Diff: main.h

Revision:

2:e84bb87eea71

Parent:

1:f91d53098d57

Child:

3:4a39486ff238

--- a/main.h	Fri Mar 06 02:15:10 2015 +0000
+++ b/main.h	Tue Mar 10 08:28:15 2015 +0000
@@ -11,6 +11,7 @@
 #define OUT_LIMIT   40.0
 #define MAX_POW     100
 #define MIN_POW     -100
+#define PID_CYCLE   0.05   //s
 
 /*Serial Mbed間*/
 #define ADDRESS 0xAA
@@ -43,6 +44,7 @@
 
 /*Compass PID SetUp*/
 PID pid(P_GAIN,I_GAIN,D_GAIN, RATE);
+Ticker pidupdate;
 
 /* motor driver*/
 extern string StringFIN;
@@ -52,14 +54,15 @@
 
 enum {FRONT = 1, RIGHT, BACK, LEFT, NA} Direction;
 
-int SetRad = 0;
+double SetDegree = 0;
 
 /*Mbed sensor data */
 uint8_t IrData[3] = {0},IrNum = 0;
 uint8_t PingData[4]={0};
 unsigned int Compass = 0;
+double SetC = 0, InputPID = 180.0, CompassPID = 0.0;
 
-uint8_t rx_data[9] = {0};
+extern uint8_t rx_data[9] = {0};
 /*mbed sensor data */
 
 volatile  int Angle[180] = {
@@ -109,9 +112,9 @@
     -8  ,   -7  ,   -6  ,   -5  ,
     -4  ,   -3  ,   -2  ,   -1  };
 
-volatile int  RadToVector[4] = {1,-1,-1,1};
+volatile int  DegreeToVector[5] = {1,-1,-1,1,1};
 
-int wrapRad[24] = { 0,//
+int wrapDegree[24] = { 0,//
                     15,//15
                     60,//30
                     80,//45