unsigned char light=0; //激光管检测标志
unsigned short turn_value=0; //转向的PWM数值
unsigned short direction_turn[7]={333,430,560,647,705,780,888}; //转向给定值初始化
short speed_set[7]={250,300,350,400,350,300,250}; //速度给定值
short speed_flag=0; //速度档位标志位
short speed[3]={0,0,0}; //速度检测函数
short pulse_count=0; //编码器脉冲计数值
short speed_expect=0; //理想速度
short kp=2; //比例环节
short ki=0; //积分环节
short kd=1; //微分环节
short ek1=0; //误差1
short ek2=0; //误差2
short ek3=0; //误差3
short speed_add=0; //速度增量