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    1.0
00014 #define MOT2    1.0
00015 #define MOT3    1.0
00016 #define MOT4    1.0
00017 
00018 #define OUT_LIMIT   30.0
00019 #define MAX_POW     100
00020 #define MIN_POW     -100
00021 
00022 DigitalOut led1(LED1); 
00023 DigitalOut led2(LED2);
00024 DigitalOut led3(LED3);
00025 DigitalOut led4(LED4);
00026 HMC6352 compass(p9, p10);
00027 Serial driver(p28, p27); // tx, rx 
00028 Serial pc(USBTX, USBRX); // tx, rx 
00029 DigitalIn StartButton(p21);
00030 DigitalIn CalibEnterButton(p22);
00031 DigitalIn CalibExitButton(p23);
00032 PID pid(0.59, 1.0, 0.015, RATE);      //30.0 0.35 1.0 0.012 30.0 0.42 1.0 0.013 
00033 Ticker pidUpdata;
00034 Ticker IR;
00035 Ticker ultrasonic;
00036 Timer timer1;
00037 Timer timer2;
00038 Timer timer_ir;     /* 赤外線用タイマー */
00039 
00040 
00041 int speed[MOT_NUM] = {0};
00042  
00043 static float lastData = 0.0;
00044 static float inputPID = 180.0;
00045 static float standard;
00046 static float compassPID = 0.0;
00047 
00048 extern string StringFIN;
00049 
00050 extern int direction;
00051 extern int Distance;
00052 extern int IR_found;
00053 extern double ball_sankaku[16][2];
00054 extern double ultrasonicVal[3];
00055 
00056 extern void Ultrasonic(void);
00057 extern void IR_Position(void);
00058 extern void PidUpdata(void);
00059 extern void array(int,int,int,int);
00060 
00061 enum{
00062     HOME_WAIT,
00063     DIFFENCE,
00064 };
00065