\hypertarget{bsp___p_i_d_8cpp_source}{}\doxysection{bsp\+\_\+\+PID.\+cpp}
\label{bsp___p_i_d_8cpp_source}\index{D:/gitt/MicrochipFor32/bsp\_Device/bsp\_PID.cpp@{D:/gitt/MicrochipFor32/bsp\_Device/bsp\_PID.cpp}}
\mbox{\hyperlink{bsp___p_i_d_8cpp}{浏览该文件的文档.}}
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\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00040}00040 \textcolor{comment}{//-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00041}00041 \textcolor{comment}{//  类函数}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00042}00042 \textcolor{comment}{//  }}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00048}\mbox{\hyperlink{classbsp___position___p_i_d_ac658466d8bc1d12fcd403c4b6f9ca9f7}{00048}} \textcolor{comment}{}\textcolor{keywordtype}{float} \mbox{\hyperlink{classbsp___position___p_i_d_ac658466d8bc1d12fcd403c4b6f9ca9f7}{bsp\_Position\_PID::PID}}(\textcolor{keywordtype}{float} temp) \{}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00049}00049     \textcolor{keywordtype}{float} thisError;}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00050}00050     thisError = \mbox{\hyperlink{classbsp___position___p_i_d_a04921569cfe25681f8763beaae01c1bc}{target}} -\/ temp;        \textcolor{comment}{//当前误差等于设定值减去当前值}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00051}00051     \mbox{\hyperlink{classbsp___position___p_i_d_a9e7c0b93c1936f3aca77800997f99c05}{integral}} += thisError;          \textcolor{comment}{//误差积分，把所有误差累加起来}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00052}00052     \mbox{\hyperlink{classbsp___position___p_i_d_a77ecc1d6378fb03cc63c9a3a263c90b2}{result}} = }
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\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00056}00056     \mbox{\hyperlink{classbsp___position___p_i_d_a04a54e038d2229f330e1913ce8b8aada}{lasterror}} = thisError;}
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\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00063}00063 \textcolor{comment}{//-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/}}
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\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00070}00070     \textcolor{keywordtype}{float} thisError=\mbox{\hyperlink{classbsp___increment___p_i_d_a6f2142a4e99c8a6bd5b604fe53c8e6b1}{target}} -\/ temp;    \textcolor{comment}{//当前误差等于设定值减去当前值}}
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\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00073}00073 }
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00074}00074     pError = thisError -\/ \mbox{\hyperlink{classbsp___increment___p_i_d_aaf7c047c9aa963bb6b7524fd8fc6242b}{lasterror}};}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00075}00075     iError = thisError;}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00076}00076     dError = thisError -\/ 2 * \mbox{\hyperlink{classbsp___increment___p_i_d_aaf7c047c9aa963bb6b7524fd8fc6242b}{lasterror}} + \mbox{\hyperlink{classbsp___increment___p_i_d_a8df6076b4bb4d4d1e4c7ee2777defb82}{preerror}};}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00077}00077 }
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00078}00078     increment = }
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00079}00079         \mbox{\hyperlink{classbsp___increment___p_i_d_a4bd6b08091f76f357da2dab404a3a97b}{Kp}} * pError + }
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00080}00080         \mbox{\hyperlink{classbsp___increment___p_i_d_a368b2b2bd531ef46a9518889f9f07eec}{Ki}} * iError + }
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00081}00081         \mbox{\hyperlink{classbsp___increment___p_i_d_acbe47a0c902698a6e11db1d0651a2627}{Kd}} * dError;              \textcolor{comment}{//增量计算}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00082}00082     \mbox{\hyperlink{classbsp___increment___p_i_d_a8df6076b4bb4d4d1e4c7ee2777defb82}{preerror}} = \mbox{\hyperlink{classbsp___increment___p_i_d_aaf7c047c9aa963bb6b7524fd8fc6242b}{lasterror}};          \textcolor{comment}{//存放偏差用于下次运算}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00083}00083     \mbox{\hyperlink{classbsp___increment___p_i_d_aaf7c047c9aa963bb6b7524fd8fc6242b}{lasterror}} = thisError;         \textcolor{comment}{//存放偏差用于下次运算}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00084}00084     \mbox{\hyperlink{classbsp___increment___p_i_d_a7e567c42a56682a0f24e39a92a562e40}{result}} += increment;          \textcolor{comment}{//上次结果叠加增量}}
