teamALI / Mbed 2 deprecated HB2018

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Dependencies:   mbed FreeRTOS

Diff: globalFlags.cpp

Revision:
24:c5945aaae777
Parent:
23:79e20be4bc5b
Child:
25:f3a6e7eec9c3
--- a/globalFlags.cpp	Sat Dec 08 12:08:25 2018 +0000
+++ b/globalFlags.cpp	Mon Dec 10 12:29:37 2018 +0000
@@ -26,6 +26,8 @@
 
 enmHbState      gf_State = SLEEP;
 
+bool            gf_PidParaUpdate       ;//PID Pp,P,I,Dの係数アップデートフラグ
+typPidPara      g_PidPara       ;//PID Pp,P,I,Dの係数の外部設定用
 
 void initFlags(){
     memset(g_CmdBuf,0x0,sizeof(g_CmdBuf));
@@ -42,6 +44,12 @@
     gf_MtReq[2].dt = 0;
     gf_MtReq[3].dt = 0;
     gf_State = SLEEP;
+    g_PidPara.PP = 4;
+    g_PidPara.P = 4;
+    g_PidPara.I = 0.02;
+    g_PidPara.D = 0;
+    g_PidPara.IMax = 2000;
+    g_PidPara.IMin = -2000;
 }
 
 void setState(enmHbState stat){