main.h

00001 
00002 
00003 #define RATE    0.052
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 #define MOT1    1
00014 #define MOT2    1
00015 #define MOT3    1
00016 #define MOT4    1
00017 
00018 #define OUT_LIMIT 30.0
00019 
00020 DigitalOut led1(LED1); 
00021 DigitalOut led2(LED2);
00022 DigitalOut led3(LED3);
00023 HMC6352 compass(p9, p10);
00024 Serial driver(p28, p27); // tx, rx 
00025 Serial pc(USBTX, USBRX); // tx, rx 
00026 DigitalIn StartButton(p21);
00027 DigitalIn CalibEnterButton(p22);
00028 DigitalIn CalibExitButton(p23);
00029 PID pid(0.42, 1.0, 0.013, RATE);      //30.0 0.35 1.0 0.012
00030 Ticker pidUpdata;
00031 Ticker IR;
00032 Ticker ultrasonic;
00033 Timer timer1;
00034 Timer timer2;
00035 Timer timer_ir;     /* 赤外線用タイマー */
00036 
00037 
00038 int speed[MOT_NUM] = {0};
00039 
00040 static float lastData = 0.0;
00041 static float inputPID = 180.0;
00042 static float standard;
00043 static float compassPID = 0.0;
00044 
00045 extern string StringFIN;
00046 
00047 extern int direction;
00048 extern int Distance;
00049 extern int IR_found;
00050 extern double ball_sankaku[16][2];
00051 extern uint16_t ultrasonicVal[3];
00052 
00053 extern void Ultrasonic(void);
00054 extern void IR_Position(void);
00055 extern void PidUpdata(void);
00056 extern void array(int,int,int,int);
00057 
00058 enum{
00059     HOME_WAIT,
00060     DIFFENCE,
00061 };
00062