#ifndef INCLUDED_SENSORS_H
#define INCLUDED_SENSORS_H
#include "hcsr04.h"
#include "EC.h"
extern int RightOrLeft;

extern const float kOldWeightLight;
extern LowPassFilter lowpassfilter[2];
float get_dist_forward();
float get_dist_back();
float Hcsr04BackWithEc();
int checkUW(double uwdist,double deg,int eccount) ;


void set_gyro();

extern Ec ec_lo;
extern Ec ec_li;

extern DigitalIn hand;

extern DigitalIn bus_in;
extern DigitalIn switch_lo;
extern DigitalIn switch_li;
extern InterruptIn switch_LR;
extern DigitalIn switch_modes[3];
//extern InterruptIn mode4;

extern DigitalOut led4;

void wait_gerege();

extern CAN can1;
void can_send(int mode, float duty);
enum EVENT {
    G_OPEN,
    G_CLOSE,
    GOAL,
};
extern int hand_mode;


int FileOpen();
void FileWrite();
void FileClose();


void LoadParameter();
struct Param
{
    float argument[2];
    float duty;
    float condition;
};
extern Param params[17]; //とりあえずいっぱい作った


#endif