#ifndef _JJ_MOTION_H_
#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;
void sport_pid_init();
void sport_motion2(uint32_t fy);
#endif