Controller.h

00001 #include "mbed.h"
00002 #include "SystemConstant.h"
00003 #include "SensorFusion.h"
00004 
00005 #ifndef CONTROLLER_H_INCLUDE
00006 #define CONTROLLER_H_INCLUDE
00007 extern bool test1;
00008 extern float sigma;
00009 extern float alpha_1;
00010 extern float alpha_2;
00011 extern float roll_err;
00012 extern float K_1[3];
00013 extern float K_2[3];
00014 extern float K_LQR01[3];
00015 extern float K_LQR11[3];
00016 extern float K_LQR21[3];
00017 extern float K_LQR31[3];
00018 extern float K_LQR75[3];
00019 extern float K_LQR55[3];
00020 extern float K_LQR65[3];
00021 extern float K_LQR35[3];
00022 extern float K_LQR15[3];
00023 extern float K_LQR85[3];
00024 extern float K_LQR95[3];
00025 extern float K_LQR655[3];
00026 extern float K_LQR755[3];
00027 extern float u_1;
00028 extern float u_2;
00029 extern float u_3;
00030 extern float u_d;
00031 extern float u;
00032 extern float roll_ref;
00033 extern float steer_ref;
00034 extern float steer_ref_old;
00035 extern float steer_rad;
00036 extern float steering_angle;
00037 extern float steer_rad_old;
00038 extern float steer_degree;
00039 
00040 extern void controller(float velocity);
00041 extern void steer_angle(float u_in, float velocity);
00042 extern void anti_widup(void);
00043 #endif// CONTROLLER_H_INCLUDE