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