YuBan_MeiQin的博客

通过将公式写出代码的形式：float Position_Kp, Position_Ki, Position_Kd;int Position_PID(int Encoder, int Target){ static float Bias, Pwm, Integral_bais, Last_bais; Bias = Encoder - Target; Integral_bais += Bias; Pwm = Position_Kp * Bias + Position_Ki * I...