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@25:b3a9f34b201d, 2019-09-27 (annotated)

Committer:
M_souta
Date:
Fri Sep 27 07:51:32 2019 +0000
Revision:
25:b3a9f34b201d
Parent:
22:7d93f79a3686 
ii

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
M_souta 22:7d93f79a3686 6 #define BUZZER_PIN PB_3
kishibekairohan 16:3f2c2d89372b 7 #define EMG_0 LimitSw::IsPressed(0)
kishibekairohan 16:3f2c2d89372b 8 #define EMG_1 LimitSw::IsPressed(1)
kishibekairohan 12:c09b3e08a316 9
kishibekairohan 16:3f2c2d89372b 10 void SystemProcess();
t_yamamoto 0:669ef71cba68 11
M_souta 25:b3a9f34b201d 12 /* ---------- motor ---------- */
M_souta 25:b3a9f34b201d 13
M_souta 22:7d93f79a3686 14 #define TIRE_FL 0
M_souta 25:b3a9f34b201d 15 #define TIRE_BL 1
M_souta 22:7d93f79a3686 16 #define TIRE_BR 2
M_souta 25:b3a9f34b201d 17 #define TIRE_FR 3
M_souta 21:e3b58d675c1c 18 #define LIFT_LB 4
M_souta 22:7d93f79a3686 19 #define LIFT_RB 5
M_souta 22:7d93f79a3686 20 #define LIFT_U 6
M_souta 21:e3b58d675c1c 21
M_souta 25:b3a9f34b201d 22 /* ---------- motor ---------- */
M_souta 25:b3a9f34b201d 23
M_souta 25:b3a9f34b201d 24 /* ---------- limitswitch ---------- */
M_souta 25:b3a9f34b201d 25
M_souta 25:b3a9f34b201d 26 #define LSW_LB 0 // 上下１段目 左 リミット
M_souta 25:b3a9f34b201d 27 #define LSW_RB 1 // 上下１段目 右 リミット
M_souta 25:b3a9f34b201d 28 #define LSW_UU 2 // 上下２段目 上 リミット
M_souta 25:b3a9f34b201d 29 #define LSW_UB 3 // 上下２段目 下 リミット
M_souta 25:b3a9f34b201d 30 #define TOW_1L 4 // タオル１ 左 リミット
M_souta 25:b3a9f34b201d 31 #define TOW_1R 5 // タオル１ 右 リミット
M_souta 25:b3a9f34b201d 32 #define TOW_2L 6 // タオル２ 左 リミット
M_souta 25:b3a9f34b201d 33 #define TOW_2R 7 // タオル２ 右 リミット
M_souta 25:b3a9f34b201d 34
M_souta 25:b3a9f34b201d 35 #define SETTING_SW 8 // セッティングタイム用
M_souta 25:b3a9f34b201d 36 #define QF_SW 9 // 予選・決勝 切り替え
M_souta 25:b3a9f34b201d 37 #define UNFOLD_SW 10 // タオルセット用の展開
M_souta 25:b3a9f34b201d 38 #define TOWEL1_SW 11 // タオル1 切り替え
M_souta 25:b3a9f34b201d 39 #define REDBLUE_SW 12 // 赤青 切り替え
M_souta 25:b3a9f34b201d 40 #define SHEETS_SW 13 // シーツ 切り替え
M_souta 25:b3a9f34b201d 41 #define TOWEL2_SW 14 // タオル2 切り替え
M_souta 25:b3a9f34b201d 42 #define START_SW 15 // スタートボタン
M_souta 21:e3b58d675c1c 43
M_souta 25:b3a9f34b201d 44 /* ---------- limitswitch ---------- */
M_souta 21:e3b58d675c1c 45
M_souta 25:b3a9f34b201d 46 /* ---------- linetrace ---------- */
M_souta 25:b3a9f34b201d 47
M_souta 25:b3a9f34b201d 48 #define LINE_FRONT 0
M_souta 25:b3a9f34b201d 49 #define LINE_BACK 2
M_souta 25:b3a9f34b201d 50 #define LINE_LEFT 3
M_souta 25:b3a9f34b201d 51 #define LINE_RIGHT 4
M_souta 25:b3a9f34b201d 52 #define LINE_TOW_1 5
