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Dependencies:   ColorSensor1 TextLCD mbed

Committer:
yusuke_robocup
Date:
Wed Oct 09 09:37:16 2013 +0000
Revision:
0:5b6831d50173
color

Who changed what in which revision?

UserRevisionLine numberNew 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 };