/*
***************************************************************************************
*
*???????????????（c）?Copyright?2006-2008?wei?wei.qiu?china?zj.?hz?
*????????????????????????????All?Rights?Reserved
*
*							
*???????????????????????????????????????????????????????????????????????????????????????????????
*
*--------------文件信息-----------------------------------------------------------------
*?文?件?名:?app_gpio.c
*?創(chuàng)?建?人:?邱衛(wèi)衛(wèi)	
*?創(chuàng)建日期:?2014年01月08日
*?描????述:?主程序C語(yǔ)言入口?uC/OS-II啟動(dòng)
*----------?版本信息-------------------------------------------------------------------
*?版????本:?V1.0
*
*--------------------------------------------------------------------------------------
****************************************************************************************

void?get_encoder_TWO（void）//******************計(jì)算當(dāng)前實(shí)際速度V
{
??s32?CNT3_tempCNT3_last;
?
??cnt3?=?TIM3?->?CNT;
??CNT3_last?=?CNT3;
??CNT3_temp?=?rcnt3?*?ENCODE_PRD?+?cnt3;?
	Position_PID.ActualPoint?=?CNT3_temp;
	
??V3?=?CNT3_temp?-?CNT3_last;		?
??while?（V3>Vbreak）				?
??{							??????
???rcnt3--;					??????
???CNT3_temp?=?rcnt3?*?ENCODE_PRD?+?cnt3;
???V3?=?CNT3_temp?-?CNT3_last;		?
??}							?????
??while?（V3<-Vbreak）			???
??{							??????
???rcnt3++;					??????
???CNT3_temp?=?rcnt3?*?ENCODE_PRD?+?cnt3;
???V3?=?CNT3_temp?-?CNT3_last;		?
??}
??CNT3?=?CNT3_temp;						?
??//POSITION?+=?CNT3;
	
}

void?PID_init（void）
{???
????Position_PID.SetPoint=0.0;
????Position_PID.ActualPoint=0.0;
	??Position_PID.CurPoint?=0;
	??Position_PID.CurVolt?=0;
	??Position_PID.DecSpeedF=0;
????Position_PID.err=0.0;
????Position_PID.err_last=0.0;
????Position_PID.voltage=0.0;
????Position_PID.integral=0.0;
????Position_PID.Kp=0.01;
????Position_PID.Ki=0.30;
????Position_PID.Kd=0.1;?
	??Position_PID.Integral_Index?=?50;//（（float）MOTION_POINT/（float）7200）*60.0+2.0;
????TIM_Cmd（TIM2?ENABLE）;	????
}

float?point_PID_realize（float?point）
{
???float?indexindex2=1.0err_temp;
???Position_PID.SetPoint?=?point;
???Position_PID.err=Position_PID.SetPoint-Position_PID.ActualPoint;
	?index?=?Position_PID.SetPoint/2;?
	?if（Position_PID.DecSpeedF?==?0）
	?{
	????if（（（Position_PID.SetPoint-Position_PID.err）>=index）
		?????||（Position_PID.voltage>=PWMPeriod））
	????{
		???????Position_PID.CurPoint?=?Position_PID.SetPoint-Position_PID.err;???//recode?
		???????Position_PID.CurVolt??=?Position_PID.voltage;
				???//Position_PID.integral?-=?24*Position_PID.SetPoint;
		???????Position_PID.DecSpeedF?=0xAA;
	????}
	?}
???if（abs（Position_PID.err）>Vbreak）?//
???{
??????index=0.0;
???}?
	?else?if（Position_PID.ActualPoint>=Position_PID.SetPoint）
	?{
		????index=0;
		????Position_PID.DecSpeedF?=0;
			??Position_PID.integral?=0;???????
???}
???else?if（abs（Position_PID.err）<=Position_PID.CurPoint）
	?{
		?
		?
		??//Position_PID.Kp?=?7.0;
		??//Position_PID.voltage=Position_PID.Kp*Position_PID.err;????
??????//return?Position_PID.voltage;
		?
		?