35 lines
874 B
C
35 lines
874 B
C
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#ifndef _BY_MOTION_H__
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#define _BY_MOTION_H__
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#include "at32f413.h"
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typedef struct by_motor_param {
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float Kp;
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float Ki;
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float Kd;
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float real_speed;
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float target_speed;
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float out_pwm;
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} by_motor_param;
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#define BY_MOTION_DEFAULT_KP_M1 (13.0f)
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#define BY_MOTION_DEFAULT_KI_M1 (5.0f)
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#define BY_MOTION_DEFAULT_KD_M1 (0.1f)
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#define BY_MOTION_DEFAULT_KP_M2 (1.0f)
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#define BY_MOTION_DEFAULT_KI_M2 (0.0f)
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#define BY_MOTION_DEFAULT_KD_M2 (0.0f)
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extern void by_motion_init(void);
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extern void by_motion_run(void);
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extern void by_motion_set_pwm_m1(int32_t pwm_duty);
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extern void by_motion_set_pwm_m2(int32_t pwm_duty);
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extern int16_t by_motion_get_speed_m1(void);
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extern int16_t by_motion_get_speed_m2(void);
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extern void by_motion_set_speed_m1(int16_t speed);
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extern void by_motion_set_speed_m2(int16_t speed);
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extern int16_t speed_m1;
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extern int16_t speed_m2;
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#endif
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