CatPot 2015-2016 / Mbed 2 deprecated CatPot_2v10_T_Main

ジャパンオープン用のメインプログラム

Dependencies:   mbed AQM1602 HMC6352 PID

setting/extern.h@25:a7460e23e02e, 2016-03-17 (annotated)

Committer:
lilac0112_1
Date:
Thu Mar 17 13:00:24 2016 +0000
Revision:
25:a7460e23e02e
Parent:
24:34ef6379b0df
Child:
27:825c6835e3db
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lilac0112_1 0:ea35c18c85fc 1 #ifndef _EXTERN_H_
lilac0112_1 0:ea35c18c85fc 2 #define _EXTERN_H_
lilac0112_1 0:ea35c18c85fc 3
lilac0112_1 0:ea35c18c85fc 4 #include "def.h"
lilac0112_1 0:ea35c18c85fc 5
lilac0112_1 0:ea35c18c85fc 6 /*追加ライブラリ*/
lilac0112_1 0:ea35c18c85fc 7 #include <sstream>
lilac0112_1 0:ea35c18c85fc 8 #include "math.h"
lilac0112_1 0:ea35c18c85fc 9 #include "AQM1602.h"
lilac0112_1 0:ea35c18c85fc 10 #include "HMC6352.h"
lilac0112_1 0:ea35c18c85fc 11 #include "PID.h"
lilac0112_1 0:ea35c18c85fc 12
lilac0112_1 0:ea35c18c85fc 13 #include "adns_9800.h"
lilac0112_1 0:ea35c18c85fc 14 #include "txrx.h"
lilac0112_1 0:ea35c18c85fc 15 #include "switch.h"
lilac0112_1 0:ea35c18c85fc 16 #include "wordString2.h"
lilac0112_1 0:ea35c18c85fc 17 #include "IrConfig.h"
lilac0112_1 13:b20921316f3c 18 #include "LineConfig.h"
lilac0112_1 0:ea35c18c85fc 19
lilac0112_1 0:ea35c18c85fc 20 #include "setup.h"
lilac0112_1 0:ea35c18c85fc 21 #include "command.h"
lilac0112_1 3:c49ea7ad8e91 22 #include "command_functions.h"
lilac0112_1 0:ea35c18c85fc 23 #include "active.h"
lilac0112_1 0:ea35c18c85fc 24 #include "input.h"
lilac0112_1 0:ea35c18c85fc 25 #include "output.h"
lilac0112_1 25:a7460e23e02e 26 #include "LineProcess.h"
lilac0112_1 0:ea35c18c85fc 27 #include "strategy.h"
lilac0112_1 0:ea35c18c85fc 28 #include "strategy2.h"
lilac0112_1 18:3a42a931c95a 29 #include "old_strategy.h"
lilac0112_1 0:ea35c18c85fc 30
lilac0112_1 0:ea35c18c85fc 31 #include "PinConfig.h"
lilac0112_1 4:52da8da146d4 32 #include "CommandConfig.h"
lilac0112_1 7:efe90188a49d 33 #include "ActiveConfig.h"
lilac0112_1 0:ea35c18c85fc 34 #include "MathTable.h"
lilac0112_1 0:ea35c18c85fc 35 /*クラス*/
lilac0112_1 0:ea35c18c85fc 36
lilac0112_1 0:ea35c18c85fc 37 //pc(Computer)
lilac0112_1 0:ea35c18c85fc 38 extern RawSerial pc;
lilac0112_1 0:ea35c18c85fc 39 //led(main)
lilac0112_1 14:b510adcb6065 40 //extern DigitalOut LED[4];
lilac0112_1 14:b510adcb6065 41 extern BusOut LED;
lilac0112_1 0:ea35c18c85fc 42 //line(bottom)
lilac0112_1 2:635947de1583 43 extern BusOut LineKeeper;
lilac0112_1 2:635947de1583 44 extern BusIn LineRaw;
lilac0112_1 2:635947de1583 45 extern BusIn LineHold;
lilac0112_1 0:ea35c18c85fc 46 extern InterruptIn Line[3];
lilac0112_1 9:c966191926c5 47 extern InterruptIn LineHolding[3];
lilac0112_1 0:ea35c18c85fc 48 //ballcheck(bottom)
lilac0112_1 0:ea35c18c85fc 49 extern DigitalIn BallChecker;
lilac0112_1 0:ea35c18c85fc 50 extern AnalogIn BallCheckerA;
lilac0112_1 0:ea35c18c85fc 51 //debug_switch(debug_board)
lilac0112_1 0:ea35c18c85fc 52 extern DigitalIn Sw[4];
lilac0112_1 0:ea35c18c85fc 53 //motor(main)
