control.h

读取一个电机码盘信号

struct PID_struct {
float Kp;
float Ti;
float TD;
float T;
int speed;
};

#define PORTin	0x200
#define PORTout	100
int finish;
float A,B,C;
int msg;
int check=1;
//int motor_write(int &m);
#ifndef _CONTROL_H__
#define _CONTROL_H__
#endif

//#ifndef motor_MAJOR
//#define motor_MAJOR 0  
//#endif
//#define count_t unsigned long
//#define read_write_t long
//extern int scull_major; 

//ssize_t motor_read (struct inode *inode, struct file *filp,
//                char *buf, count_t count);
//ssize_t motor_write (struct inode *inode, struct file *filp,
//                const char *buf, count_t count);
//int motor_open(struct inode *inode,struct file *filp);
//void motor_release(struct inode *inode,struct file *filp);