Basic_Frame_TypeC_2023_Omni
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control_defines.h
1#ifndef __CONTROL_DEFINES_H
2#define __CONTROL_DEFINES_H
3
4/* =========================================================================
5 * FEED FORWARD DEFINES
6 * ====================================================================== */
7/* define general declarations for gimbal task here */
8#define CHASSIS_FF_GAIN 100 //roughlt setting
9#define GIMBAL_FF_GAIN 100
10#define SHOOT_FF_GAIN 100
11
12
13/* =========================================================================
14 * PID DEFINES
15 * ====================================================================== */
16#define SINGLE_LOOP_PID_CONTROL 0
17#define DUAL_LOOP_PID_CONTROL 1
18#define SINGLE_LOOP_SHOOT_CONTROL 2
19
20
21/* =========================================================================
22 * RAMP DEFINES
23 * ====================================================================== */
24#define RAMP_GEN_DAFAULT \
25 { \
26 .count = 0, \
27 .scale = 0, \
28 .out = 0, \
29 .init = &ramp_init, \
30 .calc = &ramp_calculate, \
31 }
32
33#endif