三浦 颯太 / Mbed 2 deprecated MainBoard2019_Auto_B_2

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Dependencies:   mbed TrapezoidControl QEI Pulse LM61CIZ

System/Process/Process.h@12:c09b3e08a316, 2018-10-07 (annotated)

Committer:
kishibekairohan
Date:
Sun Oct 07 09:08:18 2018 +0000
Revision:
12:c09b3e08a316
Parent:
11:028a150943b5
Child:
13:b6e02d6261d7
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
t_yamamoto 0:669ef71cba68 1 #ifndef PROCESS_H_
t_yamamoto 0:669ef71cba68 2 #define PROCESS_H_
t_yamamoto 0:669ef71cba68 3
t_yamamoto 0:669ef71cba68 4 #include "mbed.h"
t_yamamoto 0:669ef71cba68 5
t_yamamoto 0:669ef71cba68 6 void SystemProcess();
7ka884 4:ba9df71868df 7 /*
t_yamamoto 0:669ef71cba68 8 #define ROLLER_LF motor[ROLLER_LF_NUM]
t_yamamoto 0:669ef71cba68 9 #define ROLLER_LL motor[ROLLER_LL_NUM]
7ka884 4:ba9df71868df 10 */
t_yamamoto 0:669ef71cba68 11
kishibekairohan 12:c09b3e08a316 12 #define BUZZER_PIN PA_15 //ブザー
kishibekairohan 12:c09b3e08a316 13
kishibekairohan 12:c09b3e08a316 14 #define TIRE_FR 0 //足回り前右
kishibekairohan 12:c09b3e08a316 15 #define TIRE_FL 1 //足回り前左
kishibekairohan 12:c09b3e08a316 16 #define TIRE_BR 2 //足回り後右
kishibekairohan 12:c09b3e08a316 17 #define TIRE_BL 3 //足回り後左
kishibekairohan 12:c09b3e08a316 18
kishibekairohan 12:c09b3e08a316 19 #define Angle_R 4 //角度調節右
kishibekairohan 12:c09b3e08a316 20 #define Angle_L 5 //角度調節左
kishibekairohan 12:c09b3e08a316 21
kishibekairohan 12:c09b3e08a316 22 #define Lim_AR 3 //角度調節右
kishibekairohan 12:c09b3e08a316 23 #define Lim_AL 4 //角度調節左
kishibekairohan 12:c09b3e08a316 24 #define Lim_R 0 //センター右
kishibekairohan 12:c09b3e08a316 25 #define Lim_L 1 //センター左
kishibekairohan 12:c09b3e08a316 26 #define EMS_0 LimitSw::IsPressed(8) //非常停止ブザー0
kishibekairohan 12:c09b3e08a316 27 #define EMS_1 LimitSw::IsPressed(9) //非常停止ブザー1
kishibekairohan 12:c09b3e08a316 28 #define LS LimitSw::IsPressed(7) //赤ゾーン用スイッチ
kishibekairohan 12:c09b3e08a316 29 #define BS LimitSw::IsPressed(6) //青ゾーン用スイッチ
t_yamamoto 0:669ef71cba68 30
kishibekairohan 9:f93fc79a49ea 31 #define ROTATE_PER_REVOLUTIONS 50
t_yamamoto 0:669ef71cba68 32
kishibekairohan 11:028a150943b5 33 typedef union
kishibekairohan 11:028a150943b5 34 {
kishibekairohan 11:028a150943b5 35 struct
kishibekairohan 11:028a150943b5 36 {
kishibekairohan 11:028a150943b5 37 unsigned int blue : 8;
kishibekairohan 11:028a150943b5 38 unsigned int green : 8;
kishibekairohan 11:028a150943b5 39 unsigned int red : 8;
kishibekairohan 11:028a150943b5 40 unsigned int : 8;
kishibekairohan 11:028a150943b5 41 };
kishibekairohan 11:028a150943b5 42 uint32_t code;
kishibekairohan 11:028a150943b5 43 } TapeLedData;
kishibekairohan 11:028a150943b5 44
kishibekairohan 11:028a150943b5 45 enum TapeLED_Mode
kishibekairohan 11:028a150943b5 46 {
kishibekairohan 11:028a150943b5 47 EMS,
kishibekairohan 11:028a150943b5 48 Normal,
kishibekairohan 11:028a150943b5 49 Launch,
kishibekairohan 11:028a150943b5 50 };
kishibekairohan 11:028a150943b5 51
