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内容大更新 更加规范化 加入modbus类 优化帮助文档
2022-11-22 03:43:24 +08:00
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<a href="bsp___p_i_d_8cpp.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> #</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> # Copyright (c) 2022 Yuankang Liang(XerolySkinner)</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> #</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> # 本软件按原样提供,无任何明示或暗示</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> # 在任何情况下,作者都不承担任何损害赔偿责任</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> #</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> # 使用的许可声明:</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> # 1. 不得歪曲本软件的来源,你不能声称你编写了原始软件.</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> # 2. 免费授予以任何目的,前提是版权声明出现在所有副本中.</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> # 并且版权声明和许可声明同时出现.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> # 3. 你有使用,复制,修改,分发,和销售本软件的许可.</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> # 4. 如果你在产品中使用,产品文档中的声明是赞赏的但不是必须的.</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> # 5. 本通知不得从任何来源删除或更改.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"> #</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"> # Yuankang Liang(XerolySkinner)</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment"> # E-mail:zabbcccbbaz@163.com</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment"> # QQ:2715099320</span></div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> #</span></div>
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<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment"> */</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment">//----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="comment">// 头文件</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="comment">// </span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include &quot;<a class="code" href="bsp___p_i_d_8h.html">bsp_PID.h</a>&quot;</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="comment">//----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="comment">// 类函数</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="comment">// </span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classbsp___position___p_i_d.html#ac658466d8bc1d12fcd403c4b6f9ca9f7"> 48</a></span><span class="comment"></span><span class="keywordtype">float</span> <a class="code hl_function" href="classbsp___position___p_i_d.html#ac658466d8bc1d12fcd403c4b6f9ca9f7">bsp_Position_PID::PID</a>(<span class="keywordtype">float</span> temp) {</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <span class="keywordtype">float</span> thisError;</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> thisError = <a class="code hl_variable" href="classbsp___position___p_i_d.html#a04921569cfe25681f8763beaae01c1bc">target</a> - temp; <span class="comment">//当前误差等于设定值减去当前值</span></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a9e7c0b93c1936f3aca77800997f99c05">integral</a> += thisError; <span class="comment">//误差积分，把所有误差累加起来</span></div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a77ecc1d6378fb03cc63c9a3a263c90b2">result</a> = </div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#aa2ea863045a5bc0785693013154b6a52">Kp</a> * thisError + </div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a58c60be7603ec356bbe428fb989d4e68">Ki</a> * <a class="code hl_variable" href="classbsp___position___p_i_d.html#a9e7c0b93c1936f3aca77800997f99c05">integral</a> + </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a1678e1ea6b9e6ea56fde93df5aad4f75">Kd</a> * (thisError - <a class="code hl_variable" href="classbsp___position___p_i_d.html#a04a54e038d2229f330e1913ce8b8aada">lasterror</a>);</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a04a54e038d2229f330e1913ce8b8aada">lasterror</a> = thisError;</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> </div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classbsp___position___p_i_d.html#a08bba095208d3dcdb8c07e741dc3a77a">result_H</a> == <a class="code