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