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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2024-03-28 04:24:59 +08:00
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extern float an_Kp0;
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extern float an_Ki0;
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extern float an_Kd0;
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extern float an_Kp1;
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extern float an_Ki1;
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extern float an_Kd1;
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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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2024-06-18 16:11:59 +08:00
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extern float out_cal;
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2024-05-23 15:53:21 +08:00
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extern float cn_Kp1;
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extern float cn_Ki1;
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extern float cn_Kd1;
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2024-03-28 04:24:59 +08:00
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extern float gy_Kp1;
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extern float gy_Ki1;
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extern float gy_Kd1;
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extern float gy_Kp0;
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extern float gy_Ki0;
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extern float gy_Kd0;
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2024-03-02 16:05:24 +08:00
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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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2024-03-28 04:24:59 +08:00
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extern float po_Kp1;
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extern float po_Ki1;
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extern float po_Kd1;
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2024-06-07 21:55:55 +08:00
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extern float yu_Kp0;
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extern float yu_Ki0;
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extern float yu_Kd0;
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2024-03-02 16:05:24 +08:00
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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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2024-06-07 21:55:55 +08:00
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extern float ygy_Kp0;
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extern float ygy_Ki0;
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extern float ygy_Kd0;
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2024-03-02 16:05:24 +08:00
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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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2024-03-28 04:24:59 +08:00
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extern float set_speed0;
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extern float set_speed1;
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2024-06-07 21:55:55 +08:00
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extern float set_speed2;
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2024-07-01 19:07:11 +08:00
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extern float set_speed3;
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extern float set_speed;
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2024-06-16 20:49:57 +08:00
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extern int32_t pwm_duty_ls;
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extern int32_t pwm_duty_rs;
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extern int32_t pwm_duty_lb;
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extern int32_t pwm_duty_rb;
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2024-03-02 16:05:24 +08:00
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2024-03-30 11:51:14 +08:00
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extern uint8_t in_state;
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extern uint8_t in_stop;
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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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