引用 1176764177:增量式PID
翠翠你有pid的资料么这坑爹东西无法理解啊
err[0]=h_speed-speed;
carspeed=(int)((motor_i*err[0])+ (motor_p*(err[0]-err[1]))+(motor_d*(err[0]+err[2]-2*err[1])));
err[2]=err[1];
err[1]=err[0];
outpwm+=carspeed;
err[0]=h_speed-speed;
carspeed=(int)((motor_i*err[0])+ (motor_p*(err[0]-err[1]))+(motor_d*(err[0]+err[2]-2*err[1])));
err[2]=err[1];
err[1]=err[0];
outpwm+=carspeed;
评论