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Servo 的代码
position.h
#ifndef _Position_h_
#define _Position_h_
#include "global.h"
float Winkel_zur_Wand; //berechtete Ausrichtung zur Wand
float ServoWinkel; //auf diesen Wert wird der Servo angesteuert (M
picservo.lst
MPASM 4.02 Released PICSERVO.ASM 12-31-2006 11:50:00 PAGE 1
LOC OBJECT CODE LINE SOURCE TEXT
VALUE
00001 LIST P
picservo.asm
LIST P=PIC16F84, R=DEC
#INCLUDE "p16f84.inc"
;------------------------------------------------------------------------------
; ASSEMBLE With MPASM. available for free from http://www.microchi
chap9_3.m
%PID Control with Stribeck Friction Model
clear all;
close all;
global w A alfa J Ce R Km Ku S a1 Fm Fc M kv
%Servo system Parameters
J=0.6;Ce=1.2;Km=6;
Ku=11;R=7.77;
w=1*2*pi;A=0.10;
al
chap9_5i.m
%Three Loop of Flight Simulator Servo System with Direct Current Motor
clear all;
close all;
%(1)Current loop
L=0.001; %L
chap9_6i.m
%Three Loop of Flight Simulator Servo System with two-mass of Direct Current Motor
clear all;
close all;
%(1)Current loop
L=0.001; %L
chap7_5.m
%Nonlinear PID Control for a servo system
clear all;
close all;
ts=0.001;
J=1/133;
q=25/133;
sys=tf(1,[J,q,0]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');
r_1=0;r_2=0;
u_1=0;u_2=0
servo.h
#ifndef _SERVO_H_
#define _SERVO_H_
#include "config.h"
extern unsigned char servo_pos;
void servo_init(void);
void servo_set_pos(unsigned char servo_pos);
unsigned int servo_generate_bmp(unsigned cha
servo.h
#ifndef _SERVO_H_
#define _SERVO_H_
#include "config.h"
extern unsigned char servo_pos;
void servo_init(void);
void servo_set_pos(unsigned char servo_pos);
unsigned int servo_generate_bmp(unsigned cha