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PID算法用于自制平衡车的初始化代码

PID算法用于自制平衡车的初始化代码

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void PID_init() {
    PID.e0 = 0;
    PID.e1 = 0;
    PID.e2 = 0;
    PID.x_chuzhi = 28000;
    PID.x_out = 28000;
    PID.y_shedingzhi = 0;
    PID.kp = 100;
    PID.ki = 28;
    PID.kd = 10000;
    PID2.e0 = 0;
    PID2.e1 = 0;
    PID2.e2 = 0;
    PID2.x_chuzhi = 27000;
    PID2.x_out = 27000;
    PID2.y_shedingzhi = 0;
    PID2.kp = 1;
    PID2.ki = 40;
    PID2.kd = 100;
}
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PID算法（本人自写可用平衡车） 预估大小：227个文件
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stm32f10x_exti.__i 490B
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stm32f10x_sdio.__i 490B
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stm32f10x_rtc.__i 486B
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stm32f10x_spi.__i 486B
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stm32f10x_bkp.__i 486B
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stm32f10x_gpio.__i 490B
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stm32f10x_adc.__i 486B
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stm32f10x_flash.__i 494B
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stm32f10x_fsmc.__i 490B
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stm32f10x_crc.__i 486B
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stm32f10x_dbgmcu.__i 498B
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stm32f10x_i2c.__i 486B
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stm32f10x_dac.__i 486B
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stm32f10x_iwdg.__i 490B
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stm32f10x_usart.__i 494B
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stm32f10x_tim.__i 486B
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stm32f10x_wwdg.__i 490B
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stm32f10x_can.__i 486B
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stm32f10x_cec.__i 486B
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stm32f10x_dma.__i 486B
zip 文件大小：6.77MB