sasasa
Dependencies: HMC6352 PID eeprom mbed
Fork of ver1_2_2_1 by
main.h
- Committer:
- yusuke_robocup
- Date:
- 2013-04-18
- Revision:
- 3:b4fb2b5365a7
- Parent:
- 2:09fabba6c00d
File content as of revision 3:b4fb2b5365a7:
#define RATE 0.052 #define Long 1.0 #define ENTER 0 #define EXIT 1 #define MOT_NUM 4 #define MOTDRIVER_WAIT 300 //ms #define BAUD_RATE 115200 #define ON 1 #define OFF 0 #define MOT1 1.0 //60 3.0 0.0 0.5 1.0 #define MOT2 1.0 //120 0.0 3.0 1.0 0.0 #define MOT3 1.0 //240 0.6 0.0 0.0 3.0 #define MOT4 1.0 //300 0.0 0.8 3.0 0.0 #define OUT_LIMIT 30.0 #define MAX_POW 100 #define MIN_POW -100 #define SHINPUKU 40 #define FULL 0 #define PI 3.14159265358979 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); DigitalIn EEPROMButton(p24); 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 Ticker pidUpdata; Ticker IR; Ticker ultrasonic; Timer timer1; Timer timer2; Timer timer_ir; /* 赤外線用タイマー */ int speed[MOT_NUM] = {0}; static float lastData = 0.0; static float inputPID = 180.0; static float standard; static float compassPID = 0.0; extern string StringFIN; extern int direction; extern int Distance; extern int IR_found; extern double ball_sankaku[16][2]; extern double turn_sankaku[16][2]; extern double ultrasonicVal[3]; float now_compass =20.0; float past_compass; int turn_flag = 0; extern void Ultrasonic(void); extern void IR_Position(void); extern void PidUpdata(void); extern void array(int,int,int,int); enum{ NONE, SNAKE, ATTACK, SEARCH };