IR.h

00001 #define IR_TIME_NOTFOUND 833    /* 見つけられなかったと判断するまでの時間(単位：us) */
00002 #define IR_COUNTMAX 487     /*最大パルス幅 パルスの存在しうる最大時間は487us*/
00003 #define ALL_IR 11
00004 #define DIREC_IR 10
00005 #define DIRECTION 16
00006 #define TERM 0
00007 #define DELTA -2
00008 #define SWAP(type,a,b) { type temp = a; a = b; b = temp; }
00009 
00010 /* 赤外線センサに使うpinを配列に格納 */
00011 PinName ir_num[ALL_IR] = {
00012     p15,
00013     p17,
00014     p18,
00015     p19,
00016     p20,
00017     p12,
00018     p11,
00019     p30,
00020     p16,
00021     p29,
00022     p26
00023 };
00024 
00025 int Convert_Direction[DIRECTION] = {
00026     90,
00027     67,
00028     30,
00029     22,
00030     0,
00031     337,
00032     315,
00033     292,
00034     270,
00035     247,
00036     225,
00037     202,
00038     180,
00039     157,
00040     150,
00041     112
00042 };
00043 
00044 //ball direction
00045 double ball_sankaku[16][2] = {
00046     {0     , 1    },
00047     {0.390 , 0.920},
00048     {0.866 , 0.500},
00049     {0.927 , 0.374},
00050     {1     , 0    },
00051     {0.920 ,-0.390},
00052     {0.707 ,-0.707},
00053     {0.374 ,-0.927},
00054     {0     ,-1    },
00055     {-0.390,-0.920},
00056     {-0.707,-0.707},
00057     {-0.927,-0.374},
00058     {-1    , 0    },
00059     {-0.920, 0.390},
00060     {-0.866, 0.500},
00061     {-0.374, 0.927}
00062 };
00063 
00064 double turn_sankaku[16][2] = {
00065     { 0    ,0      },
00066     { 1    ,0      },//{ 0.920,-0.390 },
00067     { 0.707,-0.707 }, //{ 0.500,-0.866 },
00068     { 0.374,-0.927 },
00069     { 0    ,-0.5   },
00070     {-0.390,-0.920 },
00071     {-0.707,-0.707 },
00072     {-0.927,-0.374 },
00073     {-0.927,-0.374 },
00074     {0.920 ,-0.390 },
00075     {0.707 ,-0.707 },
00076     {0.374 ,-0.927 },
00077     {0     ,-0.5   },
00078     {-0.390,-0.920 },
00079     {-0.707,-0.707 }, //{-0.500,-0.866 },
00080     {-1    ,0      }//{-0.927,-0.374 }
00081 };
00082 
00083 
00084 /*
00085 double turn_sankaku[16][2] = {
00086     {0 ,0 },
00087     {0 ,0 },
00088     {1 ,0 },
00089     {0 ,-1},
00090     {0 ,-1},
00091     {0 ,-1},
00092     {-1,0 },
00093     {-1,0 },
00094     {-1,0 },
00095     {1 ,0 },
00096     {1 ,0 },
00097     {0 ,-1},
00098     {0 ,-1},
00099     {0 ,-1},
00100     {-1,0 },
00101     {0 ,0 }
00102 };
00103 */