ryo seki / Mbed 2 deprecated ver1_2_0

robocup

Dependencies:   HMC6352 PID mbed

IR.h@0:13ab960fc61f, 2013-03-08 (annotated)

Committer:
akudohune
Date:
Fri Mar 08 07:13:29 2013 +0000
Revision:
0:13ab960fc61f
ver1_2_0;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akudohune 0:13ab960fc61f 1
akudohune 0:13ab960fc61f 2
akudohune 0:13ab960fc61f 3 #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 0:13ab960fc61f 4 #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 0:13ab960fc61f 5 #define ALL_IR 9
akudohune 0:13ab960fc61f 6 #define DIREC_IR 8
akudohune 0:13ab960fc61f 7 #define DIRECTION 16
akudohune 0:13ab960fc61f 8 #define TERM 0
akudohune 0:13ab960fc61f 9 #define DELTA -2
akudohune 0:13ab960fc61f 10 #define SWAP(type,a,b) { type temp = a; a = b; b = temp; }
akudohune 0:13ab960fc61f 11
akudohune 0:13ab960fc61f 12
akudohune 0:13ab960fc61f 13 /* 赤外線センサに使うpinを配列に格納 */
akudohune 0:13ab960fc61f 14 PinName ir_num[ALL_IR] = {
akudohune 0:13ab960fc61f 15 p13,
akudohune 0:13ab960fc61f 16 p14,
akudohune 0:13ab960fc61f 17 p15,
akudohune 0:13ab960fc61f 18 p16,
akudohune 0:13ab960fc61f 19 p17,
akudohune 0:13ab960fc61f 20 p18,
akudohune 0:13ab960fc61f 21 p19,
akudohune 0:13ab960fc61f 22 p20,
akudohune 0:13ab960fc61f 23 p30
akudohune 0:13ab960fc61f 24 };
akudohune 0:13ab960fc61f 25
akudohune 0:13ab960fc61f 26 int Convert_Direction[DIRECTION] = {
akudohune 0:13ab960fc61f 27 90,
akudohune 0:13ab960fc61f 28 67,
akudohune 0:13ab960fc61f 29 45,
akudohune 0:13ab960fc61f 30 22,
akudohune 0:13ab960fc61f 31 0,
akudohune 0:13ab960fc61f 32 337,
akudohune 0:13ab960fc61f 33 315,
akudohune 0:13ab960fc61f 34 292,
akudohune 0:13ab960fc61f 35 270,
akudohune 0:13ab960fc61f 36 247,
akudohune 0:13ab960fc61f 37 225,
akudohune 0:13ab960fc61f 38 202,
akudohune 0:13ab960fc61f 39 180,
akudohune 0:13ab960fc61f 40 157,
akudohune 0:13ab960fc61f 41 135,
akudohune 0:13ab960fc61f 42 112
akudohune 0:13ab960fc61f 43 };
akudohune 0:13ab960fc61f 44
akudohune 0:13ab960fc61f 45 //ball direction
akudohune 0:13ab960fc61f 46 double ball_sankaku[16][2] = {
akudohune 0:13ab960fc61f 47 {0 , 1 },
akudohune 0:13ab960fc61f 48 {0.390 , 0.920},
akudohune 0:13ab960fc61f 49 {0.707 , 0.707},
akudohune 0:13ab960fc61f 50 {0.927 , 0.374},
akudohune 0:13ab960fc61f 51 {1 , 0 },
akudohune 0:13ab960fc61f 52 {0.920 ,-0.390},
akudohune 0:13ab960fc61f 53 {0.707 ,-0.707},
akudohune 0:13ab960fc61f 54 {0.374 ,-0.927},
akudohune 0:13ab960fc61f 55 {0 ,-1 },
akudohune 0:13ab960fc61f 56 {-0.390,-0.920},
akudohune 0:13ab960fc61f 57 {-0.707,-0.707},
akudohune 0:13ab960fc61f 58 {-0.927,-0.374},
akudohune 0:13ab960fc61f 59 {-1 , 0 },
akudohune 0:13ab960fc61f 60 {-0.920, 0.390},
akudohune 0:13ab960fc61f 61 {-0.707, 0.707},
akudohune 0:13ab960fc61f 62 {-0.374, 0.927}
akudohune 0:13ab960fc61f 63 };