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21 lines
784 B
21 lines
784 B
3 weeks ago
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/*
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* msp_PID.h - 两轮差速机器人角度追踪PID（内置参数，数组输出）
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*/
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#ifndef INC_MSP_MSP_PID_H_
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#define INC_MSP_MSP_PID_H_
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/**
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* @brief 两轮差速角度控制（内置 dt=0.1s，最大速度 = 1.6 * |base_speed|）
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* @param current_angle 当前角度（度）
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* @param desired_angle 期望角度（度）
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* @param base_speed 基础前进速度（可正可负）
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* @param speeds 输出速度数组，speeds[0]=左轮，speeds[1]=右轮
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*/
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void TwoWheel_AngleControl(float current_angle, float desired_angle,
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float base_speed,float zoom, float speeds[2]);
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void TwoWheel_AngleControl_Weld(float current_angle, float desired_angle,
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float base_speed,float zoom, float speeds[2]);
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#endif
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