ジャパンオープン用のメインプログラム
Dependencies: mbed AQM1602 HMC6352 PID
extern.h
00001 #ifndef _EXTERN_H_ 00002 #define _EXTERN_H_ 00003 00004 #include "def.h" 00005 00006 /*追加ライブラリ*/ 00007 #include <sstream> 00008 #include "math.h" 00009 #include "AQM1602.h" 00010 #include "HMC6352.h" 00011 #include "PID.h" 00012 00013 #include "adns_9800.h" 00014 #include "txrx.h" 00015 #include "switch.h" 00016 #include "wordString2.h" 00017 #include "IrConfig.h" 00018 #include "LineConfig.h" 00019 00020 #include "setup.h" 00021 #include "command.h" 00022 #include "command_functions.h" 00023 #include "active.h" 00024 #include "input.h" 00025 #include "output.h" 00026 #include "LineProcess.h" 00027 #include "strategy.h" 00028 #include "strategy2.h" 00029 #include "old_strategy.h" 00030 00031 #include "PinConfig.h" 00032 #include "CommandConfig.h" 00033 #include "ActiveConfig.h" 00034 #include "MathTable.h" 00035 /*クラス*/ 00036 00037 //pc(Computer) 00038 extern RawSerial pc; 00039 //led(main) 00040 //extern DigitalOut LED[4]; 00041 extern BusOut LED; 00042 //line(bottom) 00043 extern BusOut LineKeeper; 00044 extern BusIn LineRaw; 00045 extern BusIn LineHold; 00046 extern InterruptIn Line[3]; 00047 extern InterruptIn LineHolding[3]; 00048 //ballcheck(bottom) 00049 extern InterruptIn BallChecker; 00050 extern AnalogIn BallCheckerA; 00051 //debug_switch(debug_board) 00052 extern DigitalIn Sw[4]; 00053 //motor(main) 00054 extern Serial motor; 00055 //spi(main) 00056 extern SPI spi; 00057 extern DigitalOut spi_ss[4]; 00058 //bluetooth(debug_board) 00059 extern RawSerial RN42; 00060 extern DigitalOut hmc_reset; 00061 //lcd(debug_board) 00062 extern AQM1602 Lcd; 00063 //cmps 00064 extern HMC6352 hmc; 00065 //mouse(bottom) 00066 extern adns_9800 mouse_sensor; 00067 //solenoid(bottom) 00068 extern DigitalOut kicker; 00069 00070 //Serial for motors 00071 extern int speed[4]; 00072 extern string StringFIN; 00073 //PID 00074 extern PID pid; 00075 extern Ticker pidupdate; 00076 //for Serial 00077 extern volatile uint8_t INdata[DATA_NUM], EXdata[DATA_NUM]; 00078 //for DataSet 00079 //extern Record data; 00080 //NewStruct 00081 extern CompassVal cmps_set; 00082 extern SensorVal data; 00083 extern SystemVal sys; 00084 //for transition 00085 extern Ticker Sw_ticker; 00086 extern Timeout button; 00087 extern bool state[4]; 00088 extern uint8_t statesum, last_statesum; 00089 // for Time 00090 extern Ticker Motor_ticker; 00091 //extern Ticker Line_ticker; 00092 extern Ticker Info_ticker; 00093 //extern Ticker Hmc_ticker; 00094 00095 //extern Timeout Line_timeout[3]; 00096 extern Timeout Line_reset; 00097 00098 extern Timeout Solenoid_timeout; 00099 extern Timeout Kick_stop; 00100 00101 extern Timeout Turn_timeout; 00102 extern Timeout Turn_stop; 00103 00104 extern Timeout Ball_judge; 00105 00106 //extern Timeout Kick_now; 00107 //extern Timeout Front_now; 00108 //extern Timeout Line_home; 00109 00110 extern Ticker Duty[DUTY_NUM]; 00111 extern Timeout Stp; 00112 extern double dutycycle[DUTY_NUM]; 00113 00114 #endif /*_EXTERN_H_*/
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