30 lines
607 B
C
30 lines
607 B
C
#ifndef GIMBAL_H
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#define GIMBAL_H
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#include "robot_def.h"
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/**
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* @brief 初始化云台,会被RobotInit()调用
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*
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*/
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void GimbalInit();
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/**
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* @brief 云台任务
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*
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*/
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void GimbalTask();
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typedef struct
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{
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uint32_t cnt;//计时用
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uint8_t frequency_index;//运行到哪个频率
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float time;
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float frequency[64];
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float DeltaT;
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float input;
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} sin_input_generate_t;
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void sin_input_frequency_init(sin_input_generate_t* InputGenerate);
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float sin_input_generate(sin_input_generate_t* InputGenerate);
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float step_input_generate(sin_input_generate_t* InputGenerate);
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#endif // GIMBAL_H
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