Takushima Yukimasa / Mbed 2 deprecated R19_ManuTakukAHWGeo

a

Dependencies:   mbed

main.h@6:040d001acb12, 2019-08-24 (annotated)

Committer:
Tom0108
Date:
Sat Aug 24 06:06:36 2019 +0000
Revision:
6:040d001acb12
Parent:
0:761a63c6d020
Child:
8:b79d21c8178b
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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 "gyro.h"
Tom0108 6:040d001acb12 20 #include "YKNCT_I2C.h"
Tom0108 6:040d001acb12 21 #include <math.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 0:761a63c6d020 33 /* マクロ定義 ----------------------------------------------------------------*/
Tom0108 6:040d001acb12 34 #define PALETTE(color)\
Tom0108 6:040d001acb12 35 for(int s=0; s<3; s++) LED[s]=color&1<<s
Tom0108 0:761a63c6d020 36
Tom0108 0:761a63c6d020 37 /* 型定義 --------------------------------------------------------------------*/
Tom0108 0:761a63c6d020 38 typedef enum
Tom0108 0:761a63c6d020 39 {
Tom0108 0:761a63c6d020 40 test_motor,
Tom0108 0:761a63c6d020 41 test_motor2,
Tom0108 0:761a63c6d020 42 test_motor3,
Tom0108 0:761a63c6d020 43 test_motor4,
Tom0108 0:761a63c6d020 44 test_motor5,
Tom0108 0:761a63c6d020 45 test_motor6,
Tom0108 0:761a63c6d020 46 test_motor7,
Tom0108 0:761a63c6d020 47 test_motor8,
Tom0108 0:761a63c6d020 48 Motor_MAX
Tom0108 0:761a63c6d020 49 } _Motor_;
Tom0108 0:761a63c6d020 50
Tom0108 0:761a63c6d020 51
Tom0108 0:761a63c6d020 52 typedef enum{
Tom0108 0:761a63c6d020 53 limit,
Tom0108 0:761a63c6d020 54 limit1,
Tom0108 0:761a63c6d020 55 limit2,
Tom0108 0:761a63c6d020 56 limit3,
Tom0108 0:761a63c6d020 57 limit4,
Tom0108 0:761a63c6d020 58 limit5,
Tom0108 0:761a63c6d020 59 limit6,
Tom0108 0:761a63c6d020 60 limit7,
Tom0108 0:761a63c6d020 61 IN_MAX
Tom0108 0:761a63c6d020 62 }_limit_;
Tom0108 0:761a63c6d020 63 typedef enum{
Tom0108 0:761a63c6d020 64 out1,
Tom0108 0:761a63c6d020 65 out2,
Tom0108 0:761a63c6d020 66 out3,
Tom0108 0:761a63c6d020 67 out4,
Tom0108 0:761a63c6d020 68 ExTowel,
Tom0108 0:761a63c6d020 69 OUT_MAX
Tom0108 0:761a63c6d020 70 }_OUT_;
Tom0108 6:040d001acb12 71
Tom0108 6:040d001acb12 72 typedef enum {
Tom0108 6:040d001acb12 73 BLACK,
Tom0108 6:040d001acb12 74 BLUE,
Tom0108 6:040d001acb12 75 GREEN,
Tom0108 6:040d001acb12 76 CYAN,
Tom0108 6:040d001acb12 77 RED,
Tom0108 6:040d001acb12 78 MAGENTA,
Tom0108 6:040d001acb12 79 YELLOW,
Tom0108 6:040d001acb12 80 WHITE,
Tom0108 6:040d001acb12 81
Tom0108 6:040d001acb12 82 COLOR_MAX
Tom0108 6:040d001acb12 83
Tom0108 6:040d001acb12 84 } _COLOR_;
Tom0108 6:040d001acb12 85
Tom0108 6:040d001acb12 86 MD_I2C_Data_TypeDef MD_Data[Motor_MAX] = {
