btl143/BC3D-firmware
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bmy
2024-04-25 22:31:01 +08:00
commit 200b5703f9
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34
app/by_motion.h Normal file
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#ifndef _BY_MOTION_H__
#define _BY_MOTION_H__
#include "at32f413.h"
typedef struct by_motor_param {
float Kp;
float Ki;
float Kd;
float real_speed;
float target_speed;
float out_pwm;
} by_motor_param;
#define BY_MOTION_DEFAULT_KP_M1 (13.0f)
#define BY_MOTION_DEFAULT_KI_M1 (5.0f)
#define BY_MOTION_DEFAULT_KD_M1 (0.1f)
#define BY_MOTION_DEFAULT_KP_M2 (1.0f)
#define BY_MOTION_DEFAULT_KI_M2 (0.0f)
#define BY_MOTION_DEFAULT_KD_M2 (0.0f)
extern void by_motion_init(void);
extern void by_motion_run(void);
extern void by_motion_set_pwm_m1(int32_t pwm_duty);
extern void by_motion_set_pwm_m2(int32_t pwm_duty);
extern int16_t by_motion_get_speed_m1(void);
extern int16_t by_motion_get_speed_m2(void);
extern void by_motion_set_speed_m1(int16_t speed);
extern void by_motion_set_speed_m2(int16_t speed);
extern int16_t speed_m1;
extern int16_t speed_m2;
#endif