52 lines
1.1 KiB
C
52 lines
1.1 KiB
C
#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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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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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_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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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_Kp1;
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extern float po_Ki1;
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extern float po_Kd1;
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extern float po_Kp0;
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extern float po_Ki0;
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extern float po_Kd0;
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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_speed0;
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extern float set_speed1;
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extern uint32_t pwm_duty_ls;
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extern uint32_t pwm_duty_rs;
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extern uint32_t pwm_duty_lb;
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extern uint32_t pwm_duty_rb;
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extern uint8_t in_state;
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extern uint8_t in_stop;
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void sport_pid_init();
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void sport_motion(void);
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#endif |