sasasa
Dependencies: HMC6352 PID eeprom mbed
Fork of ver1_2_2_1 by
IR.h
- Committer:
- akudohune
- Date:
- 2013-03-09
- Revision:
- 0:74bf4953c0d1
- Child:
- 2:09fabba6c00d
File content as of revision 0:74bf4953c0d1:
#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 9 #define DIREC_IR 8 #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, p30 }; int Convert_Direction[DIRECTION] = { 90, 67, 45, 22, 0, 337, 315, 292, 270, 247, 225, 202, 180, 157, 135, 112 }; //ball direction double ball_sankaku[16][2] = { {0 , 1 }, {0.390 , 0.920}, {0.707 , 0.707}, {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}, {-0.707, 0.707}, {-0.374, 0.927} };