33 lines
488 B
C
33 lines
488 B
C
//
|
|
// Created by ZK on 2023/3/14.
|
|
//
|
|
|
|
#ifndef BOOOOMFOC_STSPIN32G4_EVB_PID_H
|
|
#define BOOOOMFOC_STSPIN32G4_EVB_PID_H
|
|
|
|
typedef struct pid {
|
|
float kp;//比例系数
|
|
float ki;//积分系数
|
|
float kd;//微分系数
|
|
|
|
float target;
|
|
float value;
|
|
float error;
|
|
|
|
float errSum;
|
|
float errSumMax;
|
|
|
|
float errMin;
|
|
float valMax;
|
|
|
|
float lastErr;
|
|
float errDt;
|
|
|
|
float result;
|
|
} PID;
|
|
|
|
float PID_Generate(PID *pid);
|
|
|
|
|
|
#endif //BOOOOMFOC_STSPIN32G4_EVB_PID_H
|