TuxMonkey/bf_original_balance_chassis
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add tutorial

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NeoZng
2022-11-12 18:03:18 +08:00
parent 0fb67070b8
commit 82a55d7eca
27 changed files with 341 additions and 114 deletions
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30
modules/algorithm/user_lib.h
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@@ -87,39 +87,9 @@ extern uint8_t GlobalDebugMode;
#define VAL_MIN(a, b) ((a) < (b) ? (a) : (b))
#define VAL_MAX(a, b) ((a) > (b) ? (a) : (b))
typedef struct
{
float input; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float out; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float min_value; //<2F>޷<EFBFBD><DEB7><EFBFBD>Сֵ
float max_value; //<2F>޷<EFBFBD><DEB7><EFBFBD><EFBFBD>ֵ
float frame_period; //ʱ<><CAB1><EFBFBD><EFBFBD>
} ramp_function_source_t;
typedef struct
{
uint16_t Order;
uint32_t Count;
float *x;
float *y;
float k;
float b;
float StandardDeviation;
float t[4];
} Ordinary_Least_Squares_t;
//<2F><><EFBFBD>ٿ<EFBFBD><D9BF><EFBFBD>
float Sqrt(float x);
//б<><D0B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
void ramp_init(ramp_function_source_t *ramp_source_type, float frame_period, float max, float min);
//б<><D0B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float ramp_calc(ramp_function_source_t *ramp_source_type, float input);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float abs_limit(float num, float Limit);
//<2F>жϷ<D0B6><CFB7><EFBFBD>λ