//pid_calc(&pid_pos[0],moto_chassis[0].total_angle/100,ref_agle0);
out1 = pid_calc(&pid_spd[0],moto_chassis[0].speed_rpm,pid_pos[0].pos_out);
把第一行注释
把第二行的pid_pos[0].pos_out改成速度给定
float set_speed;
set_speed = 500;
out1 = pid_calc(&pid_spd[0],moto_chassis[0].speed_rpm,set_speed );
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