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Dependencies: HMC6352 PID QEI Servo mbed
main.h
- Committer:
- yusuke_robocup
- Date:
- 2013-09-30
- Revision:
- 0:1be472d79ae9
File content as of revision 0:1be472d79ae9:
#define RATE 0.1 #define MINIMUM -1440 #define MAXIMUM 1440 #define PID_CYCLE 0.03 //s #define COMPASS_CYCLE 0.1 #define P_GAIN 1.2 //0.78 //zensin 1.5 #define I_GAIN 1000000000.0 #define D_GAIN 0.0 //0.009 #define PID_BIAS 0.0 #define REFERENCE 0 #define OUT_LIMIT 1000 extern double ultrasonicValue[4]; extern uint16_t ultrasonicVal[4]; extern void Ultrasonic(void); Timer timer2; Timer ping_t; HMC6352 compass(p28/*sda*/, p27/*scl*/); Ticker compassUpdata; PID pid(P_GAIN,I_GAIN,D_GAIN, RATE); PID controller(1.0, 0.0, 0.0, RATE); Ticker pidUpdata; Servo servoR(p23); Servo servoL(p24); DigitalIn swR(p29); DigitalIn swL(p30); DigitalOut led1(LED1); DigitalOut led2(LED2); QEI wheel1 (p18, p17, NC, 624); QEI wheel2 (p8, p7, NC, 624); #define Convert_dekaruto(a) ((a+1000.0)/2.0/1000.0) #define CYCLE 705.0 enum{ WAIT, STRAIGHT, TURN, COMP };