version 3 通信方式,マイコン等に変更あり
Dependencies: AQM0802A PID Servo mbed
Diff: main.h
- Revision:
- 2:e84bb87eea71
- Parent:
- 1:f91d53098d57
- Child:
- 3:4a39486ff238
diff -r f91d53098d57 -r e84bb87eea71 main.h --- 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