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 
00019 #include "setup.h"
00020 #include "command.h"
00021 #include "active.h"
00022 #include "input.h"
00023 #include "output.h"
00024 #include "strategy.h"
00025 #include "strategy2.h"
00026 
00027 #include "PinConfig.h"
00028 #include "LcdConfig.h"
00029 #include "MathTable.h"
00030 /*クラス*/
00031 
00032 //pc(Computer)
00033 extern RawSerial pc;
00034 //led(main)
00035 extern DigitalOut LED[4];
00036 //line(bottom)
00037 extern BusOut LineSignalHolder;
00038 extern BusIn RawLineSignal;
00039 extern BusIn HeldLineSignal;
00040 extern InterruptIn Line[3];
00041 //ballcheck(bottom)
00042 extern DigitalIn BallChecker;
00043 //debug_switch(debug_board)
00044 extern DigitalIn Sw[4];
00045 //motor(main)
00046 extern Serial motor;
00047 //spi(main)
00048 extern SPI spi;
00049 extern DigitalOut spi_ss[4];
00050 //bluetooth(debug_board)
00051 extern RawSerial RN42;
00052 extern DigitalOut RN42_Reset;
00053 //lcd(debug_board)
00054 extern AQM1602 Lcd;
00055 //cmps
00056 extern HMC6352 hmc;
00057 //mouse(bottom)
00058 extern adns_9800 mouse_sensor;
00059 //solenoid(bottom)
00060 extern DigitalOut kicker;
00061 
00062 //Serial for motors
00063 extern int speed[4];
00064 extern string StringFIN;
00065 //PID
00066 extern PID pid;
00067 extern Ticker pidupdate;
00068 //for Serial
00069 extern volatile uint8_t INdata[DATA_NUM], EXdata[DATA_NUM];
00070 //for DataSet
00071 extern Record data;
00072 //for transition
00073 extern Ticker Sw_ticker;
00074 extern Timeout button;
00075 extern bool state[4];
00076 extern uint8_t statesum, last_statesum;
00077 // for Time
00078 extern Ticker Motor_ticker;
00079 extern Ticker Line_ticker;
00080 extern Ticker Ir_ticker;
00081 extern Ticker Ping_ticker;
00082 extern Ticker Solenoid_ticker;
00083 extern Ticker Hmc_ticker;
00084 extern Timeout Solenoid_timeout;
00085 extern Timeout Line_timeout[3];
00086 
00087 extern Ticker Duty[DUTY_NUM];
00088 extern Timeout Stp;
00089 extern double dutycycle[DUTY_NUM];
00090 
00091 #endif /*_EXTERN_H_*/