引用 1176764177:
翠翠你有pid的资料么这坑爹东西无法理解啊

位置式PID
typedef struct PID
{
int SetPoint; //  Desired Value
float Kp; //  Proportional Const
float Ki; //  Integral Const
float Kd; //  Derivative Const
int LastError; //
int SumError; //
} PID;
PID Servo_PID;


float PIDCalc( PID *pp, float NextPoint )
{
int32_t dError,Error;
  Error = NextPoint-pp->SetPoint; //
  pp->SumError += Error; //
  dError = Error-pp->LastError; //
  // pp->PrevError = pp->LastError; //
  pp->LastError = Error;
  return (pp->Kp * Error   //  P
          + pp->Ki * pp->SumError //I
          + pp->Kd * dError//    D
        );
}