#include "adc.h"
#include "common.h"
#include "usart.h"
#include "L298N.h"
#include "senser.h"
#include "NVIC.h"
#include "ir1838.h"
#include "DMA.h"
#define kP 11
#define kdI 200 //nI除数 kI=1/kdI
#define kD 120
#define kdPID 28//PID除数
#define D_INTERVAL 1200
#define I_INTERVAL 15
#define ONLINE_MINVAL 25
#define POSVAL_MAX SENSER_MAXVAL*2//位置量值域(-POSVAL_MAX,POSVAL_MAX)
#define SPEED_MIN 1700
#define SPEED_NORMAL 1950
#define SPEED_MAX 2000
#define CHECK_WAIT_TIMEOUT 100000
extern u16 ADC_DataBuffer[ADC_DMA_BUFFER_LENGTH];
extern u32 senVals[3];
u16 mod=0;
int main()
{
s32 PID;
s32 nP=0;
s32 nI=0;
s32 nD=0;
s32 nLastP=0;
u32 nDC=D_INTERVAL;
u32 nIC=I_INTERVAL;
s32 carSpeed=SPEED_NORMAL;
u32 checkWait=0;
u8 adjustMod=100;
common_init();
ADC_init();
#ifdef USART_ON
usart_init();
#endif
L298N_init();
#ifdef IR_CTRL_
IR1838_init();
#