#ifndef _JJ_MOTION_H_
#define _JJ_MOTION_H_
#include "ch32v30x.h"
#include "../3rd-lib/PID-Library/pid.h"

extern float an_Kp0;
extern float an_Ki0;
extern float an_Kd0;
extern float an_Kp1;
extern float an_Ki1;
extern float an_Kd1;
extern float in_angle;
extern float set_angle;
extern float out_angle;
extern float out_cal;
extern float cn_Kp1;
extern float cn_Ki1;
extern float cn_Kd1;
extern float gy_Kp1;
extern float gy_Ki1;
extern float gy_Kd1;
extern float gy_Kp0;
extern float gy_Ki0;
extern float gy_Kd0;
extern float in_gyro;
extern float out_gyro;
extern float set_gyro;
extern float po_Kp1;
extern float po_Ki1;
extern float po_Kd1;
extern float yu_Kp0;
extern float yu_Ki0;
extern float yu_Kd0;
extern float in_pos;
extern float out_pos;
extern float set_pos;
extern float ygy_Kp0;
extern float ygy_Ki0;
extern float ygy_Kd0;
extern float sp_Kp;
extern float sp_Ki;
extern float sp_Kd;
extern float in_speed;
extern float out_speed;
extern float set_speed0;
extern float set_speed1;
extern float set_speed2;
extern float set_speed ;
extern int32_t pwm_duty_ls;
extern int32_t pwm_duty_rs;
extern int32_t pwm_duty_lb;
extern int32_t pwm_duty_rb;

extern uint8_t in_state;
extern uint8_t in_stop;
void sport_pid_init();
void sport_motion(void);
#endif