hl_variable" href="classbsp___position___p_i_d.html#a42a8eb4e1c96871e1b4eacb0cf46e196">result_L</a>)<span class="keywordflow">return</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a77ecc1d6378fb03cc63c9a3a263c90b2">result</a>;</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classbsp___position___p_i_d.html#a77ecc1d6378fb03cc63c9a3a263c90b2">result</a> &gt;= <a class="code hl_variable" href="classbsp___position___p_i_d.html#a08bba095208d3dcdb8c07e741dc3a77a">result_H</a>)<a class="code hl_variable" href="classbsp___position___p_i_d.html#a77ecc1d6378fb03cc63c9a3a263c90b2">result</a> == <a class="code hl_variable" href="classbsp___position___p_i_d.html#a08bba095208d3dcdb8c07e741dc3a77a">result_H</a>;</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classbsp___position___p_i_d.html#a77ecc1d6378fb03cc63c9a3a263c90b2">result</a> &lt;= <a class="code hl_variable" href="classbsp___position___p_i_d.html#a42a8eb4e1c96871e1b4eacb0cf46e196">result_L</a>)<a class="code hl_variable" href="classbsp___position___p_i_d.html#a77ecc1d6378fb03cc63c9a3a263c90b2">result</a> == <a class="code hl_variable" href="classbsp___position___p_i_d.html#a42a8eb4e1c96871e1b4eacb0cf46e196">result_L</a>;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a77ecc1d6378fb03cc63c9a3a263c90b2">result</a>;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span>}</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span><span class="comment">//----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="classbsp___increment___p_i_d.html#a7f39310ecc4cd1f8029a6545bd37e0a9"> 69</a></span><span class="comment"></span><span class="keywordtype">float</span> <a class="code hl_function" href="classbsp___increment___p_i_d.html#a7f39310ecc4cd1f8029a6545bd37e0a9">bsp_Increment_PID::PID</a>(<span class="keywordtype">float</span> temp) {</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keywordtype">float</span> thisError=<a class="code hl_variable" href="classbsp___increment___p_i_d.html#a6f2142a4e99c8a6bd5b604fe53c8e6b1">target</a> - temp; <span class="comment">//当前误差等于设定值减去当前值</span></div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keywordtype">float</span> increment;</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordtype">float</span> pError, dError, iError;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> </div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> pError = thisError - <a class="code hl_variable" href="classbsp___increment___p_i_d.html#aaf7c047c9aa963bb6b7524fd8fc6242b">lasterror</a>;</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> iError = thisError;</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> dError = thisError - 2 * <a class="code hl_variable" href="classbsp___increment___p_i_d.html#aaf7c047c9aa963bb6b7524fd8fc6242b">lasterror</a> + <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a8df6076b4bb4d4d1e4c7ee2777defb82">preerror</a>;</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> </div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> increment = </div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a4bd6b08091f76f357da2dab404a3a97b">Kp</a> * pError + </div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a368b2b2bd531ef46a9518889f9f07eec">Ki</a> * iError + </div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#acbe47a0c902698a6e11db1d0651a2627">Kd</a> * dError; <span class="comment">//增量计算</span></div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a8df6076b4bb4d4d1e4c7ee2777defb82">preerror</a> = <a class="code hl_variable" href="classbsp___increment___p_i_d.html#aaf7c047c9aa963bb6b7524fd8fc6242b">lasterror</a>; <span class="comment">//存放偏差用于下次运算</span></div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#aaf7c047c9aa963bb6b7524fd8fc6242b">lasterror</a> = thisError; <span class="comment">//存放偏差用于下次运算</span></div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a7e567c42a56682a0f24e39a92a562e40">result</a> += increment; <span class="comment">//上次结果叠加增量</span></div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classbsp___increment___p_i_d.html#a90bb2ca2ebe196b8063183336c63186a">result_H</a> == <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a17d1546dc185ae482d4d7b72af1ac5cd">result_L</a>)<span