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Dependencies: mbed
Fork of GIMBAL_SAMPLE4_PPM by
Global_Variables/Global_Variables.cpp@0:f0b20f502059, 2018-05-24 (annotated)
- Committer:
- halusis
- Date:
- Thu May 24 10:19:44 2018 +0000
- Revision:
- 0:f0b20f502059
AA
Who changed what in which revision?
User | Revision | Line number | New 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; |