(p9,p10);//tx,rx
 
 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);
-MultiSerial Mbed(p9,p10);//tx,rx
 AQM0802A    Lcd(p28,p27);//sda,scl
-
 Serial      Motor(p13,p14);//tx,rx
 Serial      pc(USBTX,USBRX);
 
@@ -47,13 +45,14 @@
 PID pid(P_GAIN,I_GAIN,D_GAIN, RATE);
 Ticker pidupdate;
 
-/* motor driver*/
+
 extern string StringFIN;
 extern void array(int,int,int,int);
+extern void micon_rx(void);
+
 int speed[4] = {0};            
 
 
-enum {FRONT = 1, RIGHT, BACK, LEFT, NA} Direction;
 
 double SetDegree = 0;
 
@@ -63,7 +62,11 @@
 unsigned int Compass = 0;
 double SetC = 0, InputPID = 180.0, CompassPID = 0.0;
 
-uint8_t rx_data[9] = {0};
+
+/* motor driver*/
+
+enum {FRONT = 1, RIGHT, BACK, LEFT, NA} Direction;
+
 /*mbed sensor data */
 
 volatile  int Angle[180] = {