init

BALANCE/balance.h

@@ -0,0 +1,39 @@
+#ifndef __BALANCE_H
+#define __BALANCE_H			  	 
+#include "sys.h"
+#include "system.h"
+
+#define BALANCE_TASK_PRIO		4     //Task priority //任务优先级
+#define BALANCE_STK_SIZE 		512   //Task stack size //任务堆栈大小
+
+//Parameter of kinematics analysis of omnidirectional trolley
+//全向轮小车运动学分析参数
+#define X_PARAMETER    (sqrt(3)/2.f)               
+#define Y_PARAMETER    (0.5f)    
+#define L_PARAMETER    (1.0f)
+
+extern short test_num;
+extern int robot_mode_check_flag;
+extern u8 command_lost_count; //串口、CAN控制命令丢失时间计数，丢失1秒后停止控制
+void Balance_task(void *pvParameters);
+void Set_Pwm(int motor_a,int motor_b,int motor_c,int motor_d,int servo);
+void Limit_Pwm(int amplitude);
+float target_limit_float(float insert,float low,float high);
+int target_limit_int(int insert,int low,int high);
+u8 Turn_Off( int voltage);
+u32 myabs(long int a);
+int Incremental_PI_A (float Encoder,float Target);
+int Incremental_PI_B (float Encoder,float Target);
+int Incremental_PI_C (float Encoder,float Target);
+int Incremental_PI_D (float Encoder,float Target);
+void Get_RC(void);
+void Remote_Control(void);
+void Drive_Motor(float Vx,float Vy,float Vz);
+void Key(void);
+void Get_Velocity_Form_Encoder(void);
+void Smooth_control(float vx,float vy,float vz);
+void PS2_control(void);
+float float_abs(float insert);
+void robot_mode_check(void);
+#endif  
+