#include?“common.h“
#include?“include.h“
#include?“calculation.h“


/***********************************************************?
函數名稱：MOTORPWM_init
函數功能：
入口參數：
出口參數：無?
備?注：?
***********************************************************/
void??MOTORPWM_init（void）
{
????lptmr_counter_init（LPT0_ALT2?LIN_COUT?2?LPT_Rising）??;???//初始化脈沖計數器?，PTC5輸入捕獲腳，LIN_cout?=100，預處理為2，上升沿捕獲?
????FTM_PWM_init（FTM0??CH0?800000）;
????FTM_PWM_init（FTM0??CH1?800000）;????????????????????????//電機占空比設置初始化????占空比?=?duty?/（MOD?+1?）?;FTM_CnV_REG（FTMx[ftmn]?ch）?=?cv;
????FTM_PWM_init（FTM0??CH2?800000）;
????FTM_PWM_init（FTM0??CH3?800000）;????????????????????????//電機占空比設置初始化????占空比?=?duty?/（MOD?+1?）?;FTM_CnV_REG（FTMx[ftmn]?ch）?=?cv;

}


/***********************************************************?
函數名稱：TURNPWM_init
函數功能：
入口參數：
出口參數：無?
備?注：?
***********************************************************/
void??TURNPWM_init（void）
{
??????
??????FTM_PWM_init（FTM1?CH0??18030）;???????????????????????????//舵機占空比設置初始化???MOD?=19531?;舵機1
??????FTM_PWM_init（FTM1?CH1??18030）;???????????????????????????//舵機占空比設置初始化???MOD?=19531?;舵機2
??????FTM_CnV_REG（FTMx[FTM1]?CH1）?=?MIDSTRING?;?
}
/***********************************************************?
函數名稱：TurnPWM
函數功能：根據轉向值和角度傳感器計算轉向值
入口參數：TurnPosition??????????計算黑線位置
??????????TurnMidPosition???????黑線中點值

出口參數：無?
備?注：?
***********************************************************/
extern?u16?ASPeed1?;
u16?speed;
s16?TurnPWM（u8?TurnPositionu8?TurnMidPosition）
{
????s16?direction;
????s16?TurnPWM?;
????static?s16?TurnKP?TurnKD?;
????static?s16?direction0?=?TURNMIDPOSITION?;
????TurnKP?=?60?;
????TurnKD?=?4?;
????direction?=?TurnPosition?-?TurnMidPosition?;

????speed=40-（u16）（0.5*abs（direction））;
????if（speed<=0）??speed=2;
????ASPeed1=speed;
????
????/*if（（direction<10）&&（direction?>?-10））//pwm45
????{
??????TurnKP?=?40?;
??????TurnKD?=?5?;
??????
????}?*/
????
????
????TurnPWM?=??TurnKP?*?direction?+?TurnKD?*?（direction?-?direction0）;
????if（TurnPWM?>?TURNPWMMAX）?{TurnPWM?=?TURNPWMMAX?;}
????else?if?（TurnPWM?????????
????direction0?=?direction?;
????TurnPWM?+=?MIDSTRING?;
????return?TurnPWM?;
}

/*
**?===================================================================
**?SpeedPID
???輸入：speedCount采集車速，AmSpeed?目標車速??；??
???輸出?：SpeedPWMOUT??計算車速?；
**?===================================================================
*/


int16_t??SpeedKP?=?0?;
int16_t??SpeedKI?=?0?;
int16_t??SpeedKD?=?0?;
//int16_t??SpeedPWM?=?0?;
??????
?int16_t?SpeedPID（uint16_t?speedCountuint16_t?AmSpeed）{
?//??uint8_t?i;

?????static?int16_t?LastSpeedCut0LastSpeedCut1LastSpeedCut2?SpeedLastPWMK?;
?????int16_t??SpeedPWMKP?SpeedPWMKI?SpeedPWMKDSpeedPWMK?;
?????int16_t??SpeedPWMOUT;????
?????int16_t??SpeedDifference0=0;
?????int16_t??speedDEARE1speedDEARE2DSpeed?;??????????????

