Diff: IR.h

Revision:

0:7d0227dcc289

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IR.h	Wed Jun 19 08:42:10 2013 +0000
@@ -0,0 +1,116 @@
+#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) */
+#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*/
+#define ALL_IR 11
+#define DIREC_IR 10
+#define DIRECTION 16
+#define TERM 0
+#define DELTA -2
+#define SWAP(type,a,b) { type temp = a; a = b; b = temp; }
+
+/* 赤外線センサに使うpinを配列に格納 */
+PinName ir_num[ALL_IR] = {
+    p26,
+    p30,
+    p11,
+    p12,
+    p20,
+    p19,
+    p18,
+    p17,
+    p29,
+    p15,
+    p16
+    /*
+     p15,
+    p17,
+    p18,
+    p19,
+    p20,
+    p12,
+    p11,
+    p30,
+    p16,
+    p29,
+    p26
+    */
+};
+
+int Convert_Direction[DIRECTION] = {
+    90,
+    67,
+    30,
+    22,
+    0,
+    337,
+    315,
+    292,
+    270,
+    247,
+    225,
+    202,
+    180,
+    157,
+    150,
+    112
+};
+
+//ball direction
+double ball_sankaku[16][2] = {
+    {0     , 1    },
+    {0.390 , 0.920},
+    {0.866 , 0.500},
+    {0.927 , 0.374},
+    {1     , 0    },
+    {0.920 ,-0.390},
+    {0.707 ,-0.707},
+    {0.374 ,-0.927},
+    {0     ,-1    },
+    {-0.390,-0.920},
+    {-0.707,-0.707},
+    {-0.927,-0.374},
+    {-1    , 0    },
+    {-0.920, 0.390},
+    {-0.866, 0.500},
+    {-0.374, 0.927}
+};
+
+double turn_sankaku[16][2] = {
+    { 0    ,0      },
+    { 1    ,0      },//{ 0.920,-0.390 },
+    { 0.707,-0.707 }, //{ 0.500,-0.866 },
+    { 0.374,-0.927 },
+    { 0    ,-0.5   },
+    {-0.390,-0.920 },
+    {-0.707,-0.707 },
+    {-0.927,-0.374 },
+    {-0.927,-0.374 },
+    {0.920 ,-0.390 },
+    {0.707 ,-0.707 },
+    {0.374 ,-0.927 },
+    {0     ,-0.5   },
+    {-0.390,-0.920 },
+    {-0.707,-0.707 }, //{-0.500,-0.866 },
+    {-1    ,0      }//{-0.927,-0.374 }
+};
+
+
+/*
+double turn_sankaku[16][2] = {
+    {0 ,0 },
+    {0 ,0 },
+    {1 ,0 },
+    {0 ,-1},
+    {0 ,-1},
+    {0 ,-1},
+    {-1,0 },
+    {-1,0 },
+    {-1,0 },
+    {1 ,0 },
+    {1 ,0 },
+    {0 ,-1},
+    {0 ,-1},
+    {0 ,-1},
+    {-1,0 },
+    {0 ,0 }
+};
+*/