TuxMonkey/bf_original_balance_chassis
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增加了遥控器按键功能并修改所有函数和类型定义为标准格式

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This commit is contained in:
NeoZng
2022-12-05 21:01:26 +08:00
parent 3947c48230
commit 9c9ea14bde
40 changed files with 352 additions and 251 deletions
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6
modules/algorithm/controller.h
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@@ -93,7 +93,7 @@ typedef struct
float dt;
PID_ErrorHandler_t ERRORHandler;
} PID_t;
} PIDInstance;
/* 用于PID初始化的结构体*/
typedef struct
@@ -120,7 +120,7 @@ typedef struct
* @param pid PID实例指针
* @param config PID初始化配置
*/
void PID_Init(PID_t *pid, PID_Init_config_s *config);
void PID_Init(PIDInstance *pid, PID_Init_config_s *config);
/**
* @brief 计算PID输出
@@ -130,6 +130,6 @@ void PID_Init(PID_t *pid, PID_Init_config_s *config);
* @param ref 设定值
* @return float PID计算输出
*/
float PID_Calculate(PID_t *pid, float measure, float ref);
float PID_Calculate(PIDInstance *pid, float measure, float ref);
#endif