if((rx_message.StdId==(MOTOR_ID_READ+5)))//电机5 //can接收中断{Motor_Auto_Run();//串级PID 3508 正方向-向上MOTOR_FEEDBACK[5].angle_value=rx_message.Data[0]<<8|rx_message.Data[1];MOTOR_FEEDBACK[5].speed_rpm=rx_message.Data[2]<<8|rx_message.Data[3];MOTOR_FEEDBACK[5].real...
(PID->OUT_LIMIT):((PID->OUT<-PID->OUT_LIMIT)?(-PID->OUT_LIMIT):(PID->OUT));if(ABS(PID->err)<=ABS(limit)){PID->I_OUT=0;PID->OUT=0;}PID->err_old=PID->err;returnPID->OUT;}float motor_err[10];//死区控制float mode=0;//mode0-发射;mode1-回收float angle_a=0,angle_b=...
(PID->OUT_LIMIT):((PID->OUT<-PID->OUT_LIMIT)?(-PID->OUT_LIMIT):(PID->OUT));if(ABS(PID->err)<=ABS(limit)){PID->I_OUT=0;PID->OUT=0;}PID->err_old=PID->err;returnPID->OUT;}float motor_err[10];//死区控制float mode=0;//mode0-发射;mode1-回收float angle_a=0,angle_b=...