Diff: main.h

Revision:

0:fa26bf0aad5e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h	Tue Oct 22 07:19:27 2013 +0000
@@ -0,0 +1,64 @@
+///////////////////////////////////////OGATA//////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////
+//センサの数
+#define COLOR_NUM 6
+
+//閾値
+#define R_THR 65
+#define G_THR 65
+#define B_THR 65
+#define PINR_THR 2000
+
+
+enum{
+    GO,
+    STOP
+};
+
+//TextLCD lcd(p30, p29, p28, p27, p26, p25, TextLCD::LCD20x4); // rs, e, d4-d7
+ColorSensor color0(p20, p17, p18, p19, 10);
+ColorSensor color1(p16, p13, p14, p15, 10);
+ColorSensor color2(p12, p9, p10, p11, 10);
+ColorSensor color3(p8, p5, p6, p7, 10);
+
+ColorSensor color4(p24, p21, p22, p23, 10);
+ColorSensor color5(p30, p25, p26, p29, 10);
+//ColorSensor color4(p26, p23, p24, p25, 10);
+//ColorSensor color5(p30, p27, p28, p29, 10);
+
+Serial pc(USBTX, USBRX);    // tx, rx 
+DigitalOut led[4] = {LED1,LED2,LED3,LED4};
+//DigitalOut air[2] = {p7,p8};
+
+
+//Servo myservo1(p21);
+//DigitalIn sw1(p22);
+
+
+
+Timer color_t[COLOR_NUM];
+Timer jump_t;
+Ticker interrupt0;
+
+
+void rivisedate ();
+void colorUpdate (uint8_t mode);
+uint16_t moving_ave(uint8_t num, uint16_t data);
+uint8_t robotFront();
+uint8_t jumpInstruction(uint8_t front);
+void jumpAction(uint8_t threshold);
+
+
+double proportional = 0;
+uint16_t com_val = 0;
+unsigned redp[COLOR_NUM], greenp[COLOR_NUM], bluep[COLOR_NUM];
+double rir,rib ;
+int cAve[COLOR_NUM] = {0}, roboF, jumI;
+
+
+enum{
+    WAIT,
+    STRAIGHT,
+    TURN,
+    COMP
+};
\ No newline at end of file