![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
a
Dependencies: mbed
Fork of GIMBAL_SAMPLE4_PPM by
Diff: Global_Variables/Global_Variables.cpp
- Revision:
- 0:f0b20f502059
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Global_Variables/Global_Variables.cpp Thu May 24 10:19:44 2018 +0000 @@ -0,0 +1,30 @@ +#include "Global_Variables.h" +#include "mbed.h" +//GIMBAL VARS +int16_t YawIMU, PitchIMU, RollIMU, YawTarIMU, PitchTarIMU, RollTarIMU; +int32_t YawIMU2, PitchIMU2, RollIMU2; +uint16_t YawTarPWM, PitchTarPWM; +double YawDeg, PitchDeg, RollDeg, YawTar, PitchTar, RollTar, RollRel, PitchRel, YawRel; +uint8_t GimbalBuf[100], GimbalCnt=1, HeadChks, BodyChks; +// +//Snd CMD flag +bool fGET_ANGLE; + +//PWM PID Vars +double ErrorY, ErrorYI, YawI, prevErrorY, YawPWM, YawT; //YawT, target,purpose data +double ErrorP, ErrorPI, PitchI, prevErrorP, PitchPWM, PitchT; //PitchT, target,purpose data +// + +//RF device comm VARS +uint8_t RFBuf[100], RFCnt=1, RFHeadChks, RFBodyChks; +int16_t rV1, rV2, rV3, rV4, rEle, rAzi, rEle_raw, rAzi_raw, rEle_Offset, rAzi_Offset; +float V1, V2, V3, V4, Ele, Azi, Ele_raw, Azi_raw, Ele_Offset, Azi_Offset; +uint8_t Pckt[100], fRFread; + +//PPM Vars +uint16_t YawPPM, PitchPPM, LockPPM; +float YawDegCMD, PitchDegCMD; +uint8_t fLock; + +//pc input cmd +char pcPckt[50], pcCnt=1, pcBuf, fpc; \ No newline at end of file