ケンタ ミヤザキ
Dependencies: PID Serialservo TCS3200 XQ_servo encoder encoder2 mbed moter
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nhk_2018_undercarry_test09
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ケンタ ミヤザキ
config.h@10:01aa50804d85, 2018-04-15 (annotated)
- Committer:
- kenken0721
- Date:
- Sun Apr 15 00:36:15 2018 +0000
- Revision:
- 10:01aa50804d85
- Parent:
- 9:0c1fce6d8094
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| kenken0721 | 10:01aa50804d85 | 1 | |
| kenken0721 | 10:01aa50804d85 | 2 | //機体のモーター出力 |
| kenken0721 | 0:f6828b914b1c | 3 | #define POWER 0.3 |
| kenken0721 | 10:01aa50804d85 | 4 | |
| kenken0721 | 10:01aa50804d85 | 5 | //PID値 |
| kenken0721 | 10:01aa50804d85 | 6 | //STRAIGHT |
| kenken0721 | 2:c5996dd62e9c | 7 | #define SP 0.02 |
| kenken0721 | 2:c5996dd62e9c | 8 | #define SI 0.00 |
| kenken0721 | 8:91a72648f312 | 9 | #define SD 0.001 |
| kenken0721 | 10:01aa50804d85 | 10 | //RIGHT |
| kenken0721 | 8:91a72648f312 | 11 | #define RP 0.021 |
| kenken0721 | 8:91a72648f312 | 12 | #define RI 0.000 |
| kenken0721 | 8:91a72648f312 | 13 | #define RD 0.001 |
| kenken0721 | 10:01aa50804d85 | 14 | //LEFT |
| kenken0721 | 8:91a72648f312 | 15 | #define LP 0.02 |
| kenken0721 | 8:91a72648f312 | 16 | #define LI 0.00 |
| kenken0721 | 8:91a72648f312 | 17 | #define LD 0.0015 |
| kenken0721 | 10:01aa50804d85 | 18 | |
| kenken0721 | 10:01aa50804d85 | 19 | //エンコーダーによる距離指定停止時の値 |
| kenken0721 | 10:01aa50804d85 | 20 | #define X_STOP_DIST 1.3//通常停止x軸 |
| kenken0721 | 10:01aa50804d85 | 21 | #define X_STOP_DIST_2 7.5//受け取り位置での停止 |
| kenken0721 | 10:01aa50804d85 | 22 | #define X_STOP_DIST_3 4.0// |
| kenken0721 | 10:01aa50804d85 | 23 | #define X_STOP_DIST_4 3.5// |
| kenken0721 | 10:01aa50804d85 | 24 | #define Y_STOP_DIST 1.5//通常停止y軸 |
| kenken0721 | 2:c5996dd62e9c | 25 | |
| kenken0721 | 2:c5996dd62e9c | 26 | |
| kenken0721 | 10:01aa50804d85 | 27 | //I2Cのピン番号 |
| kenken0721 | 10:01aa50804d85 | 28 | #define sda PB_9 |
| kenken0721 | 10:01aa50804d85 | 29 | #define scl PB_8 |
| kenken0721 | 7:f1a924244b76 | 30 | |
| kenken0721 | 10:01aa50804d85 | 31 | //ライントレースモジュールのID |
| kenken0721 | 10:01aa50804d85 | 32 | #define addr1 0x24//STRAIGHT |
| kenken0721 | 10:01aa50804d85 | 33 | #define addr2 0x10//RIGHT |
| kenken0721 | 10:01aa50804d85 | 34 | #define addr3 0x64//LEFT |
| kenken0721 | 10:01aa50804d85 | 35 | |
| kenken0721 | 10:01aa50804d85 | 36 | //腰こ |
| kenken0721 | 10:01aa50804d85 | 37 | #define koshi_uke_degree 153//初期位置、受け取り位置 |
| kenken0721 | 10:01aa50804d85 | 38 | #define koshi_nage_degree 60//黄色投てき |
| kenken0721 | 10:01aa50804d85 | 39 | #define koshi_red_nage_degree 72//赤色投てき |
| kenken0721 | 10:01aa50804d85 | 40 | #define koshi_blue_nage_degree 69//青色投てき |
| kenken0721 | 10:01aa50804d85 | 41 | |
| kenken0721 | 10:01aa50804d85 | 42 | //アームの肘 |
| kenken0721 | 4:eabb7a738ff8 | 43 | #define hiji_uke_degree 225 |
| kenken0721 | 10:01aa50804d85 | 44 | #define hiji_tsukami_degree 230//赤、青を受け取る際の角度 |
| kenken0721 | 10:01aa50804d85 | 45 | #define hiji_yellow_uke_degree 237//ラックから受け取る際の角度 |
| kenken0721 | 10:01aa50804d85 | 46 | #define hiji_nage_degree 270//投てき時退避位置 |
| kenken0721 | 4:eabb7a738ff8 | 47 | |
| kenken0721 | 10:01aa50804d85 | 48 | //アームの手 |
| kenken0721 | 10:01aa50804d85 | 49 | #define hand_uke_degree 1.0//受け取り前 |
| kenken0721 | 10:01aa50804d85 | 50 | #define hand_tsukami_degree 0.0//受け取り時 |
| kenken0721 | 10:01aa50804d85 | 51 | |
| kenken0721 | 10:01aa50804d85 | 52 | //アーム角度 |
| kenken0721 | 10:01aa50804d85 | 53 | #define SYOKIITI 168 |
| kenken0721 | 10:01aa50804d85 | 54 | #define YELLOW_SYOKIITI 165 |
| kenken0721 | 10:01aa50804d85 | 55 | #define RED_TOUTEKI 190//赤投てき |
| kenken0721 | 10:01aa50804d85 | 56 | #define BLUE_TOUTEKI 195//青投てき |
| kenken0721 | 10:01aa50804d85 | 57 | #define YELLOW_TOUTEKI 184//黄色投てき |
| kenken0721 | 4:eabb7a738ff8 | 58 | |
| kenken0721 | 2:c5996dd62e9c | 59 | #define STRAIGHT 1 |
| kenken0721 | 2:c5996dd62e9c | 60 | #define BACK 2 |
| kenken0721 | 2:c5996dd62e9c | 61 | #define RIGHT 3 |
| kenken0721 | 2:c5996dd62e9c | 62 | #define LEFT 4 |
| kenken0721 | 2:c5996dd62e9c | 63 | #define STOP 5 |
| kenken0721 | 2:c5996dd62e9c | 64 | #define START 6 |
| kenken0721 | 2:c5996dd62e9c | 65 | #define RED_RECEIVE 7 |
| kenken0721 | 2:c5996dd62e9c | 66 | #define BLUE_RECEIVE 8 |
| kenken0721 | 2:c5996dd62e9c | 67 | #define BLUE_RECEIVE_1 9 |
| kenken0721 | 2:c5996dd62e9c | 68 | #define BLUE_RECEIVE_2 10 |
| kenken0721 | 2:c5996dd62e9c | 69 | #define YELLOW_RECEIVE 11 |
| kenken0721 | 2:c5996dd62e9c | 70 | #define STAND_BY_1 12 |
| kenken0721 | 2:c5996dd62e9c | 71 | #define STAND_BY_2 13 |
| kenken0721 | 2:c5996dd62e9c | 72 | #define THROWING 14 |