C语言描述PID算法程序

turth

#include <C8051F020.H>
#include <string.h>
#include <math.h>
llvoid PIDInit(PID "P)]:
! o) F" x/ F9 z( S4 d- {; x) x尸定义结构体和公用体1
8 L4 m1 G% t3 S- B8 ^0 ]5 V#define N8
4 p# T1 W' z8 z, K' b# D) N$ u3 i+ G1 Xtypedef struct PID{
9 i; o2 m' p4 g1 s6 iunsigned int setpoint:
尸设定值1
: R% O0 j# x0 bunsigned int proportion:
; o+ F7 K& S/ @/ I- RI"比例系数1
unsigned int integral;
1积分系数”1
5 i( w/ i; G2 a6 Kunsigned int derivative;
' G6 T  n# v: T' U) b: I尸微分系数°1
( n+ I) D( E  i& _# W. {' F. z8 runsigned int lasterror;
8 j2 m) U  a2 b7 N2 v「前一"拍误差"1
unsigned int preerror,
P前两拍误差1
- G* v0 g/ a6 \( U}PID;
union stu{
unsigned int value;
5 B3 w, H9 z) q) X5 n' |unsigned char num[2];
. H0 P; N: D, B}laser;
$ `8 w9 O) v% r* j- U2 x! Hunion dat{
1 |/ A4 b5 D2 V2 nunsigned char dd[2]:
2 a" h/ u; D. Z+ j+ T6 punsigned int number,
}collect
P函数声明部分"I
$ h! }1 L* ]: ounsigned int PIDcal(PID "pp.int tiser):
void PIDInit(PID "P)]:
void Portinit(void);
unsigned int get ad(void);
unsigned int flter valve(void).
0 O: a6 `* k# s( O1 Uvoid Delayms(void);
( r; U8 h# g- W+ \& DP"主函数部分”1
void main(void)
, g! K) o' z7 q3 h; w  yPID vPID;
0 `: I+ D* v% A0 n# N1"定义结构体变量名”1
unsigned int verror,
unsigned int Error,
  O+ M" V6 I- S5 n* |* ~4 Y" Xunsigned int tempi:
3 g3 ]$ G( Z1 ?3 `5 _4 c$ Junsigned
char LASERH,LASERL误差的高低字节变量 “1
WDTCN=Oxde;
" N6 v3 ~/ j  K7 [9 X! d* |& Q+ z# PWDTCN=Oxad;
lporinit);:
: t7 t: G) E  j" x) OPIDInit(&vPID);
vPID.proportion=10; P 设置PID 比例系数为10°/
vPID.integral=10; 1 设定PID 积分系数为10*/
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道法自然

兄弟，你这个偷笑是咋回事？