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feat: 增加速度环

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bmy
2024-04-26 16:13:07 +08:00
parent 05cab94699
commit 6bac98da0a
12 changed files with 303 additions and 136 deletions
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15
3rd-part/PID-Library/pid.c
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@@ -36,10 +36,11 @@ void PID_Init(PID_TypeDef *uPID)
{
uPID->OutputSum = uPID->OutMin;
}
else { }
}
void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection)
void PID(PID_TypeDef *uPID, const float *Input, float *Output, const float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection)
{
/* ~~~~~~~~~~ Set parameter ~~~~~~~~~~ */
uPID->MyOutput = Output;
@@ -56,7 +57,7 @@ void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float
}
void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection)
void PID2(PID_TypeDef *uPID, const float *Input, float *Output, const float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection)
{
PID(uPID, Input, Output, Setpoint, Kp, Ki, Kd, _PID_P_ON_E, ControllerDirection);
}
@@ -65,10 +66,10 @@ void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float
uint8_t PID_Compute(PID_TypeDef *uPID)
{
float input=0;
float error=0;
float dInput=0;
float output=0;
float input;
float error;
float dInput;
float output;
/* ~~~~~~~~~~ Check PID mode ~~~~~~~~~~ */
if (!uPID->InAuto)