* MSP432E401Y
* Description:PID处理函数
* 引脚:
*
* Author: Robin.J
***************************************************************************/
#include
#include "ti/devices/msp432e4/driverlib/driverlib.h"
float iError_l , iIncpid_l; //当前误差
float iError_r , iIncpid_r; //当前误差
float variable_l;
float variable_r;
extern int ch_l,ch_r;
//extern float ch;
//PID初始化
void IncPIDInit(void)
{
sptr->SetPoint_l = 30.0;
sptr->SetPoint_r = 30.0; //设定值
sptr->LastError_l = 0; //前1次误差值
sptr->PrevError_l = 0; //前2次误差值
sptr->LastError_r = 0; //前1次误差值
sptr->PrevError_r = 0; //前2次误差值
sptr->Proportion_r = 0.4;//0.5;//0.8; //比例
sptr->Integral_r =