File content as of revision 3:b4fb2b5365a7:

#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,
    p30,
    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 }
};
*/