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日常更新，适配3.5寸桨叶版，新加障碍分段参数

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井明江
2024-07-02 20:32:08 +08:00
parent 8b5799302b
commit e842452ec6
11 changed files with 271 additions and 75 deletions
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12
app/jj_motion.h
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@@ -12,7 +12,6 @@ extern float an_Kd1;
extern float in_angle;
extern float set_angle;
extern float out_angle;
extern float out_cal;
extern float cn_Kp1;
extern float cn_Ki1;
extern float cn_Kd1;
@@ -37,6 +36,16 @@ extern float set_pos;
extern float ygy_Kp0;
extern float ygy_Ki0;
extern float ygy_Kd0;
extern float za_Kp;
extern float za_Ki;
extern float za_Kd;
extern float zg_Kp;
extern float zg_Ki;
extern float zg_Kd;
extern float zp_Kp;
extern float zp_Ki;
extern float zp_Kd;
extern float sp_Kp;
extern float sp_Ki;
extern float sp_Kd;
@@ -47,6 +56,7 @@ extern float set_speed1;
extern float set_speed2;
extern float set_speed3;
extern float set_speed;
extern float set_speed4;
extern int32_t pwm_duty_ls;
extern int32_t pwm_duty_rs;
extern int32_t pwm_duty_lb;