aaaaa
Dependencies: HMC6352 PID QEI Servo mbed
main.h@0:1be472d79ae9, 2013-09-30 (annotated)
- Committer:
- yusuke_robocup
- Date:
- Mon Sep 30 09:01:37 2013 +0000
- Revision:
- 0:1be472d79ae9
PIDsync
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yusuke_robocup | 0:1be472d79ae9 | 1 | #define RATE 0.1 |
yusuke_robocup | 0:1be472d79ae9 | 2 | #define MINIMUM -1440 |
yusuke_robocup | 0:1be472d79ae9 | 3 | #define MAXIMUM 1440 |
yusuke_robocup | 0:1be472d79ae9 | 4 | |
yusuke_robocup | 0:1be472d79ae9 | 5 | #define PID_CYCLE 0.03 //s |
yusuke_robocup | 0:1be472d79ae9 | 6 | #define COMPASS_CYCLE 0.1 |
yusuke_robocup | 0:1be472d79ae9 | 7 | |
yusuke_robocup | 0:1be472d79ae9 | 8 | #define P_GAIN 1.2 //0.78 //zensin 1.5 |
yusuke_robocup | 0:1be472d79ae9 | 9 | #define I_GAIN 1000000000.0 |
yusuke_robocup | 0:1be472d79ae9 | 10 | #define D_GAIN 0.0 //0.009 |
yusuke_robocup | 0:1be472d79ae9 | 11 | |
yusuke_robocup | 0:1be472d79ae9 | 12 | #define PID_BIAS 0.0 |
yusuke_robocup | 0:1be472d79ae9 | 13 | #define REFERENCE 0 |
yusuke_robocup | 0:1be472d79ae9 | 14 | |
yusuke_robocup | 0:1be472d79ae9 | 15 | #define OUT_LIMIT 1000 |
yusuke_robocup | 0:1be472d79ae9 | 16 | |
yusuke_robocup | 0:1be472d79ae9 | 17 | extern double ultrasonicValue[4]; |
yusuke_robocup | 0:1be472d79ae9 | 18 | extern uint16_t ultrasonicVal[4]; |
yusuke_robocup | 0:1be472d79ae9 | 19 | extern void Ultrasonic(void); |
yusuke_robocup | 0:1be472d79ae9 | 20 | Timer timer2; |
yusuke_robocup | 0:1be472d79ae9 | 21 | Timer ping_t; |
yusuke_robocup | 0:1be472d79ae9 | 22 | |
yusuke_robocup | 0:1be472d79ae9 | 23 | HMC6352 compass(p28/*sda*/, p27/*scl*/); |
yusuke_robocup | 0:1be472d79ae9 | 24 | Ticker compassUpdata; |
yusuke_robocup | 0:1be472d79ae9 | 25 | |
yusuke_robocup | 0:1be472d79ae9 | 26 | PID pid(P_GAIN,I_GAIN,D_GAIN, RATE); |
yusuke_robocup | 0:1be472d79ae9 | 27 | PID controller(1.0, 0.0, 0.0, RATE); |
yusuke_robocup | 0:1be472d79ae9 | 28 | Ticker pidUpdata; |
yusuke_robocup | 0:1be472d79ae9 | 29 | |
yusuke_robocup | 0:1be472d79ae9 | 30 | Servo servoR(p23); |
yusuke_robocup | 0:1be472d79ae9 | 31 | Servo servoL(p24); |
yusuke_robocup | 0:1be472d79ae9 | 32 | |
yusuke_robocup | 0:1be472d79ae9 | 33 | DigitalIn swR(p29); |
yusuke_robocup | 0:1be472d79ae9 | 34 | DigitalIn swL(p30); |
yusuke_robocup | 0:1be472d79ae9 | 35 | |
yusuke_robocup | 0:1be472d79ae9 | 36 | DigitalOut led1(LED1); |
yusuke_robocup | 0:1be472d79ae9 | 37 | DigitalOut led2(LED2); |
yusuke_robocup | 0:1be472d79ae9 | 38 | |
yusuke_robocup | 0:1be472d79ae9 | 39 | QEI wheel1 (p18, p17, NC, 624); |
yusuke_robocup | 0:1be472d79ae9 | 40 | QEI wheel2 (p8, p7, NC, 624); |
yusuke_robocup | 0:1be472d79ae9 | 41 | |
yusuke_robocup | 0:1be472d79ae9 | 42 | #define Convert_dekaruto(a) ((a+1000.0)/2.0/1000.0) |
yusuke_robocup | 0:1be472d79ae9 | 43 | #define CYCLE 705.0 |
yusuke_robocup | 0:1be472d79ae9 | 44 | |
yusuke_robocup | 0:1be472d79ae9 | 45 | enum{ |
yusuke_robocup | 0:1be472d79ae9 | 46 | WAIT, |
yusuke_robocup | 0:1be472d79ae9 | 47 | STRAIGHT, |
yusuke_robocup | 0:1be472d79ae9 | 48 | TURN, |
yusuke_robocup | 0:1be472d79ae9 | 49 | COMP |
yusuke_robocup | 0:1be472d79ae9 | 50 | }; |