class="keywordflow">return</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a7e567c42a56682a0f24e39a92a562e40">result</a>;</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classbsp___increment___p_i_d.html#a7e567c42a56682a0f24e39a92a562e40">result</a> &gt;= <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a90bb2ca2ebe196b8063183336c63186a">result_H</a>)<a class="code hl_variable" href="classbsp___increment___p_i_d.html#a7e567c42a56682a0f24e39a92a562e40">result</a> == <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a90bb2ca2ebe196b8063183336c63186a">result_H</a>;</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classbsp___increment___p_i_d.html#a7e567c42a56682a0f24e39a92a562e40">result</a> &lt;= <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a17d1546dc185ae482d4d7b72af1ac5cd">result_L</a>)<a class="code hl_variable" href="classbsp___increment___p_i_d.html#a7e567c42a56682a0f24e39a92a562e40">result</a> == <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a17d1546dc185ae482d4d7b72af1ac5cd">result_L</a>;</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a7e567c42a56682a0f24e39a92a562e40">result</a>;}</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span><span class="comment">//----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span><span class="comment">//----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classbsp___position___p_i_d.html#a7b60d7f8a80c632c501561e7e0765f14"> 96</a></span><span class="comment"></span><span class="keywordtype">void</span> <a class="code hl_function" href="classbsp___position___p_i_d.html#a7b60d7f8a80c632c501561e7e0765f14">bsp_Position_PID::clean</a>(<span class="keywordtype">void</span>) {</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a9e7c0b93c1936f3aca77800997f99c05">integral</a> = 0; <span class="comment">//积分值</span></div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a04a54e038d2229f330e1913ce8b8aada">lasterror</a> = 0; <span class="comment">//前一拍偏差</span></div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a77ecc1d6378fb03cc63c9a3a263c90b2">result</a> = 0; <span class="comment">//输出值</span></div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> }</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span><span class="comment">//----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="classbsp___increment___p_i_d.html#aa1cab8492ec6a289debfc215689d9b38"> 106</a></span><span class="comment"></span><span class="keywordtype">void</span> <a class="code hl_function" href="classbsp___increment___p_i_d.html#aa1cab8492ec6a289debfc215689d9b38">bsp_Increment_PID::clean</a>(<span class="keywordtype">void</span>) {</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#aaf7c047c9aa963bb6b7524fd8fc6242b">lasterror</a> = 0; <span class="comment">//前一拍偏差 </span></div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a8df6076b4bb4d4d1e4c7ee2777defb82">preerror</a> = 0; <span class="comment">//前两拍偏差</span></div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a7e567c42a56682a0f24e39a92a562e40">result</a> = 0; <span class="comment">//输出值</span></div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> }</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span><span class="comment">//----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span><span class="comment">//----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classbsp___position___p_i_d.html#add37a6f47b3f9b6dd0d945def8ed2ef1"> 119</a></span><span class="comment"></span><span class="keywordtype">void</span> <a class="code hl_function" href="classbsp___position___p_i_d.html#add37a6f47b3f9b6dd0d945def8ed2ef1">bsp_Position_PID::set</a>(<span class="keywordtype">float</span> P, <span class="keywordtype">float</span> I, <span class="keywordtype">float</span> D) {</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#aa2ea863045a5bc0785693013154b6a52">Kp</a> = P; <a class="code hl_variable" href="classbsp___position___p_i_d.html#a58c60be7603ec356bbe428fb989d4e68">Ki</a> = I; <a class="code hl_variable" href="classbsp___position___p_i_d.html#a1678e1ea6b9e6ea56fde93df5aad4f75">Kd</a> = D;}</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span><span