Ryo Ogata / Mbed 2 deprecated jumpROBO5_2

gattai

Dependencies:   ColorSensor1 mbed

main.h@0:3a98a198e6d1, 2013-10-05 (annotated)

Committer:
OGA
Date:
Sat Oct 05 02:08:45 2013 +0000
Revision:
0:3a98a198e6d1
tougou

Who changed what in which revision?

UserRevisionLine numberNew contents of line
OGA 0:3a98a198e6d1 1 #include "mbed.h"
OGA 0:3a98a198e6d1 2
OGA 0:3a98a198e6d1 3
OGA 0:3a98a198e6d1 4
OGA 0:3a98a198e6d1 5 //センサの数
OGA 0:3a98a198e6d1 6 #define COLOR_NUM 6
OGA 0:3a98a198e6d1 7
OGA 0:3a98a198e6d1 8 //閾値
OGA 0:3a98a198e6d1 9 #define R_THR 65
OGA 0:3a98a198e6d1 10 #define G_THR 65
OGA 0:3a98a198e6d1 11 #define B_THR 65
OGA 0:3a98a198e6d1 12
OGA 0:3a98a198e6d1 13
OGA 0:3a98a198e6d1 14 enum{
OGA 0:3a98a198e6d1 15 GO,
OGA 0:3a98a198e6d1 16 STOP
OGA 0:3a98a198e6d1 17 };
OGA 0:3a98a198e6d1 18
OGA 0:3a98a198e6d1 19
OGA 0:3a98a198e6d1 20 ColorSensor color0(p20, p17, p18, p19, 10);//Dout, Range, CK, Gate, time
OGA 0:3a98a198e6d1 21 ColorSensor color1(p16, p13, p14, p15, 10);
OGA 0:3a98a198e6d1 22 ColorSensor color2(p12, p9, p10, p11, 10);
OGA 0:3a98a198e6d1 23 ColorSensor color3(p8, p5, p6, p7, 10);
OGA 0:3a98a198e6d1 24 ColorSensor color4(p24, p21, p22, p23, 10);
OGA 0:3a98a198e6d1 25 ColorSensor color5(p30, p25, p26, p29, 10);
OGA 0:3a98a198e6d1 26 Serial pc(USBTX, USBRX); // tx, rx
OGA 0:3a98a198e6d1 27 DigitalOut led[4] = {LED1,LED2,LED3,LED4};
OGA 0:3a98a198e6d1 28
OGA 0:3a98a198e6d1 29 //DigitalIn sw(p27);
OGA 0:3a98a198e6d1 30
OGA 0:3a98a198e6d1 31 Timer timer1;
OGA 0:3a98a198e6d1 32 Timer timer2;
OGA 0:3a98a198e6d1 33 Timer color_t[3];
OGA 0:3a98a198e6d1 34 Timer ping_t;
OGA 0:3a98a198e6d1 35 Timer jump_t;
OGA 0:3a98a198e6d1 36 Ticker interrupt0;
OGA 0:3a98a198e6d1 37 Ticker pidUpdata;
OGA 0:3a98a198e6d1 38
OGA 0:3a98a198e6d1 39
OGA 0:3a98a198e6d1 40 void rivisedate ();
OGA 0:3a98a198e6d1 41 void colorUpdate (uint8_t mode);
OGA 0:3a98a198e6d1 42 uint8_t ptm(unsigned sum);
OGA 0:3a98a198e6d1 43
OGA 0:3a98a198e6d1 44
OGA 0:3a98a198e6d1 45 double proportional = 0;
OGA 0:3a98a198e6d1 46 uint16_t com_val = 0;
OGA 0:3a98a198e6d1 47 unsigned redp[COLOR_NUM], greenp[COLOR_NUM], bluep[COLOR_NUM];
OGA 0:3a98a198e6d1 48 double rir,rib ;
OGA 0:3a98a198e6d1 49
OGA 0:3a98a198e6d1 50
OGA 0:3a98a198e6d1 51 double inputPID = 180.0;
OGA 0:3a98a198e6d1 52
OGA 0:3a98a198e6d1 53
OGA 0:3a98a198e6d1 54 uint8_t step = 1;
OGA 0:3a98a198e6d1 55 uint16_t sonic[6] = {0};