a
Dependencies: mbed
Diff: Global_Variables/Global_Variables.h
- Revision:
- 0:f0b20f502059
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Global_Variables/Global_Variables.h Thu May 24 10:19:44 2018 +0000 @@ -0,0 +1,42 @@ +#ifndef GLOBAL_VARIABLES_H +#define GLOBAL_VARIABLES_H +#include "mbed.h" + +#define ANGLE_UNIT 0.02197265625f // degree +#define SPEED_UNIT 0.1220740379f // degree/sec + +#define IdlePWM 1500 +#define dt 0.2f +#define KdY -24.0f +#define KiY -8.0f +#define KpY -8.0f +#define KdP -24.0f +#define KiP -8.0f +#define KpP -8.0f +#define YawLim 100.0f +#define PitchLim 100.0f + +extern int16_t YawIMU, PitchIMU, RollIMU, YawTarIMU, PitchTarIMU, RollTarIMU; +extern int32_t YawIMU2, PitchIMU2, RollIMU2; +extern uint16_t YawTarPWM, PitchTarPWM; +extern double YawDeg, PitchDeg, RollDeg, YawTar, PitchTar, RollTar, RollRel, PitchRel, YawRel; +extern uint8_t GimbalBuf[100], GimbalCnt, HeadChks, BodyChks; +extern bool fGET_ANGLE; + +extern double ErrorY, ErrorYI, YawI, prevErrorY, YawPWM, YawT; +extern double ErrorP, ErrorPI, PitchI, prevErrorP, PitchPWM, PitchT; + +extern uint8_t RFBuf[100], RFCnt, RFHeadChks, RFBodyChks; + +extern int16_t rV1, rV2, rV3, rV4, rEle, rAzi, rEle_raw, rAzi_raw, rEle_Offset, rAzi_Offset; +extern float V1, V2, V3, V4, Ele, Azi, Ele_raw, Azi_raw, Ele_Offset, Azi_Offset; +extern uint8_t Pckt[100],fRFread; + +//PPM Vars +extern uint16_t YawPPM, PitchPPM, LockPPM; +extern float YawDegCMD, PitchDegCMD; +extern uint8_t fLock; + +//pc input cmd +extern char pcPckt[50], pcCnt, pcBuf,fpc; +#endif \ No newline at end of file