defines.h

00001 #include "mbed.h"
00002 #define R 0
00003 #define L 1
00004 #define DEBUG 0
00005 #define DEBUG_R 1
00006 #define CALIB 0
00007 #define SetupCMD 'A'
00008 #define Respons 'S'
00009 #define dataNum 12+3
00010 
00011 #define NOTINPUT  -1
00012 #define LOADMOTION -3
00013 #define TIMEOUT  -2
00014 
00015 #if !CALIB
00016 //1号機
00017 //uint16_t MinimumRangeR[4] = {4000,40000,53500,16000};
00018 //uint16_t MaxmumRangeR[4] = {55000,51000,58900,45000};
00019 //uint16_t MinimumRangeL[4] = {31500,8000,30000,19800};
00020 //uint16_t MaxmumRangeL[4] = {48000,46400,46200,45000};
00021 //2号機
00022 
00023 uint16_t MinimumRangeR[4] = {11900,32600,52100,0xffff-37800};
00024 uint16_t MaxmumRangeR[4] = {54500,48000,56000,0xffff-8900};
00025 uint16_t MinimumRangeL[4] = {62900,11300,37700,14200};
00026 uint16_t MaxmumRangeL[4] = {45800,56000,27900,44000};
00027 #endif
00028 #if CALIB
00029 uint16_t MinimumRangeR[4] = {0,0,0,0};
00030 uint16_t MaxmumRangeR[4] = {0xffff,0xffff,0xffff,0xffff};
00031 uint16_t MinimumRangeL[4] = {0,0,0,0};
00032 uint16_t MaxmumRangeL[4] = {0xffff,0xffff,0xffff,0xffff};
00033 #endif
00034 
00035 union floatInByte
00036 {
00037     uint16_t si;
00038     unsigned char c[2];
00039 };
00040 #define BIT(n) (1 << n)
00041 union charInBool
00042 {
00043     bool Bool[8];
00044     uint8_t data;
00045 };
00046 
00047 uint8_t RXData[dataNum] = {'0'}; 
00048 Nunchuck ctrl(D4,D5);
00049 int8_t accData[2][3];