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#include <Arduino.h>
#include "defines.h"
#include "globals.h"

// PD controller implementation(Proportional, derivative). DT in seconds
float stabilityPDControl(float DT, float input, float setPoint,  float Kp, float Kd){
  float error;
  float output;
  error = setPoint - input;

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//陸自10式戦車ダウンサイジング版
//ESP32 Transmitter から　Esp-WROOM02へのEspNowによる通信
//レシーバー側 macaddress; B4;E6;2D;4A;A1;1A

#include <espnow.h>
#include <ESP8266WiFi.h>
#include <Servo.h>

#define APHASE 12
#define AENBL 15

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#include <esp_now.h>
#include <WiFi.h>

typedef struct struct_message {
 int x_axis_value;
 int y_axis_value;
} struct_message;

void OnDataRecv(const uint8_t *mac_addr, const uint8_t *data, int data_len) {
  int x_axis = makeWord(data[1],data[0]);

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const int DIR  = 23;
const int STEP = 22;
const int ENABLE = 18;

#define read_x  32  
int x_axis, rpm;

void setup() {
  Serial.begin(115200);
  pinMode(read_x, INPUT);

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#include <Adafruit_NeoPixel.h>
#define BUTTON_PIN   5
#define BUTTON_PIN2  4


Adafruit_NeoPixel strip(16, 10, NEO_GRB + NEO_KHZ800);
//Adafruit_NeoPixel(LEDの使用個数、Arduinoのピン番号、色の並び+データの転送速度)

boolean oldState = HIGH;

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#include <Adafruit_NeoPixel.h>

const int DIN_PIN = 10; // D1
const int LED_COUNT = 144; // LEDの数

Adafruit_NeoPixel pixels(LED_COUNT, DIN_PIN, NEO_GRB + NEO_KHZ800);

void setup() {
  pixels.begin();
}

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#include <Adafruit_NeoPixel.h>

const int DIN_PIN = 10; // D10
const int LED_COUNT = 144; // LEDの数

Adafruit_NeoPixel pixels(LED_COUNT, DIN_PIN, NEO_GRB + NEO_KHZ800);

void setup() {
  pixels.begin();
}

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#include <Servo.h>
#include "SoftwareSerial.h"
#include "DFRobotDFPlayerMini.h"
  
  Servo servo1, servo2;
  long currentTime, LEDTimer11, LEDTimer12, servoTimer9, servoTimer10;
  static const byte servoInterval9 = 25, servoInterval10 = 50 ;
  static byte pos9 = 0, pos10 =10;
  static byte increment = 1;

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#include "U8g2lib.h"
U8G2_SSD1306_128X32_UNIVISION_F_HW_I2C u8g2(U8G2_R0,U8X8_PIN_NONE);
 
void setup(void) {
  u8g2.begin();
}
  
void loop(void) {
 forward(); 
}

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#include <U8g2lib.h>
U8G2_SSD1306_128X32_UNIVISION_F_HW_I2C u8g2(U8G2_R0,U8X8_PIN_NONE);

void setup(void) {
  u8g2.begin();
  u8g2.setFont(u8g2_font_8x13_tf);
 }

void loop(void) {
  u8g2.clearBuffer();