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     p26,
00013     p30,
00014     p11,
00015     p12,
00016     p20,
00017     p19,
00018     p18,
00019     p17,
00020     p29,
00021     p15,
00022     p16
00023     /*
00024      p15,
00025     p17,
00026     p18,
00027     p19,
00028     p20,
00029     p12,
00030     p11,
00031     p30,
00032     p16,
00033     p29,
00034     p26
00035     */
00036 };
00037 
00038 int Convert_Direction[DIRECTION] = {
00039     90,
00040     67,
00041     30,
00042     22,
00043     0,
00044     337,
00045     315,
00046     292,
00047     270,
00048     247,
00049     225,
00050     202,
00051     180,
00052     157,
00053     150,
00054     112
00055 };
00056 
00057 //ball direction
00058 double ball_sankaku[16][2] = {
00059     {0     , 1    },
00060     {0.390 , 0.920},
00061     {0.866 , 0.500},
00062     {0.927 , 0.374},
00063     {1     , 0    },
00064     {0.920 ,-0.390},
00065     {0.707 ,-0.707},
00066     {0.374 ,-0.927},
00067     {0     ,-1    },
00068     {-0.390,-0.920},
00069     {-0.707,-0.707},
00070     {-0.927,-0.374},
00071     {-1    , 0    },
00072     {-0.920, 0.390},
00073     {-0.866, 0.500},
00074     {-0.374, 0.927}
00075 };
00076 
00077 double turn_sankaku[16][2] = {
00078     { 0    ,0      },
00079     { 1    ,0      },//{ 0.920,-0.390 },
00080     { 0.707,-0.707 }, //{ 0.500,-0.866 },
00081     { 0.374,-0.927 },
00082     { 0    ,-0.5   },
00083     {-0.390,-0.920 },
00084     {-0.707,-0.707 },
00085     {-0.927,-0.374 },
00086     {-0.927,-0.374 },
00087     {0.920 ,-0.390 },
00088     {0.707 ,-0.707 },
00089     {0.374 ,-0.927 },
00090     {0     ,-0.5   },
00091     {-0.390,-0.920 },
00092     {-0.707,-0.707 }, //{-0.500,-0.866 },
00093     {-1    ,0      }//{-0.927,-0.374 }
00094 };
00095 
00096 
00097 /*
00098 double turn_sankaku[16][2] = {
00099     {0 ,0 },
00100     {0 ,0 },
00101     {1 ,0 },
00102     {0 ,-1},
00103     {0 ,-1},
00104     {0 ,-1},
00105     {-1,0 },
00106     {-1,0 },
00107     {-1,0 },
00108     {1 ,0 },
00109     {1 ,0 },
00110     {0 ,-1},
00111     {0 ,-1},
00112     {0 ,-1},
00113     {-1,0 },
00114     {0 ,0 }
00115 };
00116 */