Ryo Ogata / Mbed 2 deprecated jumpROBO4_3

jump!

Dependencies:   ColorSensor1 HMC6352 Servo TextLCD mbed

main.h@0:feefc7aaa114, 2013-09-23 (annotated)

Committer:
OGA
Date:
Mon Sep 23 06:35:28 2013 +0000
Revision:
0:feefc7aaa114
var.4.3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
OGA 0:feefc7aaa114 1 #include "mbed.h"
OGA 0:feefc7aaa114 2
OGA 0:feefc7aaa114 3
OGA 0:feefc7aaa114 4 extern double ultrasonicValue[4];
OGA 0:feefc7aaa114 5 extern uint16_t ultrasonicVal[4];
OGA 0:feefc7aaa114 6 extern void Ultrasonic(void);
OGA 0:feefc7aaa114 7
OGA 0:feefc7aaa114 8
OGA 0:feefc7aaa114 9
OGA 0:feefc7aaa114 10 //センサの数
OGA 0:feefc7aaa114 11 #define COLOR_NUM 3
OGA 0:feefc7aaa114 12
OGA 0:feefc7aaa114 13 //閾値
OGA 0:feefc7aaa114 14 #define R_THR 65
OGA 0:feefc7aaa114 15 #define G_THR 65
OGA 0:feefc7aaa114 16 #define B_THR 65
OGA 0:feefc7aaa114 17 #define PINR_THR 1000
OGA 0:feefc7aaa114 18
OGA 0:feefc7aaa114 19 #define PID_CYCLE 0.06 //s
OGA 0:feefc7aaa114 20 //#define PID_CYCLE 0.1 //s
OGA 0:feefc7aaa114 21 #define Convert_dekaruto(a) ((a+100.0)/2.0/100.0)
OGA 0:feefc7aaa114 22 #define STRAIGHT 0.6;
OGA 0:feefc7aaa114 23 #define SPIN 0.4;
OGA 0:feefc7aaa114 24
OGA 0:feefc7aaa114 25 enum{
OGA 0:feefc7aaa114 26 GO,
OGA 0:feefc7aaa114 27 STOP
OGA 0:feefc7aaa114 28 };
OGA 0:feefc7aaa114 29
OGA 0:feefc7aaa114 30 TextLCD lcd(p30, p29, p28, p27, p26, p25, TextLCD::LCD20x4); // rs, e, d4-d7
OGA 0:feefc7aaa114 31 ColorSensor color0(p20, p17, p18, p19, 10);
OGA 0:feefc7aaa114 32 ColorSensor color1(p16, p13, p14, p15, 10);
OGA 0:feefc7aaa114 33 ColorSensor color2(p12, p9, p10, p11, 10);
OGA 0:feefc7aaa114 34 Servo servoR(p23);
OGA 0:feefc7aaa114 35 Servo servoL(p24);
OGA 0:feefc7aaa114 36 //HMC6352 compass(p28, p27);
OGA 0:feefc7aaa114 37 Serial pc(USBTX, USBRX); // tx, rx
OGA 0:feefc7aaa114 38 DigitalOut led[4] = {LED1,LED2,LED3,LED4};
OGA 0:feefc7aaa114 39 DigitalOut air[2] = {p21,p22};
OGA 0:feefc7aaa114 40
OGA 0:feefc7aaa114 41 //DigitalIn sw(p7);
OGA 0:feefc7aaa114 42
OGA 0:feefc7aaa114 43 Timer timer1;
OGA 0:feefc7aaa114 44 Timer timer2;
OGA 0:feefc7aaa114 45 Timer color_t[3];
OGA 0:feefc7aaa114 46 Timer ping_t;
OGA 0:feefc7aaa114 47 Timer jump_t;
OGA 0:feefc7aaa114 48 Ticker interrupt0;
OGA 0:feefc7aaa114 49 Ticker pidUpdata;
OGA 0:feefc7aaa114 50
OGA 0:feefc7aaa114 51
OGA 0:feefc7aaa114 52 void rivisedate ();
OGA 0:feefc7aaa114 53 void colorUpdate ();
OGA 0:feefc7aaa114 54 uint8_t ptm(unsigned sum);
OGA 0:feefc7aaa114 55
OGA 0:feefc7aaa114 56
OGA 0:feefc7aaa114 57 double proportional = 0;
OGA 0:feefc7aaa114 58 uint16_t com_val = 0;
OGA 0:feefc7aaa114 59 unsigned redp[COLOR_NUM], greenp[COLOR_NUM], bluep[COLOR_NUM];
OGA 0:feefc7aaa114 60 double rir,rib ;
OGA 0:feefc7aaa114 61
OGA 0:feefc7aaa114 62
OGA 0:feefc7aaa114 63 double inputPID = 180.0;