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feat: 增加分段pid

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This commit is contained in:
井明江
2024-03-28 04:24:59 +08:00
parent 99c582c53e
commit 8020561175
11 changed files with 278 additions and 73 deletions
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35
app/jj_motion.h
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@@ -3,23 +3,32 @@
#include "ch32v30x.h"
#include "../3rd-lib/PID-Library/pid.h"
extern float an_Kp;
extern float an_Ki;
extern float an_Kd;
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 gy_Kp;
extern float gy_Ki;
extern float gy_Kd;
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_Kp;
extern float po_Ki;
extern float po_Kd;
extern float po_Kp1;
extern float po_Ki1;
extern float po_Kd1;
extern float po_Kp0;
extern float po_Ki0;
extern float po_Kd0;
extern float in_pos;
extern float out_pos;
extern float set_pos;
@@ -29,8 +38,14 @@ extern float sp_Ki;
extern float sp_Kd;
extern float in_speed;
extern float out_speed;
extern float set_speed;
extern float set_speed0;
extern float set_speed1;
extern uint32_t pwm_duty_ls;
extern uint32_t pwm_duty_rs;
extern uint32_t pwm_duty_lb;
extern uint32_t pwm_duty_rb;
extern uint32_t in_state;
void sport_pid_init();
void sport_motion(void);
#endif