Diff: ZTC.h

Revision:

3:197b748a397a

Child:

4:b0967990e390

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ZTC.h	Wed Jun 22 04:35:18 2016 +0000
@@ -0,0 +1,45 @@
+#ifndef ZTC_H_INCLUDED
+#define ZTC_H_INCLUDED
+
+#include "mbed.h"
+#include "SensorFusion.h"
+
+#define GAMMA_OFFSET    3.0 / 180.0 * 3.14159
+#define L_PD_OFFSET     7.0 / 180.0 * 3.14159
+#define DLT_GAMMA_REF   6.0 / 180.0 * 3.14159
+
+#define PHI_HAT_UB  0.1745f
+#define PHI_HAT_LB  -PHI_HAT_UB
+#define K_aw        500*pi_const
+
+#define S_S     0       ///state of pedaling and controller
+#define L_PD    1
+#define M_PD    2
+#define M_ZTC   3
+#define H_PD    4
+#define H_ZTC   5
+
+///ZTC
+extern float K_h[3];
+extern float K_m[3];
+extern float K_l[3];
+extern float K_s[3];
+extern float K_hphi[3];
+extern float K_mphi[3];
+extern float u;
+extern float phi_hat;
+extern float phi_hat_old;
+extern float phi_hat_aw;
+extern float dphi_hat;
+extern float roll_ref;
+extern float gamma_ref;
+extern float gamma_rad;
+extern float gamma_rad_old;
+extern int8_t gamma_degree;
+
+extern void calc_PD(float* K, float phi_hat_in);
+extern void calc_Phi(float* K_est);
+extern void calc_Gamma(float u_in, float alpha, float multr);
+extern void anti_wdup(void);
+
+#endif // ZTC_H_INCLUDED
\ No newline at end of file