76 lines
1.7 KiB
C
76 lines
1.7 KiB
C
#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 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 za_Kp;
|
|
extern float za_Ki;
|
|
extern float za_Kd;
|
|
extern float zg_Kp;
|
|
extern float zg_Ki;
|
|
extern float zg_Kd;
|
|
|
|
extern float zp_Kp;
|
|
extern float zp_Ki;
|
|
extern float zp_Kd;
|
|
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_speed3;
|
|
extern float set_speed;
|
|
extern float set_speed4;
|
|
extern float last_angle;
|
|
extern float yuc_Kp;
|
|
extern float rate_K;
|
|
extern float start_dis;
|
|
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 go_cnt;
|
|
extern uint8_t in_state;
|
|
extern uint8_t in_stop;
|
|
extern float bug_sw;
|
|
extern float out_sw;
|
|
extern float sho_sw;
|
|
void sport_pid_init();
|
|
void sport_motion(void);
|
|
#endif |