class="comment">//----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="classbsp___increment___p_i_d.html#aeddd6d60b615571d390653e9a958b2b4"> 128</a></span><span class="comment"></span><span class="keywordtype">void</span> <a class="code hl_function" href="classbsp___increment___p_i_d.html#aeddd6d60b615571d390653e9a958b2b4">bsp_Increment_PID::set</a>(<span class="keywordtype">float</span> P, <span class="keywordtype">float</span> I, <span class="keywordtype">float</span> D) {</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a4bd6b08091f76f357da2dab404a3a97b">Kp</a> = P; <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a368b2b2bd531ef46a9518889f9f07eec">Ki</a> = I; <a class="code hl_variable" href="classbsp___increment___p_i_d.html#acbe47a0c902698a6e11db1d0651a2627">Kd</a> = D;}</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span><span class="comment">//----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span><span class="comment">// 构造函数</span></div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span><span class="comment">// </span></div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="classbsp___position___p_i_d.html#ac50b1ff29153eed1fcb252a3eee2aa69"> 134</a></span><a class="code hl_function" href="classbsp___position___p_i_d.html#ac50b1ff29153eed1fcb252a3eee2aa69">bsp_Position_PID::bsp_Position_PID</a>(<span class="keywordtype">void</span>) {</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a04921569cfe25681f8763beaae01c1bc">bsp_Position_PID::target</a> = 0;</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a04a54e038d2229f330e1913ce8b8aada">bsp_Position_PID::lasterror</a> = 0;</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#aa2ea863045a5bc0785693013154b6a52">bsp_Position_PID::Kp</a> = 0;</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a58c60be7603ec356bbe428fb989d4e68">bsp_Position_PID::Ki</a> = 0;</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a1678e1ea6b9e6ea56fde93df5aad4f75">bsp_Position_PID::Kd</a> = 0;</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a9e7c0b93c1936f3aca77800997f99c05">bsp_Position_PID::integral</a> = 0;</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a77ecc1d6378fb03cc63c9a3a263c90b2">bsp_Position_PID::result</a> = 0;</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a08bba095208d3dcdb8c07e741dc3a77a">bsp_Position_PID::result_H</a> = 0;</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a42a8eb4e1c96871e1b4eacb0cf46e196">bsp_Position_PID::result_L</a> = 0;</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span>}</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span><span class="comment">//----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"><a class="line" href="classbsp___position___p_i_d.html#aa16c488294e5bfba71c8ef83ee76a250"> 155</a></span><span class="comment"></span><a class="code hl_function" href="classbsp___position___p_i_d.html#ac50b1ff29153eed1fcb252a3eee2aa69">bsp_Position_PID::bsp_Position_PID</a>(</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordtype">float</span> Kp, <span class="keywordtype">float</span> Ki, <span class="keywordtype">float</span> Kd, <span class="keywordtype">float</span> target,</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keywordtype">float</span> result_H, <span class="keywordtype">float</span> result_L) {</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a04921569cfe25681f8763beaae01c1bc">bsp_Position_PID::target</a> = <a class="code hl_variable" href="classbsp___position___p_i_d.html#a04921569cfe25681f8763beaae01c1bc">target</a>;</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a04a54e038d2229f330e1913ce8b8aada">bsp_Position_PID::lasterror</a> = 0;</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#aa2ea863045a5bc0785693013154b6a52">bsp_Position_PID::Kp</a> = <a class="code hl_variable" href="classbsp___position___p_i_d.html#aa2ea863045a5bc0785693013154b6a52">Kp</a>;</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a58c60be7603ec356bbe428fb989d4e68">bsp_Position_PID::Ki</a> = <a class="code