yusuke takahashi / Mbed 2 deprecated ver1_2_2_1

sasasa

Dependencies:   HMC6352 PID eeprom mbed

Fork of ver1_2_2_1 by ryo seki

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?

UserRevisionLine numberNew 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