sasasa
Dependencies: HMC6352 PID eeprom mbed
Fork of ver1_2_2_1 by
Diff: main.h
- Revision:
- 1:89408fff7cc9
- Parent:
- 0:74bf4953c0d1
- Child:
- 2:09fabba6c00d
--- a/main.h Sat Mar 09 10:11:06 2013 +0000 +++ b/main.h Sun Mar 10 07:31:31 2013 +0000 @@ -10,23 +10,26 @@ #define ON 1 #define OFF 0 -#define MOT1 1 -#define MOT2 1 -#define MOT3 1 -#define MOT4 1 +#define MOT1 1.0 +#define MOT2 1.0 +#define MOT3 1.0 +#define MOT4 1.0 -#define OUT_LIMIT 30.0 +#define OUT_LIMIT 30.0 +#define MAX_POW 100 +#define MIN_POW -100 DigitalOut led1(LED1); DigitalOut led2(LED2); DigitalOut led3(LED3); +DigitalOut led4(LED4); HMC6352 compass(p9, p10); Serial driver(p28, p27); // tx, rx Serial pc(USBTX, USBRX); // tx, rx DigitalIn StartButton(p21); DigitalIn CalibEnterButton(p22); DigitalIn CalibExitButton(p23); -PID pid(0.42, 1.0, 0.013, RATE); //30.0 0.35 1.0 0.012 +PID pid(0.59, 1.0, 0.015, RATE); //30.0 0.35 1.0 0.012 30.0 0.42 1.0 0.013 Ticker pidUpdata; Ticker IR; Ticker ultrasonic; @@ -36,7 +39,7 @@ int speed[MOT_NUM] = {0}; - + static float lastData = 0.0; static float inputPID = 180.0; static float standard; @@ -48,7 +51,7 @@ extern int Distance; extern int IR_found; extern double ball_sankaku[16][2]; -extern uint16_t ultrasonicVal[3]; +extern double ultrasonicVal[3]; extern void Ultrasonic(void); extern void IR_Position(void);