{"id":96587,"date":"2026-08-27T23:32:27","date_gmt":"2026-08-27T15:32:27","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/96587.html"},"modified":"2026-08-27T23:32:27","modified_gmt":"2026-08-27T15:32:27","slug":"stm32f103-%e5%be%aa%e8%bf%b9%e5%b0%8f%e8%bd%a6%e5%85%a8%e6%a0%88%e5%ae%9e%e6%88%98%ef%bc%9a%e4%bb%8e%e7%ba%a2%e5%a4%96%e4%bc%a0%e6%84%9f%e5%88%b0-pid-%e9%97%ad%e7%8e%af","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/96587.html","title":{"rendered":"STM32F103 \u5faa\u8ff9\u5c0f\u8f66\u5168\u6808\u5b9e\u6218\uff1a\u4ece\u7ea2\u5916\u4f20\u611f\u5230 PID \u95ed\u73af"},"content":{"rendered":"<h3>\u76ee\u5f55<\/h3>\n<ul>\n<li>1. \u5f15\u8a00&#xff1a;\u5c0f\u8f66\u4e3a\u4ec0\u4e48\u8d70\u86c7\u5f62&#xff1f;<\/li>\n<li>2. \u7cfb\u7edf\u603b\u89c8\u4e0e\u786c\u4ef6\u67b6\u6784\n<ul>\n<li>2.1 \u4e3b\u63a7\u4e0e\u6838\u5fc3\u6a21\u5757<\/li>\n<li>2.2 \u4e3a\u4ec0\u4e48\u9009 TB6612 \u800c\u4e0d\u662f L298N<\/li>\n<li>2.3 \u7cfb\u7edf\u6846\u56fe<\/li>\n<\/ul>\n<\/li>\n<li>3. \u7ea2\u5916\u5faa\u8ff9\u539f\u7406\n<ul>\n<li>3.1 \u7269\u7406\u539f\u7406<\/li>\n<li>3.2 \u4f20\u611f\u5668\u9635\u5217\u5e03\u5c40<\/li>\n<li>3.3 \u7ea2\u5916\u53cd\u5c04\u539f\u7406\u56fe<\/li>\n<\/ul>\n<\/li>\n<li>4. CubeMX \u914d\u7f6e&#xff08;HAL \u5e93\u57fa\u7840&#xff09;\n<ul>\n<li>4.1 \u65f6\u949f\u914d\u7f6e<\/li>\n<li>4.2 TIM2 \u2192 PWM \u8f93\u51fa&#xff08;\u7535\u673a\u8c03\u901f&#xff09;<\/li>\n<li>4.3 TIM3\/TIM4 \u2192 \u7f16\u7801\u5668\u6a21\u5f0f<\/li>\n<li>4.4 GPIO \u914d\u7f6e<\/li>\n<li>4.5 USART1<\/li>\n<li>4.6 \u914d\u56fe\u5efa\u8bae<\/li>\n<\/ul>\n<\/li>\n<li>5. \u6807\u51c6\u5e93\u4ee3\u7801\u5b9e\u73b0\n<ul>\n<li>5.1 \u7ea2\u5916\u4f20\u611f\u5668\u8bfb\u53d6&#xff08;tracking.c&#xff09;<\/li>\n<li>5.2 \u7535\u673a\u9a71\u52a8&#xff08;motor_drive.c&#xff09;<\/li>\n<li>5.3 \u7f16\u7801\u5668\u6d4b\u901f&#xff08;encoder.c&#xff09;<\/li>\n<li>5.4 PID \u63a7\u5236\u5668&#xff08;pid.c&#xff09;<\/li>\n<li>5.5 \u4e3b\u5faa\u73af<\/li>\n<\/ul>\n<\/li>\n<li>6. HAL \u5e93\u4ee3\u7801\u5b9e\u73b0\n<ul>\n<li>6.1 \u7ea2\u5916\u8bfb\u53d6&#xff08;\u4e0e\u6807\u51c6\u5e93\u903b\u8f91\u76f8\u540c&#xff0c;\u4f7f\u7528 HAL API&#xff09;<\/li>\n<li>6.2 \u7535\u673a\u63a7\u5236&#xff08;\u57fa\u4e8e CubeMX \u751f\u6210\u7684 htim4&#xff09;<\/li>\n<li>6.3 \u7f16\u7801\u5668\u6d4b\u901f<\/li>\n<li>6.4 \u4e3b\u5faa\u73af&#xff08;HAL&#xff09;<\/li>\n<\/ul>\n<\/li>\n<li>7. PID \u53c2\u6570\u6574\u5b9a\u65b9\u6cd5\n<ul>\n<li>7.1 \u4e09\u6b65\u6574\u5b9a\u6cd5<\/li>\n<li>7.2 \u5178\u578b\u53c2\u6570\u8303\u56f4&#xff08;\u667a\u80fd\u5c0f\u8f66\u5faa\u8ff9&#xff09;<\/li>\n<li>7.3 \u5de5\u7a0b\u7ecf\u9a8c<\/li>\n<li>7.4 PID \u63a7\u5236\u6846\u56fe<\/li>\n<\/ul>\n<\/li>\n<li>8. \u8c03\u8bd5\u4e0e\u5e38\u89c1\u95ee\u9898\n<ul>\n<li>8.1 \u4e0a\u7535\u8c03\u8bd5\u987a\u5e8f<\/li>\n<li>8.2 \u5e38\u89c1\u95ee\u9898\u6392\u67e5<\/li>\n<li>8.3 \u8c03\u8bd5\u6d41\u7a0b\u56fe<\/li>\n<\/ul>\n<\/li>\n<li>9. \u8fdb\u9636\u62d3\u5c55\n<ul>\n<li>9.1 \u591a\u4f20\u611f\u5668\u878d\u5408<\/li>\n<li>9.2 \u901f\u5ea6\u95ed\u73af &#043; \u4f4d\u7f6e\u95ed\u73af\u53cc\u73af\u63a7\u5236<\/li>\n<li>9.3 \u590d\u6742\u8def\u5f84\u8bc6\u522b<\/li>\n<li>9.4 \u53cc\u73af PID \u63a7\u5236\u6846\u56fe<\/li>\n<\/ul>\n<\/li>\n<li>10. \u5173\u952e\u53c2\u6570\u901f\u67e5\u8868<\/li>\n<li>11. \u603b\u7ed3<\/li>\n<\/ul>\n<h3>1. \u5f15\u8a00&#xff1a;\u5c0f\u8f66\u4e3a\u4ec0\u4e48\u8d70\u86c7\u5f62&#xff1f;<\/h3>\n<p>\u5f88\u591a\u540c\u5b66\u7b2c\u4e00\u6b21\u505a\u5faa\u8ff9\u5c0f\u8f66&#xff0c;\u90fd\u4f1a\u9047\u5230\u4e00\u4e2a\u7ecf\u5178\u95ee\u9898&#xff1a;\u5c0f\u8f66\u660e\u660e\u80fd\u8ddf\u7ebf&#xff0c;\u5374\u603b\u662f\u5de6\u53f3\u6447\u6446&#xff0c;\u8d70\u51fa\u4e00\u6761\u86c7\u5f62\u8f68\u8ff9\u3002\u8fd8\u6709\u4eba\u53d1\u73b0\u7535\u673a\u53ea\u53d1\u51fa&#034;\u55e1\u55e1&#034;\u7684\u5578\u53eb\u58f0&#xff0c;\u8f6e\u5b50\u5374\u7eb9\u4e1d\u4e0d\u52a8\u3002\u8fd9\u4e24\u4e2a\u95ee\u9898&#xff0c;\u4e00\u4e2a\u6307\u5411\u63a7\u5236\u7b97\u6cd5&#xff0c;\u4e00\u4e2a\u6307\u5411 PWM \u9891\u7387\u914d\u7f6e\u2014\u2014\u800c\u5b83\u4eec\u6070\u6070\u662f\u5faa\u8ff9\u5c0f\u8f66\u4ece&#034;\u80fd\u8dd1&#034;\u5230&#034;\u8dd1\u5f97\u7a33&#034;\u7684\u5206\u6c34\u5cad\u3002<\/p>\n<p>\u5faa\u8ff9\u6280\u672f&#xff0c;\u7b80\u5355\u6765\u8bf4&#xff0c;\u5c31\u662f\u8ba9\u5c0f\u8f66\u6cbf\u7740\u5730\u9762\u4e0a\u7684\u5f15\u5bfc\u7ebf\u81ea\u4e3b\u884c\u9a76\u3002\u5b83\u770b\u4f3c\u53ea\u662f&#034;\u8ddf\u7740\u7ebf\u8d70&#034;&#xff0c;\u80cc\u540e\u5374\u4e32\u8054\u8d77\u4e00\u6761\u5b8c\u6574\u7684\u5d4c\u5165\u5f0f\u6280\u672f\u94fe\u8def&#xff1a;\u5148\u7528\u7ea2\u5916\u4f20\u611f\u5668\u611f\u77e5\u5730\u9762\u9ed1\u767d\u5dee\u5f02&#xff0c;\u628a\u7269\u7406\u4f4d\u7f6e\u4fe1\u606f\u53d8\u6210\u7535\u4fe1\u53f7&#xff1b;\u518d\u7531\u4e3b\u63a7\u82af\u7247\u8bfb\u53d6\u8fd9\u4e9b\u4fe1\u53f7&#xff0c;\u5224\u65ad\u5c0f\u8f66\u76f8\u5bf9\u9ed1\u7ebf\u7684\u504f\u79fb&#xff1b;\u63a5\u7740\u901a\u8fc7\u7535\u673a\u9a71\u52a8\u6a21\u5757\u63a7\u5236\u5de6\u53f3\u8f6e\u8f6c\u901f&#xff0c;\u8ba9\u5c0f\u8f66\u4fee\u6b63\u65b9\u5411&#xff1b;\u800c\u8981\u8ba9\u4fee\u6b63\u8fc7\u7a0b\u5e73\u6ed1\u3001\u4e0d\u6296\u52a8&#xff0c;\u8fd8\u9700\u8981\u7f16\u7801\u5668\u6d4b\u901f\u548c