main.h

00001 #include "mbed.h"
00002 
00003 
00004 
00005 //センサの数
00006 #define COLOR_NUM 6
00007 
00008 //閾値
00009 #define R_THR 65
00010 #define G_THR 65
00011 #define B_THR 65
00012 
00013 
00014 enum{
00015     GO,
00016     STOP
00017 };
00018 
00019 
00020 ColorSensor color0(p20, p17, p18, p19, 10);//Dout, Range, CK, Gate, time
00021 ColorSensor color1(p16, p13, p14, p15, 10);
00022 ColorSensor color2(p12, p9, p10, p11, 10);
00023 ColorSensor color3(p8, p5, p6, p7, 10);
00024 ColorSensor color4(p24, p21, p22, p23, 10);
00025 ColorSensor color5(p30, p25, p26, p29, 10);
00026 Serial pc(USBTX, USBRX);    // tx, rx 
00027 DigitalOut led[4] = {LED1,LED2,LED3,LED4};
00028 
00029 //DigitalIn sw(p27);
00030 
00031 Timer timer1;
00032 Timer timer2;
00033 Timer color_t[3];
00034 Timer ping_t;
00035 Timer jump_t;
00036 Ticker interrupt0;
00037 Ticker pidUpdata;
00038 
00039 
00040 void rivisedate ();
00041 void colorUpdate (uint8_t mode);
00042 uint8_t ptm(unsigned sum);
00043 
00044 
00045 double proportional = 0;
00046 uint16_t com_val = 0;
00047 unsigned redp[COLOR_NUM], greenp[COLOR_NUM], bluep[COLOR_NUM];
00048 double rir,rib ;
00049 
00050 
00051 double inputPID = 180.0;
00052 
00053 
00054 uint8_t step = 1;
00055 uint16_t sonic[6] = {0};