main.h

00001 #include "mbed.h"
00002 
00003 
00004 extern double ultrasonicValue[4];
00005 extern uint16_t ultrasonicVal[4];
00006 extern void Ultrasonic(void);
00007 
00008 
00009 
00010 //センサの数
00011 #define COLOR_NUM 3
00012 
00013 //閾値
00014 #define R_THR 65
00015 #define G_THR 65
00016 #define B_THR 65
00017 #define PINR_THR 1000
00018 
00019 #define PID_CYCLE   0.06    //s
00020 //#define PID_CYCLE   0.1    //s
00021 #define Convert_dekaruto(a) ((a+100.0)/2.0/100.0)
00022 #define STRAIGHT 0.6;
00023 #define SPIN 0.4;
00024 
00025 enum{
00026     GO,
00027     STOP
00028 };
00029 
00030 TextLCD lcd(p30, p29, p28, p27, p26, p25, TextLCD::LCD20x4); // rs, e, d4-d7
00031 ColorSensor color0(p20, p17, p18, p19, 10);
00032 ColorSensor color1(p16, p13, p14, p15, 10);
00033 ColorSensor color2(p12, p9, p10, p11, 10);
00034 Servo servoR(p23);
00035 Servo servoL(p24);
00036 //HMC6352 compass(p28, p27);
00037 Serial pc(USBTX, USBRX);    // tx, rx 
00038 DigitalOut led[4] = {LED1,LED2,LED3,LED4};
00039 DigitalOut air[2] = {p21,p22};
00040 
00041 //DigitalIn sw(p7);
00042 
00043 Timer timer1;
00044 Timer timer2;
00045 Timer color_t[3];
00046 Timer ping_t;
00047 Timer jump_t;
00048 Ticker interrupt0;
00049 Ticker pidUpdata;
00050 
00051 
00052 void rivisedate ();
00053 void colorUpdate ();
00054 uint8_t ptm(unsigned sum);
00055 
00056 
00057 double proportional = 0;
00058 uint16_t com_val = 0;
00059 unsigned redp[COLOR_NUM], greenp[COLOR_NUM], bluep[COLOR_NUM];
00060 double rir,rib ;
00061 
00062 
00063 double inputPID = 180.0;