kishibekairohan 11:028a150943b5 52 enum TapeLED_Color
kishibekairohan 11:028a150943b5 53 {
kishibekairohan 11:028a150943b5 54 Black = 0x000000,
kishibekairohan 11:028a150943b5 55 // Red = 0xff0000,
kishibekairohan 11:028a150943b5 56 Green = 0x008000,
kishibekairohan 11:028a150943b5 57 Blue = 0x0000ff,
kishibekairohan 11:028a150943b5 58 White = 0xffffff,
kishibekairohan 11:028a150943b5 59 // Orange = 0xffa500,
kishibekairohan 11:028a150943b5 60 // Yellow = 0xffff00,
kishibekairohan 11:028a150943b5 61 // Purple = 0x800080,
kishibekairohan 11:028a150943b5 62 // Cyan = 0x00ffff,
kishibekairohan 11:028a150943b5 63 // Magenta = 0xff00ff,
kishibekairohan 11:028a150943b5 64 // Lime = 0x00ff00
t_yamamoto 0:669ef71cba68 65
t_yamamoto 0:669ef71cba68 66
kishibekairohan 11:028a150943b5 67 Dimgray = 0x696969,
kishibekairohan 11:028a150943b5 68 Gray = 0x808080,
kishibekairohan 11:028a150943b5 69 DarkGray = 0xa9a9a9,
kishibekairohan 11:028a150943b5 70 Silver = 0xc0c0c0,
kishibekairohan 11:028a150943b5 71 LightGray = 0xd3d3d3,
kishibekairohan 11:028a150943b5 72 Gainsboro = 0xdcdcdc,
kishibekairohan 11:028a150943b5 73 Whitesmoke = 0xf5f5f5,
kishibekairohan 11:028a150943b5 74 Snow = 0xfffafa,
kishibekairohan 11:028a150943b5 75 Ghostwhite = 0xf8f8ff,
kishibekairohan 11:028a150943b5 76 Floralwhite = 0xfffaf0,
kishibekairohan 11:028a150943b5 77 Linen = 0xfaf0e6,
kishibekairohan 11:028a150943b5 78 Antiquewhite = 0xfaebd7,
kishibekairohan 11:028a150943b5 79 Papayawhip = 0xffefd5,
kishibekairohan 11:028a150943b5 80 Blanchedalmond = 0xffebcd,
kishibekairohan 11:028a150943b5 81 Bisque = 0xffe4c4,
kishibekairohan 11:028a150943b5 82 Moccasin = 0xffe4b5,
kishibekairohan 11:028a150943b5 83 Navajowhite = 0xffdead,
kishibekairohan 11:028a150943b5 84 Peachpuff = 0xffdab9,
kishibekairohan 11:028a150943b5 85 Mistyrose = 0xffe4e1,
kishibekairohan 11:028a150943b5 86 Lavenderblush = 0xfff0f5,
kishibekairohan 11:028a150943b5 87 Seashell = 0xfff5ee,
kishibekairohan 11:028a150943b5 88 Oldlace = 0xfdf5e6,
kishibekairohan 11:028a150943b5 89 Ivory = 0xfffff0,
kishibekairohan 11:028a150943b5 90 Honeydew = 0xf0fff0,
kishibekairohan 11:028a150943b5 91 Mintcream = 0xf5fffa,
kishibekairohan 11:028a150943b5 92 Azure = 0xf0ffff,
kishibekairohan 11:028a150943b5 93 Aliceblue = 0xf0f8ff,
kishibekairohan 11:028a150943b5 94 Lavender = 0xe6e6fa,
kishibekairohan 11:028a150943b5 95 Lightsteelblue = 0xb0c4de,
kishibekairohan 11:028a150943b5 96 Lightslategray = 0x778899,
kishibekairohan 11:028a150943b5 97 Slategray = 0x708090,
kishibekairohan 11:028a150943b5 98 Steelblue = 0x4682b4,
kishibekairohan 11:028a150943b5 99 Royalblue = 0x4169e1,
kishibekairohan 11:028a150943b5 100 Midnightblue = 0x191970,
kishibekairohan 11:028a150943b5 101 Navy = 0x000080,
kishibekairohan 11:028a150943b5 102 Darkblue = 0x00008b,
kishibekairohan 11:028a150943b5 103 Mediumblue = 0x0000cd,
kishibekairohan 11:028a150943b5 104 Dodgerblue = 0x1e90ff,
kishibekairohan 11:028a150943b5 105 Cornflowerblue = 0x6495ed,