M_souta 25:b3a9f34b201d 53 #define LINE_TOW_2 6
M_souta 25:b3a9f34b201d 54
M_souta 25:b3a9f34b201d 55 /* ---------- linetrace ---------- */
M_souta 25:b3a9f34b201d 56
M_souta 25:b3a9f34b201d 57 /* ---------- solenoid ---------- */
M_souta 25:b3a9f34b201d 58
M_souta 25:b3a9f34b201d 59 #define TOWEL0 solenoid0 // タオル横 展開
M_souta 25:b3a9f34b201d 60 #define TOWEL1 solenoid2 // タオル1
M_souta 25:b3a9f34b201d 61 #define TOWEL2 solenoid4 // タオル2
M_souta 25:b3a9f34b201d 62 #define CLOTHE solenoid6 // シーツの洗濯ばさみ
M_souta 25:b3a9f34b201d 63
M_souta 25:b3a9f34b201d 64 /* ---------- solenoid ---------- */
M_souta 21:e3b58d675c1c 65
M_souta 21:e3b58d675c1c 66
M_souta 21:e3b58d675c1c 67
M_souta 21:e3b58d675c1c 68
M_souta 21:e3b58d675c1c 69
M_souta 21:e3b58d675c1c 70
kishibekairohan 11:028a150943b5 71 typedef union
kishibekairohan 11:028a150943b5 72 {
kishibekairohan 11:028a150943b5 73 struct
kishibekairohan 11:028a150943b5 74 {
kishibekairohan 11:028a150943b5 75 unsigned int blue : 8;
kishibekairohan 11:028a150943b5 76 unsigned int green : 8;
kishibekairohan 11:028a150943b5 77 unsigned int red : 8;
kishibekairohan 11:028a150943b5 78 unsigned int : 8;
kishibekairohan 11:028a150943b5 79 };
kishibekairohan 11:028a150943b5 80 uint32_t code;
kishibekairohan 11:028a150943b5 81 } TapeLedData;
kishibekairohan 11:028a150943b5 82
kishibekairohan 11:028a150943b5 83 enum TapeLED_Mode
kishibekairohan 11:028a150943b5 84 {
kishibekairohan 11:028a150943b5 85 EMS,
kishibekairohan 11:028a150943b5 86 Normal,
kishibekairohan 11:028a150943b5 87 Launch,
kishibekairohan 11:028a150943b5 88 };
kishibekairohan 11:028a150943b5 89
kishibekairohan 11:028a150943b5 90 enum TapeLED_Color
kishibekairohan 11:028a150943b5 91 {
kishibekairohan 11:028a150943b5 92 Black = 0x000000,
kishibekairohan 11:028a150943b5 93 // Red = 0xff0000,
kishibekairohan 11:028a150943b5 94 Green = 0x008000,
kishibekairohan 11:028a150943b5 95 Blue = 0x0000ff,
kishibekairohan 11:028a150943b5 96 White = 0xffffff,
kishibekairohan 11:028a150943b5 97 // Orange = 0xffa500,
kishibekairohan 11:028a150943b5 98 // Yellow = 0xffff00,
kishibekairohan 11:028a150943b5 99 // Purple = 0x800080,
kishibekairohan 11:028a150943b5 100 // Cyan = 0x00ffff,
kishibekairohan 11:028a150943b5 101 // Magenta = 0xff00ff,
kishibekairohan 11:028a150943b5 102 // Lime = 0x00ff00
t_yamamoto 0:669ef71cba68 103
t_yamamoto 0:669ef71cba68 104
kishibekairohan 11:028a150943b5 105 Dimgray = 0x696969,
kishibekairohan 11:028a150943b5 106 Gray = 0x808080,
kishibekairohan 11:028a150943b5 107 DarkGray = 0xa9a9a9,
kishibekairohan 11:028a150943b5 108 Silver = 0xc0c0c0,
kishibekairohan 11:028a150943b5 109 LightGray = 0xd3d3d3,
