Diff: main.h

Revision:

0:e6bb0bcba274

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h	Tue Oct 01 07:44:16 2013 +0000
@@ -0,0 +1,115 @@
+///////////////////////////////////////OGATA//////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////
+//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 2000
+
+
+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);
+Serial pc(USBTX, USBRX);    // tx, rx 
+DigitalOut led[4] = {LED1,LED2,LED3,LED4};
+DigitalOut air[2] = {p7,p8};
+
+
+Timer color_t[3];
+Timer jump_t;
+Ticker interrupt0;
+
+
+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 ;
+
+
+
+
+
+
+
+///////////////////////////////////////YUSUKE/////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////
+#define RATE 0.1
+#define MINIMUM -1440
+#define MAXIMUM 1440 
+
+#define PID_CYCLE   0.03    //s
+#define COMPASS_CYCLE   0.1
+
+#define P_GAIN  1.2   //0.78   //zensin 1.5
+#define I_GAIN  1000000000.0   
+#define D_GAIN  0.0   //0.009
+
+#define PID_BIAS    0.0
+#define REFERENCE   0
+
+#define OUT_LIMIT 1000
+
+extern double ultrasonicValue[4];
+extern uint16_t ultrasonicVal[4];
+extern void Ultrasonic(void);
+Timer timer2;
+Timer ping_t;
+
+HMC6352 compass(p28/*sda*/, p27/*scl*/);
+Ticker compassUpdata;
+
+PID pid(P_GAIN,I_GAIN,D_GAIN, RATE); 
+PID controller(1.0, 0.0, 0.0, RATE);
+Ticker pidUpdata;
+
+Servo servoR(p25);
+Servo servoL(p26);
+
+DigitalIn  swR(p29);
+DigitalIn  swL(p30);
+
+//DigitalOut led1(LED1); 
+//DigitalOut led2(LED2); 
+
+QEI wheel1 (p24/*A*/, p23/*B*/, NC, 624);
+QEI wheel2 (p22, p21, NC, 624);
+
+#define Convert_dekaruto(a) ((a+1000.0)/2.0/1000.0)
+#define CYCLE 705.0
+
+enum{
+    WAIT,
+    STRAIGHT,
+    TURN,
+    COMP
+};
+
+
+double vl = 0;
+double vc = 0;
+double vs = 1;
+int clwise = 0;
+int anclwise = 0;
+
+int enkoda1;
+int enkoda2;
+
+int process = 0;
+int vc_count = 0;
+int mode_comp = 0;
+
+int inputPID = 0;
\ No newline at end of file