sasasa
Dependencies: HMC6352 PID eeprom mbed
Fork of ver1_2_2_1 by
IR.h
- Committer:
- yusuke_robocup
- Date:
- 2013-04-05
- Revision:
- 2:09fabba6c00d
- Parent:
- 0:74bf4953c0d1
- Child:
- 3:b4fb2b5365a7
File content as of revision 2:09fabba6c00d:
#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) */ #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*/ #define ALL_IR 11 #define DIREC_IR 10 #define DIRECTION 16 #define TERM 0 #define DELTA -2 #define SWAP(type,a,b) { type temp = a; a = b; b = temp; } /* 赤外線センサに使うpinを配列に格納 */ PinName ir_num[ALL_IR] = { p13, p14, p15, p16, p17, p18, p19, p20, p25, p26, p12 }; int Convert_Direction[DIRECTION] = { 90, 67, 30, 22, 0, 337, 315, 292, 270, 247, 225, 202, 180, 157, 150, 112 }; //ball direction double ball_sankaku[16][2] = { {0 , 1 }, {0.390 , 0.920}, {0.866 , 0.500}, {0.927 , 0.374}, {1 , 0 }, {0.920 ,-0.390}, {0.707 ,-0.707}, {0.374 ,-0.927}, {0 ,-1 }, {-0.390,-0.920}, {-0.707,-0.707}, {-0.927,-0.374}, {-1 , 0 }, {-0.920, 0.390}, {-0.866, 0.500}, {-0.374, 0.927} }; double turn_sankaku[16][2] = { { 0 ,0 }, { 1 ,0 },//{ 0.920,-0.390 }, { 0.707,-0.707 }, //{ 0.500,-0.866 }, { 0.374,-0.927 }, { 0 ,-0.5 }, {-0.390,-0.920 }, {-0.707,-0.707 }, {-0.927,-0.374 }, {-0.927,-0.374 }, {0.920 ,-0.390 }, {0.707 ,-0.707 }, {0.374 ,-0.927 }, {0 ,-0.5 }, {-0.390,-0.920 }, {-0.707,-0.707 }, //{-0.500,-0.866 }, {-1 ,0 }//{-0.927,-0.374 } }; /* double turn_sankaku[16][2] = { {0 ,0 }, {0 ,0 }, {1 ,0 }, {0 ,-1}, {0 ,-1}, {0 ,-1}, {-1,0 }, {-1,0 }, {-1,0 }, {1 ,0 }, {1 ,0 }, {0 ,-1}, {0 ,-1}, {0 ,-1}, {-1,0 }, {0 ,0 } }; */