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@10:6df631c39f9b, 2016-03-10 (annotated)
- Committer:
- lilac0112_1
- Date:
- Thu Mar 10 03:03:50 2016 +0000
- Revision:
- 10:6df631c39f9b
- Parent:
- 9:c966191926c5
- Child:
- 13:b20921316f3c
pid+alpha
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
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 | 0:ea35c18c85fc | 18 | |
lilac0112_1 | 0:ea35c18c85fc | 19 | #include "setup.h" |
lilac0112_1 | 0:ea35c18c85fc | 20 | #include "command.h" |
lilac0112_1 | 3:c49ea7ad8e91 | 21 | #include "command_functions.h" |
lilac0112_1 | 0:ea35c18c85fc | 22 | #include "active.h" |
lilac0112_1 | 0:ea35c18c85fc | 23 | #include "input.h" |
lilac0112_1 | 0:ea35c18c85fc | 24 | #include "output.h" |
lilac0112_1 | 0:ea35c18c85fc | 25 | #include "strategy.h" |
lilac0112_1 | 0:ea35c18c85fc | 26 | #include "strategy2.h" |
lilac0112_1 | 0:ea35c18c85fc | 27 | |
lilac0112_1 | 0:ea35c18c85fc | 28 | #include "PinConfig.h" |
lilac0112_1 | 4:52da8da146d4 | 29 | #include "CommandConfig.h" |
lilac0112_1 | 7:efe90188a49d | 30 | #include "ActiveConfig.h" |
lilac0112_1 | 0:ea35c18c85fc | 31 | #include "MathTable.h" |
lilac0112_1 | 0:ea35c18c85fc | 32 | /*クラス*/ |
lilac0112_1 | 0:ea35c18c85fc | 33 | |
lilac0112_1 | 0:ea35c18c85fc | 34 | //pc(Computer) |
lilac0112_1 | 0:ea35c18c85fc | 35 | extern RawSerial pc; |
lilac0112_1 | 0:ea35c18c85fc | 36 | //led(main) |
lilac0112_1 | 0:ea35c18c85fc | 37 | extern DigitalOut LED[4]; |
lilac0112_1 | 0:ea35c18c85fc | 38 | //line(bottom) |
lilac0112_1 | 2:635947de1583 | 39 | extern BusOut LineKeeper; |
lilac0112_1 | 2:635947de1583 | 40 | extern BusIn LineRaw; |
lilac0112_1 | 2:635947de1583 | 41 | extern BusIn LineHold; |
lilac0112_1 | 0:ea35c18c85fc | 42 | extern InterruptIn Line[3]; |
lilac0112_1 | 9:c966191926c5 | 43 | extern InterruptIn LineHolding[3]; |
lilac0112_1 | 0:ea35c18c85fc | 44 | //ballcheck(bottom) |
lilac0112_1 | 0:ea35c18c85fc | 45 | extern DigitalIn BallChecker; |
lilac0112_1 | 0:ea35c18c85fc | 46 | extern AnalogIn BallCheckerA; |
lilac0112_1 | 0:ea35c18c85fc | 47 | //debug_switch(debug_board) |
lilac0112_1 | 0:ea35c18c85fc | 48 | extern DigitalIn Sw[4]; |
lilac0112_1 | 0:ea35c18c85fc | 49 | //motor(main) |
lilac0112_1 | 0:ea35c18c85fc | 50 | extern Serial motor; |
lilac0112_1 | 0:ea35c18c85fc | 51 | //spi(main) |
lilac0112_1 | 0:ea35c18c85fc | 52 | extern SPI spi; |
lilac0112_1 | 0:ea35c18c85fc | 53 | extern DigitalOut spi_ss[4]; |
lilac0112_1 | 0:ea35c18c85fc | 54 | //bluetooth(debug_board) |
lilac0112_1 | 0:ea35c18c85fc | 55 | extern RawSerial RN42; |
lilac0112_1 | 0:ea35c18c85fc | 56 | extern DigitalOut hmc_reset; |
