Takushima Yukimasa / Mbed 2 deprecated R19_ManuTakukAHWGeo

a

Dependencies:   mbed

main.h@19:340fc4370258, 2019-10-09 (annotated)

Committer:
Tom0108
Date:
Wed Oct 09 09:00:01 2019 +0000
Revision:
19:340fc4370258
Parent:
14:e6d16095ffa8
Child:
20:3f68738c4019
10/09

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Tom0108 0:761a63c6d020 1 /**
Tom0108 0:761a63c6d020 2 ******************************************************************************
Tom0108 0:761a63c6d020 3 * @file main.h
Tom0108 0:761a63c6d020 4 * @author You
Tom0108 0:761a63c6d020 5 * @version V?.?.?
Tom0108 0:761a63c6d020 6 * @date Today
Tom0108 0:761a63c6d020 7 * @brief メインのヘッダファイル
Tom0108 0:761a63c6d020 8 ******************************************************************************
Tom0108 0:761a63c6d020 9 */
Tom0108 0:761a63c6d020 10
Tom0108 0:761a63c6d020 11 /* ヘッダ再呼び出し防止のための定義 ------------------------------------------*/
Tom0108 0:761a63c6d020 12
Tom0108 0:761a63c6d020 13 #ifndef _MAIN_H_
Tom0108 0:761a63c6d020 14 #define _MAIN_H_
Tom0108 0:761a63c6d020 15
Tom0108 0:761a63c6d020 16 /* ファイル追加 --------------------------------------------------------------*/
Tom0108 0:761a63c6d020 17 #include "YKNCT.h"
Tom0108 0:761a63c6d020 18 #include "mbed.h"
Tom0108 6:040d001acb12 19 #include "YKNCT_I2C.h"
Tom0108 6:040d001acb12 20 #include <math.h>
Tom0108 10:7c73e1577742 21 #include "BNO055.h"
Tom0108 0:761a63c6d020 22
Tom0108 0:761a63c6d020 23 /* 定数定義 ------------------------------------------------------------------*/
Tom0108 6:040d001acb12 24 #define CIRCLE sbdbt.CIRCLE
Tom0108 6:040d001acb12 25 #define SQUARE sbdbt.SQUARE
Tom0108 6:040d001acb12 26 #define CROSS sbdbt.CROSS
Tom0108 6:040d001acb12 27 #define TRIANGLE sbdbt.TRIANGLE
Tom0108 6:040d001acb12 28 #define LEFTkey sbdbt.LEFTkey
Tom0108 6:040d001acb12 29 #define RIGHTkey sbdbt.RIGHTkey
Tom0108 6:040d001acb12 30 #define UPkey sbdbt.UPkey
Tom0108 6:040d001acb12 31 #define DOWNkey sbdbt.DOWNkey
Tom0108 0:761a63c6d020 32
Tom0108 10:7c73e1577742 33 #define M_PI 3.14159265359
Tom0108 10:7c73e1577742 34
Tom0108 0:761a63c6d020 35 /* マクロ定義 ----------------------------------------------------------------*/
Tom0108 8:b79d21c8178b 36 //#define PALETTE(color)\
Tom0108 8:b79d21c8178b 37 //for(int s=0; s<3; s++) LED[s]=color&1<<s
Tom0108 6:040d001acb12 38 #define PALETTE(color)\
Tom0108 12:7e33e400a48d 39 for(int s=0; s<3; s++)\
Tom0108 14:e6d16095ffa8 40 i2c.Out_Set(Out_Data, s+6, color&1<<s)\
Tom0108 0:761a63c6d020 41
Tom0108 0:761a63c6d020 42 /* 型定義 --------------------------------------------------------------------*/
Tom0108 6:040d001acb12 43
Tom0108 6:040d001acb12 44 typedef enum {
Tom0108 6:040d001acb12 45 BLACK,
Tom0108 12:7e33e400a48d 46 BLUE,
Tom0108 8:b79d21c8178b 47 RED,
Tom0108 6:040d001acb12 48 MAGENTA,
Tom0108 12:7e33e400a48d 49 GREEN,
Tom0108 12:7e33e400a48d 50 CYAN,
Tom0108 12:7e33e400a48d 51 YELLOW,
Tom0108 12:7e33e400a48d 52 WHITE,
Tom0108 6:040d001acb12 53
Tom0108 6:040d001acb12 54 COLOR_MAX
Tom0108 6:040d001acb12 55
Tom0108 6:040d001acb12 56 } _COLOR_;
Tom0108 6:040d001acb12 57
