sasasa
Dependencies: HMC6352 PID eeprom mbed
Fork of ver1_2_2_1 by
IR.h@3:b4fb2b5365a7, 2013-04-18 (annotated)
- Committer:
- yusuke_robocup
- Date:
- Thu Apr 18 08:42:17 2013 +0000
- Revision:
- 3:b4fb2b5365a7
- Parent:
- 2:09fabba6c00d
new new new
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akudohune | 0:74bf4953c0d1 | 1 | |
akudohune | 0:74bf4953c0d1 | 2 | |
akudohune | 0:74bf4953c0d1 | 3 | #define IR_TIME_NOTFOUND 833 /* 見つけられなかったと判断するまでの時間(単位:us) */ |
akudohune | 0:74bf4953c0d1 | 4 | #define IR_COUNTMAX 487 /*最大パルス幅 パルスの存在しうる最大時間は487us*/ |
yusuke_robocup | 2:09fabba6c00d | 5 | #define ALL_IR 11 |
yusuke_robocup | 2:09fabba6c00d | 6 | #define DIREC_IR 10 |
akudohune | 0:74bf4953c0d1 | 7 | #define DIRECTION 16 |
akudohune | 0:74bf4953c0d1 | 8 | #define TERM 0 |
akudohune | 0:74bf4953c0d1 | 9 | #define DELTA -2 |
akudohune | 0:74bf4953c0d1 | 10 | #define SWAP(type,a,b) { type temp = a; a = b; b = temp; } |
akudohune | 0:74bf4953c0d1 | 11 | |
akudohune | 0:74bf4953c0d1 | 12 | |
akudohune | 0:74bf4953c0d1 | 13 | /* 赤外線センサに使うpinを配列に格納 */ |
akudohune | 0:74bf4953c0d1 | 14 | PinName ir_num[ALL_IR] = { |
akudohune | 0:74bf4953c0d1 | 15 | p13, |
akudohune | 0:74bf4953c0d1 | 16 | p14, |
akudohune | 0:74bf4953c0d1 | 17 | p15, |
akudohune | 0:74bf4953c0d1 | 18 | p16, |
akudohune | 0:74bf4953c0d1 | 19 | p17, |
akudohune | 0:74bf4953c0d1 | 20 | p18, |
akudohune | 0:74bf4953c0d1 | 21 | p19, |
akudohune | 0:74bf4953c0d1 | 22 | p20, |
yusuke_robocup | 2:09fabba6c00d | 23 | p25, |
yusuke_robocup | 3:b4fb2b5365a7 | 24 | p30, |
yusuke_robocup | 3:b4fb2b5365a7 | 25 | p12, |
akudohune | 0:74bf4953c0d1 | 26 | }; |
akudohune | 0:74bf4953c0d1 | 27 | |
akudohune | 0:74bf4953c0d1 | 28 | int Convert_Direction[DIRECTION] = { |
akudohune | 0:74bf4953c0d1 | 29 | 90, |
akudohune | 0:74bf4953c0d1 | 30 | 67, |
yusuke_robocup | 2:09fabba6c00d | 31 | 30, |
akudohune | 0:74bf4953c0d1 | 32 | 22, |
akudohune | 0:74bf4953c0d1 | 33 | 0, |
akudohune | 0:74bf4953c0d1 | 34 | 337, |
akudohune | 0:74bf4953c0d1 | 35 | 315, |
akudohune | 0:74bf4953c0d1 | 36 | 292, |
akudohune | 0:74bf4953c0d1 | 37 | 270, |
akudohune | 0:74bf4953c0d1 | 38 | 247, |
akudohune | 0:74bf4953c0d1 | 39 | 225, |
akudohune | 0:74bf4953c0d1 | 40 | 202, |
akudohune | 0:74bf4953c0d1 | 41 | 180, |
akudohune | 0:74bf4953c0d1 | 42 | 157, |
yusuke_robocup | 2:09fabba6c00d | 43 | 150, |
akudohune | 0:74bf4953c0d1 | 44 | 112 |
akudohune | 0:74bf4953c0d1 | 45 | }; |
akudohune | 0:74bf4953c0d1 | 46 | |
akudohune | 0:74bf4953c0d1 | 47 | //ball direction |
akudohune | 0:74bf4953c0d1 | 48 | double ball_sankaku[16][2] = { |
akudohune | 0:74bf4953c0d1 | 49 | {0 , 1 }, |
akudohune | 0:74bf4953c0d1 | 50 | {0.390 , 0.920}, |
yusuke_robocup | 2:09fabba6c00d | 51 | {0.866 , 0.500}, |
akudohune | 0:74bf4953c0d1 | 52 | {0.927 , 0.374}, |
akudohune | 0:74bf4953c0d1 | 53 | {1 , 0 }, |
