Diff: main.h

Revision:

0:feefc7aaa114

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h	Mon Sep 23 06:35:28 2013 +0000
@@ -0,0 +1,63 @@
+#include "mbed.h"
+
+
+extern double ultrasonicValue[4];
+extern uint16_t ultrasonicVal[4];
+extern void Ultrasonic(void);
+
+
+
+//センサの数
+#define COLOR_NUM 3
+
+//閾値
+#define R_THR 65
+#define G_THR 65
+#define B_THR 65
+#define PINR_THR 1000
+
+#define PID_CYCLE   0.06    //s
+//#define PID_CYCLE   0.1    //s
+#define Convert_dekaruto(a) ((a+100.0)/2.0/100.0)
+#define STRAIGHT 0.6;
+#define SPIN 0.4;
+
+enum{
+    GO,
+    STOP
+};
+
+TextLCD lcd(p30, p29, p28, p27, p26, p25, TextLCD::LCD20x4); // rs, e, d4-d7
+ColorSensor color0(p20, p17, p18, p19, 10);
+ColorSensor color1(p16, p13, p14, p15, 10);
+ColorSensor color2(p12, p9, p10, p11, 10);
+Servo servoR(p23);
+Servo servoL(p24);
+//HMC6352 compass(p28, p27);
+Serial pc(USBTX, USBRX);    // tx, rx 
+DigitalOut led[4] = {LED1,LED2,LED3,LED4};
+DigitalOut air[2] = {p21,p22};
+
+//DigitalIn sw(p7);
+
+Timer timer1;
+Timer timer2;
+Timer color_t[3];
+Timer ping_t;
+Timer jump_t;
+Ticker interrupt0;
+Ticker pidUpdata;
+
+
+void rivisedate ();
+void colorUpdate ();
+uint8_t ptm(unsigned sum);
+
+
+double proportional = 0;
+uint16_t com_val = 0;
+unsigned redp[COLOR_NUM], greenp[COLOR_NUM], bluep[COLOR_NUM];
+double rir,rib ;
+
+
+double inputPID = 180.0;