File content as of revision 0:c2e43d17c8e4:

#include "mbed.h"
#include "SystemConstant.h"
#include "SensorFusion.h"

#ifndef CONTROLLER_H_INCLUDE
#define CONTROLLER_H_INCLUDE
extern bool test1;
extern float etta;
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