File content as of revision 2:22b099fbdd14:

#include "mbed.h"

#define IR_TIME_NOTFOUND 833    /* 見つけられなかったと判断するまでの時間(単位：us) */
#define IR_COUNTMAX 487     /*最大パルス幅 パルスの存在しうる最大時間は487us*/
#define ALL_IR 9
#define DIREC_IR 8
#define DIRECTION 16
#define TERM 0
#define DELTA -2
#define SWAP(type,a,b) { type temp = a; a = b; b = temp; }

Serial pc(USBTX, USBRX); // tx, rx

Timer timer_ir;     /* 赤外線用タイマー */

BusOut myleds(p18, p17, p16, p15, p14, p13, p12, p11); //出力用ポート

BusOut mbedleds(LED4,LED3,LED2,LED1);

/* 赤外線センサに使うpinを配列に格納 */
PinName ir_num[ALL_IR] = {
    p13,
    p14,
    p15,
    p16,
    p17,
    p18,
    p19,
    p20,
    p30
};

int Convert_Direction[DIRECTION] = {
    90,
    67,
    45,
    22,
    0,
    337,
    315,
    292,
    270,
    247,
    225,
    202,
    180,
    157,
    135,
    112
};

int moving_ave(int data,int active_ir)
{
    static int tmp[12][ALL_IR]= {{0,0}};
    static int sum[ALL_IR] = {0};
    int count = 0;

    sum[active_ir] -= tmp[11][active_ir];
    sum[active_ir] += data;
    //tmp[13][active_ir] = tmp[12][active_ir];
    //tmp[12][active_ir] = tmp[11][active_ir];
    tmp[11][active_ir] = tmp[10][active_ir];
    tmp[10][active_ir] = tmp[9][active_ir];
    tmp[9][active_ir] = tmp[8][active_ir];
    tmp[8][active_ir] = tmp[7][active_ir];
    tmp[7][active_ir] = tmp[6][active_ir];
    tmp[6][active_ir] = tmp[5][active_ir];
    tmp[5][active_ir] = tmp[4][active_ir];
    tmp[4][active_ir] = tmp[3][active_ir];
    tmp[3][active_ir] = tmp[2][active_ir];
    tmp[2][active_ir] = tmp[1][active_ir];
    tmp[1][active_ir] = tmp[0][active_ir];
    tmp[0][active_ir] = data;
    
    for(int i=0;i<12;i++){
        if(tmp[i][active_ir])count++;
    }

    return sum[active_ir]/count;
}

void IR_Position(int* direction,int* distance){

    int ir_value[ALL_IR+100] = {0};

    int active_ir = 0;     /* 今回更新する赤外線の番号 */
    int memory_ir = 0;         /*赤外線時間カウンタ*/
    int flag_ir = 0;
    int value = 0;

    for(int i=0; i<ALL_IR; i++) {
        flag_ir = 1;

        DigitalIn sensor_ir(ir_num[active_ir]); /* 今回更新する赤外線の個体を呼び出す */

        timer_ir.start();   /* タイマー起動 */

        if(sensor_ir) {              /* もし立ち上がっていたら */
            while(sensor_ir) {       /* 立ち下がるまで待つ */
                if(timer_ir.read_us() >= IR_TIME_NOTFOUND) {
                    flag_ir = 0;
                    break;  /* 立ち上がっている時間が指定時間越えたらブレイク */
                }
            }
        }

        timer_ir.stop();    /* タイマー停止 */
        timer_ir.reset();   /* タイマーリセット */

        if(flag_ir) {
            timer_ir.start();   /* タイマー起動 */

            while(!(sensor_ir)) {       /* 立ち上がるまで待つ */
                if(timer_ir.read_us() >= IR_TIME_NOTFOUND) {
                    flag_ir = 0;
                    break;  /* 立ち上がっている時間が指定時間越えたらブレイク */
                }
            }
        }

        /*ボールが指定時間内に見つかっていたら*/
        if(flag_ir) {
            memory_ir = timer_ir.read_us();

            while(1) {
                if((timer_ir.read_us()-memory_ir)>=IR_TIME_NOTFOUND)break;

                if(!(sensor_ir)) {
                    //value = moving_ave( (timer_ir.read_us()-memory_ir)/10 , active_ir );
                    value = (timer_ir.read_us()-memory_ir)/10;

                    break;
                }
            }
        } else {
            /*ボールが見つかっていない場合*/
            value = 0;
        }
        timer_ir.stop();    /* タイマー停止 */
        timer_ir.reset();   /* タイマーリセット */

        memory_ir = 0;

        ir_value[active_ir] =  value; //direction array

        active_ir++;

        if( active_ir >= ALL_IR) {
            active_ir = 0;

