a
Dependencies: ColorSensor1 TextLCD mbed
main.h
- Committer:
- yusuke_robocup
- Date:
- 2013-10-09
- Revision:
- 0:5b6831d50173
File content as of revision 0:5b6831d50173:
///////////////////////////////////////OGATA////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////////// //センサの数 #define COLOR_NUM 3 //閾値 #define R_THR 75 #define G_THR 65 #define B_THR 65 #define PINR_THR 2000 enum{ GO, STOP }; //TextLCD lcd(p30, p29, p28, p27, p26, p25, TextLCD::LCD20x4); // rs, e, d4-d7 ColorSensor color0(p20, p17, p18, p19, 10); ColorSensor color1(p16, p13, p14, p15, 10); ColorSensor color2(p12, p9, p10, p11, 10); ColorSensor color3(p8, p5, p6, p7, 10); ColorSensor color4(p24, p21, p22, p23, 10); ColorSensor color5(p30, p25, p26, p29, 10); Serial pc(USBTX, USBRX); // tx, rx DigitalOut led[4] = {LED1,LED2,LED3,LED4}; DigitalOut air[2] = {p7,p8}; Timer color_t[COLOR_NUM]; Timer jump_t; Ticker interrupt0; void rivisedate (); void colorUpdate (uint8_t mode); uint8_t ptm(unsigned sum); double proportional = 0; uint16_t com_val = 0; unsigned redp[COLOR_NUM], greenp[COLOR_NUM], bluep[COLOR_NUM]; double rir,rib ; enum{ WAIT, STRAIGHT, TURN, COMP };