ooooooooga
Dependencies: ColorSensor1 HMC6352 PID QEI Servo TextLCD mbed
main.h
- Committer:
- OGA
- Date:
- 2013-10-01
- Revision:
- 0:e6bb0bcba274
File content as of revision 0:e6bb0bcba274:
///////////////////////////////////////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;