From 8458a4ffe78c88a0f20840a4c54aafa3d616caf2 Mon Sep 17 00:00:00 2001
From: tuxmonkey <nqx_2004@qq.com>
Date: Thu, 12 Feb 2026 01:03:41 +0800
Subject: [PATCH] add ffc controller

---
 .../module/algorithm/controller/pid/pid.h     | 20 +++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/User_Code/module/algorithm/controller/pid/pid.h b/User_Code/module/algorithm/controller/pid/pid.h
index b52f2c4..7190c34 100644
--- a/User_Code/module/algorithm/controller/pid/pid.h
+++ b/User_Code/module/algorithm/controller/pid/pid.h
@@ -28,16 +28,16 @@
 // PID 优化环节使能标志位
 typedef enum
 {
-    PID_IMPROVE_NONE = 0b000000000,                 // 无优化
-    PID_Integral_Limit = 0b000000001,               // 积分限幅
-    PID_Derivative_On_Measurement = 0b000000010,    // 微分先行
-    PID_Trapezoid_Intergral = 0b000000100,          // 梯形积分
-    PID_Proportional_On_Measurement = 0b000001000,  // 比例先行
-    PID_OutputFilter = 0b000010000,                 // 输出滤波
-    PID_ChangingIntegrationRate = 0b000100000,      // 变速积分
-    PID_DerivativeFilter = 0b001000000,             // 微分滤波
-    PID_ErrorHandle = 0b010000000,                  // 错误处理
-    PID_FeedForward = 0b100000000,                  // 前馈控制
+    PID_IMPROVE_NONE = 0b000000000,                 // 无优化 0
+    PID_Integral_Limit = 0b000000001,               // 积分限幅 1
+    PID_Derivative_On_Measurement = 0b000000010,    // 微分先行 2
+    PID_Trapezoid_Intergral = 0b000000100,          // 梯形积分 4
+    PID_Proportional_On_Measurement = 0b000001000,  // 比例先行 8
+    PID_OutputFilter = 0b000010000,                 // 输出滤波 16
+    PID_ChangingIntegrationRate = 0b000100000,      // 变速积分 32
+    PID_DerivativeFilter = 0b001000000,             // 微分滤波 64
+    PID_ErrorHandle = 0b010000000,                  // 错误处理 128
+    PID_FeedForward = 0b100000000,                  // 前馈控制 256
 } PID_Improvement_e;
 
 /* PID 报错类型枚举*/