final cup
Dependencies: HMC6352 PID mbed
main.h@0:2eebd0301c66, 2013-04-29 (annotated)
- Committer:
- akudohune
- Date:
- Mon Apr 29 06:39:53 2013 +0000
- Revision:
- 0:2eebd0301c66
final
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akudohune | 0:2eebd0301c66 | 1 | |
akudohune | 0:2eebd0301c66 | 2 | |
akudohune | 0:2eebd0301c66 | 3 | #define RATE 0.052 |
akudohune | 0:2eebd0301c66 | 4 | #define Long 1.0 |
akudohune | 0:2eebd0301c66 | 5 | #define ENTER 0 |
akudohune | 0:2eebd0301c66 | 6 | #define EXIT 1 |
akudohune | 0:2eebd0301c66 | 7 | #define MOT_NUM 4 |
akudohune | 0:2eebd0301c66 | 8 | #define MOTDRIVER_WAIT 300 //ms |
akudohune | 0:2eebd0301c66 | 9 | #define BAUD_RATE 115200 |
akudohune | 0:2eebd0301c66 | 10 | #define BAUD_RATE2 19200 |
akudohune | 0:2eebd0301c66 | 11 | #define BUT_WAIT 0.3 //s |
akudohune | 0:2eebd0301c66 | 12 | #define ON 1 |
akudohune | 0:2eebd0301c66 | 13 | #define OFF 0 |
akudohune | 0:2eebd0301c66 | 14 | |
akudohune | 0:2eebd0301c66 | 15 | #define PING_ERROR 0xFFFF |
akudohune | 0:2eebd0301c66 | 16 | |
akudohune | 0:2eebd0301c66 | 17 | #define MOT1 1.0 |
akudohune | 0:2eebd0301c66 | 18 | #define MOT2 1.0 |
akudohune | 0:2eebd0301c66 | 19 | #define MOT3 1.0 |
akudohune | 0:2eebd0301c66 | 20 | #define MOT4 1.0 |
akudohune | 0:2eebd0301c66 | 21 | |
akudohune | 0:2eebd0301c66 | 22 | #define OUT_LIMIT 20.0 |
akudohune | 0:2eebd0301c66 | 23 | #define MAX_POW 100 |
akudohune | 0:2eebd0301c66 | 24 | #define MIN_POW -100 |
akudohune | 0:2eebd0301c66 | 25 | |
akudohune | 0:2eebd0301c66 | 26 | DigitalOut led1(LED1); |
akudohune | 0:2eebd0301c66 | 27 | DigitalOut led2(LED2); |
akudohune | 0:2eebd0301c66 | 28 | DigitalOut led3(LED3); |
akudohune | 0:2eebd0301c66 | 29 | DigitalOut led4(LED4); |
akudohune | 0:2eebd0301c66 | 30 | BusOut mbedleds(LED4,LED3,LED2,LED1); |
akudohune | 0:2eebd0301c66 | 31 | HMC6352 compass(p9, p10); |
akudohune | 0:2eebd0301c66 | 32 | Serial driver(p28, p27); // tx, rx |
akudohune | 0:2eebd0301c66 | 33 | Serial device2(p13, p14); // tx, rx |
akudohune | 0:2eebd0301c66 | 34 | Serial pc(USBTX, USBRX); // tx, rx |
akudohune | 0:2eebd0301c66 | 35 | DigitalIn StartButton(p21); |
akudohune | 0:2eebd0301c66 | 36 | DigitalIn CalibEnterButton(p22); |
akudohune | 0:2eebd0301c66 | 37 | DigitalIn CalibExitButton(p23); |
akudohune | 0:2eebd0301c66 | 38 | DigitalIn EEPROMButton(p24); |
akudohune | 0:2eebd0301c66 | 39 | PID pid(0.60, 0.0, 0.010, 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 power is low but perfect 20.0 0.45, 0.0, 0.010 |
akudohune | 0:2eebd0301c66 | 40 | Ticker pidUpdata; |
akudohune | 0:2eebd0301c66 | 41 | Timer timer1; |
akudohune | 0:2eebd0301c66 | 42 | Timer Ctimer; |
akudohune | 0:2eebd0301c66 | 43 | 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) |
akudohune | 0:2eebd0301c66 | 44 | |
akudohune | 0:2eebd0301c66 | 45 | enum{ |
akudohune | 0:2eebd0301c66 | 46 | HOME_WAIT, |
akudohune | 0:2eebd0301c66 | 47 | DIFFENCE, |
akudohune | 0:2eebd0301c66 | 48 | WARNING, |
akudohune | 0:2eebd0301c66 | 49 | HOLD, |
akudohune | 0:2eebd0301c66 | 50 | }; |
akudohune | 0:2eebd0301c66 | 51 | |
akudohune | 0:2eebd0301c66 | 52 | |
akudohune | 0:2eebd0301c66 | 53 | double standTu = 0; |
akudohune | 0:2eebd0301c66 | 54 | int speed[MOT_NUM] = {0}; |
akudohune | 0:2eebd0301c66 | 55 | uint8_t hold_flag = 0; |
akudohune | 0:2eebd0301c66 | 56 | uint8_t state = HOME_WAIT; |
akudohune | 0:2eebd0301c66 | 57 | |
akudohune | 0:2eebd0301c66 | 58 | float inputPID = 180.0; |
akudohune | 0:2eebd0301c66 | 59 | static double standard; |
akudohune | 0:2eebd0301c66 | 60 | float compassPID = 0.0; |
akudohune | 0:2eebd0301c66 | 61 | |
akudohune | 0:2eebd0301c66 | 62 | extern int diff; |
akudohune | 0:2eebd0301c66 | 63 | |
akudohune | 0:2eebd0301c66 | 64 | extern string StringFIN; |
akudohune | 0:2eebd0301c66 | 65 | |
akudohune | 0:2eebd0301c66 | 66 | extern uint8_t direction; |
akudohune | 0:2eebd0301c66 | 67 | extern uint8_t Distance; |
akudohune | 0:2eebd0301c66 | 68 | extern uint8_t IR_found; |
akudohune | 0:2eebd0301c66 | 69 | |
akudohune | 0:2eebd0301c66 | 70 | extern void PidUpdata(void); |
akudohune | 0:2eebd0301c66 | 71 | extern void array(int,int,int,int); |
akudohune | 0:2eebd0301c66 | 72 | |
akudohune | 0:2eebd0301c66 | 73 | extern void dev_rx(void); |
akudohune | 0:2eebd0301c66 | 74 | extern void dev_tx(void); |
akudohune | 0:2eebd0301c66 | 75 | |
akudohune | 0:2eebd0301c66 | 76 | extern uint16_t ultrasonicVal[4]; |
akudohune | 0:2eebd0301c66 | 77 | |
akudohune | 0:2eebd0301c66 | 78 | #define FRONT_SONIC ultrasonicVal[0] |
akudohune | 0:2eebd0301c66 | 79 | #define BACK_SONIC ultrasonicVal[2] |
akudohune | 0:2eebd0301c66 | 80 | #define RIGHT_SONIC ultrasonicVal[1] |
akudohune | 0:2eebd0301c66 | 81 | #define LEFT_SONIC ultrasonicVal[3] |
akudohune | 0:2eebd0301c66 | 82 | |
akudohune | 0:2eebd0301c66 | 83 |