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PID 的代码
pid.opt
### uVision2 Project, (C) Keil Software
### Do not modify !
cExt (*.c)
aExt (*.s*; *.src; *.a*)
oExt (*.obj)
lExt (*.lib)
tExt (*.txt; *.h; *.inc)
pExt (*.plm)
CppX (*.cpp)
DaveTm {
pid.lnp
"STARTUP.obj",
"keypad.obj",
"main.obj",
"Disp.obj",
"HW_Disp.obj",
"LTC1860.obj",
"CTL.obj"
TO "PID" Rtx51Tiny
RAMSIZE(256)
pid.hex
:022ACA002A7E62
:022ACC0029AE31
:022ACE00228361
:022AD00019816A
:022AD2002137AA
:0300000002272FA5
:0C272F00787FE4F6D8FD75817E022776E5
:1026A10048656C6C6F000000FFFFFFFFFFFF00003B
:1026B100FFEF0
pid.do
onerror {resume}
quietly WaveActivateNextPane {} 0
add wave -noupdate -format Logic /tb_pid_controler_0/clk_i
add wave -noupdate -format Logic /tb_pid_controler_0/reset_i
add wave -noupdate -forma
pid.c
#include "PID.h"
//定义PID参数
#define VV_KPVALUE 17 //比例
#define VV_KIVALUE 5 //微分
#define VV_KDVALUE 1 //积分
#define VV_MAX 7999 //
pid.h
typedef struct PID //定义算法核心数据
{
signed int Vi_Ref; //速度PID，速度设定，Velocity
signed int Vi_FeedBack; //速度PID，速度反馈值 ，m*50
signed long Vi_PreError
pid.h
//=========== (C) Copyright 1999 Valve, L.L.C. All rights reserved. ===========
//
// The copyright to the contents herein is the property of Valve, L.L.C.
// The contents may be used and/or copied
pid.cpp
#include "pid.h"
#include
std::map pidMap;
pid.d
THUMB\ Flash\ Debug/Pid.o: \
F:/Zsg/Project/EasyArm100/Luminary\ Exp/CD\ Exp/PID_Motor_Control/Pid.c \
F:/Zsg/Project/EasyArm100/Luminary\ Exp/CD\ Exp/PID_Motor_Control/config.h \
C:/Program\