?????SpeedKP?=?80;
?????SpeedK

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-10-01?17:54??0.無路徑記憶\
?????目錄???????????0??2014-10-01?17:54??0.無路徑記憶\build\
?????目錄???????????0??2014-10-01?17:54??0.無路徑記憶\build\Input_demo\
?????文件???????48787??2012-09-22?18:51??0.無路徑記憶\build\Input_demo\fire_Input_demo.dep
?????文件???????52298??2012-02-28?15:05??0.無路徑記憶\build\Input_demo\fire_Input_demo.ewd
?????文件???????55200??2012-04-16?23:51??0.無路徑記憶\build\Input_demo\fire_Input_demo.ewp
?????目錄???????????0??2014-10-01?17:54??0.無路徑記憶\build\PWM_Input_PIT_demo\
?????文件???????89123??2012-09-22?18:51??0.無路徑記憶\build\PWM_Input_PIT_demo\fire_PWM_Input_PIT_demo.dep
?????文件???????52298??2012-02-28?15:05??0.無路徑記憶\build\PWM_Input_PIT_demo\fire_PWM_Input_PIT_demo.ewd
?????文件???????55332??2012-04-16?23:53??0.無路徑記憶\build\PWM_Input_PIT_demo\fire_PWM_Input_PIT_demo.ewp
?????目錄???????????0??2014-10-01?17:53??0.無路徑記憶\build\adc_demo\
?????文件???????71310??2012-09-22?18:51??0.無路徑記憶\build\adc_demo\fire_adc_demo.dep
?????文件???????52298??2012-02-28?15:05??0.無路徑記憶\build\adc_demo\fire_adc_demo.ewd
?????文件???????55104??2012-04-16?23:34??0.無路徑記憶\build\adc_demo\fire_adc_demo.ewp
?????目錄???????????0??2014-10-01?17:53??0.無路徑記憶\build\cmsis_demo\
?????文件???????51930??2012-09-22?18:51??0.無路徑記憶\build\cmsis_demo\fire_cmsis_demo.dep
?????文件???????52298??2012-03-29?21:00??0.無路徑記憶\build\cmsis_demo\fire_cmsis_demo.ewd
?????文件???????55147??2012-05-09?23:44??0.無路徑記憶\build\cmsis_demo\fire_cmsis_demo.ewp
?????目錄???????????0??2014-10-01?17:53??0.無路徑記憶\build\config?files\
?????文件????????2030??2010-10-28?03:30??0.無路徑記憶\build\config?files\128KB_Pflash.icf
?????文件????????2206??2010-11-12?03:41??0.無路徑記憶\build\config?files\128KB_Pflash_128KB_Dflash.icf
?????文件????????2035??2012-02-28?15:33??0.無路徑記憶\build\config?files\128KB_Ram.icf
?????文件????????2030??2010-10-28?03:30??0.無路徑記憶\build\config?files\256KB_Pflash.icf
?????文件????????2214??2012-03-01?20:12??0.無路徑記憶\build\config?files\256KB_Pflash_256KB_Dflash.icf
?????文件????????2024??2010-10-28?03:30??0.無路徑記憶\build\config?files\32KB_Ram.icf
?????文件????????2041??2012-03-01?18:46??0.無路徑記憶\build\config?files\512KB_Pflash.icf
?????文件????????2217??2010-11-12?03:41??0.無路徑記憶\build\config?files\64KB_Pflash_64KB_Dflash.icf
?????文件????????2024??2010-10-28?03:30??0.無路徑記憶\build\config?files\64KB_Ram.icf
?????文件????????3463??2012-03-08?21:04??0.無路徑記憶\build\config?files\fire_RAM_K60N512.icf
?????文件????????3441??2012-03-08?21:04??0.無路徑記憶\build\config?files\fire_ROM_K60N512.icf
?????目錄???????????0??2014-10-01?17:53??0.無路徑記憶\build\dac_demo\
............此處省略544個文件信息