智能车制作

标题: 下面个那个直立电压输出式为什么要那样写 [打印本页]

作者: 丨奇灬锦兮丶 时间: 2015-4-23 17:04
标题: 下面个那个直立电压输出式为什么要那样写
void Car_Upright_Ctrl()                   //stand control signal output
{
  float fValue;                            //ensure the PWM is postive when the car forward
  fValue =  (CAR_ANGLE_SET -  Angle ) * P_Upright_Ctrl + (CAR_ANGLE_SPEED_SET- Angle_dot ) * D_Upright_Ctrl ;

  if (fValue > PWM_Val_Max) fValue = PWM_Val_Max;
if (fValue < PWM_Val_Min) fValue = PWM_Val_Min;

  g_fAngleControlOut = fValue;
}

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