34 lines
1.2 KiB
C
34 lines
1.2 KiB
C
#ifndef __CONTROL_H
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#define __CONTROL_H
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#include "sys.h"
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/**************************************************************************
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作者：平衡小车之家
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我的淘宝小店：http://shop114407458.taobao.com/
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**************************************************************************/
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#define PI 3.14159265
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#define ZHONGZHI 0
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#define DIFFERENCE 100
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extern int Balance_Pwm,Velocity_Pwm,Turn_Pwm;
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int EXTI15_10_IRQHandler(void);
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void Set_Pwm(int motor_a,int motor_b,int servo);
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void Kinematic_Analysis(float Vy,float angle);
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void Kinematic_Analysis2(float Vy,float Vz);
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void Key(void);
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void Xianfu_Pwm(int amplitude);
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void Xianfu_Velocity(int amplitude_A,int amplitude_B,int amplitude_C,int amplitude_D);
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u8 Turn_Off( int voltage);
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u32 myabs(long int a);
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int Incremental_PI_A (int Encoder,int Target);
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int Incremental_PI_B (int Encoder,int Target);
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int Incremental_PI_C (int Encoder,int Target);
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int Incremental_PI_D (int Encoder,int Target);
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int Position_PID_A (int Encoder,int Target);
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int Position_PID_B (int Encoder,int Target);
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int Position_PID_C (int Encoder,int Target);
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int Position_PID_D (int Encoder,int Target);
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void Get_RC(u8 mode);
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void Count_Velocity(void);
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void CAN_N_Usart_Control(void);
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#endif
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