17 lines
459 B
C
17 lines
459 B
C
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#ifndef __CONTROL_H__
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#define __CONTROL_H__
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#include "sys.h"
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#define Middle_angle 0 // 定义平衡角度为0
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int EXTI15_10_IRQHandler(void);
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int Balance(float angle,float gyro);
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int Velocity(int encoder_left,int encoder_right);
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void Motor_PWMSet(int motor_left,int motor_right);
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int Motor_PWMLimit(int IN,int max,int min);
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void Key(void);
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u8 Turn_Off(float angle);
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void IMU_GetAngle(void);
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int myabs(int a);
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#endif
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