![](/media/cache/profiles/a68af63859af253903d758699756efd3.jpg.50x50_q85.jpg)
2018/06/08
Diff: Controller.h
- Revision:
- 0:bf9bf4b7625f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Controller.h Fri Jun 08 14:11:49 2018 +0000 @@ -0,0 +1,43 @@ +#include "mbed.h" +#include "SystemConstant.h" +#include "SensorFusion.h" + +#ifndef CONTROLLER_H_INCLUDE +#define CONTROLLER_H_INCLUDE +extern bool test1; +extern float sigma; +extern float alpha_1; +extern float alpha_2; +extern float roll_err; +extern float K_1[3]; +extern float K_2[3]; +extern float K_LQR01[3]; +extern float K_LQR11[3]; +extern float K_LQR21[3]; +extern float K_LQR31[3]; +extern float K_LQR75[3]; +extern float K_LQR55[3]; +extern float K_LQR65[3]; +extern float K_LQR35[3]; +extern float K_LQR15[3]; +extern float K_LQR85[3]; +extern float K_LQR95[3]; +extern float K_LQR655[3]; +extern float K_LQR755[3]; +extern float u_1; +extern float u_2; +extern float u_3; +extern float u_d; +extern float u; +extern float roll_ref; +extern float steer_ref; +extern float steer_ref_old; +extern float steer_rad; +extern float steering_angle; +extern float steer_rad_old; +extern float steer_degree; + +extern void controller(float velocity); +extern void steer_angle(float u_in, float velocity); +extern void anti_widup(void); +#endif// CONTROLLER_H_INCLUDE