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Dependencies: ColorSensor1 TextLCD mbed
main.h@0:5b6831d50173, 2013-10-09 (annotated)
- Committer:
- yusuke_robocup
- Date:
- Wed Oct 09 09:37:16 2013 +0000
- Revision:
- 0:5b6831d50173
color
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yusuke_robocup | 0:5b6831d50173 | 1 | ///////////////////////////////////////OGATA////////////////////////////////////////// |
yusuke_robocup | 0:5b6831d50173 | 2 | ////////////////////////////////////////////////////////////////////////////////////// |
yusuke_robocup | 0:5b6831d50173 | 3 | //センサの数 |
yusuke_robocup | 0:5b6831d50173 | 4 | #define COLOR_NUM 3 |
yusuke_robocup | 0:5b6831d50173 | 5 | |
yusuke_robocup | 0:5b6831d50173 | 6 | //閾値 |
yusuke_robocup | 0:5b6831d50173 | 7 | #define R_THR 75 |
yusuke_robocup | 0:5b6831d50173 | 8 | #define G_THR 65 |
yusuke_robocup | 0:5b6831d50173 | 9 | #define B_THR 65 |
yusuke_robocup | 0:5b6831d50173 | 10 | #define PINR_THR 2000 |
yusuke_robocup | 0:5b6831d50173 | 11 | |
yusuke_robocup | 0:5b6831d50173 | 12 | |
yusuke_robocup | 0:5b6831d50173 | 13 | enum{ |
yusuke_robocup | 0:5b6831d50173 | 14 | GO, |
yusuke_robocup | 0:5b6831d50173 | 15 | STOP |
yusuke_robocup | 0:5b6831d50173 | 16 | }; |
yusuke_robocup | 0:5b6831d50173 | 17 | |
yusuke_robocup | 0:5b6831d50173 | 18 | //TextLCD lcd(p30, p29, p28, p27, p26, p25, TextLCD::LCD20x4); // rs, e, d4-d7 |
yusuke_robocup | 0:5b6831d50173 | 19 | ColorSensor color0(p20, p17, p18, p19, 10); |
yusuke_robocup | 0:5b6831d50173 | 20 | ColorSensor color1(p16, p13, p14, p15, 10); |
yusuke_robocup | 0:5b6831d50173 | 21 | ColorSensor color2(p12, p9, p10, p11, 10); |
yusuke_robocup | 0:5b6831d50173 | 22 | ColorSensor color3(p8, p5, p6, p7, 10); |
yusuke_robocup | 0:5b6831d50173 | 23 | ColorSensor color4(p24, p21, p22, p23, 10); |
yusuke_robocup | 0:5b6831d50173 | 24 | ColorSensor color5(p30, p25, p26, p29, 10); |
yusuke_robocup | 0:5b6831d50173 | 25 | Serial pc(USBTX, USBRX); // tx, rx |
yusuke_robocup | 0:5b6831d50173 | 26 | DigitalOut led[4] = {LED1,LED2,LED3,LED4}; |
yusuke_robocup | 0:5b6831d50173 | 27 | DigitalOut air[2] = {p7,p8}; |
yusuke_robocup | 0:5b6831d50173 | 28 | |
yusuke_robocup | 0:5b6831d50173 | 29 | |
yusuke_robocup | 0:5b6831d50173 | 30 | Timer color_t[COLOR_NUM]; |
yusuke_robocup | 0:5b6831d50173 | 31 | Timer jump_t; |
yusuke_robocup | 0:5b6831d50173 | 32 | Ticker interrupt0; |
yusuke_robocup | 0:5b6831d50173 | 33 | |
yusuke_robocup | 0:5b6831d50173 | 34 | |
yusuke_robocup | 0:5b6831d50173 | 35 | void rivisedate (); |
yusuke_robocup | 0:5b6831d50173 | 36 | void colorUpdate (uint8_t mode); |
yusuke_robocup | 0:5b6831d50173 | 37 | uint8_t ptm(unsigned sum); |
yusuke_robocup | 0:5b6831d50173 | 38 | |
yusuke_robocup | 0:5b6831d50173 | 39 | |
yusuke_robocup | 0:5b6831d50173 | 40 | double proportional = 0; |
yusuke_robocup | 0:5b6831d50173 | 41 | uint16_t com_val = 0; |
yusuke_robocup | 0:5b6831d50173 | 42 | unsigned redp[COLOR_NUM], greenp[COLOR_NUM], bluep[COLOR_NUM]; |
yusuke_robocup | 0:5b6831d50173 | 43 | double rir,rib ; |
yusuke_robocup | 0:5b6831d50173 | 44 | |
yusuke_robocup | 0:5b6831d50173 | 45 | |
yusuke_robocup | 0:5b6831d50173 | 46 | |
yusuke_robocup | 0:5b6831d50173 | 47 | enum{ |
yusuke_robocup | 0:5b6831d50173 | 48 | WAIT, |
yusuke_robocup | 0:5b6831d50173 | 49 | STRAIGHT, |
yusuke_robocup | 0:5b6831d50173 | 50 | TURN, |
yusuke_robocup | 0:5b6831d50173 | 51 | COMP |
yusuke_robocup | 0:5b6831d50173 | 52 | }; |