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feat: 完成控制代码编写

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井明江
2024-03-02 16:05:24 +08:00
parent 038098ff2d
commit 0b9db20066
43 changed files with 760 additions and 2166 deletions
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36
app/jj_motion.h
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@@ -2,17 +2,35 @@
#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;
extern float in_angle;
extern float set_angle;
extern float out_angle;
extern float gy_Kp;
extern float gy_Ki;
extern float gy_Kd;
extern float in_gyro;
extern float out_gyro;
extern float set_gyro;
extern float po_Kp;
extern float po_Ki;
extern float po_Kd;
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;
extern float set_speed;
void sport_pid_init();
void sport_motion2(uint32_t fy);
void sport_motion(void);
#endif