#include?
#include?“systick.h“
#include?“motor.h“
#include?“PID.h“

__IO?uint32_t?CaptureNumber1;
__IO?uint32_t?CaptureNumber2;
__IO?uint32_t?CaptureNumber3;
__IO?uint32_t?CaptureNumber4;

typedef?struct?
{
	__IO?int??????SetPoint;?????????????????????????????????//設定目標?Desired?Value
	__IO?double???Proportion;???????????????????????????????//比例常數?Proportional?Const
	__IO?double???Integral;?????????????????????????????????//積分常數?Integral?Const
	__IO?double???Derivative;???????????????????????????????//微分常數?Derivative?Const
	__IO?int??????LastError1;????????????????????????????????//Error[-1]
	__IO?int??????PrevError1;????????????????????????????????//Error[-2]
	__IO?int??????LastError2;????????????????????????????????//Error[-1]
	__IO?int??????PrevError2;????????????????????????????????//Error[-2]
	__IO?int??????LastError3;????????????????????????????????//Error[-1]
	__IO?int??????PrevError3;????????????????????????????????//Error[-2]
	__IO?int??????LastError4;????????????????????????????????//Error[-1]
	__IO?int??????PrevError4;????????????????????????????????//Error[-2]
}PID;

/*?私有宏定義?----------------------------------------------------------------*/
/*************************************/
//定義PID相關宏

/*************************************/
//定義PID相關宏
//?這三個參數設定對電機運行影響非常大
/*************************************/
#define??P_DATA??????3.2?????????????????????????????????//P參數
#define??I_DATA??????1.1????????????????????????????????//I參數
#define??D_DATA??????-0.15??????????????????????????????//D參數



static?PID?sPID;
static?PID?*sptr?=?&sPID;

/*?私有函數原形?--------------------------------------------------------------*/
/*?函數體?--------------------------------------------------------------------*/

/**************PID參數初始化********************************/
void?IncPIDInit（void）?
{
????sptr->LastError1=0;????????????//Error[-1]
????sptr->PrevError1=0;????????????//Error[-2]
	sptr->LastError2=0;????????????//Error[-1]
	sptr->PrevError2=0;????????????//Error[-2]
????sptr->LastError3=0;????????????//Error[-1]
????sptr->PrevError3=0;????????????//Error[-2]
	sptr->LastError4=0;????????????//Error[-1]
	sptr->PrevError4=0;????????????//Error[-2]
????sptr->Proportion=P_DATA;??????//比例常數?Proportional?Const
????sptr->Integral=I_DATA;????????//積分常數??Integral?Const
????sptr->Derivative=D_DATA;??????//微分常數?Derivative?Const
????sptr->SetPoint=100;???????????//設定目標Desired?Value
}
/********************增量式PID控制設計************************************/
int?IncPIDCalc1（int?NextPoint1）?
{
??int?iErroriIncpid;?????????????????????????????????//當前誤差
??iError=sptr->SetPoint-NextPoint1;????????????????????//增量計算
??iIncpid=（sptr->Proportion?*?iError）?????????????????//E[k]項
??????????????-（sptr->Integral?*?sptr->LastError1）?????//E[k-1]項
??????????????+（sptr->Derivative?*?sptr->PrevError1）;??//E[k-2]項
??????????????
??sptr->PrevError1=sptr->LastError1;????????????????????//存儲誤差，用于下次計算
??sptr->Last