teamALI / Mbed 2 deprecated HB2018

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Dependencies:   mbed FreeRTOS

Diff: typedef.h

Revision:
48:71aec693a7dc
Parent:
46:5074781a28dd
Child:
50:76413e8e073d
diff -r d3fa874f336e -r 71aec693a7dc typedef.h
--- a/typedef.h	Wed Feb 20 12:54:25 2019 +0000
+++ b/typedef.h	Sun Feb 24 10:33:34 2019 +0000
@@ -96,6 +96,17 @@
 }typUserSw;
 
 /**
+* @enum ePIDMode
+* @brief 使用するPIDアルゴリズムと実行のON/OFFを表すENUM
+*/
+enum ePIDMode{
+    PID_0_OFF = 0,  //!< 高木さん修正版PID ＦＢ値計算のみ
+    PID_1_OFF,  //!< PID+torgue ＦＢ値計算のみ
+    PID_0_ON,  //!< 高木さん修正版PID ON
+    PID_1_ON,  //!< PID+torgue ON
+};
+
+/**
  * @typedef typPidPara
  * @brief yaw回転制御用パラメータ構造体　コマンド設定用
  */
@@ -107,6 +118,7 @@
     float IMax; //!< 積分上限
     float IMin; //!< 積分下限
     float V;    //!< 機体の目標トルク算出用係数K velosity
+    ePIDMode mode;
 }typPidPara;
 
 // //モーターのパラメータ構造体