ryo seki / Mbed 2 deprecated serialSend5_5

final_slave

Dependencies:   TextLCD mbed

IR.h@0:7d0227dcc289, 2013-06-19 (annotated)

Committer:
akudohune
Date:
Wed Jun 19 08:42:10 2013 +0000
Revision:
0:7d0227dcc289
slave

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akudohune 0:7d0227dcc289 1 #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) */
akudohune 0:7d0227dcc289 2 #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*/
akudohune 0:7d0227dcc289 3 #define ALL_IR 11
akudohune 0:7d0227dcc289 4 #define DIREC_IR 10
akudohune 0:7d0227dcc289 5 #define DIRECTION 16
akudohune 0:7d0227dcc289 6 #define TERM 0
akudohune 0:7d0227dcc289 7 #define DELTA -2
akudohune 0:7d0227dcc289 8 #define SWAP(type,a,b) { type temp = a; a = b; b = temp; }
akudohune 0:7d0227dcc289 9
akudohune 0:7d0227dcc289 10 /* 赤外線センサに使うpinを配列に格納 */
akudohune 0:7d0227dcc289 11 PinName ir_num[ALL_IR] = {
akudohune 0:7d0227dcc289 12 p26,
akudohune 0:7d0227dcc289 13 p30,
akudohune 0:7d0227dcc289 14 p11,
akudohune 0:7d0227dcc289 15 p12,
akudohune 0:7d0227dcc289 16 p20,
akudohune 0:7d0227dcc289 17 p19,
akudohune 0:7d0227dcc289 18 p18,
akudohune 0:7d0227dcc289 19 p17,
akudohune 0:7d0227dcc289 20 p29,
akudohune 0:7d0227dcc289 21 p15,
akudohune 0:7d0227dcc289 22 p16
akudohune 0:7d0227dcc289 23 /*
akudohune 0:7d0227dcc289 24 p15,
akudohune 0:7d0227dcc289 25 p17,
akudohune 0:7d0227dcc289 26 p18,
akudohune 0:7d0227dcc289 27 p19,
akudohune 0:7d0227dcc289 28 p20,
akudohune 0:7d0227dcc289 29 p12,
akudohune 0:7d0227dcc289 30 p11,
akudohune 0:7d0227dcc289 31 p30,
akudohune 0:7d0227dcc289 32 p16,
akudohune 0:7d0227dcc289 33 p29,
akudohune 0:7d0227dcc289 34 p26
akudohune 0:7d0227dcc289 35 */
akudohune 0:7d0227dcc289 36 };
akudohune 0:7d0227dcc289 37
akudohune 0:7d0227dcc289 38 int Convert_Direction[DIRECTION] = {
akudohune 0:7d0227dcc289 39 90,
akudohune 0:7d0227dcc289 40 67,
akudohune 0:7d0227dcc289 41 30,
akudohune 0:7d0227dcc289 42 22,
akudohune 0:7d0227dcc289 43 0,
akudohune 0:7d0227dcc289 44 337,
akudohune 0:7d0227dcc289 45 315,
akudohune 0:7d0227dcc289 46 292,
akudohune 0:7d0227dcc289 47 270,
akudohune 0:7d0227dcc289 48 247,
akudohune 0:7d0227dcc289 49 225,
akudohune 0:7d0227dcc289 50 202,
akudohune 0:7d0227dcc289 51 180,
akudohune 0:7d0227dcc289 52 157,
akudohune 0:7d0227dcc289 53 150,
akudohune 0:7d0227dcc289 54 112
akudohune 0:7d0227dcc289 55 };
akudohune 0:7d0227dcc289 56
akudohune 0:7d0227dcc289 57 //ball direction
akudohune 0:7d0227dcc289 58 double ball_sankaku[16][2] = {
