21 lines
265 B
C
21 lines
265 B
C
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#ifndef __PID_H_
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#define __PID_H_
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typedef struct
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{
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float Set;
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float Actual;
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float err;
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float err_last;
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float Kp, Ki, Kd;
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float voltage;
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float integral;
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} pid;
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void PID_init(void);
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extern pid pid_angle;
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extern pid pid_speed;
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extern pid pid_current;
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#endif
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