ryo seki / Mbed 2 deprecated ver1_2_0

robocup

Dependencies:   HMC6352 PID mbed

main.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 RATE 0.004173
akudohune 0:13ab960fc61f 4 #define Long 1.0
akudohune 0:13ab960fc61f 5 #define ENTER 0
akudohune 0:13ab960fc61f 6 #define EXIT 1
akudohune 0:13ab960fc61f 7 #define MOT_NUM 4
akudohune 0:13ab960fc61f 8 #define MOTDRIVER_WAIT 300 //ms
akudohune 0:13ab960fc61f 9 #define BAUD_RATE 115200
akudohune 0:13ab960fc61f 10 #define ON 1
akudohune 0:13ab960fc61f 11 #define OFF 0
akudohune 0:13ab960fc61f 12
akudohune 0:13ab960fc61f 13 DigitalOut led1(LED1);
akudohune 0:13ab960fc61f 14 DigitalOut led2(LED2);
akudohune 0:13ab960fc61f 15 DigitalOut led3(LED3);
akudohune 0:13ab960fc61f 16 HMC6352 compass(p9, p10);
akudohune 0:13ab960fc61f 17 Serial driver(p28, p27); // tx, rx
akudohune 0:13ab960fc61f 18 Serial pc(USBTX, USBRX); // tx, rx
akudohune 0:13ab960fc61f 19 DigitalIn StartButton(p21);
akudohune 0:13ab960fc61f 20 DigitalIn CalibEnterButton(p22);
akudohune 0:13ab960fc61f 21 DigitalIn CalibExitButton(p23);
akudohune 0:13ab960fc61f 22 PID pid(1.5, 0.0, 0.000002, RATE);
akudohune 0:13ab960fc61f 23 Ticker pidUpdata;
akudohune 0:13ab960fc61f 24 Ticker IR;
akudohune 0:13ab960fc61f 25 Ticker ultrasonic;
akudohune 0:13ab960fc61f 26 Timer timer1;
akudohune 0:13ab960fc61f 27 Timer timer2;
akudohune 0:13ab960fc61f 28 Timer timer_ir; /* 赤外線用タイマー */
akudohune 0:13ab960fc61f 29
akudohune 0:13ab960fc61f 30
akudohune 0:13ab960fc61f 31 int speed[MOT_NUM] = {0};
akudohune 0:13ab960fc61f 32
akudohune 0:13ab960fc61f 33 static float lastData = 0.0;
akudohune 0:13ab960fc61f 34 static float inputPID = 180.0;
akudohune 0:13ab960fc61f 35 static float standard;
akudohune 0:13ab960fc61f 36 static float compassPID = 0.0;
akudohune 0:13ab960fc61f 37
akudohune 0:13ab960fc61f 38 extern string StringFIN;
akudohune 0:13ab960fc61f 39
akudohune 0:13ab960fc61f 40 extern int direction;
akudohune 0:13ab960fc61f 41 extern int Distance;
akudohune 0:13ab960fc61f 42 extern int IR_found;
akudohune 0:13ab960fc61f 43 extern double ball_sankaku[16][2];
akudohune 0:13ab960fc61f 44
akudohune 0:13ab960fc61f 45 extern void Ultrasonic(void);
akudohune 0:13ab960fc61f 46 extern void IR_Position(void);
akudohune 0:13ab960fc61f 47 extern void PidUpdata(void);
akudohune 0:13ab960fc61f 48 extern void array(int,int,int,int);