hl_variable" href="classbsp___position___p_i_d.html#a58c60be7603ec356bbe428fb989d4e68">Ki</a>;</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a1678e1ea6b9e6ea56fde93df5aad4f75">bsp_Position_PID::Kd</a> = <a class="code hl_variable" href="classbsp___position___p_i_d.html#a1678e1ea6b9e6ea56fde93df5aad4f75">Kd</a>;</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a9e7c0b93c1936f3aca77800997f99c05">bsp_Position_PID::integral</a> = 0;</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a77ecc1d6378fb03cc63c9a3a263c90b2">bsp_Position_PID::result</a> = 0;</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a08bba095208d3dcdb8c07e741dc3a77a">bsp_Position_PID::result_H</a> = 0;</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <a class="code hl_variable" href="classbsp___position___p_i_d.html#a42a8eb4e1c96871e1b4eacb0cf46e196">bsp_Position_PID::result_L</a> = 0;</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span>}</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span><span class="comment">//----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"><a class="line" href="classbsp___position___p_i_d.html#a9cd33ec75d5ca15939d132644d4ceea8"> 169</a></span><a class="code hl_function" href="classbsp___position___p_i_d.html#a9cd33ec75d5ca15939d132644d4ceea8">bsp_Position_PID::~bsp_Position_PID</a>(<span class="keywordtype">void</span>) {}</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span><span class="comment">//----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="classbsp___increment___p_i_d.html#a1dec336ee026d7e1148dfb68052055d2"> 171</a></span><a class="code hl_function" href="classbsp___increment___p_i_d.html#a1dec336ee026d7e1148dfb68052055d2">bsp_Increment_PID::bsp_Increment_PID</a>(<span class="keywordtype">void</span>) {</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a6f2142a4e99c8a6bd5b604fe53c8e6b1">bsp_Increment_PID::target</a> = 0;</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#aaf7c047c9aa963bb6b7524fd8fc6242b">bsp_Increment_PID::lasterror</a> = 0;</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a8df6076b4bb4d4d1e4c7ee2777defb82">bsp_Increment_PID::preerror</a> = 0;</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a4bd6b08091f76f357da2dab404a3a97b">bsp_Increment_PID::Kp</a> = 0;</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a368b2b2bd531ef46a9518889f9f07eec">bsp_Increment_PID::Ki</a> = 0;</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#acbe47a0c902698a6e11db1d0651a2627">bsp_Increment_PID::Kd</a> = 0;</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a7e567c42a56682a0f24e39a92a562e40">bsp_Increment_PID::result</a> = 0;</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a90bb2ca2ebe196b8063183336c63186a">bsp_Increment_PID::result_H</a> = 0;</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a17d1546dc185ae482d4d7b72af1ac5cd">bsp_Increment_PID::result_L</a> = 0;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span>}</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span><span class="comment">//----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="classbsp___increment___p_i_d.html#a33b07a33c9ba2accc10a4bcf5a8b7be9"> 192</a></span><span class="comment"></span><a class="code hl_function" href="classbsp___increment___p_i_d.html#a1dec336ee026d7e1148dfb68052055d2">bsp_Increment_PID::bsp_Increment_PID</a>(</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keywordtype">float</span> Kp, <span class="keywordtype">float</span> Ki, <span class="keywordtype">float</span> Kd, <span class="keywordtype">float</span> target,</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keywordtype">float</span> result_H, <span class="keywordtype">float</span> result_L) {</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a6f2142a4e99c8a6bd5b604fe53c8e6b1">bsp_Increment_PID::target</a> = <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a6f2142a4e99c8a6bd5b604fe53c8e6b1">target</a>;</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#aaf7c047c9aa963bb6b7524fd8fc6242b">bsp_Increment_PID::lasterror</a> = 0;</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a8df6076b4bb4d4d1e4c7ee2777defb82">bsp_Increment_PID::preerror</a> = 