Diff: main.h

Revision:

1:b43b0cbff722

Parent:

0:f38700ce12ea

Child:

2:971e190fd0b5

Child:

3:d4eff9dace7d

--- a/main.h	Sat Jun 28 04:31:44 2014 +0000
+++ b/main.h	Sat Jun 28 09:57:50 2014 +0000
@@ -5,59 +5,11 @@
 }
 DigitalOut LED[4]={LED1, LED2, LED3, LED4};//確認用
 enum Logic{OFF=0, ON};//殆どはモーターのON，OFFに使う
-enum Revolution{CW=0, CCW};//正回転，逆回転(オムニ，上体回転)
-//オムニホイール関連
-enum Omni{Front=0, Back, Right, Left};//前後左右のオムニホイール
-DigitalOut Omni[4][2]={{NC, NC}, {NC, NC}, {NC, NC}, {NC, NC}};//{p5, p6}, {p7, p8}, {p9, p10}, {p11, p12}
-PwmOut OmniSpeed[4]={NC, NC, NC, NC};//p21, p22, p23, p24
-#define OmniRev 0.5 //PWM
-//ex)Omni[Front][CCW]=OFF;
-void pause(void){//停止
-    Omni[Front][CW] = Omni[Front][CCW] = OFF;
-    Omni[Back][CW] = Omni[Back][CCW] = OFF;
-    Omni[Right][CW] = Omni[Right][CCW] = OFF;
-    Omni[Left][CW] = Omni[Left][CCW] = OFF;
-}
-void go(void){//前進
-    Omni[Front][CW] = Omni[Front][CCW] = OFF;
-    Omni[Back][CW] = Omni[Back][CCW] = OFF;
-    Omni[Right][CW] = OFF; Omni[Right][CCW] = ON;
-    Omni[Left][CW] = ON; Omni[Left][CCW] = OFF;
-}
-void back(void){//後進
-    Omni[Front][CW] = Omni[Front][CCW] = OFF;
-    Omni[Back][CW] = Omni[Back][CCW] = OFF;
-    Omni[Right][CW] = ON; Omni[Right][CCW] = OFF;
-    Omni[Left][CW] = OFF; Omni[Left][CCW] = ON;
-}
-void sidleleft(void){//左移動
-    Omni[Front][CW] = OFF; Omni[Front][CCW] = ON;
-    Omni[Back][CW] = ON; Omni[Back][CCW] = OFF;
-    Omni[Right][CW] = Omni[Right][CCW] = OFF;
-    Omni[Left][CW] = Omni[Left][CCW] = OFF;
-}
-void sidleright(void){//右移動
-    Omni[Front][CW] = ON; Omni[Front][CCW] = OFF;
-    Omni[Back][CW] = OFF; Omni[Back][CCW] = ON;
-    Omni[Right][CW] = Omni[Right][CCW] = OFF;
-    Omni[Left][CW] = Omni[Left][CCW] = OFF;
-}
-void turnleft(void){//左旋回
-    Omni[Front][CW] = OFF; Omni[Front][CCW] = ON;
-    Omni[Back][CW] = OFF; Omni[Back][CCW] = ON;
-    Omni[Right][CW] = OFF; Omni[Right][CCW] = ON;
-    Omni[Left][CW] = OFF; Omni[Left][CCW] = ON;
-}
-void turnright(void){//右旋回
-    Omni[Front][CW] = ON; Omni[Front][CCW] = OFF;
-    Omni[Back][CW] = ON; Omni[Back][CCW] = OFF;
-    Omni[Right][CW] = ON; Omni[Right][CCW] = OFF;
-    Omni[Left][CW] = ON; Omni[Left][CCW] = OFF;
-}
 //上体回転関連
-DigitalOut Turn[2]={NC, NC};//p29, p30
-DigitalIn TurnSW(NC);//p26
-PwmOut TurnSpeed(NC);//p25
+enum Revolution{CW=0, CCW};//正回転，逆回転(上体回転)
+DigitalOut Turn[2]={p20, p19};//p29, p30
+DigitalIn TurnSW(p5);//p26
+PwmOut TurnSpeed(p21);//p25
 #define TurnRev 0.5//PWM
 //ex)Turn[CW]=ON;
 //パワーウィンドウ(腕)関連
@@ -107,6 +59,7 @@
 #define EN_KEYCODE 0xAA//keycode
 #define KEY 0//number of first data
 #define CHECK DATA_NUM-1//number of last data
+
 Serial pc(USBTX, USBRX);
 Serial Xbee(NC, NC);//p28, p27
 volatile uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0};