Chris LU / Mbed 2 deprecated Self_Riding_Bicycle

2018/06/08

Dependencies:   LSM9DS0 mbed

Diff: Controller.h

Revision:
0:bf9bf4b7625f
diff -r 000000000000 -r bf9bf4b7625f Controller.h
--- /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