初始化仓库

2025-10-15 00:22:56 +08:00
commit a6ddc01c98
650 changed files with 438085 additions and 0 deletions
--- a/code/pid.h
+++ b/code/pid.h
@@ -0,0 +1,42 @@
+// <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD>: GB18030
+/*
+ * pid.h
+ *
+ *  Created on: 2025<32><35>3<EFBFBD><33>25<32><35>
+ *      Author: LHYe200
+ */
+
+#ifndef CODE_PID_H_
+#define CODE_PID_H_
+
+typedef struct
+{
+    float kp;
+    float ki;
+    float kd;
+
+    float p_output;
+    float i_output;
+    float d_output;
+    float output;
+
+    float integral_max;
+
+    float err;
+    float err_last;
+    float last_derivative;
+    float integral;
+
+    float output_max;
+    float output_min;
+} PID;
+
+void PID_Init(PID *pid, float kp, float ki, float kd, float integral_max, float output_max, float output_min);
+void PID_Reset(PID *pid);
+float PID_Loc_Ctrl(PID * pid, float err);
+float PID_Inc_Ctrl(PID * pid, float err);
+float PID_ChangeIntegral_Inc_Ctrl(PID * pid, float err, float change_integral_b, float change_integral_k);
+float constrain_float(float amt, float low, float high);
+
+
+#endif /* CODE_PID_H_ */