a
Dependencies: HMC6352 PID mbed
Diff: main.h
- Revision:
- 0:8215f0743d86
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.h Fri Apr 19 09:13:32 2013 +0000 @@ -0,0 +1,76 @@ + + +#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 PING_ERROR 0xFFFF + +#define MOT1 1.0 +#define MOT2 1.0 +#define MOT3 1.0 +#define MOT4 1.0 + +#define OUT_LIMIT 30.0 +#define MAX_POW 100 +#define MIN_POW -100 + +DigitalOut led1(LED1); +DigitalOut led2(LED2); +DigitalOut led3(LED3); +DigitalOut led4(LED4); +//BusOut mbedleds(LED4,LED3,LED2,LED1); +HMC6352 compass(p9, p10); +Serial driver(p28, p27); // tx, rx +Serial device2(p13, p14); // tx, rx +Serial pc(USBTX, USBRX); // tx, rx +DigitalIn StartButton(p21); +DigitalIn CalibEnterButton(p22); +DigitalIn CalibExitButton(p23); +DigitalIn EEPROMButton(p24); +PID pid(0.45, 1.0, 0.013, RATE); //battery is low power version 30.0 0.58 1.0 0.015 battery is high power version 30.0 0.42, 1.0, 0.013 +Ticker pidUpdata; +Timer timer1; +LocalFileSystem local("local"); // マウントポイントを定義(ディレクトリパスになる) + +enum{ + HOME_WAIT, + DIFFENCE, + WARNING +}; + + + +int speed[MOT_NUM] = {0}; +uint8_t state = HOME_WAIT; + +static float inputPID = 180.0; +static double standard; +static float compassPID = 0.0; + + +extern string StringFIN; + +extern uint8_t direction; +extern uint8_t Distance; +extern uint8_t IR_found; + +extern void PidUpdata(void); +extern void array(int,int,int,int); + +extern void dev_rx(void); +extern void dev_tx(void); + +extern float ultrasonicVal[4]; + +#define BACK_SONIC ultrasonicVal[2] +#define RIGHT_SONIC ultrasonicVal[1] +#define LEFT_SONIC ultrasonicVal[3] + +