File content as of revision 0:feefc7aaa114:

#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;