lilac0112_1 | 0:ea35c18c85fc | 57 | //lcd(debug_board) |
lilac0112_1 | 0:ea35c18c85fc | 58 | extern AQM1602 Lcd; |
lilac0112_1 | 0:ea35c18c85fc | 59 | //cmps |
lilac0112_1 | 0:ea35c18c85fc | 60 | extern HMC6352 hmc; |
lilac0112_1 | 0:ea35c18c85fc | 61 | //mouse(bottom) |
lilac0112_1 | 0:ea35c18c85fc | 62 | extern adns_9800 mouse_sensor; |
lilac0112_1 | 0:ea35c18c85fc | 63 | //solenoid(bottom) |
lilac0112_1 | 0:ea35c18c85fc | 64 | extern DigitalOut kicker; |
lilac0112_1 | 0:ea35c18c85fc | 65 | |
lilac0112_1 | 0:ea35c18c85fc | 66 | //Serial for motors |
lilac0112_1 | 0:ea35c18c85fc | 67 | extern int speed[4]; |
lilac0112_1 | 0:ea35c18c85fc | 68 | extern string StringFIN; |
lilac0112_1 | 0:ea35c18c85fc | 69 | //PID |
lilac0112_1 | 0:ea35c18c85fc | 70 | extern PID pid; |
lilac0112_1 | 0:ea35c18c85fc | 71 | extern Ticker pidupdate; |
lilac0112_1 | 0:ea35c18c85fc | 72 | //for Serial |
lilac0112_1 | 0:ea35c18c85fc | 73 | extern volatile uint8_t INdata[DATA_NUM], EXdata[DATA_NUM]; |
lilac0112_1 | 0:ea35c18c85fc | 74 | //for DataSet |
lilac0112_1 | 0:ea35c18c85fc | 75 | //extern Record data; |
lilac0112_1 | 0:ea35c18c85fc | 76 | //NewStruct |
lilac0112_1 | 0:ea35c18c85fc | 77 | extern CompassVal cmps_set; |
lilac0112_1 | 2:635947de1583 | 78 | extern SensorVal data; |
lilac0112_1 | 0:ea35c18c85fc | 79 | extern SystemVal sys; |
lilac0112_1 | 0:ea35c18c85fc | 80 | //for transition |
lilac0112_1 | 0:ea35c18c85fc | 81 | extern Ticker Sw_ticker; |
lilac0112_1 | 0:ea35c18c85fc | 82 | extern Timeout button; |
lilac0112_1 | 0:ea35c18c85fc | 83 | extern bool state[4]; |
lilac0112_1 | 0:ea35c18c85fc | 84 | extern uint8_t statesum, last_statesum; |
lilac0112_1 | 0:ea35c18c85fc | 85 | // for Time |
lilac0112_1 | 0:ea35c18c85fc | 86 | extern Ticker Motor_ticker; |
lilac0112_1 | 0:ea35c18c85fc | 87 | extern Ticker Line_ticker; |
lilac0112_1 | 0:ea35c18c85fc | 88 | extern Ticker Ir_ticker; |
lilac0112_1 | 0:ea35c18c85fc | 89 | extern Ticker Ping_ticker; |
lilac0112_1 | 10:6df631c39f9b | 90 | extern Ticker Ping_ticker2; |
lilac0112_1 | 0:ea35c18c85fc | 91 | extern Ticker Solenoid_ticker; |
lilac0112_1 | 0:ea35c18c85fc | 92 | extern Ticker Hmc_ticker; |
lilac0112_1 | 0:ea35c18c85fc | 93 | extern Timeout Solenoid_timeout; |
lilac0112_1 | 0:ea35c18c85fc | 94 | extern Timeout Line_timeout[3]; |
lilac0112_1 | 0:ea35c18c85fc | 95 | |
lilac0112_1 | 0:ea35c18c85fc | 96 | extern Ticker Duty[DUTY_NUM]; |
lilac0112_1 | 0:ea35c18c85fc | 97 | extern Timeout Stp; |
lilac0112_1 | 0:ea35c18c85fc | 98 | extern double dutycycle[DUTY_NUM]; |
lilac0112_1 | 0:ea35c18c85fc | 99 | |
lilac0112_1 | 0:ea35c18c85fc | 100 | #endif /*_EXTERN_H_*/ |