File content as of revision 14:e12d0fdc3a48:

Serial wifi(PA_9, PA_10);
Serial pc(PB_10, PB_11);
//USBSerial usb_serial(0x1f00, 0x2012, 0x0001,  false);
DigitalOut  myled(LED1);
DigitalOut test(PB_15); //Test pin for diagnostics and debugging
int volatile proc_counter; //(3e5 - 2e6 idle, 2e5 - 5e5 at motion) / per 50 mS

float const t_step = 0.02;//SI realtime step

float const g= 9.81;//SI
float const r_wheel = 0.038;//SI
float const center_mas = 0.022;//SI (ot osi)
float const mass = 1.3;//SI
float const m_inert = 5e-3;//SI
float const half_axis = 0.08;//SI
float const pi = 3.1415926535;
float const ppr = 3200;//pulses per revolution

struct coord{
float x; //m //vpered
float y; //m //vpravo
float azimuth; // rad [-pi;+pi]
float speed; //m/s
float path; //m
float omega; //rad/s    
};

coord current;
coord target;

float balance_prop = 160;
float balance_diff = 7;
float x_prop = 40;//18;
float x_diff = 35;//20;
float azimuth_prop = 15;
float azimuth_diff = 8;
//float azimuth_corr = 0;

float coord_accuracy = 0.1;
bool ready;

float trajectory [9][2] = {{0,0},{0.2,0.2},{0.2,0.2},{0,0},{0.2,0},{-0.2,0},{0,0},{0,0.2},{0,0}};