Tom0108 6:040d001acb12 87 { 8, 0, 0, 0, {0}}, //足回り
Tom0108 6:040d001acb12 88 { 9, 1, 0, 0, {0}},
Tom0108 6:040d001acb12 89 {10, 0, 0, 0, {0}},
Tom0108 6:040d001acb12 90 {11, 1, 0, 0, {0}},
Tom0108 6:040d001acb12 91 {12, 0, 0, 0, {0}}, // 洗濯物回収
Tom0108 6:040d001acb12 92 {13, 1, 0, 0, {0}}, // 上下機構
Tom0108 6:040d001acb12 93 {14, 0, 0, 0, {0}}, // 洗濯物排出
Tom0108 6:040d001acb12 94 {15, 1, 0, 0, {0}} // 左右移動
Tom0108 6:040d001acb12 95 };
Tom0108 6:040d001acb12 96
Tom0108 6:040d001acb12 97 IN_I2C_Data_TypeDef In_Data[] = {
Tom0108 6:040d001acb12 98 {1,0,0}, // 洗濯物排出(初期位置)
Tom0108 6:040d001acb12 99 {1,1,0}, // 洗濯物排出(停止)
Tom0108 6:040d001acb12 100 {1,2,0}, // 腕(最大 タオル)
Tom0108 6:040d001acb12 101 {1,3,0}, // 腕(初期位置)
Tom0108 6:040d001acb12 102 {3,0,0}, // 上下機構(上)
Tom0108 6:040d001acb12 103 {3,1,0}, // (下)
Tom0108 6:040d001acb12 104 {3,2,0}, // 腕(シーツ兼シャツ）
Tom0108 6:040d001acb12 105 };
Tom0108 6:040d001acb12 106
Tom0108 6:040d001acb12 107 OUT_I2C_Data_TypeDef Out_Data[] = {
Tom0108 6:040d001acb12 108 {0,0,0}, // 腕の上下
Tom0108 6:040d001acb12 109 {0,1,0}, // 爪
Tom0108 6:040d001acb12 110 {0,2,0}, // タオルの先
Tom0108 6:040d001acb12 111 {0,3,0}, // タオル展開
Tom0108 6:040d001acb12 112 {1,0,0}, // タオルの中央
Tom0108 6:040d001acb12 113 };
Tom0108 0:761a63c6d020 114 /* 変数宣言 ------------------------------------------------------------------*/
Tom0108 0:761a63c6d020 115
Tom0108 6:040d001acb12 116 /* 関数宣言 ------------------------------------------------------------------*/
Tom0108 6:040d001acb12 117 //メカナム基本動作
Tom0108 6:040d001acb12 118 void mecanum_Move(int lx, int ly, int rx);
Tom0108 0:761a63c6d020 119
Tom0108 6:040d001acb12 120 //角度補正
Tom0108 6:040d001acb12 121 //n_angle: 現在の角度
Tom0108 6:040d001acb12 122 //t_angle: 目標の角度
Tom0108 6:040d001acb12 123 void AngleCorrection(double n_angle, double t_angle);
Tom0108 0:761a63c6d020 124
Tom0108 6:040d001acb12 125 /*クラス宣言-------------------------------------------------------------------*/
Tom0108 6:040d001acb12 126 Y_I2C i2c(PB_9, PB_8); // I2C
Tom0108 6:040d001acb12 127 SBDBT sbdbt(PA_0, PA_1, 9600); // SDBDT
Tom0108 6:040d001acb12 128 MyMPU6050 mpu(PC_9, PA_8); // ジャイロセンサ
Tom0108 6:040d001acb12 129 DigitalOut LED[]= {PA_10,PB_4,PB_5};
Tom0108 0:761a63c6d020 130
Tom0108 6:040d001acb12 131 //半自動の時に使う
Tom0108 6:040d001acb12 132 Timer tim;
Tom0108 0:761a63c6d020 133
Tom0108 6:040d001acb12 134 //角度補正の時に使う
Tom0108 6:040d001acb12 135 Timer drift_tim;
Tom0108 0:761a63c6d020 136
Tom0108 0:761a63c6d020 137 #endif /* _MAIN_H_ */
Tom0108 0:761a63c6d020 138
Tom0108 0:761a63c6d020 139 /******************************** END OF FILE *********************************/