ジャパンオープン用のメインプログラム
Dependencies: mbed AQM1602 HMC6352 PID
Diff: setting/extern.h
- Revision:
- 0:ea35c18c85fc
- Child:
- 2:635947de1583
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/setting/extern.h Sat Feb 27 09:14:37 2016 +0000 @@ -0,0 +1,97 @@ +#ifndef _EXTERN_H_ +#define _EXTERN_H_ + +#include "def.h" + +/*追加ライブラリ*/ +#include <sstream> +#include "math.h" +#include "AQM1602.h" +#include "HMC6352.h" +#include "PID.h" + +#include "adns_9800.h" +#include "txrx.h" +#include "switch.h" +#include "wordString2.h" +#include "IrConfig.h" + +#include "setup.h" +#include "command.h" +#include "active.h" +#include "input.h" +#include "output.h" +#include "strategy.h" +#include "strategy2.h" + +#include "PinConfig.h" +#include "LcdConfig.h" +#include "MathTable.h" +/*クラス*/ + +//pc(Computer) +extern RawSerial pc; +//led(main) +extern DigitalOut LED[4]; +//line(bottom) +extern BusOut LineSignalHolder; +extern BusIn RawLineSignal; +extern BusIn HeldLineSignal; +extern InterruptIn Line[3]; +//ballcheck(bottom) +extern DigitalIn BallChecker; +extern AnalogIn BallCheckerA; +//debug_switch(debug_board) +extern DigitalIn Sw[4]; +//motor(main) +extern Serial motor; +//spi(main) +extern SPI spi; +extern DigitalOut spi_ss[4]; +//bluetooth(debug_board) +extern RawSerial RN42; +extern DigitalOut hmc_reset; +//lcd(debug_board) +extern AQM1602 Lcd; +//cmps +extern HMC6352 hmc; +//mouse(bottom) +extern adns_9800 mouse_sensor; +//solenoid(bottom) +extern DigitalOut kicker; + +//Serial for motors +extern int speed[4]; +extern string StringFIN; +//PID +extern PID pid; +extern Ticker pidupdate; +//for Serial +extern volatile uint8_t INdata[DATA_NUM], EXdata[DATA_NUM]; +//for DataSet +//extern Record data; +//NewStruct +extern CompassVal cmps_set; +extern SensorVal data_set; +extern LineVal line_set; +extern SystemVal sys; +//for transition +extern Ticker Sw_ticker; +extern Timeout button; +extern bool state[4]; +extern uint8_t statesum, last_statesum; +// for Time +extern Ticker Motor_ticker; +extern Ticker Line_ticker; +extern Ticker Ir_ticker; +extern Ticker Ping_ticker; +extern Ticker Solenoid_ticker; +extern Ticker Hmc_ticker; +extern Timeout Solenoid_timeout; +extern Timeout Line_timeout[3]; + +extern Ticker Duty[DUTY_NUM]; +extern Timeout Stp; +extern double dutycycle[DUTY_NUM]; + +#endif /*_EXTERN_H_*/ \ No newline at end of file