2-wheel Inverted Pendulum control program
Dependencies: AsyncSerial Lib_DFPlayerMini Lib_MPU9250_SPI mbed
Diff: defines.h
- Revision:
- 7:77174a098e6f
- Parent:
- 6:a5f674c2f262
diff -r a5f674c2f262 -r 77174a098e6f defines.h --- a/defines.h Fri Apr 20 18:14:15 2018 +0000 +++ b/defines.h Wed May 02 10:57:10 2018 +0000 @@ -8,9 +8,14 @@ #include "Lib_MPU9250.h" #include "filter_func.h" -#define USE_SERIAL_DEBUG -//#define USE_LED_DEBUG +// compile option +//#define USE_SERIAL_DEBUG +#define USE_LED_DEBUG #define USE_FILESYSTEM +#define USE_FIRST_IMU +#define USE_SECOND_IMU +#define USE_MOTOR_CONTROL +#define USE_STEER_CONTROL #ifdef USE_SERIAL_DEBUG #define DEBUG_BAUDRATE 115200 @@ -58,19 +63,31 @@ } STRUCTPOSTURE; typedef struct _STRUCTCONRTOLPARAM{ - float K_angle; - float K_angle_vel; - float K_wheel; - float K_wheel_vel; - float K_rot_vel; - float K_trans_vel; - float C_max_angle; + float K_angle; + float K_angle_vel; + float K_wheel; + float K_wheel_vel; + float K_rot_vel; + float K_trans_vel; + float C_max_angle; + float C_offset_angle; } STRUCTCONRTOLPARAM; +typedef struct _STRUCTGAMEPAD{ + float x_raw; + float y_raw; + float x_filtered; + float y_filtered; + float C_dead_angle; + float C_max_angle; +} STRUCTGAMEPAD; + extern STRUCTSENSOR sensor_vehicle; extern STRUCTSENSOR sensor_interface; extern STRUCTPOSTURE posture; extern STRUCTCONRTOLPARAM control; +extern STRUCTGAMEPAD pad; + //extern Ticker tic_sen_ctrl; //extern CAN can_driver;