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XerolySkinner
2025-09-27 18:26:47 +08:00
parent 61213192c5
commit e0a8e01033
1 changed files with 8 additions and 8 deletions
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16
bsp_Device/bsp_math/bsp_PID.cpp
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@@ -56,8 +56,8 @@ float bsp_Position_PID::PID(float temp) {
lasterror = thisError;
if (result_H == result_L)return result;
if (result >= result_H)result == result_H;
else if (result <= result_L)result == result_L;
if (result >= result_H)result = result_H;
else if (result <= result_L)result = result_L;
return result;
}
//----------------------------------------------------------------------------------------------------
@@ -84,8 +84,8 @@ float bsp_Increment_PID::PID(float temp) {
result += increment; //上次结果叠加增量
if (result_H == result_L)return result;
if (result >= result_H)result == result_H;
else if (result <= result_L)result == result_L;
if (result >= result_H)result = result_H;
else if (result <= result_L)result = result_L;
return result;}
//----------------------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------
@@ -162,8 +162,8 @@ bsp_Position_PID::bsp_Position_PID(
bsp_Position_PID::Kd = Kd;
bsp_Position_PID::integral = 0;
bsp_Position_PID::result = 0;
bsp_Position_PID::result_H = 0;
bsp_Position_PID::result_L = 0;
bsp_Position_PID::result_H = result_H;
bsp_Position_PID::result_L = result_L;
}
//----------------------------------------------------------------------------------------------------
bsp_Position_PID::~bsp_Position_PID(void) {}
@@ -199,8 +199,8 @@ bsp_Increment_PID::bsp_Increment_PID(
bsp_Increment_PID::Ki = Ki;
bsp_Increment_PID::Kd = Kd;
bsp_Increment_PID::result = 0;
bsp_Increment_PID::result_H = 0;
bsp_Increment_PID::result_L = 0;
bsp_Increment_PID::result_H = result_H;
bsp_Increment_PID::result_L = result_L;
}
//----------------------------------------------------------------------------------------------------
bsp_Increment_PID::~bsp_Increment_PID(void) {}