InitMCu(); IncPIDInit(); int g_CurrentVelocity=0; //全局变量也初始化 int g_Flag=0; //全局变量也初始化
EnableInterrupts; While(1) { if (g_Flag&&vi_FeedBack) { PWMOUT+= v_PIDCalc( PID *pp ); g_Flag&=~ vi_FeedBack; } } } for(;;) { _FEED_COP(); /* feeds the dog */ } /* loop forever */ /* please make sure that you never leave main */ }