TuxMonkey/bf_original_balance_chassis
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发布beta版本,目前基本功能都可用

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NeoZng
2022-12-11 14:59:45 +08:00
parent 37c23ddb79
commit 78cc27ee1a
19 changed files with 320 additions and 115 deletions
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6
modules/algorithm/controller.c
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@@ -85,6 +85,12 @@ float PID_Calculate(PIDInstance *pid, float measure, float ref)
// 输出限幅
f_Output_Limit(pid);
}
else // 进入死区,清空积分和输出
{
pid->Output=0;
pid->ITerm=0;
}
pid->Last_Measure = pid->Measure;
pid->Last_Output = pid->Output;
pid->Last_Dout = pid->Dout;