kishibekairohan 11:028a150943b5 106 Deepskyblue = 0x00bfff,
kishibekairohan 11:028a150943b5 107 Lightskyblue = 0x87cefa,
kishibekairohan 11:028a150943b5 108 Skyblue = 0x87ceeb,
kishibekairohan 11:028a150943b5 109 Lightblue = 0xadd8e6,
kishibekairohan 11:028a150943b5 110 Powderblue = 0xb0e0e6,
kishibekairohan 11:028a150943b5 111 Paleturquoise = 0xafeeee,
kishibekairohan 11:028a150943b5 112 // Lightcyan = 0xe0ffff,
kishibekairohan 11:028a150943b5 113 Cyan = 0x00ffff,
kishibekairohan 11:028a150943b5 114 // Aqua = 0x00ffff,
kishibekairohan 11:028a150943b5 115 Turquoise = 0x40e0d0,
kishibekairohan 11:028a150943b5 116 Mediumturquoise = 0x48d1cc,
kishibekairohan 11:028a150943b5 117 Darkturquoise = 0x00ced1,
kishibekairohan 11:028a150943b5 118 Lightseagreen = 0x20b2aa,
kishibekairohan 11:028a150943b5 119 Cabetblue = 0x5f9ea0,
kishibekairohan 11:028a150943b5 120 Darkcyan = 0x008b8b,
kishibekairohan 11:028a150943b5 121 Teal = 0x008080,
kishibekairohan 11:028a150943b5 122 Darkslategray = 0x2f4f4f,
kishibekairohan 11:028a150943b5 123 Darkgreen = 0x006400,
kishibekairohan 11:028a150943b5 124 Forestgreen = 0x228b22,
kishibekairohan 11:028a150943b5 125 Seagreen = 0x2e8b57,
kishibekairohan 11:028a150943b5 126 Mediumseagreen = 0x3cb371,
kishibekairohan 11:028a150943b5 127 Mediumaquamarine = 0x66cdaa,
kishibekairohan 11:028a150943b5 128 Darkseagreen = 0x8fbc8f,
kishibekairohan 11:028a150943b5 129 Aquamarine = 0x7fffd4,
kishibekairohan 11:028a150943b5 130 Palegreen = 0x98fb98,
kishibekairohan 11:028a150943b5 131 Lightgreen = 0x90ee90,
kishibekairohan 11:028a150943b5 132 Springgreen = 0x00ff7f,
kishibekairohan 11:028a150943b5 133 Mediumspringgreen = 0x00fa9a,
kishibekairohan 11:028a150943b5 134 Lawngreen = 0x7cfc00,
kishibekairohan 11:028a150943b5 135 Chartreuse = 0x7fff00,
kishibekairohan 11:028a150943b5 136 Greenyellow = 0xadff2f,
kishibekairohan 11:028a150943b5 137 Lime = 0x00ff00,
kishibekairohan 11:028a150943b5 138 Limegreen = 0x32cd32,
kishibekairohan 11:028a150943b5 139 Yellowgreen = 0x9acd32,
kishibekairohan 11:028a150943b5 140 Darkolivegreen = 0x556b2f,
kishibekairohan 11:028a150943b5 141 Olivedrab = 0x6b8e23,
kishibekairohan 11:028a150943b5 142 Olive = 0x808000,
kishibekairohan 11:028a150943b5 143 Darkkhaki = 0xbdb76b,
kishibekairohan 11:028a150943b5 144 Palegoldenrod = 0xeee8aa,
kishibekairohan 11:028a150943b5 145 Cornsilk = 0xfff8dc,
kishibekairohan 11:028a150943b5 146 Beige = 0xf5f5dc,
kishibekairohan 11:028a150943b5 147 Lightyellow = 0xffffe0,
kishibekairohan 11:028a150943b5 148 Lightgoldenrodyellow = 0xfafad2,
kishibekairohan 11:028a150943b5 149 Lemonchiffon = 0xfffacd,
kishibekairohan 11:028a150943b5 150 Wheat = 0xf5deb3,
kishibekairohan 11:028a150943b5 151 Burlywood = 0xdeb887,
kishibekairohan 11:028a150943b5 152 Tan = 0xd2b48c,
kishibekairohan 11:028a150943b5 153 Khaki = 0xf0e68c,
kishibekairohan 11:028a150943b5 154 Yellow = 0xffff00,
kishibekairohan 11:028a150943b5 155 Gold = 0xffd700,
