您好,
比如 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);
我把pid_calc(&pid_pos[0],moto_chassis[0].total_angle/100,ref_agle0); 中的moto_chassis[0].total_angle/100改成moto_chassis[0].speed_rpm就行了是吗? |