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\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00086}00086     \textcolor{keywordflow}{if} (\mbox{\hyperlink{classbsp___increment___p_i_d_a90bb2ca2ebe196b8063183336c63186a}{result\_H}} == \mbox{\hyperlink{classbsp___increment___p_i_d_a17d1546dc185ae482d4d7b72af1ac5cd}{result\_L}})\textcolor{keywordflow}{return} \mbox{\hyperlink{classbsp___increment___p_i_d_a7e567c42a56682a0f24e39a92a562e40}{result}};}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00087}00087     \textcolor{keywordflow}{if} (\mbox{\hyperlink{classbsp___increment___p_i_d_a7e567c42a56682a0f24e39a92a562e40}{result}} >= \mbox{\hyperlink{classbsp___increment___p_i_d_a90bb2ca2ebe196b8063183336c63186a}{result\_H}})\mbox{\hyperlink{classbsp___increment___p_i_d_a7e567c42a56682a0f24e39a92a562e40}{result}} == \mbox{\hyperlink{classbsp___increment___p_i_d_a90bb2ca2ebe196b8063183336c63186a}{result\_H}};}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00088}00088     \textcolor{keywordflow}{else} \textcolor{keywordflow}{if} (\mbox{\hyperlink{classbsp___increment___p_i_d_a7e567c42a56682a0f24e39a92a562e40}{result}} <= \mbox{\hyperlink{classbsp___increment___p_i_d_a17d1546dc185ae482d4d7b72af1ac5cd}{result\_L}})\mbox{\hyperlink{classbsp___increment___p_i_d_a7e567c42a56682a0f24e39a92a562e40}{result}} == \mbox{\hyperlink{classbsp___increment___p_i_d_a17d1546dc185ae482d4d7b72af1ac5cd}{result\_L}};}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00089}00089     \textcolor{keywordflow}{return} \mbox{\hyperlink{classbsp___increment___p_i_d_a7e567c42a56682a0f24e39a92a562e40}{result}};\}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00090}00090 \textcolor{comment}{//-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00091}00091 \textcolor{comment}{//-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00096}\mbox{\hyperlink{classbsp___position___p_i_d_a7b60d7f8a80c632c501561e7e0765f14}{00096}} \textcolor{comment}{}\textcolor{keywordtype}{void} \mbox{\hyperlink{classbsp___position___p_i_d_a7b60d7f8a80c632c501561e7e0765f14}{bsp\_Position\_PID::clean}}(\textcolor{keywordtype}{void}) \{}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00097}00097     \mbox{\hyperlink{classbsp___position___p_i_d_a9e7c0b93c1936f3aca77800997f99c05}{integral}} = 0;       \textcolor{comment}{//积分值}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00098}00098     \mbox{\hyperlink{classbsp___position___p_i_d_a04a54e038d2229f330e1913ce8b8aada}{lasterror}} = 0;     \textcolor{comment}{//前一拍偏差}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00099}00099     \mbox{\hyperlink{classbsp___position___p_i_d_a77ecc1d6378fb03cc63c9a3a263c90b2}{result}} = 0;           \textcolor{comment}{//输出值}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00100}00100     \}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00101}00101 \textcolor{comment}{//-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00106}\mbox{\hyperlink{classbsp___increment___p_i_d_aa1cab8492ec6a289debfc215689d9b38}{00106}} \textcolor{comment}{}\textcolor{keywordtype}{void} \mbox{\hyperlink{classbsp___increment___p_i_d_aa1cab8492ec6a289debfc215689d9b38}{bsp\_Increment\_PID::clean}}(\textcolor{keywordtype}{void}) \{}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00107}00107     \mbox{\hyperlink{classbsp___increment___p_i_d_aaf7c047c9aa963bb6b7524fd8fc6242b}{lasterror}} = 0;     \textcolor{comment}{//前一拍偏差   }}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00108}00108     \mbox{\hyperlink{classbsp___increment___p_i_d_a8df6076b4bb4d4d1e4c7ee2777defb82}{preerror}} = 0;       \textcolor{comment}{//前两拍偏差}}
\DoxyCodeLine{\Hypertarget{bsp___p_i_d_8cpp_source_l00109}00109     \mbox{\hyperlink{classbsp___increment___p_i_d_a7e567c42a56682a0f24e39a92a562e40}{result}} = 0;           \textcolor{comment}{//输出值}}
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