智能车制作

标题: 求解 [打印本页]

作者: QLT 时间: 2017-3-7 20:23
标题: 求解
void main()
{

  //unsigned short int    ADC_Sample[5][5]={0,0,0,0,0};//ADC采样值，5个传感器各采5次
uint16 a,b,c,d=0,e=0,f=0,g,h,i,l;

float Kp,Kd;
float ek,ek1;

PID_Init();
LQLCD_Init();
adc_init(ADC1_SE15);             //ADC初始化
adc_init(ADC1_SE11);
ftm_pwm_init(FTM0, FTM_CH3,10*1000,0);
ftm_pwm_init(FTM1, FTM_CH0,100,1750);
//LCD_CLS();
while(1)
{

      for(g=0;g<10;g++)
      {
         a = adc_once (ADC1_SE15, ADC_8bit);
      //b = adc_once (ADC1_SE14, ADC_8bit);
         b = adc_once (ADC1_SE13, ADC_8bit);
         i = adc_once (ADC1_SE12, ADC_8bit);
         c = adc_once (ADC1_SE11, ADC_8bit);
      //printf("\nADC采样结果为:%d %d %d %d %d",a,b,c,d,e);
      //printf("    相应电压值为%dmV %dmV %dmV %dmV %dmV",(3300*a)/((1<<8)-1),(3300*b)/((1<<8)-1),(3300*c)/((1<<8)-1),(3300*d)/((1<<8)-1),(3300*e)/((1<<8)-1));
         d=a+d;
         e=b+e;
         f=c+f;
         l=i+l;
      }
      d=d/10;
      e=e/10;
      f=f/10;
      l=l/10;
      LED_PrintShort(42,3,d);
      LED_PrintShort(42,1,e);
      LED_PrintShort(42,5,f);
      LED_PrintShort(42,7,l);

      //DELAY_MS(500);
      ek=(d-f)/(d+f);
      ek1=ek;
      h=Kp*ek+Kd(ek-ek1)+1550;
   //***********************
      if (h>1950) h=1950;
      if (h<1150)  h=1150;
      ftm_pwm_duty(FTM0,FTM_CH3,140);

      if(a>100&&c>100)
      {Kp=0.12;
      Kd=1.6;
      ftm_pwm_duty(FTM1,FTM_CH0,h);
      }
      if (h>1200|h<1800)
      { Kp=0.18;
      Kd=2.2;
      ftm_pwm_duty(FTM1,FTM_CH0,h);

   //*******丢线
      if (a<60)
      {ftm_pwm_duty(FTM1,FTM_CH0,2000);
      ftm_pwm_duty(FTM0,FTM_CH3,100);
      }
      if(c<60)
      {ftm_pwm_duty(FTM1,FTM_CH0,1100);
      ftm_pwm_duty(FTM0,FTM_CH3,100);
      }
      }

      if (h>=1800)    ftm_pwm_duty(FTM1,FTM_CH0,2000);
   if (h<=1200)    ftm_pwm_duty(FTM1,FTM_CH0,1100);
   // h=(d-f)*900/80+1550;
      //g=pow(b/1600,1.0/3);

            //  if (h>1200|h<1800)
//          {    ftm_pwm_duty(FTM1,FTM_CH0,h);
//                if (a<60) ftm_pwm_duty(FTM1,FTM_CH0,2000);
//                if(c<60) ftm_pwm_duty(FTM1,FTM_CH0,1100);
//          }
//       if (h>=1800)    ftm_pwm_duty(FTM1,FTM_CH0,2000);
//
//       if (h<=1200)    ftm_pwm_duty(FTM1,FTM_CH0,1100);

}
}

他说Error[Pe109]: expression preceding parentheses of apparent call must have (pointer-to-) function type C:\Users\lenovo\Desktop\ADC - 副本\App\main.c 74
前括号表达式的调用必须有(指针)函数类型
请问这是为什么怎么改
求大神指教

欢迎光临智能车制作 (http://111.231.132.190/)