IR.h

00001 
00002 
00003 #define IR_TIME_NOTFOUND 833    /* 見つけられなかったと判断するまでの時間(単位：us) */
00004 #define IR_COUNTMAX 487     /*最大パルス幅 パルスの存在しうる最大時間は487us*/
00005 #define ALL_IR 9
00006 #define DIREC_IR 8
00007 #define DIRECTION 16
00008 #define TERM 0
00009 #define DELTA -2
00010 #define SWAP(type,a,b) { type temp = a; a = b; b = temp; }
00011 
00012 
00013 /* 赤外線センサに使うpinを配列に格納 */
00014 PinName ir_num[ALL_IR] = {
00015     p13,
00016     p14,
00017     p15,
00018     p16,
00019     p17,
00020     p18,
00021     p19,
00022     p20,
00023     p30
00024 };
00025 
00026 int Convert_Direction[DIRECTION] = {
00027     90,
00028     67,
00029     45,
00030     22,
00031     0,
00032     337,
00033     315,
00034     292,
00035     270,
00036     247,
00037     225,
00038     202,
00039     180,
00040     157,
00041     135,
00042     112
00043 };
00044 
00045 //ball direction
00046 double ball_sankaku[16][2] = {
00047     {0     , 1    },
00048     {0.390 , 0.920},
00049     {0.707 , 0.707},
00050     {0.927 , 0.374},
00051     {1     , 0    },
00052     {0.920 ,-0.390},
00053     {0.707 ,-0.707},
00054     {0.374 ,-0.927},
00055     {0     ,-1    },
00056     {-0.390,-0.920},
00057     {-0.707,-0.707},
00058     {-0.927,-0.374},
00059     {-1    , 0    },
00060     {-0.920, 0.390},
00061     {-0.707, 0.707},
00062     {-0.374, 0.927}
00063 };