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

Committer:
username16248
Date:
2016-04-04
Revision:
9:92ddadd9e9a9
Child:
11:f8fac9693cd5

File content as of revision 9:92ddadd9e9a9:

//for speed control
#ifndef SPEED_CONTROL_H
#define SPEED_CONTROL_H

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;
extern float duty_PID_f,duty_PID_r,duty_PID_l;
extern float omega_now_f,omega_now_r,omega_now_l;
extern float rot_now_f,rot_now_r,rot_now_l;
extern float rot_old_f,rot_old_r,rot_old_l;
extern float rot_PID_f,rot_PID_r,rot_PID_l;
extern float rot_prop_f,rot_prop_r,rot_prop_l;
extern float rot_diff_f,rot_diff_r,rot_diff_l;
extern float rot_inte_f,rot_inte_r,rot_inte_l;
extern int dir_f,dir_r,dir_l;

extern int i;
//int targetA,targetB,targetC;
extern int ka,kb,kc;
extern int df,dr,dl;

extern const float Kp,Kd,Ki;
extern const float resolution;

extern int t;

#endif