#ifndef _JJ_MOTION_H_
#define _JJ_MOTION_H_
#include "ch32v30x.h"
#include "../3rd-lib/PID-Library/pid.h"

extern float an_Kp;
extern float an_Ki;
extern float an_Kd;
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_motion(void);
#endif