kishibekairohan 11:028a150943b5 110 Gainsboro = 0xdcdcdc,
kishibekairohan 11:028a150943b5 111 Whitesmoke = 0xf5f5f5,
kishibekairohan 11:028a150943b5 112 Snow = 0xfffafa,
kishibekairohan 11:028a150943b5 113 Ghostwhite = 0xf8f8ff,
kishibekairohan 11:028a150943b5 114 Floralwhite = 0xfffaf0,
kishibekairohan 11:028a150943b5 115 Linen = 0xfaf0e6,
kishibekairohan 11:028a150943b5 116 Antiquewhite = 0xfaebd7,
kishibekairohan 11:028a150943b5 117 Papayawhip = 0xffefd5,
kishibekairohan 11:028a150943b5 118 Blanchedalmond = 0xffebcd,
kishibekairohan 11:028a150943b5 119 Bisque = 0xffe4c4,
kishibekairohan 11:028a150943b5 120 Moccasin = 0xffe4b5,
kishibekairohan 11:028a150943b5 121 Navajowhite = 0xffdead,
kishibekairohan 11:028a150943b5 122 Peachpuff = 0xffdab9,
kishibekairohan 11:028a150943b5 123 Mistyrose = 0xffe4e1,
kishibekairohan 11:028a150943b5 124 Lavenderblush = 0xfff0f5,
kishibekairohan 11:028a150943b5 125 Seashell = 0xfff5ee,
kishibekairohan 11:028a150943b5 126 Oldlace = 0xfdf5e6,
kishibekairohan 11:028a150943b5 127 Ivory = 0xfffff0,
kishibekairohan 11:028a150943b5 128 Honeydew = 0xf0fff0,
kishibekairohan 11:028a150943b5 129 Mintcream = 0xf5fffa,
kishibekairohan 11:028a150943b5 130 Azure = 0xf0ffff,
kishibekairohan 11:028a150943b5 131 Aliceblue = 0xf0f8ff,
kishibekairohan 11:028a150943b5 132 Lavender = 0xe6e6fa,
kishibekairohan 11:028a150943b5 133 Lightsteelblue = 0xb0c4de,
kishibekairohan 11:028a150943b5 134 Lightslategray = 0x778899,
kishibekairohan 11:028a150943b5 135 Slategray = 0x708090,
kishibekairohan 11:028a150943b5 136 Steelblue = 0x4682b4,
kishibekairohan 11:028a150943b5 137 Royalblue = 0x4169e1,
kishibekairohan 11:028a150943b5 138 Midnightblue = 0x191970,
kishibekairohan 11:028a150943b5 139 Navy = 0x000080,
kishibekairohan 11:028a150943b5 140 Darkblue = 0x00008b,
kishibekairohan 11:028a150943b5 141 Mediumblue = 0x0000cd,
kishibekairohan 11:028a150943b5 142 Dodgerblue = 0x1e90ff,
kishibekairohan 11:028a150943b5 143 Cornflowerblue = 0x6495ed,
kishibekairohan 11:028a150943b5 144 Deepskyblue = 0x00bfff,
kishibekairohan 11:028a150943b5 145 Lightskyblue = 0x87cefa,
kishibekairohan 11:028a150943b5 146 Skyblue = 0x87ceeb,
kishibekairohan 11:028a150943b5 147 Lightblue = 0xadd8e6,
kishibekairohan 11:028a150943b5 148 Powderblue = 0xb0e0e6,
kishibekairohan 11:028a150943b5 149 Paleturquoise = 0xafeeee,
kishibekairohan 11:028a150943b5 150 // Lightcyan = 0xe0ffff,
kishibekairohan 11:028a150943b5 151 Cyan = 0x00ffff,
kishibekairohan 11:028a150943b5 152 // Aqua = 0x00ffff,
kishibekairohan 11:028a150943b5 153 Turquoise = 0x40e0d0,
kishibekairohan 11:028a150943b5 154 Mediumturquoise = 0x48d1cc,
