hirromu takaki / Mbed OS Bsyudo

ＯＳ更新しない状態ならＣＬＩできるかなと思った

Dependencies:   PID R1370 mechanism ikarashiMDC_2byte_ver states omni_wheel PS3

libs/pin_config.h@0:436bb5bf2bd9, 2019-09-10 (annotated)

Committer:
THtakahiro702286
Date:
Tue Sep 10 01:50:06 2019 +0000
Revision:
0:436bb5bf2bd9
Child:
1:efb7718fd956
old os

Who changed what in which revision?

UserRevisionLine numberNew contents of line
THtakahiro702286 0:436bb5bf2bd9 1 #ifndef PIN_CONFIG_H
THtakahiro702286 0:436bb5bf2bd9 2 #define PIN_CONFIG_H
THtakahiro702286 0:436bb5bf2bd9 3
THtakahiro702286 0:436bb5bf2bd9 4 #include "mbed.h"
THtakahiro702286 0:436bb5bf2bd9 5
THtakahiro702286 0:436bb5bf2bd9 6 #define PI 3.1415926535
THtakahiro702286 0:436bb5bf2bd9 7
THtakahiro702286 0:436bb5bf2bd9 8 /*MDC*/
THtakahiro702286 0:436bb5bf2bd9 9 #define MDTX PC_6
THtakahiro702286 0:436bb5bf2bd9 10 #define MDRX PC_7
THtakahiro702286 0:436bb5bf2bd9 11 #define MDBAUD 115200
THtakahiro702286 0:436bb5bf2bd9 12 #define MDcontrol D15
THtakahiro702286 0:436bb5bf2bd9 13
THtakahiro702286 0:436bb5bf2bd9 14 /*コントローラ*/
THtakahiro702286 0:436bb5bf2bd9 15 #define padTX PC_12
THtakahiro702286 0:436bb5bf2bd9 16 #define padRX PD_2
THtakahiro702286 0:436bb5bf2bd9 17
THtakahiro702286 0:436bb5bf2bd9 18 /*R1370*/
THtakahiro702286 0:436bb5bf2bd9 19 #define GYROTX PB_6
THtakahiro702286 0:436bb5bf2bd9 20 #define GYRORX PA_10
THtakahiro702286 0:436bb5bf2bd9 21
THtakahiro702286 0:436bb5bf2bd9 22 /*非常停止*/
THtakahiro702286 0:436bb5bf2bd9 23 #define STOP PA_7
THtakahiro702286 0:436bb5bf2bd9 24
THtakahiro702286 0:436bb5bf2bd9 25 /*PID*/
THtakahiro702286 0:436bb5bf2bd9 26 const float KP = 10; //速さ
THtakahiro702286 0:436bb5bf2bd9 27 const float KI = 5.0; //揺れすぎたら大きく、動かな過ぎたら小さく
THtakahiro702286 0:436bb5bf2bd9 28 const float KD = 0.0000005; //ずらしたときに戻る力　がでかすぎたら小さく、小さすぎたら大きく
THtakahiro702286 0:436bb5bf2bd9 29 const float minLimit = -1; //逆回転速度の最大値
THtakahiro702286 0:436bb5bf2bd9 30 const float maxLimit = 1; //回転速度の最大値
THtakahiro702286 0:436bb5bf2bd9 31
THtakahiro702286 0:436bb5bf2bd9 32 /*QEI 装填*/
THtakahiro702286 0:436bb5bf2bd9 33 #define encoder1 PC_8
THtakahiro702286 0:436bb5bf2bd9 34 #define encoder2 PC_5
THtakahiro702286 0:436bb5bf2bd9 35
THtakahiro702286 0:436bb5bf2bd9 36 const int PPR = 100;
THtakahiro702286 0:436bb5bf2bd9 37 const int spinLimit = 500;
THtakahiro702286 0:436bb5bf2bd9 38
THtakahiro702286 0:436bb5bf2bd9 39 /*昇降*/
THtakahiro702286 0:436bb5bf2bd9 40 const float riseSpeed = 0.2;
THtakahiro702286 0:436bb5bf2bd9 41 const float follSpeed = -0.2;
THtakahiro702286 0:436bb5bf2bd9 42
THtakahiro702286 0:436bb5bf2bd9 43 /*機構回転速度*/
THtakahiro702286 0:436bb5bf2bd9 44 const float collectSpeed = 0.5;
THtakahiro702286 0:436bb5bf2bd9 45 const float hookSpeed = 0.2;
THtakahiro702286 0:436bb5bf2bd9 46 const float loadSpeed = 0.2;
THtakahiro702286 0:436bb5bf2bd9 47 const float liftSpeed = 0.5;
THtakahiro702286 0:436bb5bf2bd9 48
THtakahiro702286 0:436bb5bf2bd9 49 /*PC出力*/
THtakahiro702286 0:436bb5bf2bd9 50 #define PCTX USBTX
THtakahiro702286 0:436bb5bf2bd9 51 #define PCRX USBRX
THtakahiro702286 0:436bb5bf2bd9 52 #define BTTX PC_10
THtakahiro702286 0:436bb5bf2bd9 53 #define BTRX PC_11
THtakahiro702286 0:436bb5bf2bd9 54 const int PCBAUD = 115200;
THtakahiro702286 0:436bb5bf2bd9 55 const float WAITTIME = 0.05;
THtakahiro702286 0:436bb5bf2bd9 56
THtakahiro702286 0:436bb5bf2bd9 57 /*Arduino出力*/
THtakahiro702286 0:436bb5bf2bd9 58 #define LEDTX PA_0
THtakahiro702286 0:436bb5bf2bd9 59 #define LEDRX PA_1
THtakahiro702286 0:436bb5bf2bd9 60 const int LEDBAUD = 9600;
THtakahiro702286 0:436bb5bf2bd9 61 const int HEADER = 0xff;
THtakahiro702286 0:436bb5bf2bd9 62
THtakahiro702286 0:436bb5bf2bd9 63 #endif