急急 ！！小车在设定的平衡位置不能停住（附注电机控制的代码求指导 ）

没有道理！

void MotorControl(int Angleout)
{

   Leftcontrol=Angleout;//-Speed_control_out_l;  //+Speed_control_out_l;
   
   Rightcontrol=Angleout;//-Speed_control_out_r;   //+Speed_control_out_r;
   /*
   if(Leftcontrol >= 0)
      Leftcontrol += 600;
   else
      Leftcontrol -= 600;
   
   if(Rightcontrol >= 0)
      Rightcontrol += 690;
   else
      Rightcontrol -= 690;
   */
  

if(Leftcontrol > control_max)
    Leftcontrol = control_max;

if(Leftcontrol < control_min)
    Leftcontrol = control_min;

if(Rightcontrol > control_max)
    Rightcontrol = control_max;

if(Rightcontrol < control_min)
    Rightcontrol = control_min;


if(Leftcontrol > 0)
{
  
  FTM_PWM_Duty(FTM0,FTM_CH7,2000+Leftcontrol);//ch7
  FTM_PWM_Duty(FTM0,FTM_CH6,0);  //ch6
  
}
else if(Leftcontrol < 0)
{
   Leftcontrol=-Leftcontrol;
   FTM_PWM_Duty(FTM0,FTM_CH6,2000+Leftcontrol);  //ch6
   FTM_PWM_Duty(FTM0,FTM_CH7,0);    //ch7
}

else
{

   FTM_PWM_Duty(FTM0,FTM_CH6,2000);  
   FTM_PWM_Duty(FTM0,FTM_CH7,2000);

}

if(Rightcontrol > 0)            
{

  FTM_PWM_Duty(FTM0,FTM_CH5,2000+Rightcontrol);   //ch5
  FTM_PWM_Duty(FTM0,FTM_CH4,0);   //ch4

}
else if(Rightcontrol < 0)
{
  
   Rightcontrol=-Rightcontrol;
   FTM_PWM_Duty(FTM0,FTM_CH4,2000+Rightcontrol);//ch4
   FTM_PWM_Duty(FTM0,FTM_CH5,0);   //ch5

}
else
{

   FTM_PWM_Duty(FTM0,FTM_CH4,2000);
   FTM_PWM_Duty(FTM0,FTM_CH5,2000);
}

if(Angle_car > 34 || Angle_car< -25)
{  


   FTM_PWM_Duty(FTM0,FTM_CH4,2000);
   FTM_PWM_Duty(FTM0,FTM_CH5,2000);   
  
   FTM_PWM_Duty(FTM0,FTM_CH6,2000);  
   FTM_PWM_Duty(FTM0,FTM_CH7,2000);  
  
}
  

3121304020

个人感觉原因如，平衡位置选取不当，或角度融合不好，小幅震动可能车调的过硬或死区电压不合适

qq1358381353

粘贴代码没用的。