CatPot 2015-2016 / Mbed 2 deprecated CatPot_2v20_T_Main

せとうちオープン用のメインプログラム

Dependencies:   mbed AQM1602 HMC6352 PID

setting/extern.h@0:b910276f9da2, 2016-05-01 (annotated)

Committer:
lilac0112_1
Date:
Sun May 01 06:30:37 2016 +0000
Revision:
0:b910276f9da2
from 2v10

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 0:b910276f9da2 1 #ifndef _EXTERN_H_
lilac0112_1 0:b910276f9da2 2 #define _EXTERN_H_
lilac0112_1 0:b910276f9da2 3
lilac0112_1 0:b910276f9da2 4 #include "def.h"
lilac0112_1 0:b910276f9da2 5
lilac0112_1 0:b910276f9da2 6 /*追加ライブラリ*/
lilac0112_1 0:b910276f9da2 7 #include <sstream>
lilac0112_1 0:b910276f9da2 8 #include "math.h"
lilac0112_1 0:b910276f9da2 9 #include "AQM1602.h"
lilac0112_1 0:b910276f9da2 10 #include "HMC6352.h"
lilac0112_1 0:b910276f9da2 11 #include "PID.h"
lilac0112_1 0:b910276f9da2 12
lilac0112_1 0:b910276f9da2 13 #include "adns_9800.h"
lilac0112_1 0:b910276f9da2 14 #include "txrx.h"
lilac0112_1 0:b910276f9da2 15 #include "switch.h"
lilac0112_1 0:b910276f9da2 16 #include "wordString2.h"
lilac0112_1 0:b910276f9da2 17 #include "IrConfig.h"
lilac0112_1 0:b910276f9da2 18 #include "LineConfig.h"
lilac0112_1 0:b910276f9da2 19
lilac0112_1 0:b910276f9da2 20 #include "setup.h"
lilac0112_1 0:b910276f9da2 21 #include "command.h"
lilac0112_1 0:b910276f9da2 22 #include "command_functions.h"
lilac0112_1 0:b910276f9da2 23 #include "active.h"
lilac0112_1 0:b910276f9da2 24 #include "input.h"
lilac0112_1 0:b910276f9da2 25 #include "output.h"
lilac0112_1 0:b910276f9da2 26 #include "LineProcess.h"
lilac0112_1 0:b910276f9da2 27 #include "strategy.h"
lilac0112_1 0:b910276f9da2 28 #include "strategy2.h"
lilac0112_1 0:b910276f9da2 29 #include "old_strategy.h"
lilac0112_1 0:b910276f9da2 30
lilac0112_1 0:b910276f9da2 31 #include "PinConfig.h"
lilac0112_1 0:b910276f9da2 32 #include "CommandConfig.h"
lilac0112_1 0:b910276f9da2 33 #include "ActiveConfig.h"
lilac0112_1 0:b910276f9da2 34 #include "MathTable.h"
lilac0112_1 0:b910276f9da2 35 /*クラス*/
lilac0112_1 0:b910276f9da2 36
lilac0112_1 0:b910276f9da2 37 //pc(Computer)
lilac0112_1 0:b910276f9da2 38 extern RawSerial pc;
lilac0112_1 0:b910276f9da2 39 //led(main)
lilac0112_1 0:b910276f9da2 40 //extern DigitalOut LED[4];
lilac0112_1 0:b910276f9da2 41 extern BusOut LED;
lilac0112_1 0:b910276f9da2 42 //line(bottom)
lilac0112_1 0:b910276f9da2 43 extern BusOut LineKeeper;
lilac0112_1 0:b910276f9da2 44 extern BusIn LineRaw;
lilac0112_1 0:b910276f9da2 45 extern BusIn LineHold;
lilac0112_1 0:b910276f9da2 46 extern InterruptIn Line[3];
lilac0112_1 0:b910276f9da2 47 extern InterruptIn LineHolding[3];
lilac0112_1 0:b910276f9da2 48 //ballcheck(bottom)
lilac0112_1 0:b910276f9da2 49 extern InterruptIn BallChecker;
lilac0112_1 0:b910276f9da2 50 extern AnalogIn BallCheckerA;
lilac0112_1 0:b910276f9da2 51 //debug_switch(debug_board)
lilac0112_1 0:b910276f9da2 52 extern DigitalIn Sw[4];
lilac0112_1 0:b910276f9da2 53 //motor(main)
lilac0112_1 0:b910276f9da2 54 extern Serial motor;
lilac0112_1 0:b910276f9da2 55 //spi(main)
