robocup
Dependencies: HMC6352 PID mbed
Diff: main.h
- Revision:
- 0:13ab960fc61f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.h Fri Mar 08 07:13:29 2013 +0000 @@ -0,0 +1,48 @@ + + +#define RATE 0.004173 +#define Long 1.0 +#define ENTER 0 +#define EXIT 1 +#define MOT_NUM 4 +#define MOTDRIVER_WAIT 300 //ms +#define BAUD_RATE 115200 +#define ON 1 +#define OFF 0 + +DigitalOut led1(LED1); +DigitalOut led2(LED2); +DigitalOut led3(LED3); +HMC6352 compass(p9, p10); +Serial driver(p28, p27); // tx, rx +Serial pc(USBTX, USBRX); // tx, rx +DigitalIn StartButton(p21); +DigitalIn CalibEnterButton(p22); +DigitalIn CalibExitButton(p23); +PID pid(1.5, 0.0, 0.000002, RATE); +Ticker pidUpdata; +Ticker IR; +Ticker ultrasonic; +Timer timer1; +Timer timer2; +Timer timer_ir; /* 赤外線用タイマー */ + + +int speed[MOT_NUM] = {0}; + +static float lastData = 0.0; +static float inputPID = 180.0; +static float standard; +static float compassPID = 0.0; + +extern string StringFIN; + +extern int direction; +extern int Distance; +extern int IR_found; +extern double ball_sankaku[16][2]; + +extern void Ultrasonic(void); +extern void IR_Position(void); +extern void PidUpdata(void); +extern void array(int,int,int,int);