Diff: main.h

Revision:

2:955cdadf5ecc

Parent:

0:4644bf6bca6a

--- a/main.h	Thu Aug 01 09:05:23 2013 +0000
+++ b/main.h	Thu Sep 05 09:57:22 2013 +0000
@@ -4,4 +4,96 @@
 
 extern double ultrasonicValue[4];
 extern uint16_t ultrasonicVal[4];
-extern void Ultrasonic(void);
\ No newline at end of file
+extern void Ultrasonic(void);
+
+/* robocup */
+
+#define RATE    0.052
+#define Long    1.0
+#define ENTER   0
+#define EXIT    1
+#define X       0
+#define Y       1
+#define MOT_NUM 4
+#define MOTDRIVER_WAIT  300 //ms
+#define BAUD_RATE       115200
+#define BAUD_RATE2      19200
+#define BUT_WAIT        0.3 //s
+#define ON      1
+#define OFF     0
+
+#define PING_ERROR  0xFFFF
+#define PI          3.14159265
+
+#define MOT1    1.0
+#define MOT2    1.0
+#define MOT3    1.0
+#define MOT4    1.0
+
+#define PID_BIAS    0.0
+#define REFERENCE   180.0
+#define MINIMUM     0.0
+#define MAXIMUM     360.0
+
+#define PID_CYCLE   0.06    //s
+
+#define P_GAIN  0.75    //0.78   
+#define I_GAIN  0.0     //0.0
+#define D_GAIN  0.006   //0.009
+    
+#define OUT_LIMIT   30.0
+#define MAX_POW     100
+#define MIN_POW     -100
+
+DigitalOut led1(LED1); 
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+BusOut mbedleds(LED4,LED3,LED2,LED1); 
+HMC6352 compass(p28, p27);
+//Serial driver(p28, p27);    // tx, rx 
+Serial device2(p13, p14);   // tx, rx
+Serial pc(USBTX, USBRX);    // tx, rx 
+//DigitalIn StartButton(p21);
+//DigitalIn CalibEnterButton(p22);
+DigitalIn CalibExitButton(p23);
+DigitalIn EEPROMButton(p24);
+//PID pid(P_GAIN,I_GAIN,D_GAIN, RATE);      //battery is low power version 30.0 0.58 1.0 0.015    battery is high power version   30.0 0.42, 1.0, 0.013   power is low but perfect 20.0 0.45, 0.0, 0.010
+Ticker pidUpdata;
+Ticker irDistanceUpdata;
+Timer timer1;
+Timer Survtimer;
+LocalFileSystem local("local");  // マウントポイントを定義（ディレクトリパスになる）
+
+enum{
+    NORMAL,
+    LEFT_OUT,
+    RIGHT_OUT,
+    FRONT_OUT,
+    BACK_OUT,
+};
+
+enum{
+    HOME_WAIT,
+    DIFFENCE,
+    WARNING,
+    HOLD,
+};
+
+PinName adc_num[6] = {
+    p15,
+    p16,
+    p17,
+    p18,
+    p19,
+    p20,
+};
+double standTu = 0;
+int speed[MOT_NUM] = {0};
+uint8_t hold_flag = 0;
+uint8_t state = HOME_WAIT;
+uint8_t lineState = NORMAL;
+
+double inputPID = 180.0;
+static double standard;
+double compassPID = 0.0;
\ No newline at end of file