智能车制作

标题: 参考程序看不懂，求解答 [打印本页]

作者: Crown_Clown 时间: 2013-2-10 09:52
标题: 参考程序看不懂，求解答
typedef struct
{
//P参数设定：
signed int ProportionalGain;
signed int ProportionalGainScale;
//I参数设定：
signed int IntegralGain;
signed int IntegralGainScale;
//D参数设定：
signed int DerivativeGain;
signed int DerivativeGainScale;
signed int PositivePIDLimit;
signed int NegativePIDLimit;

signed int IntegralPart_K_1;
signed int PIDInput_K_1;
}PID_type;
下面是PID控制程序的一小段：
ProportionalPart_K=
((pParams -> ProportionalGain) * PIDInput_K) >> (pParams -> ProportionalGainScale + 1)
请问这个">> (pParams -> ProportionalGainScale + 1)"的用处是干什么？为什么要这么用？求大腿~~~·

作者: dlyt03 时间: 2013-2-10 21:19

:lol我来看答案的

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