            /***********direction***********/
    
            int min = 100,youso_min = 100;
    
            for(int i = 0; i<DIREC_IR; i++) {
                if((ir_value[i]<min)&&(ir_value[i])) {
                    min = ir_value[i];
                    youso_min = i;
                }
            }
    
            double hiritu = 0;
    
            int direc = 0;
    
            if(youso_min == 0) {
                hiritu = (double)ir_value[7]/(double)ir_value[1];
            } else if(youso_min ==7) {
                hiritu = (double)ir_value[6]/(double)ir_value[0];
            } else {
                hiritu = (double)ir_value[youso_min-1]/(double)ir_value[youso_min+1];
            }
            
            if((hiritu <= 0.85)&&(youso_min != 0)) {
                direc = youso_min*2-1;
            }else if((hiritu <= 0.85)&&(youso_min == 0)){
                direc = 15; 
            }else if(hiritu >= 1.15) {
                direc = youso_min*2+1;
            } else {
                direc = youso_min*2;
            }
            
            /*if(youso_min == 0){
                direc = 0;   
            }*/
    
            /*******  direction end  *******/
    
            /*******     distance    *******/
    
            int dista;
            
            if((ir_value[youso_min]<=28 + TERM)) {
                dista = 30;
            } else if((ir_value[youso_min]>28 + TERM)&&(ir_value[youso_min]<=35 + TERM)) {
                dista = 90;
            } else if((ir_value[youso_min]>35 + TERM)&&(ir_value[youso_min]<=40 + TERM)) {
                dista = 120;
            } else if( ir_value[youso_min]>40 + TERM) {
                dista = 180;
            } else {
                dista = 0;
            }
            
            int count_ir = 0,total_ir = 0;
            
            for(int i=0; i<DIREC_IR; i++){
                if(ir_value[i]){
                    total_ir += ir_value[i];
                    count_ir++;
                }
            }
            
            double hihhihi = 0;
            
            hihhihi = (double)ir_value[youso_min]/(double)ir_value[8];
            
            
            if((direc == 0)&&(hihhihi  >= 0.80)){
                dista = 10;
            }else if((direc == 1)&&(hihhihi  >= 0.80)){
                dista = 10;
            }else if((direc == 2)&&(hihhihi  >= 0.65)){
                dista = 10;
            }else if((direc == 3)&&(hihhihi  >= 0.65)){
                dista = 10;
            }else if((direc == 4)&&(hihhihi  >= 0.80)){
                dista = 10;
            }else if((direc == 5)&&(hihhihi  >= 0.65)){
                dista = 10;
            }else if((direc == 6)&&(hihhihi  >= 0.65)){
                dista = 10;
            }else if((direc == 7)&&(hihhihi  >= 0.80)){
                dista = 10;
            }else if((direc == 8)&&(hihhihi  >= 0.80)){
                dista = 10;
            }else if((direc == 9)&&(hihhihi  >= 0.80)){
                dista = 10;
            }else if((direc == 10)&&(hihhihi  >= 0.65)){
                dista = 10;
            }else if((direc == 11)&&(hihhihi  >= 0.65)){
                dista = 10;
            }else if((direc == 12)&&(hihhihi  >= 0.80)){
                dista = 10;
            }else if((direc == 13)&&(hihhihi  >= 0.65)){
                dista = 10;
            }else if((direc == 14)&&(hihhihi  >= 0.65)){
                dista = 10;
            }else if((direc == 15)&&(hihhihi  >= 0.80)){
                dista = 10;
            }  
            

            /********  distance end  *******/
            
            *direction = Convert_Direction[direc];
            *distance  = dista;
        }
    }
}

int main ()
{
    pc.baud(9600);
    
    int derection = 0;
    int distance  = 0;
    
    for(;;){
        IR_Position(&derection,&distance);
        
        pc.printf("derection:%d distance:%d\n",derection,distance);
    }
}