main.h

00001 ///////////////////////////////////////OGATA//////////////////////////////////////////
00002 //////////////////////////////////////////////////////////////////////////////////////
00003 //センサの数
00004 #define COLOR_NUM 6
00005 
00006 //閾値
00007 #define R_THR 65
00008 #define G_THR 65
00009 #define B_THR 65
00010 #define PINR_THR 2000
00011 
00012 
00013 enum{
00014     GO,
00015     STOP
00016 };
00017 
00018 //TextLCD lcd(p30, p29, p28, p27, p26, p25, TextLCD::LCD20x4); // rs, e, d4-d7
00019 ColorSensor color0(p20, p17, p18, p19, 10);
00020 ColorSensor color1(p16, p13, p14, p15, 10);
00021 ColorSensor color2(p12, p9, p10, p11, 10);
00022 ColorSensor color3(p8, p5, p6, p7, 10);
00023 
00024 //ColorSensor color4(p24, p21, p22, p23, 10);
00025 //ColorSensor color5(p30, p25, p26, p29, 10);
00026 ColorSensor color4(p26, p23, p24, p25, 10);
00027 ColorSensor color5(p30, p27, p28, p29, 10);
00028 
00029 Serial pc(USBTX, USBRX);    // tx, rx 
00030 DigitalOut led[4] = {LED1,LED2,LED3,LED4};
00031 //DigitalOut air[2] = {p7,p8};
00032 
00033 
00034 Servo myservo1(p21);
00035 DigitalIn sw1(p22);
00036 
00037 
00038 
00039 Timer color_t[COLOR_NUM];
00040 Timer jump_t;
00041 Ticker interrupt0;
00042 
00043 
00044 void rivisedate ();
00045 void colorUpdate (uint8_t mode);
00046 uint16_t moving_ave(uint8_t num, uint16_t data);
00047 uint8_t robotFront();
00048 uint8_t jumpInstruction(uint8_t front);
00049 uint8_t robotoStop();
00050 
00051 
00052 double proportional = 0;
00053 uint16_t com_val = 0;
00054 unsigned redp[COLOR_NUM], greenp[COLOR_NUM], bluep[COLOR_NUM];
00055 double rir,rib ;
00056 
00057 
00058 
00059 enum{
00060     WAIT,
00061     STRAIGHT,
00062     TURN,
00063     COMP
00064 };