PID调节
针对PID在180度发生突变的情况,解决方法如下:
error = desired - real;
if(error > 180)
error = error - 360;
else if(error < -180)
error = error + 360;
else
error = error;//do nothing
python版PID
http://examples.oreilly.com/9780596809577/CH09/PID.py
针对PID在180度发生突变的情况,解决方法如下:
error = desired - real;
if(error > 180)
error = error - 360;
else if(error < -180)
error = error + 360;
else
error = error;//do nothing
python版PID
http://examples.oreilly.com/9780596809577/CH09/PID.py