Tom0108 19:340fc4370258 58 MD_I2C_Data_TypeDef MD_Data[] = {
Tom0108 6:040d001acb12 59 { 8, 0, 0, 0, {0}}, //足回り
Tom0108 6:040d001acb12 60 { 9, 1, 0, 0, {0}},
Tom0108 6:040d001acb12 61 {10, 0, 0, 0, {0}},
Tom0108 6:040d001acb12 62 {11, 1, 0, 0, {0}},
Tom0108 6:040d001acb12 63 {12, 0, 0, 0, {0}}, // 洗濯物回収
Tom0108 6:040d001acb12 64 {13, 1, 0, 0, {0}}, // 上下機構
Tom0108 6:040d001acb12 65 {14, 0, 0, 0, {0}}, // 洗濯物排出
Tom0108 6:040d001acb12 66 {15, 1, 0, 0, {0}} // 左右移動
Tom0108 6:040d001acb12 67 };
Tom0108 6:040d001acb12 68
Tom0108 6:040d001acb12 69 IN_I2C_Data_TypeDef In_Data[] = {
Tom0108 6:040d001acb12 70 {1,0,0}, // 洗濯物排出(初期位置)
Tom0108 6:040d001acb12 71 {1,1,0}, // 洗濯物排出(停止)
Tom0108 6:040d001acb12 72 {1,2,0}, // 腕(最大 タオル)
Tom0108 6:040d001acb12 73 {1,3,0}, // 腕(初期位置)
Tom0108 6:040d001acb12 74 {3,0,0}, // 上下機構(上)
Tom0108 6:040d001acb12 75 {3,1,0}, // (下)
Tom0108 6:040d001acb12 76 {3,2,0}, // 腕(シーツ兼シャツ）
Tom0108 14:e6d16095ffa8 77 {3,3,0}, // ゾーン切り替え
Tom0108 19:340fc4370258 78 {0,0,0}, // 竿検知
Tom0108 6:040d001acb12 79 };
Tom0108 6:040d001acb12 80
Tom0108 6:040d001acb12 81 OUT_I2C_Data_TypeDef Out_Data[] = {
Tom0108 6:040d001acb12 82 {0,0,0}, // 腕の上下
Tom0108 6:040d001acb12 83 {0,1,0}, // 爪
Tom0108 6:040d001acb12 84 {0,2,0}, // タオルの先
Tom0108 6:040d001acb12 85 {0,3,0}, // タオル展開
Tom0108 6:040d001acb12 86 {1,0,0}, // タオルの中央
Tom0108 11:c1a22e2e3534 87 {1,1,0}, // 全体
Tom0108 12:7e33e400a48d 88 {41,0,0}, // g
Tom0108 12:7e33e400a48d 89 {41,1,0}, // r
Tom0108 12:7e33e400a48d 90 {41,2,0}, // b;
Tom0108 6:040d001acb12 91 };
Tom0108 19:340fc4370258 92 /* 変数宣言 ------------------------------------------------------------------*/
Tom0108 0:761a63c6d020 93
Tom0108 19:340fc4370258 94 /* 関数宣言 ------------------------------------------------------------------*/
Tom0108 6:040d001acb12 95 //メカナム基本動作
Tom0108 19:340fc4370258 96 void mecanum_Move(int lx, int ly, int rx);
Tom0108 0:761a63c6d020 97
Tom0108 6:040d001acb12 98 //角度補正
Tom0108 6:040d001acb12 99 //n_angle: 現在の角度
Tom0108 6:040d001acb12 100 //t_angle: 目標の角度
Tom0108 19:340fc4370258 101 void AngleCorrection(double n_angle, double t_angle);
Tom0108 0:761a63c6d020 102
Tom0108 19:340fc4370258 103 /*クラス宣言-------------------------------------------------------------------*/
Tom0108 19:340fc4370258 104 Y_I2C i2c(PB_9, PB_8); // I2C
Tom0108 19:340fc4370258 105 SBDBT sbdbt(PA_0, PA_1, 9600); // SDBDT
Tom0108 19:340fc4370258 106 BNO055 bno(PC_9, PA_8);
Tom0108 19:340fc4370258 107 DigitalOut LED[]= {PA_10,PB_4,PB_5};
Tom0108 19:340fc4370258 108 Serial pc(USBTX, USBRX, 115200);
Tom0108 0:761a63c6d020 109
Tom0108 6:040d001acb12 110 //半自動の時に使う
Tom0108 19:340fc4370258 111 Timer tim;
Tom0108 0:761a63c6d020 112
Tom0108 6:040d001acb12 113 //角度補正の時に使う
Tom0108 19:340fc4370258 114 Timer drift_tim;
Tom0108 12:7e33e400a48d 115
Tom0108 12:7e33e400a48d 116 //上下移動の保持に使う
Tom0108 19:340fc4370258 117 Timer keep_tim[2];
Tom0108 0:761a63c6d020 118
Tom0108 0:761a63c6d020 119 #endif /* _MAIN_H_ */
Tom0108 0:761a63c6d020 120
Tom0108 19:340fc4370258 121 /******************************** END OF FILE *********************************/