Ryo Ogata / Mbed 2 deprecated jumpROBO6_2_1

kairyou sita

Fork of jumpROBO6_2 by Ryo Ogata

main.h@1:b81c22891370, 2013-10-20 (annotated)

Committer:
OGA
Date:
Sun Oct 20 01:39:55 2013 +0000
Revision:
1:b81c22891370
Parent:
0:4c7c138f3891 
10/20;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
OGA 0:4c7c138f3891 1 ///////////////////////////////////////OGATA//////////////////////////////////////////
OGA 0:4c7c138f3891 2 //////////////////////////////////////////////////////////////////////////////////////
OGA 0:4c7c138f3891 3 //センサの数
OGA 0:4c7c138f3891 4 #define COLOR_NUM 6
OGA 0:4c7c138f3891 5
OGA 0:4c7c138f3891 6 //閾値
OGA 0:4c7c138f3891 7 #define R_THR 65
OGA 0:4c7c138f3891 8 #define G_THR 65
OGA 0:4c7c138f3891 9 #define B_THR 65
OGA 0:4c7c138f3891 10 #define PINR_THR 2000
OGA 0:4c7c138f3891 11
OGA 0:4c7c138f3891 12
OGA 0:4c7c138f3891 13 enum{
OGA 0:4c7c138f3891 14 GO,
OGA 0:4c7c138f3891 15 STOP
OGA 0:4c7c138f3891 16 };
OGA 0:4c7c138f3891 17
OGA 0:4c7c138f3891 18 //TextLCD lcd(p30, p29, p28, p27, p26, p25, TextLCD::LCD20x4); // rs, e, d4-d7
OGA 0:4c7c138f3891 19 ColorSensor color0(p20, p17, p18, p19, 10);
OGA 0:4c7c138f3891 20 ColorSensor color1(p16, p13, p14, p15, 10);
OGA 0:4c7c138f3891 21 ColorSensor color2(p12, p9, p10, p11, 10);
OGA 0:4c7c138f3891 22 ColorSensor color3(p8, p5, p6, p7, 10);
OGA 0:4c7c138f3891 23
OGA 1:b81c22891370 24 //ColorSensor color4(p24, p21, p22, p23, 10);
OGA 1:b81c22891370 25 //ColorSensor color5(p30, p25, p26, p29, 10);
OGA 1:b81c22891370 26 ColorSensor color4(p26, p23, p24, p25, 10);
OGA 1:b81c22891370 27 ColorSensor color5(p30, p27, p28, p29, 10);
OGA 0:4c7c138f3891 28
OGA 0:4c7c138f3891 29 Serial pc(USBTX, USBRX); // tx, rx
OGA 0:4c7c138f3891 30 DigitalOut led[4] = {LED1,LED2,LED3,LED4};
OGA 0:4c7c138f3891 31 //DigitalOut air[2] = {p7,p8};
OGA 0:4c7c138f3891 32
OGA 0:4c7c138f3891 33
OGA 1:b81c22891370 34 Servo myservo1(p21);
OGA 1:b81c22891370 35 DigitalIn sw1(p22);
OGA 0:4c7c138f3891 36
OGA 0:4c7c138f3891 37
OGA 0:4c7c138f3891 38
OGA 0:4c7c138f3891 39 Timer color_t[COLOR_NUM];
OGA 0:4c7c138f3891 40 Timer jump_t;
OGA 0:4c7c138f3891 41 Ticker interrupt0;
OGA 0:4c7c138f3891 42
OGA 0:4c7c138f3891 43
OGA 0:4c7c138f3891 44 void rivisedate ();
OGA 0:4c7c138f3891 45 void colorUpdate (uint8_t mode);
OGA 0:4c7c138f3891 46 uint16_t moving_ave(uint8_t num, uint16_t data);
OGA 0:4c7c138f3891 47 uint8_t robotFront();
OGA 0:4c7c138f3891 48 uint8_t jumpInstruction(uint8_t front);
OGA 0:4c7c138f3891 49 uint8_t robotoStop();
OGA 0:4c7c138f3891 50
OGA 0:4c7c138f3891 51
OGA 0:4c7c138f3891 52 double proportional = 0;
OGA 0:4c7c138f3891 53 uint16_t com_val = 0;
OGA 0:4c7c138f3891 54 unsigned redp[COLOR_NUM], greenp[COLOR_NUM], bluep[COLOR_NUM];
OGA 0:4c7c138f3891 55 double rir,rib ;
OGA 0:4c7c138f3891 56
OGA 0:4c7c138f3891 57
OGA 0:4c7c138f3891 58
OGA 0:4c7c138f3891 59 enum{
OGA 0:4c7c138f3891 60 WAIT,
OGA 0:4c7c138f3891 61 STRAIGHT,
OGA 0:4c7c138f3891 62 TURN,
OGA 0:4c7c138f3891 63 COMP
OGA 0:4c7c138f3891 64 };