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.h@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 #ifndef GLOBAL_VARIABLES_H
halusis 0:f0b20f502059 2 #define GLOBAL_VARIABLES_H
halusis 0:f0b20f502059 3 #include "mbed.h"
halusis 0:f0b20f502059 4
halusis 0:f0b20f502059 5 #define ANGLE_UNIT 0.02197265625f // degree
halusis 0:f0b20f502059 6 #define SPEED_UNIT 0.1220740379f // degree/sec
halusis 0:f0b20f502059 7
halusis 0:f0b20f502059 8 #define IdlePWM 1500
halusis 0:f0b20f502059 9 #define dt 0.2f
halusis 0:f0b20f502059 10 #define KdY -24.0f
halusis 0:f0b20f502059 11 #define KiY -8.0f
halusis 0:f0b20f502059 12 #define KpY -8.0f
halusis 0:f0b20f502059 13 #define KdP -24.0f
halusis 0:f0b20f502059 14 #define KiP -8.0f
halusis 0:f0b20f502059 15 #define KpP -8.0f
halusis 0:f0b20f502059 16 #define YawLim 100.0f
halusis 0:f0b20f502059 17 #define PitchLim 100.0f
halusis 0:f0b20f502059 18
halusis 0:f0b20f502059 19 extern int16_t YawIMU, PitchIMU, RollIMU, YawTarIMU, PitchTarIMU, RollTarIMU;
halusis 0:f0b20f502059 20 extern int32_t YawIMU2, PitchIMU2, RollIMU2;
halusis 0:f0b20f502059 21 extern uint16_t YawTarPWM, PitchTarPWM;
halusis 0:f0b20f502059 22 extern double YawDeg, PitchDeg, RollDeg, YawTar, PitchTar, RollTar, RollRel, PitchRel, YawRel;
halusis 0:f0b20f502059 23 extern uint8_t GimbalBuf[100], GimbalCnt, HeadChks, BodyChks;
halusis 0:f0b20f502059 24 extern bool fGET_ANGLE;
halusis 0:f0b20f502059 25
halusis 0:f0b20f502059 26 extern double ErrorY, ErrorYI, YawI, prevErrorY, YawPWM, YawT;
halusis 0:f0b20f502059 27 extern double ErrorP, ErrorPI, PitchI, prevErrorP, PitchPWM, PitchT;
halusis 0:f0b20f502059 28
halusis 0:f0b20f502059 29 extern uint8_t RFBuf[100], RFCnt, RFHeadChks, RFBodyChks;
halusis 0:f0b20f502059 30
halusis 0:f0b20f502059 31 extern int16_t rV1, rV2, rV3, rV4, rEle, rAzi, rEle_raw, rAzi_raw, rEle_Offset, rAzi_Offset;
halusis 0:f0b20f502059 32 extern float V1, V2, V3, V4, Ele, Azi, Ele_raw, Azi_raw, Ele_Offset, Azi_Offset;
halusis 0:f0b20f502059 33 extern uint8_t Pckt[100],fRFread;
halusis 0:f0b20f502059 34
halusis 0:f0b20f502059 35 //PPM Vars
halusis 0:f0b20f502059 36 extern uint16_t YawPPM, PitchPPM, LockPPM;
halusis 0:f0b20f502059 37 extern float YawDegCMD, PitchDegCMD;
halusis 0:f0b20f502059 38 extern uint8_t fLock;
halusis 0:f0b20f502059 39
halusis 0:f0b20f502059 40 //pc input cmd
halusis 0:f0b20f502059 41 extern char pcPckt[50], pcCnt, pcBuf,fpc;
halusis 0:f0b20f502059 42 #endif