/*
?*?PID.c
?*
?*?Created:?2012/7/16?14:04:55
?*??Author:?Administrator
?*/?
#include?“PID.h“

void?IncPIDInit（void）
{
	sptr->SumError?=?0;

	sptr->LastError?=?0;?//Error[-1]

	sptr->PrevError?=?0;?//Error[-2]

	sptr->Proportion?=?0;?//比例常數?Proportional?Const

	sptr->Integral?=?0;?//積分常數Integral?Const

	sptr->Derivative?=?0;?//微分常數?Derivative?Const

	sptr->SetPoint?=?0;
}

void?PIDSetPoint（int?point_value）//設置PID調節的目標值
{
	sptr->SetPoint?=?point_value;
}

int?PIDGetSetpoint（void）//讀取PID調節設置的目標值
{
	return?sptr->SetPoint;
}

void?PIDSetKp（double?dKpp）//設置PID的Kp值
{
	sptr->Proportion?=?dKpp;?
}

double?PIDGetKp（void）//讀取PID中所設置的Kp值
{
	return?sptr->Proportion;
}

void?PIDSetKi（double?dKii）//設置PID的Ki值
{
	sptr->Integral?=?dKii;
}

double?PIDGetKi（void）//讀取PID中所設置的Ki值
{
	return?sptr->Integral;
}

void?PIDSetKd（double?dKdd）//設置PID的Kd值
{
	sptr->Derivative?=?dKdd;
}

void?PIDGetKd（double?dKdd）//讀取PID中所設置的Kd值
{
	return?sptr->Derivative;
}

int?IncPIDCalc（int?NextPoint）//增量式PID計算
{
	int?iError?iIncpid;?//當前誤差

	iError?=?sptr->SetPoint?-?NextPoint;?

????//增量計算
	iIncpid?=?sptr->Proportion?*?iError;?//E[k]項

	-?sptr->Integral?*?sptr->LastError?//E[k－1]項

	+?sptr->Derivative?*?sptr->PrevError;?//E[k－2]項

	//存儲誤差，用于下次計算
	sptr->PrevError?=?sptr->LastError;

	sptr->LastError?=?iError;

	//返回增量值
	return（iIncpid）;
}

?屬性????????????大小?????日期????時間???名稱
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?????文件????????249??2012-07-16?14:09??電機抱死-c程序\test\Debug\makedep.mk

?????文件???????3333??2012-07-18?13:38??電機抱死-c程序\test\Debug\Makefile

?????文件?????????51??2012-07-17?16:41??電機抱死-c程序\test\Debug\PID.d

?????文件???????5532??2012-07-17?16:41??電機抱死-c程序\test\Debug\PID.o

?????文件???????3894??2012-07-18?13:38??電機抱死-c程序\test\Debug\test.d

?????文件?????????13??2012-07-18?13:38??電機抱死-c程序\test\Debug\test.eep

?????文件??????21379??2012-07-18?13:38??電機抱死-c程序\test\Debug\test.elf

?????文件???????6739??2012-07-18?13:38??電機抱死-c程序\test\Debug\test.hex

?????文件??????45469??2012-07-18?13:38??電機抱死-c程序\test\Debug\test.lss

?????文件??????40382??2012-07-18?13:38??電機抱死-c程序\test\Debug\test.map

?????文件??????10892??2012-07-18?13:38??電機抱死-c程序\test\Debug\test.o

?????文件???????1501??2012-07-17?16:41??電機抱死-c程序\test\PID.c

?????文件????????917??2012-07-16?14:51??電機抱死-c程序\test\PID.h

?????文件???????5239??2012-07-18?13:41??電機抱死-c程序\test\test.c

?????文件???????4161??2012-07-16?14:09??電機抱死-c程序\test\test.cproj

?????文件????????883??2012-07-13?11:01??電機抱死-c程序\test.atsln

????..A..H.?????10240??2012-07-19?17:46??電機抱死-c程序\test.atsuo

?????目錄??????????0??2012-07-29?19:13??電機抱死-c程序\test\Debug

?????目錄??????????0??2012-07-29?19:13??電機抱死-c程序\test

?????目錄??????????0??2012-07-29?19:13??電機抱死-c程序

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???????????????160874????????????????????20