0;</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a4bd6b08091f76f357da2dab404a3a97b">bsp_Increment_PID::Kp</a> = <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a4bd6b08091f76f357da2dab404a3a97b">Kp</a>;</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a368b2b2bd531ef46a9518889f9f07eec">bsp_Increment_PID::Ki</a> = <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a368b2b2bd531ef46a9518889f9f07eec">Ki</a>;</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#acbe47a0c902698a6e11db1d0651a2627">bsp_Increment_PID::Kd</a> = <a class="code hl_variable" href="classbsp___increment___p_i_d.html#acbe47a0c902698a6e11db1d0651a2627">Kd</a>;</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a7e567c42a56682a0f24e39a92a562e40">bsp_Increment_PID::result</a> = 0;</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a90bb2ca2ebe196b8063183336c63186a">bsp_Increment_PID::result_H</a> = 0;</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <a class="code hl_variable" href="classbsp___increment___p_i_d.html#a17d1546dc185ae482d4d7b72af1ac5cd">bsp_Increment_PID::result_L</a> = 0;</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span>}</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span><span class="comment">//----------------------------------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"><a class="line" href="classbsp___increment___p_i_d.html#a3eb46ef6d491464f9cc8bfdc0ded1155"> 206</a></span><a class="code hl_function" href="classbsp___increment___p_i_d.html#a3eb46ef6d491464f9cc8bfdc0ded1155">bsp_Increment_PID::~bsp_Increment_PID</a>(<span class="keywordtype">void</span>) {}</div>
<div class="ttc" id="absp___p_i_d_8h_html"><div class="ttname"><a href="bsp___p_i_d_8h.html">bsp_PID.h</a></div><div class="ttdoc">实现了PID算法</div></div>
<div class="ttc" id="aclassbsp___increment___p_i_d_html_a17d1546dc185ae482d4d7b72af1ac5cd"><div class="ttname"><a href="classbsp___increment___p_i_d.html#a17d1546dc185ae482d4d7b72af1ac5cd">bsp_Increment_PID::result_L</a></div><div class="ttdeci">float result_L</div><div class="ttdoc">输出最低值</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00095">bsp_PID.h:95</a></div></div>
<div class="ttc" id="aclassbsp___increment___p_i_d_html_a1dec336ee026d7e1148dfb68052055d2"><div class="ttname"><a href="classbsp___increment___p_i_d.html#a1dec336ee026d7e1148dfb68052055d2">bsp_Increment_PID::bsp_Increment_PID</a></div><div class="ttdeci">bsp_Increment_PID(void)</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8cpp_source.html#l00171">bsp_PID.cpp:171</a></div></div>
<div class="ttc" id="aclassbsp___increment___p_i_d_html_a368b2b2bd531ef46a9518889f9f07eec"><div class="ttname"><a href="classbsp___increment___p_i_d.html#a368b2b2bd531ef46a9518889f9f07eec">bsp_Increment_PID::Ki</a></div><div class="ttdeci">float Ki</div><div class="ttdoc">微分系数</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00088">bsp_PID.h:88</a></div></div>
<div class="ttc" id="aclassbsp___increment___p_i_d_html_a3eb46ef6d491464f9cc8bfdc0ded1155"><div class="ttname"><a href="classbsp___increment___p_i_d.html#a3eb46ef6d491464f9cc8bfdc0ded1155">bsp_Increment_PID::~bsp_Increment_PID</a></div><div class="ttdeci">~bsp_Increment_PID(void)</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8cpp_source.html#l00206">bsp_PID.cpp:206</a></div></div>
<div class="ttc" id="aclassbsp___increment___p_i_d_html_a4bd6b08091f76f357da2dab404a3a97b"><div class="ttname"><a href="classbsp___increment___p_i_d.html#a4bd6b08091f76f357da2dab404a3a97b">bsp_Increment_PID::Kp</a></div><div class="ttdeci">float Kp</div><div class="ttdoc">比例系数</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00086">bsp_PID.h:86</a></div></div>
<div class="ttc" id="aclassbsp___increment___p_i_d_html_a6f2142a4e99c8a6bd5b604fe53c8e6b1"><div class="ttname"><a href="classbsp___increment___p_i_d.html#a6f2142a4e99c8a6bd5b604fe53c8e6b1">bsp_Increment_PID::target</a></div><div class="ttdeci">float target</div><div class="ttdoc">设定值</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00085">bsp_PID.h:85</a></div></div>
