main.h

00001 
00002 
00003 #define RATE    0.004173
00004 #define Long    1.0
00005 #define ENTER   0
00006 #define EXIT    1
00007 #define MOT_NUM 4
00008 #define MOTDRIVER_WAIT  300 //ms
00009 #define BAUD_RATE       115200
00010 #define ON      1
00011 #define OFF     0
00012 
00013 DigitalOut led1(LED1); 
00014 DigitalOut led2(LED2);
00015 DigitalOut led3(LED3);
00016 HMC6352 compass(p9, p10);
00017 Serial driver(p28, p27); // tx, rx 
00018 Serial pc(USBTX, USBRX); // tx, rx 
00019 DigitalIn StartButton(p21);
00020 DigitalIn CalibEnterButton(p22);
00021 DigitalIn CalibExitButton(p23);
00022 PID pid(1.5, 0.0, 0.000002, RATE);
00023 Ticker pidUpdata;
00024 Ticker IR;
00025 Ticker ultrasonic;
00026 Timer timer1;
00027 Timer timer2;
00028 Timer timer_ir;     /* 赤外線用タイマー */
00029 
00030 
00031 int speed[MOT_NUM] = {0};
00032 
00033 static float lastData = 0.0;
00034 static float inputPID = 180.0;
00035 static float standard;
00036 static float compassPID = 0.0;
00037 
00038 extern string StringFIN;
00039 
00040 extern int direction;
00041 extern int Distance;
00042 extern int IR_found;
00043 extern double ball_sankaku[16][2];
00044 
00045 extern void Ultrasonic(void);
00046 extern void IR_Position(void);
00047 extern void PidUpdata(void);
00048 extern void array(int,int,int,int);