feat 更新角度闭环相关功能

app/jj_motion.h

@@ -0,0 +1,18 @@
+#ifndef _JJ_MOTION_H_
+#define _JJ_MOTION_H_
+#include "ch32v30x.h"
+#include "../3rd-lib/PID-Library/pid.h"
+extern PID_TypeDef angle_pid;
+extern PID_TypeDef gyro_z_pid;
+extern float an_Kp;
+extern float an_Ki;
+extern float an_Kd;
+extern float im_Kp;
+extern float im_Ki;
+extern float im_Kd;
+extern float out_M;
+extern float out_yaw;
+extern float yaw0;
+void sport_pid_init();
+void sport_motion2(uint32_t fy);
+#endif