bsp_Position_PID bsp_PID.h float float bsp_Position_PID::target target bsp_Position_PID::target 设定值 bsp_Position_PID PID float float bsp_Position_PID::Kp Kp bsp_Position_PID::Kp 比例系数 bsp_Position_PID PID set float float bsp_Position_PID::Kd Kd bsp_Position_PID::Kd 积分系数 bsp_Position_PID PID set float float bsp_Position_PID::Ki Ki bsp_Position_PID::Ki 微分系数 bsp_Position_PID PID set float float bsp_Position_PID::result result bsp_Position_PID::result 输出值 bsp_Position_PID clean PID float float bsp_Position_PID::integral integral bsp_Position_PID::integral 积分值 bsp_Position_PID clean PID float float bsp_Position_PID::lasterror lasterror bsp_Position_PID::lasterror 前一拍偏差 bsp_Position_PID clean PID float float bsp_Position_PID::result_H result_H bsp_Position_PID::result_H 输出最高值 bsp_Position_PID PID float float bsp_Position_PID::result_L result_L bsp_Position_PID::result_L 输出最低值 bsp_Position_PID PID bsp_Position_PID::bsp_Position_PID (void) bsp_Position_PID bsp_Position_PID::bsp_Position_PID void integral Kd Ki Kp lasterror result result_H result_L target bsp_Position_PID::bsp_Position_PID (float Kp, float Ki, float Kd, float target, float result_H, float result_L) bsp_Position_PID bsp_Position_PID::bsp_Position_PID float Kp float Ki float Kd float target float result_H float result_L PID算法 Kp P参数 Ki I参数 Kd D参数 target 目标值 result_H 输出最大值 result_L 输出最小值 integral Kd Ki Kp lasterror result result_H result_L target bsp_Position_PID::~bsp_Position_PID (void) ~bsp_Position_PID bsp_Position_PID::~bsp_Position_PID void float float bsp_Position_PID::PID (float temp) PID bsp_Position_PID::PID float temp PID算法 temp 目前变量 返回调整量 integral Kd Ki Kp lasterror result result_H result_L target void void bsp_Position_PID::clean (void) clean bsp_Position_PID::clean void 清理历史数据 清除PID运算数据 integral lasterror result void void bsp_Position_PID::set (float P, float I, float D) set bsp_Position_PID::set float P float I float D PID参数设置 P P参数 I I参数 D D参数 Kd Ki Kp 位置法为基础的PID算法 bsp_Position_PIDbsp_Position_PID bsp_Position_PIDbsp_Position_PID bsp_Position_PIDclean bsp_Position_PIDintegral bsp_Position_PIDKd bsp_Position_PIDKi bsp_Position_PIDKp bsp_Position_PIDlasterror bsp_Position_PIDPID bsp_Position_PIDresult bsp_Position_PIDresult_H bsp_Position_PIDresult_L bsp_Position_PIDset bsp_Position_PIDtarget bsp_Position_PID~bsp_Position_PID