main.h

00001 ///////////////////////////////////////OGATA//////////////////////////////////////////
00002 //////////////////////////////////////////////////////////////////////////////////////
00003 //センサの数
00004 #define COLOR_NUM 3
00005 
00006 //閾値
00007 #define R_THR 75
00008 #define G_THR 65
00009 #define B_THR 65
00010 #define PINR_THR 2000
00011 
00012 
00013 enum{
00014     GO,
00015     STOP
00016 };
00017 
00018 //TextLCD lcd(p30, p29, p28, p27, p26, p25, TextLCD::LCD20x4); // rs, e, d4-d7
00019 ColorSensor color0(p20, p17, p18, p19, 10);
00020 ColorSensor color1(p16, p13, p14, p15, 10);
00021 ColorSensor color2(p12, p9, p10, p11, 10);
00022 ColorSensor color3(p8, p5, p6, p7, 10);
00023 ColorSensor color4(p24, p21, p22, p23, 10);
00024 ColorSensor color5(p30, p25, p26, p29, 10);
00025 Serial pc(USBTX, USBRX);    // tx, rx 
00026 DigitalOut led[4] = {LED1,LED2,LED3,LED4};
00027 DigitalOut air[2] = {p7,p8};
00028 
00029 
00030 Timer color_t[COLOR_NUM];
00031 Timer jump_t;
00032 Ticker interrupt0;
00033 
00034 
00035 void rivisedate ();
00036 void colorUpdate (uint8_t mode);
00037 uint8_t ptm(unsigned sum);
00038 
00039 
00040 double proportional = 0;
00041 uint16_t com_val = 0;
00042 unsigned redp[COLOR_NUM], greenp[COLOR_NUM], bluep[COLOR_NUM];
00043 double rir,rib ;
00044 
00045 
00046 
00047 enum{
00048     WAIT,
00049     STRAIGHT,
00050     TURN,
00051     COMP
00052 };