akudohune | 0:74bf4953c0d1 | 54 | {0.920 ,-0.390}, |
akudohune | 0:74bf4953c0d1 | 55 | {0.707 ,-0.707}, |
akudohune | 0:74bf4953c0d1 | 56 | {0.374 ,-0.927}, |
akudohune | 0:74bf4953c0d1 | 57 | {0 ,-1 }, |
akudohune | 0:74bf4953c0d1 | 58 | {-0.390,-0.920}, |
akudohune | 0:74bf4953c0d1 | 59 | {-0.707,-0.707}, |
akudohune | 0:74bf4953c0d1 | 60 | {-0.927,-0.374}, |
akudohune | 0:74bf4953c0d1 | 61 | {-1 , 0 }, |
akudohune | 0:74bf4953c0d1 | 62 | {-0.920, 0.390}, |
yusuke_robocup | 2:09fabba6c00d | 63 | {-0.866, 0.500}, |
akudohune | 0:74bf4953c0d1 | 64 | {-0.374, 0.927} |
akudohune | 0:74bf4953c0d1 | 65 | }; |
yusuke_robocup | 2:09fabba6c00d | 66 | |
yusuke_robocup | 2:09fabba6c00d | 67 | double turn_sankaku[16][2] = { |
yusuke_robocup | 2:09fabba6c00d | 68 | { 0 ,0 }, |
yusuke_robocup | 2:09fabba6c00d | 69 | { 1 ,0 },//{ 0.920,-0.390 }, |
yusuke_robocup | 2:09fabba6c00d | 70 | { 0.707,-0.707 }, //{ 0.500,-0.866 }, |
yusuke_robocup | 2:09fabba6c00d | 71 | { 0.374,-0.927 }, |
yusuke_robocup | 2:09fabba6c00d | 72 | { 0 ,-0.5 }, |
yusuke_robocup | 2:09fabba6c00d | 73 | {-0.390,-0.920 }, |
yusuke_robocup | 2:09fabba6c00d | 74 | {-0.707,-0.707 }, |
yusuke_robocup | 2:09fabba6c00d | 75 | {-0.927,-0.374 }, |
yusuke_robocup | 2:09fabba6c00d | 76 | {-0.927,-0.374 }, |
yusuke_robocup | 2:09fabba6c00d | 77 | {0.920 ,-0.390 }, |
yusuke_robocup | 2:09fabba6c00d | 78 | {0.707 ,-0.707 }, |
yusuke_robocup | 2:09fabba6c00d | 79 | {0.374 ,-0.927 }, |
yusuke_robocup | 2:09fabba6c00d | 80 | {0 ,-0.5 }, |
yusuke_robocup | 2:09fabba6c00d | 81 | {-0.390,-0.920 }, |
yusuke_robocup | 2:09fabba6c00d | 82 | {-0.707,-0.707 }, //{-0.500,-0.866 }, |
yusuke_robocup | 2:09fabba6c00d | 83 | {-1 ,0 }//{-0.927,-0.374 } |
yusuke_robocup | 2:09fabba6c00d | 84 | }; |
yusuke_robocup | 2:09fabba6c00d | 85 | |
yusuke_robocup | 2:09fabba6c00d | 86 | |
yusuke_robocup | 2:09fabba6c00d | 87 | /* |
yusuke_robocup | 2:09fabba6c00d | 88 | double turn_sankaku[16][2] = { |
yusuke_robocup | 2:09fabba6c00d | 89 | {0 ,0 }, |
yusuke_robocup | 2:09fabba6c00d | 90 | {0 ,0 }, |
yusuke_robocup | 2:09fabba6c00d | 91 | {1 ,0 }, |
yusuke_robocup | 2:09fabba6c00d | 92 | {0 ,-1}, |
yusuke_robocup | 2:09fabba6c00d | 93 | {0 ,-1}, |
yusuke_robocup | 2:09fabba6c00d | 94 | {0 ,-1}, |
yusuke_robocup | 2:09fabba6c00d | 95 | {-1,0 }, |
yusuke_robocup | 2:09fabba6c00d | 96 | {-1,0 }, |
yusuke_robocup | 2:09fabba6c00d | 97 | {-1,0 }, |
yusuke_robocup | 2:09fabba6c00d | 98 | {1 ,0 }, |
yusuke_robocup | 2:09fabba6c00d | 99 | {1 ,0 }, |
yusuke_robocup | 2:09fabba6c00d | 100 | {0 ,-1}, |
yusuke_robocup | 2:09fabba6c00d | 101 | {0 ,-1}, |
yusuke_robocup | 2:09fabba6c00d | 102 | {0 ,-1}, |
yusuke_robocup | 2:09fabba6c00d | 103 | {-1,0 }, |
yusuke_robocup | 2:09fabba6c00d | 104 | {0 ,0 } |
yusuke_robocup | 2:09fabba6c00d | 105 | }; |
yusuke_robocup | 2:09fabba6c00d | 106 | */ |
yusuke_robocup | 2:09fabba6c00d | 107 |