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PID 的代码
speed_reg.h
#ifndef __SPEED_REG_H__
#define __SPEED_REG_H__
#include "Pid_reg1.h"
typedef struct
{
PIDREG1 *pid_reg;
int Qep_F;
int Pwm;
int Speed;
void (*init)();
void (*updat
speed_reg.h
#ifndef __SPEED_REG_H__
#define __SPEED_REG_H__
#include "Pid_reg1.h"
typedef struct
{
PIDREG1 *pid_reg;
int Qep_F;
int Pwm;
int Speed;
void (*init)();
void (*updat
main.c
#include /* common defines and macros */
#include /* derivative information */
#pragma LINK_INFO DERIVATIVE "mc9s12dg128b"
#include
#include
cofpidcontrol.txt
＃i nclude
＃i nclude
struct _pid {
int pv; /*integer that contains the process value*/
int sp; /*integer that contains the set point*/
float integral;
floa
control.c
//************************
// 路径识别部分
//************************
//找到黑线位置，存入diff[SIZE_Y]中
//扫描式黑线查找法
void ScanLine(void){
static signed char left,right; //每一行的搜索范围，左起始和右结束
static si
wait.h
#ifndef _SYS_WAIT_H
#define _SYS_WAIT_H
#ifdef __cplusplus
extern "C" {
#endif
#include
#define WNOHANG 1
#define WUNTRACED 2
/* A status looks like:
invokepluto.c
/* FreeS/WAN Pluto launcher (pluto.c)
* Copyright (C) 2001-2002 Mathieu Lafon - Arkoon Network Security
*
* This program is free software; you can redistribute it and/or modify it
* under the term
run_overhead
#!/bin/sh
#
# run_overhead,v 1.3 1999/06/01 00:38:33 coryan Exp
#
MSG_INTERVAL=5000 # 50000
# The interval between the messages, in usecs
UTL_COUNT=50000 # 500000
# The number of iterations
nint_r_wait.c
#ifndef lint
#ifdef sccs
static char sccsid[] = "@(#)nint_r_wait.c 1.1 92/07/30 Copyr 1985 Sun Micro";
#endif
#endif
/*
* Copyright (c) 1985 by Sun Microsystems, Inc.
*/
/*
* Nint_r_wait.c - Impl
msgbuf.h
#ifndef _ASMARM_MSGBUF_H
#define _ASMARM_MSGBUF_H
/*
* The msqid64_ds structure for arm architecture.
* Note extra padding because this structure is passed back and forth
* between kernel and use