Konkuk asml team / Mbed 2 deprecated GIMBAL_SAMPLE5_PPM_copy

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Dependencies:   mbed

Fork of GIMBAL_SAMPLE4_PPM by Konkuk asml team

Global_Variables/Global_Variables.cpp@1:dd6e70abeb8e, 2018-05-25 (annotated)

Committer:
halusis
Date:
Fri May 25 08:09:17 2018 +0000
Revision:
1:dd6e70abeb8e
Parent:
0:f0b20f502059 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
halusis 0:f0b20f502059 1 #include "Global_Variables.h"
halusis 0:f0b20f502059 2 #include "mbed.h"
halusis 0:f0b20f502059 3 //GIMBAL VARS
halusis 0:f0b20f502059 4 int16_t YawIMU, PitchIMU, RollIMU, YawTarIMU, PitchTarIMU, RollTarIMU;
halusis 0:f0b20f502059 5 int32_t YawIMU2, PitchIMU2, RollIMU2;
halusis 0:f0b20f502059 6 uint16_t YawTarPWM, PitchTarPWM;
halusis 0:f0b20f502059 7 double YawDeg, PitchDeg, RollDeg, YawTar, PitchTar, RollTar, RollRel, PitchRel, YawRel;
halusis 0:f0b20f502059 8 uint8_t GimbalBuf[100], GimbalCnt=1, HeadChks, BodyChks;
halusis 0:f0b20f502059 9 //
halusis 0:f0b20f502059 10 //Snd CMD flag
halusis 0:f0b20f502059 11 bool fGET_ANGLE;
halusis 0:f0b20f502059 12
halusis 0:f0b20f502059 13 //PWM PID Vars
halusis 0:f0b20f502059 14 double ErrorY, ErrorYI, YawI, prevErrorY, YawPWM, YawT; //YawT, target,purpose data
halusis 0:f0b20f502059 15 double ErrorP, ErrorPI, PitchI, prevErrorP, PitchPWM, PitchT; //PitchT, target,purpose data
halusis 0:f0b20f502059 16 //
halusis 0:f0b20f502059 17
halusis 0:f0b20f502059 18 //RF device comm VARS
halusis 0:f0b20f502059 19 uint8_t RFBuf[100], RFCnt=1, RFHeadChks, RFBodyChks;
halusis 0:f0b20f502059 20 int16_t rV1, rV2, rV3, rV4, rEle, rAzi, rEle_raw, rAzi_raw, rEle_Offset, rAzi_Offset;
halusis 0:f0b20f502059 21 float V1, V2, V3, V4, Ele, Azi, Ele_raw, Azi_raw, Ele_Offset, Azi_Offset;
halusis 0:f0b20f502059 22 uint8_t Pckt[100], fRFread;
halusis 0:f0b20f502059 23
halusis 0:f0b20f502059 24 //PPM Vars
halusis 0:f0b20f502059 25 uint16_t YawPPM, PitchPPM, LockPPM;
halusis 0:f0b20f502059 26 float YawDegCMD, PitchDegCMD;
halusis 0:f0b20f502059 27 uint8_t fLock;
halusis 0:f0b20f502059 28
halusis 0:f0b20f502059 29 //pc input cmd
halusis 0:f0b20f502059 30 char pcPckt[50], pcCnt=1, pcBuf, fpc;