<div class="ttc" id="aclassbsp___increment___p_i_d_html_a7e567c42a56682a0f24e39a92a562e40"><div class="ttname"><a href="classbsp___increment___p_i_d.html#a7e567c42a56682a0f24e39a92a562e40">bsp_Increment_PID::result</a></div><div class="ttdeci">float result</div><div class="ttdoc">输出值</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00089">bsp_PID.h:89</a></div></div>
<div class="ttc" id="aclassbsp___increment___p_i_d_html_a7f39310ecc4cd1f8029a6545bd37e0a9"><div class="ttname"><a href="classbsp___increment___p_i_d.html#a7f39310ecc4cd1f8029a6545bd37e0a9">bsp_Increment_PID::PID</a></div><div class="ttdeci">float PID(float temp)</div><div class="ttdoc">PID算法</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8cpp_source.html#l00069">bsp_PID.cpp:69</a></div></div>
<div class="ttc" id="aclassbsp___increment___p_i_d_html_a8df6076b4bb4d4d1e4c7ee2777defb82"><div class="ttname"><a href="classbsp___increment___p_i_d.html#a8df6076b4bb4d4d1e4c7ee2777defb82">bsp_Increment_PID::preerror</a></div><div class="ttdeci">float preerror</div><div class="ttdoc">前两拍偏差</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00092">bsp_PID.h:92</a></div></div>
<div class="ttc" id="aclassbsp___increment___p_i_d_html_a90bb2ca2ebe196b8063183336c63186a"><div class="ttname"><a href="classbsp___increment___p_i_d.html#a90bb2ca2ebe196b8063183336c63186a">bsp_Increment_PID::result_H</a></div><div class="ttdeci">float result_H</div><div class="ttdoc">输出最高值</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00094">bsp_PID.h:94</a></div></div>
<div class="ttc" id="aclassbsp___increment___p_i_d_html_aa1cab8492ec6a289debfc215689d9b38"><div class="ttname"><a href="classbsp___increment___p_i_d.html#aa1cab8492ec6a289debfc215689d9b38">bsp_Increment_PID::clean</a></div><div class="ttdeci">void clean(void)</div><div class="ttdoc">清理历史数据</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8cpp_source.html#l00106">bsp_PID.cpp:106</a></div></div>
<div class="ttc" id="aclassbsp___increment___p_i_d_html_aaf7c047c9aa963bb6b7524fd8fc6242b"><div class="ttname"><a href="classbsp___increment___p_i_d.html#aaf7c047c9aa963bb6b7524fd8fc6242b">bsp_Increment_PID::lasterror</a></div><div class="ttdeci">float lasterror</div><div class="ttdoc">前一拍偏差</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00091">bsp_PID.h:91</a></div></div>
<div class="ttc" id="aclassbsp___increment___p_i_d_html_acbe47a0c902698a6e11db1d0651a2627"><div class="ttname"><a href="classbsp___increment___p_i_d.html#acbe47a0c902698a6e11db1d0651a2627">bsp_Increment_PID::Kd</a></div><div class="ttdeci">float Kd</div><div class="ttdoc">积分系数</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00087">bsp_PID.h:87</a></div></div>
<div class="ttc" id="aclassbsp___increment___p_i_d_html_aeddd6d60b615571d390653e9a958b2b4"><div class="ttname"><a href="classbsp___increment___p_i_d.html#aeddd6d60b615571d390653e9a958b2b4">bsp_Increment_PID::set</a></div><div class="ttdeci">void set(float P, float I, float D)</div><div class="ttdoc">PID参数设置</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8cpp_source.html#l00128">bsp_PID.cpp:128</a></div></div>
<div class="ttc" id="aclassbsp___position___p_i_d_html_a04921569cfe25681f8763beaae01c1bc"><div class="ttname"><a href="classbsp___position___p_i_d.html#a04921569cfe25681f8763beaae01c1bc">bsp_Position_PID::target</a></div><div class="ttdeci">float target</div><div class="ttdoc">设定值</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00055">bsp_PID.h:55</a></div></div>
<div class="ttc" id="aclassbsp___position___p_i_d_html_a04a54e038d2229f330e1913ce8b8aada"><div class="ttname"><a href="classbsp___position___p_i_d.html#a04a54e038d2229f330e1913ce8b8aada">bsp_Position_PID::lasterror</a></div><div class="ttdeci">float lasterror</div><div class="ttdoc">前一拍偏差</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00062">bsp_PID.h:62</a></div></div>
<div class="ttc" id="aclassbsp___position___p_i_d_html_a08bba095208d3dcdb8c07e741dc3a77a"><div class="ttname"><a href="classbsp___position___p_i_d.html#a08bba095208d3dcdb8c07e741dc3a77a">bsp_Position_PID::result_H</a></div><div class="ttdeci">float result_H</div><div class="ttdoc">输出最高值</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00064">bsp_PID.h:64</a></div></div>
