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

Diff: speed_control.h

Revision:
11:f8fac9693cd5
Parent:
9:92ddadd9e9a9
Child:
14:3403ce49a37a
--- a/speed_control.h	Mon Apr 04 08:43:50 2016 +0000
+++ b/speed_control.h	Mon Apr 04 08:55:04 2016 +0000
@@ -2,6 +2,25 @@
 #ifndef SPEED_CONTROL_H
 #define SPEED_CONTROL_H
 
+
+float angle_f=0.0,angle_r=0.0,angle_l=0.0;
+float angle_old_f=0.0,angle_old_r=0.0,angle_old_l=0.0;
+float duty_out_f=0.0,duty_out_r=0.0,duty_out_l=0.0;
+float duty_PID_f=0.0,duty_PID_r=0.0,duty_PID_l=0.0;
+float omega_now_f=0.0,omega_now_r=0.0,omega_now_l=0.0;
+float rot_now_f=0.0,rot_now_r=0.0,rot_now_l=0.0;
+float rot_old_f=0.0,rot_old_r=0.0,rot_old_l=0.0;
+float rot_PID_f=0.0,rot_PID_r=0.0,rot_PID_l=0.0;
+float rot_prop_f=0.0,rot_prop_r=0.0,rot_prop_l=0.0;
+float rot_diff_f=0.0,rot_diff_r=0.0,rot_diff_l=0.0;
+float rot_inte_f=0.0,rot_inte_r=0.0,rot_inte_l=0.0;
+int dir_f,dir_r,dir_l;
+const float Kp_f=30.0000f,Kd_f=200.0000f,Ki_f=0.0001f;
+const float Kp_r=30.0000f,Kd_r=200.0000f,Ki_r=0.0001f;
+const float Kp_l=30.0000f,Kd_l=200.0000f,Ki_l=0.0001f;
+const float resolution=1024.0;
+int t=0;
+/*
 extern float angle_f,angle_r,angle_l;
 extern float angle_old_f,angle_old_r,angle_old_l;
 extern float duty_out_f,duty_out_r,duty_out_l;
@@ -24,5 +43,7 @@
 extern const float resolution;
 
 extern int t;
+*/
+void motor_setting();
 
 #endif
\ No newline at end of file