kishibekairohan 11:028a150943b5 156 // Orange = 0xffa500,
kishibekairohan 11:028a150943b5 157 Orange = 0xff2500,
kishibekairohan 11:028a150943b5 158 Sandybrown = 0xf4a460,
kishibekairohan 11:028a150943b5 159 Darkorange = 0xff8c00,
kishibekairohan 11:028a150943b5 160 Goldenrod = 0xdaa520,
kishibekairohan 11:028a150943b5 161 Peru = 0xcd853f,
kishibekairohan 11:028a150943b5 162 Darkgoldenrod = 0xb8860d,
kishibekairohan 11:028a150943b5 163 Chocolate = 0xd2691e,
kishibekairohan 11:028a150943b5 164 Sienna = 0xa0522d,
kishibekairohan 11:028a150943b5 165 Saddlebrown = 0x8b4513,
kishibekairohan 11:028a150943b5 166 Marron = 0x800000,
kishibekairohan 11:028a150943b5 167 Darkred = 0x8b0000,
kishibekairohan 11:028a150943b5 168 Brown = 0xa52a2a,
kishibekairohan 11:028a150943b5 169 Firebrick = 0xb22222,
kishibekairohan 11:028a150943b5 170 Indeanred = 0xcd5c5c,
kishibekairohan 11:028a150943b5 171 Rosybrown = 0xbc8f8f,
kishibekairohan 11:028a150943b5 172 Darksalmon = 0xe9967a,
kishibekairohan 11:028a150943b5 173 Lightcoral = 0xf08080,
kishibekairohan 11:028a150943b5 174 Salmon = 0xfa8072,
kishibekairohan 11:028a150943b5 175 Lightsalmon = 0xffa07a,
kishibekairohan 11:028a150943b5 176 Coral = 0xff7f50,
kishibekairohan 11:028a150943b5 177 Tomato = 0xff6347,
kishibekairohan 11:028a150943b5 178 Orangered = 0xff4500,
kishibekairohan 11:028a150943b5 179 Red = 0xff0000,
kishibekairohan 11:028a150943b5 180 Crimson = 0xdc143c,
kishibekairohan 11:028a150943b5 181 Mediumvioletred = 0xc71585,
kishibekairohan 11:028a150943b5 182 Deeppink = 0xff1493,
kishibekairohan 11:028a150943b5 183 Hotpink = 0xff69b4,
kishibekairohan 11:028a150943b5 184 Palevioletred = 0xdb7093,
kishibekairohan 11:028a150943b5 185 Pink = 0xffc0cb,
kishibekairohan 11:028a150943b5 186 Lightpink = 0xffb6c1,
kishibekairohan 11:028a150943b5 187 Thistle = 0xd8bfd8,
kishibekairohan 11:028a150943b5 188 Magenta = 0xff00ff,
kishibekairohan 11:028a150943b5 189 // Fuchsia = 0xff00ff,
kishibekairohan 11:028a150943b5 190 Violet = 0xee82ee,
kishibekairohan 11:028a150943b5 191 Plum = 0xdda0dd,
kishibekairohan 11:028a150943b5 192 Orchid = 0xda70d6,
kishibekairohan 11:028a150943b5 193 Mediumorchid = 0xba55d3,
kishibekairohan 11:028a150943b5 194 Darkorchid = 0x9932cc,
kishibekairohan 11:028a150943b5 195 Darkviolet = 0x9400d3,
kishibekairohan 11:028a150943b5 196 Darkmagenta = 0x8b008b,
kishibekairohan 11:028a150943b5 197 Purple = 0x800080,
kishibekairohan 11:028a150943b5 198 Indigo = 0x4b0082,
kishibekairohan 11:028a150943b5 199 Darkslateblue = 0x483d8b,
kishibekairohan 11:028a150943b5 200 Blueviolet = 0x8a2be2,
kishibekairohan 11:028a150943b5 201 Mediumpurple = 0x9370db,
kishibekairohan 11:028a150943b5 202 Slateblue = 0x6a5acd,
kishibekairohan 11:028a150943b5 203 Mediumslateblue = 0x7b68ee
kishibekairohan 11:028a150943b5 204 };
kishibekairohan 11:028a150943b5 205
kishibekairohan 11:028a150943b5 206 extern TapeLedData sendLedData;
kishibekairohan 12:c09b3e08a316 207
t_yamamoto 0:669ef71cba68 208 #endif