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?
User | Revision | Line number | New 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}; |