新部内対抗A班 / Mbed 2 deprecated circle_war_ver_A_NUCLEO__

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Dependencies:   mbed

Fork of circle_war_ver_A_NUCLEO_ by 新部内対抗A班

speed_control.h@11:f8fac9693cd5, 2016-04-04 (annotated)

Committer:
username16248
Date:
Mon Apr 04 08:55:04 2016 +0000
Revision:
11:f8fac9693cd5
Parent:
9:92ddadd9e9a9
Child:
14:3403ce49a37a
?????.h???????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
username16248 9:92ddadd9e9a9 1 //for speed control
username16248 9:92ddadd9e9a9 2 #ifndef SPEED_CONTROL_H
username16248 9:92ddadd9e9a9 3 #define SPEED_CONTROL_H
username16248 9:92ddadd9e9a9 4
username16248 11:f8fac9693cd5 5
username16248 11:f8fac9693cd5 6 float angle_f=0.0,angle_r=0.0,angle_l=0.0;
username16248 11:f8fac9693cd5 7 float angle_old_f=0.0,angle_old_r=0.0,angle_old_l=0.0;
username16248 11:f8fac9693cd5 8 float duty_out_f=0.0,duty_out_r=0.0,duty_out_l=0.0;
username16248 11:f8fac9693cd5 9 float duty_PID_f=0.0,duty_PID_r=0.0,duty_PID_l=0.0;
username16248 11:f8fac9693cd5 10 float omega_now_f=0.0,omega_now_r=0.0,omega_now_l=0.0;
username16248 11:f8fac9693cd5 11 float rot_now_f=0.0,rot_now_r=0.0,rot_now_l=0.0;
username16248 11:f8fac9693cd5 12 float rot_old_f=0.0,rot_old_r=0.0,rot_old_l=0.0;
username16248 11:f8fac9693cd5 13 float rot_PID_f=0.0,rot_PID_r=0.0,rot_PID_l=0.0;
username16248 11:f8fac9693cd5 14 float rot_prop_f=0.0,rot_prop_r=0.0,rot_prop_l=0.0;
username16248 11:f8fac9693cd5 15 float rot_diff_f=0.0,rot_diff_r=0.0,rot_diff_l=0.0;
username16248 11:f8fac9693cd5 16 float rot_inte_f=0.0,rot_inte_r=0.0,rot_inte_l=0.0;
username16248 11:f8fac9693cd5 17 int dir_f,dir_r,dir_l;
username16248 11:f8fac9693cd5 18 const float Kp_f=30.0000f,Kd_f=200.0000f,Ki_f=0.0001f;
username16248 11:f8fac9693cd5 19 const float Kp_r=30.0000f,Kd_r=200.0000f,Ki_r=0.0001f;
username16248 11:f8fac9693cd5 20 const float Kp_l=30.0000f,Kd_l=200.0000f,Ki_l=0.0001f;
username16248 11:f8fac9693cd5 21 const float resolution=1024.0;
username16248 11:f8fac9693cd5 22 int t=0;
username16248 11:f8fac9693cd5 23 /*
username16248 9:92ddadd9e9a9 24 extern float angle_f,angle_r,angle_l;
username16248 9:92ddadd9e9a9 25 extern float angle_old_f,angle_old_r,angle_old_l;
username16248 9:92ddadd9e9a9 26 extern float duty_out_f,duty_out_r,duty_out_l;
username16248 9:92ddadd9e9a9 27 extern float duty_PID_f,duty_PID_r,duty_PID_l;
username16248 9:92ddadd9e9a9 28 extern float omega_now_f,omega_now_r,omega_now_l;
username16248 9:92ddadd9e9a9 29 extern float rot_now_f,rot_now_r,rot_now_l;
username16248 9:92ddadd9e9a9 30 extern float rot_old_f,rot_old_r,rot_old_l;
username16248 9:92ddadd9e9a9 31 extern float rot_PID_f,rot_PID_r,rot_PID_l;
username16248 9:92ddadd9e9a9 32 extern float rot_prop_f,rot_prop_r,rot_prop_l;
username16248 9:92ddadd9e9a9 33 extern float rot_diff_f,rot_diff_r,rot_diff_l;
username16248 9:92ddadd9e9a9 34 extern float rot_inte_f,rot_inte_r,rot_inte_l;
username16248 9:92ddadd9e9a9 35 extern int dir_f,dir_r,dir_l;
username16248 9:92ddadd9e9a9 36
username16248 9:92ddadd9e9a9 37 extern int i;
username16248 9:92ddadd9e9a9 38 //int targetA,targetB,targetC;
username16248 9:92ddadd9e9a9 39 extern int ka,kb,kc;
username16248 9:92ddadd9e9a9 40 extern int df,dr,dl;
username16248 9:92ddadd9e9a9 41
username16248 9:92ddadd9e9a9 42 extern const float Kp,Kd,Ki;
username16248 9:92ddadd9e9a9 43 extern const float resolution;
username16248 9:92ddadd9e9a9 44
username16248 9:92ddadd9e9a9 45 extern int t;
username16248 11:f8fac9693cd5 46 */
username16248 11:f8fac9693cd5 47 void motor_setting();
username16248 9:92ddadd9e9a9 48
username16248 9:92ddadd9e9a9 49 #endif