Diff: main.h

Revision:

0:74bf4953c0d1

Child:

1:89408fff7cc9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h	Sat Mar 09 10:11:06 2013 +0000
@@ -0,0 +1,62 @@
+
+
+#define RATE    0.052
+#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
+
+#define MOT1    1
+#define MOT2    1
+#define MOT3    1
+#define MOT4    1
+
+#define OUT_LIMIT 30.0
+
+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(0.42, 1.0, 0.013, RATE);      //30.0 0.35 1.0 0.012
+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 uint16_t ultrasonicVal[3];
+
+extern void Ultrasonic(void);
+extern void IR_Position(void);
+extern void PidUpdata(void);
+extern void array(int,int,int,int);
+
+enum{
+    HOME_WAIT,
+    DIFFENCE,
+};
+