自動機の手動プログラム

Dependencies:   mbed QEI

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Help.h

00001 #ifndef Help_H
00002 #define Help_H
00003 #include "mbed.h"
00004 
00005 #define nDuty10 0x74
00006 #define nDuty20 0x66
00007 #define nDuty25 0x60
00008 #define nDuty30 0x59
00009 #define nDuty40 0x4C
00010 #define nDuty50 0x40
00011 #define nDuty60 0x33
00012 #define nDuty70 0x26
00013 #define nDuty75 0x20
00014 #define nDuty85 0x13
00015 #define nDuty80 0x19
00016 #define nDuty90 0x0C
00017 #define nDuty95 0x00
00018 
00019 #define pDuty10 0x8C
00020 #define pDuty20 0x99
00021 #define pDuty25 0x9F
00022 #define pDuty30 0xA6
00023 #define pDuty40 0xB3
00024 #define pDuty50 0xC0
00025 #define pDuty60 0xCD
00026 #define pDuty70 0xD9
00027 #define pDuty75 0xE0
00028 #define pDuty80 0xE6
00029 #define pDuty85 0xEC
00030 #define pDuty90 0xF3
00031 #define pDuty95 0xFF
00032 
00033 #define SBREAK  0x80
00034 #define TRANSIT 0x30
00035 
00036 #define Rf_add 0x10
00037 #define Rb_add 0x12
00038 #define Lf_add 0x14
00039 #define Lb_add 0x16
00040 #define Arm_add 0x18
00041 #define Dp_add 0x20
00042 #define Rst_add 0x22
00043 #define Lst_add 0x24
00044 #define Fan_add 0x26
00045 
00046 #define cir 0
00047 #define tri 1
00048 #define squ 2
00049 #define cro 3
00050 #define up  4
00051 #define dow 5
00052 #define rig 6
00053 #define lef 7
00054 #define r1  8
00055 #define r2  9
00056 #define l1  10
00057 #define l2  11
00058 #define low 1
00059 #define fast 3
00060 
00061 #define pri pc.printf
00062 
00063 void set_gpio(void);
00064 void get_stick(int *axis,char mode);
00065 bool get_but(int butnum);
00066 void set_speed(int *pspeed);
00067 void set_direct(int *direct);
00068 void set_emg(void);
00069 void set_tire(char *fmot,char *bmot,int direct, char mode, int speed);
00070 void set_slide(char *Rfmot,char *Lfmot,char *Rbmot,char *Lbmot, int but1,int but2, int speed);
00071 void set_mot(char *mot,int num1,int num2);
00072 void set_arm(char *mot,int num, int pulse);
00073 void set_drop(char *mot,int num1, int num2);
00074 void set_sheet(char *mot, char mode,int num1, int num2);
00075 void write_data(char address,char data);
00076 static int Raxis[2],Laxis[2];
00077 
00078 #endif