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84 lines
1.6 KiB
84 lines
1.6 KiB
5 months ago
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#ifndef APP_H
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#define APP_H
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#include "stm32f10x.h"
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#include "oled.h"
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#include "mpu6050.h"
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#include "inv_mpu.h"
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#include "inv_mpu_dmp_motion_driver.h"
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#include "dmpKey.h"
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#include "dmpmap.h"
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#include "tim.h"
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#include "systick.h"
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#include "usart.h"
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#include "tim.h"
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#include "encode.h"
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#include "motor.h"
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#include "timh.h"
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#include "app.h"
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#define myabs(x) ((x>=0)?x:(-1*x))
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#define SPEED_CONTROL_PERIOD 20
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#define TURN_CONTROL_PERIOD 20
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typedef struct __SpeedPid
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{
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int SetSpeed;
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int ActualSpeed;
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int err;
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int lastErr;
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float Kp,Ki,Kd;
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int oldOutputPWM;
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int newOutputPWM;
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int integral;
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}SpeedPid;
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typedef struct __AnglePid
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{
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float SetAngle;
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float ActualAngle;
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float err;
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float lastErr;
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float Kp,Ki,Kd;
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int outputSpeed;
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float integral;
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int index;
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}AnglePid;
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typedef struct __TurnPid
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{
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float SetSpeedSum;
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float ActualSpeedSum;
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float err;
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float Kp,Kd;
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int oldOutputPWM;
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int newOutputPWM;
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}TurnPid;
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typedef struct PID_Val
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{
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float kpA;
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float kiA;
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float kdA;
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float kpB;
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float kiB;
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float kdB;
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}PID_Val;
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int MOTOR2_GetSpeed(void);
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int MOTOR4_GetSpeed(void);
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void OLED_DispPolarity(u8 x,u8 y,int num);
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void SpeedPID_Init(SpeedPid *pid);
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void SpeedPID_Realize(SpeedPid *pid,int actualSpeed);
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int SpeedControlOutput(SpeedPid *pid,uint8_t period);
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void AnglePID_Init(AnglePid *pid);
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int AnglePID_Realize(AnglePid *pid,float actualAngle,short Gyroy);
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void TurnPID_Init(TurnPid *pid);
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void TurnPID_Realize(TurnPid *pid,int diffSpeedSum,short gz);
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int TurnControlOutput(TurnPid *pid,uint8_t period);
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void MotorOutput(int output2,int output4);
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#endif
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