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