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强类型转换忘记加括号惹..

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but0n 2016-10-10 19:19:48 +08:00
parent 376dbf9326
commit 484903fcdf
1 changed files with 7 additions and 7 deletions
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14
pid.md
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@ -77,15 +77,15 @@ void pid_SingleAxis(pid_pst temp, float setPoint) {
//Inner Loop PD //Inner Loop PD
temp->p = temp->output + *temp->Gyro * 3.5f; temp->p = temp->output + *temp->Gyro * 3.5f;
temp->d = *temp->Gyro - temp->InnerLast; temp->d = *temp->Gyro - temp->InnerLast;
temp->output = (short)INNER_LOOP_KP * temp->p + INNER_LOOP_KD * temp->d; temp->output = (short)(INNER_LOOP_KP * temp->p + INNER_LOOP_KD * temp->d);
if (*temp->Channel1 + temp->output > MOTOR_MAX) *temp->Channel1 = MOTOR_MAX; if (*temp->Channel1+temp->output > MOTOR_MAX) *temp->Channel1 = MOTOR_MAX;
else if (*temp->Channel1 + temp->output < MOTOR_LOW) *temp->Channel1 = MOTOR_LOW; else if (*temp->Channel1+temp->output < MOTOR_LOW) *temp->Channel1 = MOTOR_LOW;
else *temp->Channel1 += temp->output; else *temp->Channel1 += (short)temp->output;
if (*temp->Channel2 - temp->output > MOTOR_MAX) *temp->Channel2 = MOTOR_MAX; if (*temp->Channel2-temp->output > MOTOR_MAX) *temp->Channel2 = MOTOR_MAX;
else if (*temp->Channel2 - temp->output < MOTOR_LOW) *temp->Channel2 = MOTOR_LOW; else if (*temp->Channel2-temp->output < MOTOR_LOW) *temp->Channel2 = MOTOR_LOW;
else *temp->Channel2 -= temp->output; else *temp->Channel2 -= (short)temp->output;
temp->InnerLast = *temp->Gyro; temp->InnerLast = *temp->Gyro;
} }