yusuke takahashi / Mbed 2 deprecated ver1_2_2_1

sasasa

Dependencies:   HMC6352 PID eeprom mbed

Fork of ver1_2_2_1 by ryo seki

main.h@2:09fabba6c00d, 2013-04-05 (annotated)

Committer:
yusuke_robocup
Date:
Fri Apr 05 07:26:42 2013 +0000
Revision:
2:09fabba6c00d
Parent:
1:89408fff7cc9
Child:
3:b4fb2b5365a7
aa

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akudohune 0:74bf4953c0d1 1
akudohune 0:74bf4953c0d1 2
akudohune 0:74bf4953c0d1 3 #define RATE 0.052
akudohune 0:74bf4953c0d1 4 #define Long 1.0
akudohune 0:74bf4953c0d1 5 #define ENTER 0
akudohune 0:74bf4953c0d1 6 #define EXIT 1
akudohune 0:74bf4953c0d1 7 #define MOT_NUM 4
akudohune 0:74bf4953c0d1 8 #define MOTDRIVER_WAIT 300 //ms
akudohune 0:74bf4953c0d1 9 #define BAUD_RATE 115200
akudohune 0:74bf4953c0d1 10 #define ON 1
akudohune 0:74bf4953c0d1 11 #define OFF 0
akudohune 0:74bf4953c0d1 12
yusuke_robocup 2:09fabba6c00d 13 #define MOT1 1.0 //60 3.0 0.0 0.5 1.0
yusuke_robocup 2:09fabba6c00d 14 #define MOT2 1.0 //120 0.0 3.0 1.0 0.0
yusuke_robocup 2:09fabba6c00d 15 #define MOT3 1.0 //240 0.6 0.0 0.0 3.0
yusuke_robocup 2:09fabba6c00d 16 #define MOT4 1.0 //300 0.0 0.8 3.0 0.0
akudohune 0:74bf4953c0d1 17
akudohune 1:89408fff7cc9 18 #define OUT_LIMIT 30.0
akudohune 1:89408fff7cc9 19 #define MAX_POW 100
akudohune 1:89408fff7cc9 20 #define MIN_POW -100
akudohune 0:74bf4953c0d1 21
yusuke_robocup 2:09fabba6c00d 22 #define SHINPUKU 40
yusuke_robocup 2:09fabba6c00d 23
yusuke_robocup 2:09fabba6c00d 24 #define FULL 0
yusuke_robocup 2:09fabba6c00d 25
yusuke_robocup 2:09fabba6c00d 26
yusuke_robocup 2:09fabba6c00d 27
yusuke_robocup 2:09fabba6c00d 28
akudohune 0:74bf4953c0d1 29 DigitalOut led1(LED1);
akudohune 0:74bf4953c0d1 30 DigitalOut led2(LED2);
akudohune 0:74bf4953c0d1 31 DigitalOut led3(LED3);
akudohune 1:89408fff7cc9 32 DigitalOut led4(LED4);
akudohune 0:74bf4953c0d1 33 HMC6352 compass(p9, p10);
akudohune 0:74bf4953c0d1 34 Serial driver(p28, p27); // tx, rx
akudohune 0:74bf4953c0d1 35 Serial pc(USBTX, USBRX); // tx, rx
akudohune 0:74bf4953c0d1 36 DigitalIn StartButton(p21);
akudohune 0:74bf4953c0d1 37 DigitalIn CalibEnterButton(p22);
akudohune 0:74bf4953c0d1 38 DigitalIn CalibExitButton(p23);
yusuke_robocup 2:09fabba6c00d 39 DigitalIn EEPROMButton(p24);
yusuke_robocup 2:09fabba6c00d 40 PID pid(0.35, 0.0, 0.012, RATE); //30.0 0.35 1.0 0.012 30.0 0.42 1.0 0.013
akudohune 0:74bf4953c0d1 41 Ticker pidUpdata;
akudohune 0:74bf4953c0d1 42 Ticker IR;
akudohune 0:74bf4953c0d1 43 Ticker ultrasonic;
akudohune 0:74bf4953c0d1 44 Timer timer1;
akudohune 0:74bf4953c0d1 45 Timer timer2;
akudohune 0:74bf4953c0d1 46 Timer timer_ir; /* 赤外線用タイマー */
akudohune 0:74bf4953c0d1 47
akudohune 0:74bf4953c0d1 48
akudohune 0:74bf4953c0d1 49 int speed[MOT_NUM] = {0};
akudohune 1:89408fff7cc9 50
akudohune 0:74bf4953c0d1 51 static float lastData = 0.0;
akudohune 0:74bf4953c0d1 52 static float inputPID = 180.0;
akudohune 0:74bf4953c0d1 53 static float standard;
akudohune 0:74bf4953c0d1 54 static float compassPID = 0.0;
akudohune 0:74bf4953c0d1 55
akudohune 0:74bf4953c0d1 56 extern string StringFIN;
akudohune 0:74bf4953c0d1 57
akudohune 0:74bf4953c0d1 58 extern int direction;
akudohune 0:74bf4953c0d1 59 extern int Distance;
akudohune 0:74bf4953c0d1 60 extern int IR_found;
akudohune 0:74bf4953c0d1 61 extern double ball_sankaku[16][2];
yusuke_robocup 2:09fabba6c00d 62 extern double turn_sankaku[16][2];
akudohune 1:89408fff7cc9 63 extern double ultrasonicVal[3];
yusuke_robocup 2:09fabba6c00d 64 float now_compass =20.0;
yusuke_robocup 2:09fabba6c00d 65 float past_compass;
yusuke_robocup 2:09fabba6c00d 66 int turn_flag = 0;
akudohune 0:74bf4953c0d1 67
akudohune 0:74bf4953c0d1 68 extern void Ultrasonic(void);
akudohune 0:74bf4953c0d1 69 extern void IR_Position(void);
akudohune 0:74bf4953c0d1 70 extern void PidUpdata(void);
akudohune 0:74bf4953c0d1 71 extern void array(int,int,int,int);
akudohune 0:74bf4953c0d1 72
akudohune 0:74bf4953c0d1 73 enum{
yusuke_robocup 2:09fabba6c00d 74 NONE,
yusuke_robocup 2:09fabba6c00d 75 SNAKE,
yusuke_robocup 2:09fabba6c00d 76 ATTACK,
yusuke_robocup 2:09fabba6c00d 77 SEARCH
akudohune 0:74bf4953c0d1 78 };
akudohune 0:74bf4953c0d1 79