kishibekairohan 11:028a150943b5 155 Darkturquoise = 0x00ced1,
kishibekairohan 11:028a150943b5 156 Lightseagreen = 0x20b2aa,
kishibekairohan 11:028a150943b5 157 Cabetblue = 0x5f9ea0,
kishibekairohan 11:028a150943b5 158 Darkcyan = 0x008b8b,
kishibekairohan 11:028a150943b5 159 Teal = 0x008080,
kishibekairohan 11:028a150943b5 160 Darkslategray = 0x2f4f4f,
kishibekairohan 11:028a150943b5 161 Darkgreen = 0x006400,
kishibekairohan 11:028a150943b5 162 Forestgreen = 0x228b22,
kishibekairohan 11:028a150943b5 163 Seagreen = 0x2e8b57,
kishibekairohan 11:028a150943b5 164 Mediumseagreen = 0x3cb371,
kishibekairohan 11:028a150943b5 165 Mediumaquamarine = 0x66cdaa,
kishibekairohan 11:028a150943b5 166 Darkseagreen = 0x8fbc8f,
kishibekairohan 11:028a150943b5 167 Aquamarine = 0x7fffd4,
kishibekairohan 11:028a150943b5 168 Palegreen = 0x98fb98,
kishibekairohan 11:028a150943b5 169 Lightgreen = 0x90ee90,
kishibekairohan 11:028a150943b5 170 Springgreen = 0x00ff7f,
kishibekairohan 11:028a150943b5 171 Mediumspringgreen = 0x00fa9a,
kishibekairohan 11:028a150943b5 172 Lawngreen = 0x7cfc00,
kishibekairohan 11:028a150943b5 173 Chartreuse = 0x7fff00,
kishibekairohan 11:028a150943b5 174 Greenyellow = 0xadff2f,
kishibekairohan 11:028a150943b5 175 Lime = 0x00ff00,
kishibekairohan 11:028a150943b5 176 Limegreen = 0x32cd32,
kishibekairohan 11:028a150943b5 177 Yellowgreen = 0x9acd32,
kishibekairohan 11:028a150943b5 178 Darkolivegreen = 0x556b2f,
kishibekairohan 11:028a150943b5 179 Olivedrab = 0x6b8e23,
kishibekairohan 11:028a150943b5 180 Olive = 0x808000,
kishibekairohan 11:028a150943b5 181 Darkkhaki = 0xbdb76b,
kishibekairohan 11:028a150943b5 182 Palegoldenrod = 0xeee8aa,
kishibekairohan 11:028a150943b5 183 Cornsilk = 0xfff8dc,
kishibekairohan 11:028a150943b5 184 Beige = 0xf5f5dc,
kishibekairohan 11:028a150943b5 185 Lightyellow = 0xffffe0,
kishibekairohan 11:028a150943b5 186 Lightgoldenrodyellow = 0xfafad2,
kishibekairohan 11:028a150943b5 187 Lemonchiffon = 0xfffacd,
kishibekairohan 11:028a150943b5 188 Wheat = 0xf5deb3,
kishibekairohan 11:028a150943b5 189 Burlywood = 0xdeb887,
kishibekairohan 11:028a150943b5 190 Tan = 0xd2b48c,
kishibekairohan 11:028a150943b5 191 Khaki = 0xf0e68c,
kishibekairohan 11:028a150943b5 192 Yellow = 0xffff00,
kishibekairohan 11:028a150943b5 193 Gold = 0xffd700,
kishibekairohan 11:028a150943b5 194 // Orange = 0xffa500,
kishibekairohan 11:028a150943b5 195 Orange = 0xff2500,
kishibekairohan 11:028a150943b5 196 Sandybrown = 0xf4a460,
kishibekairohan 11:028a150943b5 197 Darkorange = 0xff8c00,
kishibekairohan 11:028a150943b5 198 Goldenrod = 0xdaa520,
kishibekairohan 11:028a150943b5 199 Peru = 0xcd853f,
