51 lines
1.5 KiB
C
51 lines
1.5 KiB
C
#ifndef MAIN_H
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#define MAIN_H
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#include "zf_common_headfile.h"
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#include "gl_common.h"
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// extern uint8 *mt9v03x_image_copy[0];
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extern int32_t pts_left[PT_MAXLEN][2], pts_right[PT_MAXLEN][2]; // 0:H,1:W
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extern int32_t pts_left_count, pts_right_count;
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extern float pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
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extern int32_t pts_inv_l_count, pts_inv_r_count;
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extern float pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
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extern int32_t pts_filter_l_count, pts_filter_r_count;
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extern float pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
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extern int32_t pts_resample_left_count, pts_resample_right_count;
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extern uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
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extern float mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
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extern int32_t mid_left_count, mid_right_count;
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extern float angle_left[PT_MAXLEN];
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extern float angle_right[PT_MAXLEN];
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extern int angle_left_num, angle_right_num;
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extern float angle_new_left[PT_MAXLEN];
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extern float angle_new_right[PT_MAXLEN];
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extern int angle_new_left_num, angle_new_right_num;
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extern int Lpt0_rpts0s_id, Lpt1_rpts1s_id;
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extern bool Lpt0_found, Lpt1_found;
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extern int Lpt1[2], Lpt0[2];
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extern int Lpt_in0_rpts0s_id, Lpt_in1_rpts1s_id;
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extern bool Lpt_in0_found, Lpt_in1_found;
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extern int Lpt_in1[2], Lpt_in0[2];
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extern bool is_straight0, is_straight1;
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extern bool is_turn0, is_turn1;
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extern float rptsn[PT_MAXLEN][2];
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extern int rptsn_num;
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extern float aim_distance;
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enum track_type_e {
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TRACK_LEFT,
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TRACK_RIGHT,
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};
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extern enum track_type_e track_type;
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#endif // MAIN_H
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