Chris LU / Mbed 2 deprecated Self_Riding_Bicycle

2018/06/08

Dependencies:   LSM9DS0 mbed

Controller.h@0:bf9bf4b7625f, 2018-06-08 (annotated)

Committer:
cpul5338
Date:
Fri Jun 08 14:11:49 2018 +0000
Revision:
0:bf9bf4b7625f
2018/06/08

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cpul5338 0:bf9bf4b7625f 1 #include "mbed.h"
cpul5338 0:bf9bf4b7625f 2 #include "SystemConstant.h"
cpul5338 0:bf9bf4b7625f 3 #include "SensorFusion.h"
cpul5338 0:bf9bf4b7625f 4
cpul5338 0:bf9bf4b7625f 5 #ifndef CONTROLLER_H_INCLUDE
cpul5338 0:bf9bf4b7625f 6 #define CONTROLLER_H_INCLUDE
cpul5338 0:bf9bf4b7625f 7 extern bool test1;
cpul5338 0:bf9bf4b7625f 8 extern float sigma;
cpul5338 0:bf9bf4b7625f 9 extern float alpha_1;
cpul5338 0:bf9bf4b7625f 10 extern float alpha_2;
cpul5338 0:bf9bf4b7625f 11 extern float roll_err;
cpul5338 0:bf9bf4b7625f 12 extern float K_1[3];
cpul5338 0:bf9bf4b7625f 13 extern float K_2[3];
cpul5338 0:bf9bf4b7625f 14 extern float K_LQR01[3];
cpul5338 0:bf9bf4b7625f 15 extern float K_LQR11[3];
cpul5338 0:bf9bf4b7625f 16 extern float K_LQR21[3];
cpul5338 0:bf9bf4b7625f 17 extern float K_LQR31[3];
cpul5338 0:bf9bf4b7625f 18 extern float K_LQR75[3];
cpul5338 0:bf9bf4b7625f 19 extern float K_LQR55[3];
cpul5338 0:bf9bf4b7625f 20 extern float K_LQR65[3];
cpul5338 0:bf9bf4b7625f 21 extern float K_LQR35[3];
cpul5338 0:bf9bf4b7625f 22 extern float K_LQR15[3];
cpul5338 0:bf9bf4b7625f 23 extern float K_LQR85[3];
cpul5338 0:bf9bf4b7625f 24 extern float K_LQR95[3];
cpul5338 0:bf9bf4b7625f 25 extern float K_LQR655[3];
cpul5338 0:bf9bf4b7625f 26 extern float K_LQR755[3];
cpul5338 0:bf9bf4b7625f 27 extern float u_1;
cpul5338 0:bf9bf4b7625f 28 extern float u_2;
cpul5338 0:bf9bf4b7625f 29 extern float u_3;
cpul5338 0:bf9bf4b7625f 30 extern float u_d;
cpul5338 0:bf9bf4b7625f 31 extern float u;
cpul5338 0:bf9bf4b7625f 32 extern float roll_ref;
cpul5338 0:bf9bf4b7625f 33 extern float steer_ref;
cpul5338 0:bf9bf4b7625f 34 extern float steer_ref_old;
cpul5338 0:bf9bf4b7625f 35 extern float steer_rad;
cpul5338 0:bf9bf4b7625f 36 extern float steering_angle;
cpul5338 0:bf9bf4b7625f 37 extern float steer_rad_old;
cpul5338 0:bf9bf4b7625f 38 extern float steer_degree;
cpul5338 0:bf9bf4b7625f 39
cpul5338 0:bf9bf4b7625f 40 extern void controller(float velocity);
cpul5338 0:bf9bf4b7625f 41 extern void steer_angle(float u_in, float velocity);
cpul5338 0:bf9bf4b7625f 42 extern void anti_widup(void);
cpul5338 0:bf9bf4b7625f 43 #endif// CONTROLLER_H_INCLUDE