kishibekairohan 11:028a150943b5 200 Darkgoldenrod = 0xb8860d,
kishibekairohan 11:028a150943b5 201 Chocolate = 0xd2691e,
kishibekairohan 11:028a150943b5 202 Sienna = 0xa0522d,
kishibekairohan 11:028a150943b5 203 Saddlebrown = 0x8b4513,
kishibekairohan 11:028a150943b5 204 Marron = 0x800000,
kishibekairohan 11:028a150943b5 205 Darkred = 0x8b0000,
kishibekairohan 11:028a150943b5 206 Brown = 0xa52a2a,
kishibekairohan 11:028a150943b5 207 Firebrick = 0xb22222,
kishibekairohan 11:028a150943b5 208 Indeanred = 0xcd5c5c,
kishibekairohan 11:028a150943b5 209 Rosybrown = 0xbc8f8f,
kishibekairohan 11:028a150943b5 210 Darksalmon = 0xe9967a,
kishibekairohan 11:028a150943b5 211 Lightcoral = 0xf08080,
kishibekairohan 11:028a150943b5 212 Salmon = 0xfa8072,
kishibekairohan 11:028a150943b5 213 Lightsalmon = 0xffa07a,
kishibekairohan 11:028a150943b5 214 Coral = 0xff7f50,
kishibekairohan 11:028a150943b5 215 Tomato = 0xff6347,
kishibekairohan 11:028a150943b5 216 Orangered = 0xff4500,
kishibekairohan 11:028a150943b5 217 Red = 0xff0000,
kishibekairohan 11:028a150943b5 218 Crimson = 0xdc143c,
kishibekairohan 11:028a150943b5 219 Mediumvioletred = 0xc71585,
kishibekairohan 11:028a150943b5 220 Deeppink = 0xff1493,
kishibekairohan 11:028a150943b5 221 Hotpink = 0xff69b4,
kishibekairohan 11:028a150943b5 222 Palevioletred = 0xdb7093,
kishibekairohan 11:028a150943b5 223 Pink = 0xffc0cb,
kishibekairohan 11:028a150943b5 224 Lightpink = 0xffb6c1,
kishibekairohan 11:028a150943b5 225 Thistle = 0xd8bfd8,
kishibekairohan 11:028a150943b5 226 Magenta = 0xff00ff,
kishibekairohan 11:028a150943b5 227 // Fuchsia = 0xff00ff,
kishibekairohan 11:028a150943b5 228 Violet = 0xee82ee,
kishibekairohan 11:028a150943b5 229 Plum = 0xdda0dd,
kishibekairohan 11:028a150943b5 230 Orchid = 0xda70d6,
kishibekairohan 11:028a150943b5 231 Mediumorchid = 0xba55d3,
kishibekairohan 11:028a150943b5 232 Darkorchid = 0x9932cc,
kishibekairohan 11:028a150943b5 233 Darkviolet = 0x9400d3,
kishibekairohan 11:028a150943b5 234 Darkmagenta = 0x8b008b,
kishibekairohan 11:028a150943b5 235 Purple = 0x800080,
kishibekairohan 11:028a150943b5 236 Indigo = 0x4b0082,
kishibekairohan 11:028a150943b5 237 Darkslateblue = 0x483d8b,
kishibekairohan 11:028a150943b5 238 Blueviolet = 0x8a2be2,
kishibekairohan 11:028a150943b5 239 Mediumpurple = 0x9370db,
kishibekairohan 11:028a150943b5 240 Slateblue = 0x6a5acd,
kishibekairohan 11:028a150943b5 241 Mediumslateblue = 0x7b68ee
kishibekairohan 11:028a150943b5 242 };
kishibekairohan 11:028a150943b5 243
kishibekairohan 11:028a150943b5 244 extern TapeLedData sendLedData;
kishibekairohan 12:c09b3e08a316 245
t_yamamoto 0:669ef71cba68 246 #endif