lilac0112_1 0:b910276f9da2 56 extern SPI spi;
lilac0112_1 0:b910276f9da2 57 extern DigitalOut spi_ss[4];
lilac0112_1 0:b910276f9da2 58 //bluetooth(debug_board)
lilac0112_1 0:b910276f9da2 59 extern RawSerial RN42;
lilac0112_1 0:b910276f9da2 60 extern DigitalOut hmc_reset;
lilac0112_1 0:b910276f9da2 61 //lcd(debug_board)
lilac0112_1 0:b910276f9da2 62 extern AQM1602 Lcd;
lilac0112_1 0:b910276f9da2 63 //cmps
lilac0112_1 0:b910276f9da2 64 extern HMC6352 hmc;
lilac0112_1 0:b910276f9da2 65 //mouse(bottom)
lilac0112_1 0:b910276f9da2 66 extern adns_9800 mouse_sensor;
lilac0112_1 0:b910276f9da2 67 //solenoid(bottom)
lilac0112_1 0:b910276f9da2 68 extern DigitalOut kicker;
lilac0112_1 0:b910276f9da2 69
lilac0112_1 0:b910276f9da2 70 //Serial for motors
lilac0112_1 0:b910276f9da2 71 extern int speed[4];
lilac0112_1 0:b910276f9da2 72 extern string StringFIN;
lilac0112_1 0:b910276f9da2 73 //PID
lilac0112_1 0:b910276f9da2 74 extern PID pid;
lilac0112_1 0:b910276f9da2 75 extern Ticker pidupdate;
lilac0112_1 0:b910276f9da2 76 //for Serial
lilac0112_1 0:b910276f9da2 77 extern volatile uint8_t INdata[DATA_NUM], EXdata[DATA_NUM];
lilac0112_1 0:b910276f9da2 78 //for DataSet
lilac0112_1 0:b910276f9da2 79 //extern Record data;
lilac0112_1 0:b910276f9da2 80 //NewStruct
lilac0112_1 0:b910276f9da2 81 extern CompassVal cmps_set;
lilac0112_1 0:b910276f9da2 82 extern SensorVal data;
lilac0112_1 0:b910276f9da2 83 extern SystemVal sys;
lilac0112_1 0:b910276f9da2 84 //for transition
lilac0112_1 0:b910276f9da2 85 extern Ticker Sw_ticker;
lilac0112_1 0:b910276f9da2 86 extern Timeout button;
lilac0112_1 0:b910276f9da2 87 extern bool state[4];
lilac0112_1 0:b910276f9da2 88 extern uint8_t statesum, last_statesum;
lilac0112_1 0:b910276f9da2 89 // for Time
lilac0112_1 0:b910276f9da2 90 extern Ticker Motor_ticker;
lilac0112_1 0:b910276f9da2 91 //extern Ticker Line_ticker;
lilac0112_1 0:b910276f9da2 92 extern Ticker Info_ticker;
lilac0112_1 0:b910276f9da2 93 //extern Ticker Hmc_ticker;
lilac0112_1 0:b910276f9da2 94
lilac0112_1 0:b910276f9da2 95 //extern Timeout Line_timeout[3];
lilac0112_1 0:b910276f9da2 96 extern Timeout Line_reset;
lilac0112_1 0:b910276f9da2 97
lilac0112_1 0:b910276f9da2 98 extern Timeout Solenoid_timeout;
lilac0112_1 0:b910276f9da2 99 extern Timeout Kick_stop;
lilac0112_1 0:b910276f9da2 100
lilac0112_1 0:b910276f9da2 101 extern Timeout Turn_timeout;
lilac0112_1 0:b910276f9da2 102 extern Timeout Turn_stop;
lilac0112_1 0:b910276f9da2 103
lilac0112_1 0:b910276f9da2 104 extern Timeout Ball_judge;
lilac0112_1 0:b910276f9da2 105
lilac0112_1 0:b910276f9da2 106 //extern Timeout Kick_now;
lilac0112_1 0:b910276f9da2 107 //extern Timeout Front_now;
lilac0112_1 0:b910276f9da2 108 //extern Timeout Line_home;
lilac0112_1 0:b910276f9da2 109
lilac0112_1 0:b910276f9da2 110 extern Ticker Duty[DUTY_NUM];
lilac0112_1 0:b910276f9da2 111 extern Timeout Stp;
lilac0112_1 0:b910276f9da2 112 extern double dutycycle[DUTY_NUM];
lilac0112_1 0:b910276f9da2 113
lilac0112_1 0:b910276f9da2 114 #endif /*_EXTERN_H_*/