MIC

聪明的教授 Lv155

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MIC

已学习：2433 提交：0 发表于2022-01-05 19:12:47

下载编号：94613

##PID## #define TRACK_1 // #define TRACK_2 //… #define TRACK_3 #define TRACK_4 /PID?????/ float kp = 0, ki = 0, kd = 0; float PID_Output(void) { float error,last_error; static float integral; float output; if( (TRACK_1 == 0) && (TRACK_2 == 1) && (TRACK_3 == 0) && (TRACK_4 == 0) ) //0 1 0 0 error = -1; else if( (TRACK_1 == 1) && (TRACK_2 == 1) && (TRACK_3 == 0) && (TRACK_4 == 0) ) //1 1 0 0 error = -2; else if( (TRACK_1 == 1) && (TRACK_2 == 0) && (TRACK_3 == 0) && (TRACK_4 == 0) ) //1 0 0 0 error = -3; else if( (TRACK_1 == 0) && (TRACK_2 == 0) && (TRACK_3 == 1) && (TRACK_4 == 0) ) //0 0 1 0 error = 1; else if( (TRACK_1 == 0) && (TRACK_2 == 0) && (TRACK_3 == 1) && (TRACK_4 == 1) ) //0 0 1 1 error = 2; else if( (TRACK_1 == 0) && (TRACK_2 == 0) && (TRACK_3 == 0) && (TRACK_4 == 1) ) //0 0 0 1 error = 3; else error = 0; integral += error; output = kp * error + ki * integral + kd * (error - last_error); last_error = error; return output;

/****************** 填写MIC咪头初始化代码   ***************************/
Mic_Adc_Init();
XFTTS_Ctrl_GPIO_Init();
XFTTS_USART3_Init(115200);
Get_XFTTS_Conn_Status();

/**********************************************************************/
while(1)
{
	/********************  填写MIC咪头任务处理代码     *****************/
	u16 GetData = GetMicSensorValue();
	char chinese[30] = "adc读取的数据为";
	char data[5];
	
	data[0] = GetData/1000 + 48;
	GetData = GetData-(GetData/1000)*1000;
	data[1] = GetData/100 + 48;
	GetData = GetData-(GetData/100)*100;
	data[2] = GetData/10 + 48;
	GetData = GetData-(GetData/10)*10;
	data[3] = GetData + 48;
	data[4] = '\0';
	
	strcat(chinese, data);
	
	if(GetXFTTSStatus() == 0)
	SendTextToXFTTS(chinese, 0);
	
	
	
	
	OSTimeDlyHMSM(0, 0, 10, 0);
	/*******************************************************************/
} }

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