新部内対抗A班 / Mbed 2 deprecated circle_war_ver_A_NUCLEO__

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

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:
11:f8fac9693cd5
Parent:
9:92ddadd9e9a9
Child:
14:3403ce49a37a

File content as of revision 11:f8fac9693cd5:

//for speed control
#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;
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;
*/
void motor_setting();

#endif