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28 lines
1.1 KiB
28 lines
1.1 KiB
/*
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* msp_PID.h
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*
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* Created on: 2024年1月22日
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* Author: Administrator
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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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#include "BSP/bsp_include.h"
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extern void GF_MSP_Auto_Motion_adj(double Current_Angle, double Auto_Speed, double Auto_Speed_Max, double System_time ,double *W_Speed_1);
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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);
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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);
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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);
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extern int32_t PositionalPID(double pidTargetValue, double pidCurrentValue, double Kp,
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double Kd);
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extern double Angle_Tune_PID(double CurrentAngle, double TargetAngle, double Position_KP,
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double Position_KI, double Position_KD, double MaxValue);
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#endif /* INC_MSP_MSP_PID_H_ */
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