ジャパンオープン用のメインプログラム

Dependencies:   mbed AQM1602 HMC6352 PID

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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_*/