<div class="ttc" id="aclassbsp___position___p_i_d_html_a1678e1ea6b9e6ea56fde93df5aad4f75"><div class="ttname"><a href="classbsp___position___p_i_d.html#a1678e1ea6b9e6ea56fde93df5aad4f75">bsp_Position_PID::Kd</a></div><div class="ttdeci">float Kd</div><div class="ttdoc">积分系数</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00057">bsp_PID.h:57</a></div></div>
<div class="ttc" id="aclassbsp___position___p_i_d_html_a42a8eb4e1c96871e1b4eacb0cf46e196"><div class="ttname"><a href="classbsp___position___p_i_d.html#a42a8eb4e1c96871e1b4eacb0cf46e196">bsp_Position_PID::result_L</a></div><div class="ttdeci">float result_L</div><div class="ttdoc">输出最低值</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00065">bsp_PID.h:65</a></div></div>
<div class="ttc" id="aclassbsp___position___p_i_d_html_a58c60be7603ec356bbe428fb989d4e68"><div class="ttname"><a href="classbsp___position___p_i_d.html#a58c60be7603ec356bbe428fb989d4e68">bsp_Position_PID::Ki</a></div><div class="ttdeci">float Ki</div><div class="ttdoc">微分系数</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00058">bsp_PID.h:58</a></div></div>
<div class="ttc" id="aclassbsp___position___p_i_d_html_a77ecc1d6378fb03cc63c9a3a263c90b2"><div class="ttname"><a href="classbsp___position___p_i_d.html#a77ecc1d6378fb03cc63c9a3a263c90b2">bsp_Position_PID::result</a></div><div class="ttdeci">float result</div><div class="ttdoc">输出值</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00059">bsp_PID.h:59</a></div></div>
<div class="ttc" id="aclassbsp___position___p_i_d_html_a7b60d7f8a80c632c501561e7e0765f14"><div class="ttname"><a href="classbsp___position___p_i_d.html#a7b60d7f8a80c632c501561e7e0765f14">bsp_Position_PID::clean</a></div><div class="ttdeci">void clean(void)</div><div class="ttdoc">清理历史数据</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8cpp_source.html#l00096">bsp_PID.cpp:96</a></div></div>
<div class="ttc" id="aclassbsp___position___p_i_d_html_a9cd33ec75d5ca15939d132644d4ceea8"><div class="ttname"><a href="classbsp___position___p_i_d.html#a9cd33ec75d5ca15939d132644d4ceea8">bsp_Position_PID::~bsp_Position_PID</a></div><div class="ttdeci">~bsp_Position_PID(void)</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8cpp_source.html#l00169">bsp_PID.cpp:169</a></div></div>
<div class="ttc" id="aclassbsp___position___p_i_d_html_a9e7c0b93c1936f3aca77800997f99c05"><div class="ttname"><a href="classbsp___position___p_i_d.html#a9e7c0b93c1936f3aca77800997f99c05">bsp_Position_PID::integral</a></div><div class="ttdeci">float integral</div><div class="ttdoc">积分值</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00061">bsp_PID.h:61</a></div></div>
<div class="ttc" id="aclassbsp___position___p_i_d_html_aa2ea863045a5bc0785693013154b6a52"><div class="ttname"><a href="classbsp___position___p_i_d.html#aa2ea863045a5bc0785693013154b6a52">bsp_Position_PID::Kp</a></div><div class="ttdeci">float Kp</div><div class="ttdoc">比例系数</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8h_source.html#l00056">bsp_PID.h:56</a></div></div>
<div class="ttc" id="aclassbsp___position___p_i_d_html_ac50b1ff29153eed1fcb252a3eee2aa69"><div class="ttname"><a href="classbsp___position___p_i_d.html#ac50b1ff29153eed1fcb252a3eee2aa69">bsp_Position_PID::bsp_Position_PID</a></div><div class="ttdeci">bsp_Position_PID(void)</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8cpp_source.html#l00134">bsp_PID.cpp:134</a></div></div>
<div class="ttc" id="aclassbsp___position___p_i_d_html_ac658466d8bc1d12fcd403c4b6f9ca9f7"><div class="ttname"><a href="classbsp___position___p_i_d.html#ac658466d8bc1d12fcd403c4b6f9ca9f7">bsp_Position_PID::PID</a></div><div class="ttdeci">float PID(float temp)</div><div class="ttdoc">PID算法</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8cpp_source.html#l00048">bsp_PID.cpp:48</a></div></div>
<div class="ttc" id="aclassbsp___position___p_i_d_html_add37a6f47b3f9b6dd0d945def8ed2ef1"><div class="ttname"><a href="classbsp___position___p_i_d.html#add37a6f47b3f9b6dd0d945def8ed2ef1">bsp_Position_PID::set</a></div><div class="ttdeci">void set(float P, float I, float D)</div><div class="ttdoc">PID参数设置</div><div class="ttdef"><b>Definition:</b> <a href="bsp___p_i_d_8cpp_source.html#l00119">bsp_PID.cpp:119</a></div></div>
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