lilac0112_1 0:ea35c18c85fc 54 extern Serial motor;
lilac0112_1 0:ea35c18c85fc 55 //spi(main)
lilac0112_1 0:ea35c18c85fc 56 extern SPI spi;
lilac0112_1 0:ea35c18c85fc 57 extern DigitalOut spi_ss[4];
lilac0112_1 0:ea35c18c85fc 58 //bluetooth(debug_board)
lilac0112_1 0:ea35c18c85fc 59 extern RawSerial RN42;
lilac0112_1 0:ea35c18c85fc 60 extern DigitalOut hmc_reset;
lilac0112_1 0:ea35c18c85fc 61 //lcd(debug_board)
lilac0112_1 0:ea35c18c85fc 62 extern AQM1602 Lcd;
lilac0112_1 0:ea35c18c85fc 63 //cmps
lilac0112_1 0:ea35c18c85fc 64 extern HMC6352 hmc;
lilac0112_1 0:ea35c18c85fc 65 //mouse(bottom)
lilac0112_1 0:ea35c18c85fc 66 extern adns_9800 mouse_sensor;
lilac0112_1 0:ea35c18c85fc 67 //solenoid(bottom)
lilac0112_1 0:ea35c18c85fc 68 extern DigitalOut kicker;
lilac0112_1 0:ea35c18c85fc 69
lilac0112_1 0:ea35c18c85fc 70 //Serial for motors
lilac0112_1 0:ea35c18c85fc 71 extern int speed[4];
lilac0112_1 0:ea35c18c85fc 72 extern string StringFIN;
lilac0112_1 0:ea35c18c85fc 73 //PID
lilac0112_1 0:ea35c18c85fc 74 extern PID pid;
lilac0112_1 0:ea35c18c85fc 75 extern Ticker pidupdate;
lilac0112_1 0:ea35c18c85fc 76 //for Serial
lilac0112_1 0:ea35c18c85fc 77 extern volatile uint8_t INdata[DATA_NUM], EXdata[DATA_NUM];
lilac0112_1 0:ea35c18c85fc 78 //for DataSet
lilac0112_1 0:ea35c18c85fc 79 //extern Record data;
lilac0112_1 0:ea35c18c85fc 80 //NewStruct
lilac0112_1 0:ea35c18c85fc 81 extern CompassVal cmps_set;
lilac0112_1 2:635947de1583 82 extern SensorVal data;
lilac0112_1 0:ea35c18c85fc 83 extern SystemVal sys;
lilac0112_1 0:ea35c18c85fc 84 //for transition
lilac0112_1 0:ea35c18c85fc 85 extern Ticker Sw_ticker;
lilac0112_1 0:ea35c18c85fc 86 extern Timeout button;
lilac0112_1 0:ea35c18c85fc 87 extern bool state[4];
lilac0112_1 0:ea35c18c85fc 88 extern uint8_t statesum, last_statesum;
lilac0112_1 0:ea35c18c85fc 89 // for Time
lilac0112_1 0:ea35c18c85fc 90 extern Ticker Motor_ticker;
lilac0112_1 0:ea35c18c85fc 91 extern Ticker Line_ticker;
lilac0112_1 19:967207de919d 92 extern Ticker Info_ticker;
lilac0112_1 0:ea35c18c85fc 93 extern Ticker Hmc_ticker;
lilac0112_1 21:378470320524 94 extern Ticker Line_timeout[3];
lilac0112_1 21:378470320524 95
lilac0112_1 0:ea35c18c85fc 96 extern Timeout Solenoid_timeout;
lilac0112_1 25:a7460e23e02e 97 extern Timeout Kick_stop;
lilac0112_1 0:ea35c18c85fc 98
lilac0112_1 24:34ef6379b0df 99 extern Timeout Turn_timeout;
lilac0112_1 24:34ef6379b0df 100 extern Timeout Turn_stop;
lilac0112_1 13:b20921316f3c 101
lilac0112_1 25:a7460e23e02e 102 extern Timeout Ball_judge;
lilac0112_1 25:a7460e23e02e 103
lilac0112_1 25:a7460e23e02e 104 extern Timeout Kick_now;
lilac0112_1 25:a7460e23e02e 105 extern Timeout Front_now;
lilac0112_1 25:a7460e23e02e 106 extern Timeout Line_home;
lilac0112_1 25:a7460e23e02e 107
lilac0112_1 0:ea35c18c85fc 108 extern Ticker Duty[DUTY_NUM];
lilac0112_1 0:ea35c18c85fc 109 extern Timeout Stp;
lilac0112_1 0:ea35c18c85fc 110 extern double dutycycle[DUTY_NUM];
lilac0112_1 0:ea35c18c85fc 111
lilac0112_1 0:ea35c18c85fc 112 #endif /*_EXTERN_H_*/