akudohune 0:7d0227dcc289 59 {0 , 1 },
akudohune 0:7d0227dcc289 60 {0.390 , 0.920},
akudohune 0:7d0227dcc289 61 {0.866 , 0.500},
akudohune 0:7d0227dcc289 62 {0.927 , 0.374},
akudohune 0:7d0227dcc289 63 {1 , 0 },
akudohune 0:7d0227dcc289 64 {0.920 ,-0.390},
akudohune 0:7d0227dcc289 65 {0.707 ,-0.707},
akudohune 0:7d0227dcc289 66 {0.374 ,-0.927},
akudohune 0:7d0227dcc289 67 {0 ,-1 },
akudohune 0:7d0227dcc289 68 {-0.390,-0.920},
akudohune 0:7d0227dcc289 69 {-0.707,-0.707},
akudohune 0:7d0227dcc289 70 {-0.927,-0.374},
akudohune 0:7d0227dcc289 71 {-1 , 0 },
akudohune 0:7d0227dcc289 72 {-0.920, 0.390},
akudohune 0:7d0227dcc289 73 {-0.866, 0.500},
akudohune 0:7d0227dcc289 74 {-0.374, 0.927}
akudohune 0:7d0227dcc289 75 };
akudohune 0:7d0227dcc289 76
akudohune 0:7d0227dcc289 77 double turn_sankaku[16][2] = {
akudohune 0:7d0227dcc289 78 { 0 ,0 },
akudohune 0:7d0227dcc289 79 { 1 ,0 },//{ 0.920,-0.390 },
akudohune 0:7d0227dcc289 80 { 0.707,-0.707 }, //{ 0.500,-0.866 },
akudohune 0:7d0227dcc289 81 { 0.374,-0.927 },
akudohune 0:7d0227dcc289 82 { 0 ,-0.5 },
akudohune 0:7d0227dcc289 83 {-0.390,-0.920 },
akudohune 0:7d0227dcc289 84 {-0.707,-0.707 },
akudohune 0:7d0227dcc289 85 {-0.927,-0.374 },
akudohune 0:7d0227dcc289 86 {-0.927,-0.374 },
akudohune 0:7d0227dcc289 87 {0.920 ,-0.390 },
akudohune 0:7d0227dcc289 88 {0.707 ,-0.707 },
akudohune 0:7d0227dcc289 89 {0.374 ,-0.927 },
akudohune 0:7d0227dcc289 90 {0 ,-0.5 },
akudohune 0:7d0227dcc289 91 {-0.390,-0.920 },
akudohune 0:7d0227dcc289 92 {-0.707,-0.707 }, //{-0.500,-0.866 },
akudohune 0:7d0227dcc289 93 {-1 ,0 }//{-0.927,-0.374 }
akudohune 0:7d0227dcc289 94 };
akudohune 0:7d0227dcc289 95
akudohune 0:7d0227dcc289 96
akudohune 0:7d0227dcc289 97 /*
akudohune 0:7d0227dcc289 98 double turn_sankaku[16][2] = {
akudohune 0:7d0227dcc289 99 {0 ,0 },
akudohune 0:7d0227dcc289 100 {0 ,0 },
akudohune 0:7d0227dcc289 101 {1 ,0 },
akudohune 0:7d0227dcc289 102 {0 ,-1},
akudohune 0:7d0227dcc289 103 {0 ,-1},
akudohune 0:7d0227dcc289 104 {0 ,-1},
akudohune 0:7d0227dcc289 105 {-1,0 },
akudohune 0:7d0227dcc289 106 {-1,0 },
akudohune 0:7d0227dcc289 107 {-1,0 },
akudohune 0:7d0227dcc289 108 {1 ,0 },
akudohune 0:7d0227dcc289 109 {1 ,0 },
akudohune 0:7d0227dcc289 110 {0 ,-1},
akudohune 0:7d0227dcc289 111 {0 ,-1},
akudohune 0:7d0227dcc289 112 {0 ,-1},
akudohune 0:7d0227dcc289 113 {-1,0 },
akudohune 0:7d0227dcc289 114 {0 ,0 }
akudohune 0:7d0227dcc289 115 };
akudohune 0:7d0227dcc289 116 */