Chris LU / Mbed 2 deprecated Self_Riding_Bicycle_LQRgain

Self_Riding_Bicycle_LQRgain

Dependencies:   LSM9DS0_self_riding_bike_LQR mbed

Controller.h@0:c2e43d17c8e4, 2018-08-20 (annotated)

Committer:
cpul5338
Date:
Mon Aug 20 13:21:31 2018 +0000
Revision:
0:c2e43d17c8e4
self_riding_bike_LQR

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cpul5338 0:c2e43d17c8e4 1 #include "mbed.h"
cpul5338 0:c2e43d17c8e4 2 #include "SystemConstant.h"
cpul5338 0:c2e43d17c8e4 3 #include "SensorFusion.h"
cpul5338 0:c2e43d17c8e4 4
cpul5338 0:c2e43d17c8e4 5 #ifndef CONTROLLER_H_INCLUDE
cpul5338 0:c2e43d17c8e4 6 #define CONTROLLER_H_INCLUDE
cpul5338 0:c2e43d17c8e4 7 extern bool test1;
cpul5338 0:c2e43d17c8e4 8 extern float etta;
cpul5338 0:c2e43d17c8e4 9 extern float alpha_1;
cpul5338 0:c2e43d17c8e4 10 extern float alpha_2;
cpul5338 0:c2e43d17c8e4 11 extern float roll_err;
cpul5338 0:c2e43d17c8e4 12 extern float K_1[3];
cpul5338 0:c2e43d17c8e4 13 extern float K_2[3];
cpul5338 0:c2e43d17c8e4 14 extern float K_LQR01[3];
cpul5338 0:c2e43d17c8e4 15 extern float K_LQR11[3];
cpul5338 0:c2e43d17c8e4 16 extern float K_LQR21[3];
cpul5338 0:c2e43d17c8e4 17 extern float K_LQR31[3];
cpul5338 0:c2e43d17c8e4 18 extern float K_LQR75[3];
cpul5338 0:c2e43d17c8e4 19 extern float K_LQR55[3];
cpul5338 0:c2e43d17c8e4 20 extern float K_LQR65[3];
cpul5338 0:c2e43d17c8e4 21 extern float K_LQR35[3];
cpul5338 0:c2e43d17c8e4 22 extern float K_LQR15[3];
cpul5338 0:c2e43d17c8e4 23 extern float K_LQR85[3];
cpul5338 0:c2e43d17c8e4 24 extern float K_LQR95[3];
cpul5338 0:c2e43d17c8e4 25 extern float K_LQR655[3];
cpul5338 0:c2e43d17c8e4 26 extern float K_LQR755[3];
cpul5338 0:c2e43d17c8e4 27 extern float u_1;
cpul5338 0:c2e43d17c8e4 28 extern float u_2;
cpul5338 0:c2e43d17c8e4 29 extern float u_3;
cpul5338 0:c2e43d17c8e4 30 extern float u_d;
cpul5338 0:c2e43d17c8e4 31 extern float u;
cpul5338 0:c2e43d17c8e4 32 extern float roll_ref;
cpul5338 0:c2e43d17c8e4 33 extern float steer_ref;
cpul5338 0:c2e43d17c8e4 34 extern float steer_ref_old;
cpul5338 0:c2e43d17c8e4 35 extern float steer_rad;
cpul5338 0:c2e43d17c8e4 36 extern float steering_angle;
cpul5338 0:c2e43d17c8e4 37 extern float steer_rad_old;
cpul5338 0:c2e43d17c8e4 38 extern float steer_degree;
cpul5338 0:c2e43d17c8e4 39
cpul5338 0:c2e43d17c8e4 40 extern void controller(float velocity);
cpul5338 0:c2e43d17c8e4 41 extern void steer_angle(float u_in, float velocity);
cpul5338 0:c2e43d17c8e4 42 extern void anti_widup(void);
cpul5338 0:c2e43d17c8e4 43 #endif// CONTROLLER_H_INCLUDE