TIM_SetCompare1(TIM4,-PID_main_Speed.Out); }else{ Moter_main_stop; TIM_SetCompare1(TIM4,0); }if(PID_101_Speed.Out >35)//从机101放向控制{ Moter_101_forward;TIM_SetCompare2(TIM4,PID_101_Speed.Out); }elseif(PID_101_Speed.Out <-35) { Moter_101_back;TIM_SetCompare2(TIM4,-PID...