btl143/QD4C-firmware
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feat:增加圆环参数

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井明江
2024-06-07 21:55:55 +08:00
parent 5dd6ddd802
commit 81f0e13eae
13 changed files with 354 additions and 199 deletions
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12
app/jj_motion.h
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@@ -24,17 +24,18 @@ extern float gy_Kd0;
extern float in_gyro;
extern float out_gyro;
extern float set_gyro;
extern float out_cangle;
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 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 sp_Kp;
extern float sp_Ki;
extern float sp_Kd;
@@ -42,6 +43,7 @@ extern float in_speed;
extern float out_speed;
extern float set_speed0;
extern float set_speed1;
extern float set_speed2;
extern float set_speed ;
extern uint32_t pwm_duty_ls;
extern uint32_t pwm_duty_rs;