2024-01-16 20:03:21 +08:00
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#ifndef _JJ_MOTION_H_
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#define _JJ_MOTION_H_
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#include "ch32v30x.h"
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#include "../3rd-lib/PID-Library/pid.h"
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2024-03-02 16:05:24 +08:00
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2024-01-16 20:03:21 +08:00
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extern float an_Kp;
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extern float an_Ki;
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extern float an_Kd;
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2024-03-02 16:05:24 +08:00
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extern float in_angle;
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extern float set_angle;
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extern float out_angle;
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extern float gy_Kp;
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extern float gy_Ki;
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extern float gy_Kd;
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extern float in_gyro;
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extern float out_gyro;
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extern float set_gyro;
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extern float po_Kp;
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extern float po_Ki;
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extern float po_Kd;
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extern float in_pos;
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extern float out_pos;
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extern float set_pos;
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extern float sp_Kp;
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extern float sp_Ki;
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extern float sp_Kd;
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extern float in_speed;
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extern float out_speed;
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extern float set_speed;
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2024-01-16 20:03:21 +08:00
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void sport_pid_init();
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2024-03-02 16:05:24 +08:00
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void sport_motion(void);
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2024-01-16 20:03:21 +08:00
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#endif
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