智能小车PID调速的MATLAB程序,STM32寻迹小车pid调速源码

#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();

#