add Encoder and PID control and Abstacle control

2025-07-03 00:29:57 +08:00
parent 0361cd17af
commit a635b6d5eb
49 changed files with 9072 additions and 7610 deletions
--- a/fun/encoder.h
+++ b/fun/encoder.h
@@ -0,0 +1,12 @@
+#ifndef __ENCODER_H__
+#define __ENCODER_H__
+
+#include "headfile.h"
+
+extern volatile int16_t target_rpm_L;
+extern volatile int16_t target_rpm_R;
+int16_t map_speed_to_rpm(int speed);
+UINT ControlThreadCreate(void);
+UINT Encoder_ThreadCreate(void);
+
+#endif