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 PING_ERROR  0xFFFF
00014 
00015 #define MOT1    1.0
00016 #define MOT2    1.0
00017 #define MOT3    1.0
00018 #define MOT4    1.0
00019 
00020 #define OUT_LIMIT   30.0
00021 #define MAX_POW     100
00022 #define MIN_POW     -100
00023 
00024 DigitalOut led1(LED1); 
00025 DigitalOut led2(LED2);
00026 DigitalOut led3(LED3);
00027 DigitalOut led4(LED4);
00028 //BusOut mbedleds(LED4,LED3,LED2,LED1); 
00029 HMC6352 compass(p9, p10);
00030 Serial driver(p28, p27); // tx, rx 
00031 Serial device2(p13, p14);  // tx, rx
00032 Serial pc(USBTX, USBRX); // tx, rx 
00033 DigitalIn StartButton(p21);
00034 DigitalIn CalibEnterButton(p22);
00035 DigitalIn CalibExitButton(p23);
00036 DigitalIn EEPROMButton(p24);
00037 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
00038 Ticker pidUpdata;
00039 Timer timer1;
00040 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）
00041 
00042 enum{
00043     HOME_WAIT,
00044     DIFFENCE,
00045     WARNING
00046 };
00047 
00048 
00049 
00050 int speed[MOT_NUM] = {0};
00051 uint8_t state = HOME_WAIT;
00052 
00053 static float inputPID = 180.0;
00054 static double standard;
00055 static float compassPID = 0.0;
00056 
00057 
00058 extern string StringFIN;
00059 
00060 extern uint8_t direction;
00061 extern uint8_t Distance;
00062 extern uint8_t IR_found;
00063 
00064 extern void PidUpdata(void);
00065 extern void array(int,int,int,int);
00066 
00067 extern void dev_rx(void);
00068 extern void dev_tx(void);
00069 
00070 extern float ultrasonicVal[4];
00071 
00072 #define BACK_SONIC  ultrasonicVal[2]
00073 #define RIGHT_SONIC ultrasonicVal[1]
00074 #define LEFT_SONIC  ultrasonicVal[3]    
00075 
00076