2024-01-16 20:03:21 +08:00
|
|
|
#ifndef _JJ_MOTION_H_
|
|
|
|
|
#define _JJ_MOTION_H_
|
|
|
|
|
#include "ch32v30x.h"
|
|
|
|
|
#include "../3rd-lib/PID-Library/pid.h"
|
2024-03-02 16:05:24 +08:00
|
|
|
|
2024-03-28 04:24:59 +08:00
|
|
|
extern float an_Kp0;
|
|
|
|
|
extern float an_Ki0;
|
|
|
|
|
extern float an_Kd0;
|
|
|
|
|
extern float an_Kp1;
|
|
|
|
|
extern float an_Ki1;
|
|
|
|
|
extern float an_Kd1;
|
2024-03-02 16:05:24 +08:00
|
|
|
extern float in_angle;
|
|
|
|
|
extern float set_angle;
|
|
|
|
|
extern float out_angle;
|
|
|
|
|
|
2024-03-28 04:24:59 +08:00
|
|
|
extern float gy_Kp1;
|
|
|
|
|
extern float gy_Ki1;
|
|
|
|
|
extern float gy_Kd1;
|
|
|
|
|
extern float gy_Kp0;
|
|
|
|
|
extern float gy_Ki0;
|
|
|
|
|
extern float gy_Kd0;
|
2024-03-02 16:05:24 +08:00
|
|
|
extern float in_gyro;
|
|
|
|
|
extern float out_gyro;
|
|
|
|
|
extern float set_gyro;
|
|
|
|
|
|
2024-03-28 04:24:59 +08:00
|
|
|
extern float po_Kp1;
|
|
|
|
|
extern float po_Ki1;
|
|
|
|
|
extern float po_Kd1;
|
|
|
|
|
extern float po_Kp0;
|
|
|
|
|
extern float po_Ki0;
|
|
|
|
|
extern float po_Kd0;
|
2024-03-02 16:05:24 +08:00
|
|
|
extern float in_pos;
|
|
|
|
|
extern float out_pos;
|
|
|
|
|
extern float set_pos;
|
|
|
|
|
|
|
|
|
|
extern float sp_Kp;
|
|
|
|
|
extern float sp_Ki;
|
|
|
|
|
extern float sp_Kd;
|
|
|
|
|
extern float in_speed;
|
|
|
|
|
extern float out_speed;
|
2024-03-28 04:24:59 +08:00
|
|
|
extern float set_speed0;
|
|
|
|
|
extern float set_speed1;
|
|
|
|
|
extern uint32_t pwm_duty_ls;
|
|
|
|
|
extern uint32_t pwm_duty_rs;
|
|
|
|
|
extern uint32_t pwm_duty_lb;
|
|
|
|
|
extern uint32_t pwm_duty_rb;
|
2024-03-02 16:05:24 +08:00
|
|
|
|
2024-03-28 04:24:59 +08:00
|
|
|
extern uint32_t in_state;
|
2024-01-16 20:03:21 +08:00
|
|
|
void sport_pid_init();
|
2024-03-02 16:05:24 +08:00
|
|
|
void sport_motion(void);
|
2024-01-16 20:03:21 +08:00
|
|
|
#endif
|
