/*
 * msp_PID.h
 *
 *  Created on: 2024年1月22日
 *      Author: Administrator
 */

#ifndef INC_MSP_MSP_PID_H_
#define INC_MSP_MSP_PID_H_

#include "BSP/bsp_include.h"

extern void GF_MSP_Auto_Motion_adj(double Current_Angle, double Auto_Speed, double Auto_Speed_Max, double System_time ,double *W_Speed_1);
extern void GF_MSP_Auto_adj_Unicycle(double Current_Angle_11,double Desire_Angle_11, double Auto_Speed, double Auto_Speed_Max, double System_time ,double *W_Speed_1);
extern void GF_MSP_Auto_Motion_adj_Com(double Current_Angle, double Horizontal_Compen_Angle ,double Auto_Speed, double Auto_Speed_Max, double System_time ,double *W_Speed_1);

extern void GF_MSP_PID_Now_Der_adj_Com(double Current_Angle,double Desire_Angle_Input, double Auto_Speed, double Auto_Speed_Max, double System_time ,double *W_Speed_1);

extern int32_t PositionalPID(double pidTargetValue, double pidCurrentValue, double Kp,
        double Kd);




extern double Angle_Tune_PID(double CurrentAngle, double TargetAngle, double Position_KP,
		double Position_KI, double Position_KD, double MaxValue);

#endif /* INC_MSP_MSP_PID_H_ */