#include?“control.h“

uint32_t?ulTmr10MsFlag?=?0;
uint32_t?ulIsHaveMagnetFlag?=?0;
uint32_t?ulIsCarGoFlag?=?0;

int32_t?lbaseDuty?=?200;	//設(shè)定基準速度
	??
#define?THRESHOLD?（int32_t）300

void?vCarCalculatePid（void）
{
	static?int32_t?lLeftSubtractRight?=?0;
	static?int32_t?lLeftDutyVal?=?0;
	static?int32_t?lRightDutyVal?=?0;	
	static?int32_t?lPidOut?=?0;
	static?PID_Typedef?xPID_CarStraightPid?=?		//設(shè)定直線pid參數(shù)
	{
		-0.6		//比例系數(shù)
		0		//積分系數(shù)
		-200		//微分系數(shù)
		
		/*?以下參數(shù)程序自動設(shè)定?*/
		0		//積分值
		0		//本次偏差
		0		//上次偏差
		0		//上上次偏差
		0		//是否需要積分，用于積分分離
		0		//本次微分值
		
		/*?需要手動設(shè)置的PID參數(shù)?*/		
		0		//積分分離閾值
		0	//抗飽和積分閾值
		0		//是否使用微分先行的PID策略
		1		//是否需要限制PID輸出幅度
		800	//PID限幅值
		-800	//PID負限幅值
		
		0			//PID輸出
	};	

	static?PID_Typedef?xPID_CarCurvePid

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-06-04?20:22??電磁循跡小車\
?????目錄???????????0??2018-06-04?20:22??電磁循跡小車\App\
?????目錄???????????0??2018-06-04?20:22??電磁循跡小車\App\Control\
?????文件????????3246??2018-06-05?16:28??電磁循跡小車\App\Control\control.c
?????文件?????????385??2017-12-31?15:47??電磁循跡小車\App\Control\control.h
?????目錄???????????0??2018-06-04?20:22??電磁循跡小車\App\Pid\
?????文件????????1989??2018-05-20?18:24??電磁循跡小車\App\Pid\pid.c
?????文件?????????978??2018-05-20?18:25??電磁循跡小車\App\Pid\pid.h
?????文件????????3374??2017-07-10?11:15??電磁循跡小車\App\Pid\pid_improve.c
?????文件????????1433??2017-07-09?00:11??電磁循跡小車\App\Pid\pid_improve.h
?????目錄???????????0??2018-06-04?20:22??電磁循跡小車\App\Util\
?????文件???????18510??2018-05-17?15:34??電磁循跡小車\App\Util\util.c
?????文件????????1589??2017-10-14?21:56??電磁循跡小車\App\Util\util.h
?????目錄???????????0??2018-06-04?20:22??電磁循跡小車\Core\
?????文件???????17273??2010-06-07?10:25??電磁循跡小車\Core\core_cm3.c
?????文件???????85714??2011-02-09?14:59??電磁循跡小車\Core\core_cm3.h
?????文件?????????116??2016-07-04?09:19??電磁循跡小車\Core\readme.txt
?????文件???????15503??2017-12-05?19:48??電磁循跡小車\Core\startup_stm32f10x_hd.s
?????目錄???????????0??2018-06-04?20:22??電磁循跡小車\Doc\
?????文件????????1488??2017-10-14?21:56??電磁循跡小車\Doc\readme.txt
?????目錄???????????0??2018-06-04?20:22??電磁循跡小車\Hardware\
?????目錄???????????0??2018-06-04?20:22??電磁循跡小車\Hardware\Adc1\
?????文件????????5995??2018-05-17?15:34??電磁循跡小車\Hardware\Adc1\adc1.c
?????文件????????1674??2017-12-31?16:47??電磁循跡小車\Hardware\Adc1\adc1.h
?????目錄???????????0??2018-06-04?20:22??電磁循跡小車\Hardware\DigitalTube\
?????文件????????1235??2017-12-31?11:27??電磁循跡小車\Hardware\DigitalTube\digital_tube.c
?????文件?????????283??2017-12-31?11:27??電磁循跡小車\Hardware\DigitalTube\digital_tube.h
?????目錄???????????0??2018-06-04?20:22??電磁循跡小車\Hardware\Key\
?????文件????????1317??2018-05-18?17:28??電磁循跡小車\Hardware\Key\key.c
?????文件?????????371??2018-05-14?16:54??電磁循跡小車\Hardware\Key\key.h
?????目錄???????????0??2018-06-04?20:22??電磁循跡小車\Hardware\Motor\
............此處省略105個文件信息