STM32F10x 实现PID算法（笔记）

#include "stm32f10x.h"

// 定义PID参数
#define Kp 0.5f
#define Ki 0.2f
#define Kd 0.1f

// 定义采样时间
#define SampleTime 0.01f

// 定义PID结构体
typedef struct {
  float SetPoint;
  float Input;
  float Output;
  float Integral;
  float Derivative;
  float LastError;
  float Kp;
  float Ki;
  float Kd;
  float SampleTime;
} PID_TypeDef;

// 初始化PID结构体
void PID_Init(PID_TypeDef *pid, float kp, float ki, float kd, float sampleTime) {
  pid->SetPoint = 0.0f;
  pid->Input = 0.0f;
  pid->Output = 0.0f;
  pid->Integral = 0.0f;
  pid->Derivative = 0.0f;
  pid->LastError = 0.0f;
  pid->Kp = kp;
  pid->Ki = ki;
  pid->Kd = kd;
  pid->SampleTime = sampleTime;
}

// 更新PID计算结果
void PID_Update(PID_TypeDef *pid) {
  float error = pid->SetPoint - pid->Input;
  pid->Integral += error * pid->SampleTime;
  pid->Derivative = (error - pid->LastError) / pid->SampleTime;
  pid->Output = pid