SkyLiCoder
c0f43940bd
Change 0xA5 frame from 2-float (error_x, error_y) to 4-float (measure_x, ref_x, measure_y, ref_y) so PIDCalculate receives actual measurement and reference values internally computing error.
17 lines
332 B
C
17 lines
332 B
C
#ifndef ROBOT_CMD_H
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#define ROBOT_CMD_H
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#define VISION_PID_OUTPUT_YAW_REVERSE 1
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#define VISION_PID_OUTPUT_PITCH_REVERSE 0
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/**
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* @brief 机器人核心控制任务初始化,会被RobotInit()调用
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*/
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void RobotCMDInit();
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/**
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* @brief 机器人核心控制任务,500Hz频率运行
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*/
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void RobotCMDTask();
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#endif // ROBOT_CMD_H
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