PID \u95ed\u73af\u63a7\u5236\u6765\u7cbe\u786e\u8c03\u8282\u3002\u8fd9\u6761&#034;\u611f\u77e5 \u2192 \u51b3\u7b56 \u2192 \u6267\u884c \u2192 \u53cd\u9988&#034;\u7684\u95ed\u73af&#xff0c;\u6b63\u662f\u5faa\u8ff9\u5c0f\u8f66\u7684\u6280\u672f\u9aa8\u67b6&#xff0c;\u4e5f\u662f\u672c\u6587\u5c06\u8981\u9010\u6b65\u5c55\u5f00\u7684\u4e3b\u7ebf\u3002<\/p>\n<p>\u8fd9\u7bc7\u6587\u7ae0\u9762\u5411 STM32F103 \u5e73\u53f0&#xff0c;\u4ece\u7ea2\u5916\u4f20\u611f\u3001\u7535\u673a\u9a71\u52a8\u3001\u7f16\u7801\u5668\u6d4b\u901f\u5230 PID \u95ed\u73af&#xff0c;\u8986\u76d6\u5faa\u8ff9\u5c0f\u8f66\u7684\u5b8c\u6574\u6280\u672f\u94fe\u8def\u3002\u4ee3\u7801\u540c\u65f6\u7ed9\u51fa\u6807\u51c6\u5e93\u4e0e HAL \u5e93&#xff08;\u542b CubeMX \u914d\u7f6e&#xff09;\u4e24\u5957\u5b9e\u73b0&#xff0c;\u65b9\u4fbf\u4e0d\u540c\u5de5\u7a0b\u4e60\u60ef\u7684\u8bfb\u8005\u5bf9\u7167\u4f7f\u7528\u3002<\/p>\n<h3>2. \u7cfb\u7edf\u603b\u89c8\u4e0e\u786c\u4ef6\u67b6\u6784<\/h3>\n<h4>2.1 \u4e3b\u63a7\u4e0e\u6838\u5fc3\u6a21\u5757<\/h4>\n<table>\n<tr>\u6a21\u5757\u5e38\u7528\u578b\u53f7\u63a5\u53e3<\/tr>\n<tbody>\n<tr>\n<td>\u4e3b\u63a7<\/td>\n<td>STM32F103C8T6<\/td>\n<td>&#8211;<\/td>\n<\/tr>\n<tr>\n<td>\u5faa\u8ff9\u4f20\u611f<\/td>\n<td>TCRT5000 \u7ea2\u5916\u5bf9\u7ba1&#xff08;3\/5 \u8def&#xff09;<\/td>\n<td>GPIO \u8f93\u5165<\/td>\n<\/tr>\n<tr>\n<td>\u7535\u673a\u9a71\u52a8<\/td>\n<td>TB6612FNG \u6216 L298N<\/td>\n<td>PWM &#043; GPIO<\/td>\n<\/tr>\n<tr>\n<td>\u52a8\u529b<\/td>\n<td>\u76f4\u6d41\u51cf\u901f\u7535\u673a &#043; \u7f16\u7801\u5668<\/td>\n<td>PWM &#043; TIM \u7f16\u7801\u5668\u6a21\u5f0f<\/td>\n<\/tr>\n<tr>\n<td>\u7535\u6e90<\/td>\n<td>7.4V\/11.1V \u9502\u7535 &#043; 5V \u7a33\u538b<\/td>\n<td>&#8211;<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>2.2 \u4e3a\u4ec0\u4e48\u9009 TB6612 \u800c\u4e0d\u662f L298N<\/h4>\n<p>\u5b9e\u6d4b\u6570\u636e\u5bf9\u6bd4\u5982\u4e0b&#xff1a;<\/p>\n<ul>\n<li>\u6548\u7387&#xff1a;TB6612 90-95%&#xff0c;L298N \u4ec5 60-70%&#xff0c;\u524d\u8005\u53d1\u70ed\u91cf\u663e\u8457\u964d\u4f4e<\/li>\n<li>PWM \u54cd\u5e94&#xff1a;TB6612 \u4e0a\u5347\u65f6\u95f4 120ns&#xff0c;L298N 800ns<\/li>\n<li>\u6301\u7eed\u7535\u6d41&#xff1a;TB6612 1.2A\/\u901a\u9053&#xff0c;L298N 2A\/\u901a\u9053<\/li>\n<li>\u903b\u8f91\u7535\u5e73&#xff1a;TB6612 \u652f\u6301 3.3V&#xff0c;\u76f4\u63a5\u5339\u914d STM32&#xff1b;L298N \u9700 5V \u903b\u8f91<\/li>\n<\/ul>\n<p>&#x1f4a1; \u5c0f\u8f66\u9879\u76ee\u9996\u9009 TB6612&#xff1b;\u82e5\u7535\u673a\u5de5\u4f5c\u7535\u538b &gt;13.5V \u6216\u6301\u7eed\u7535\u6d41 &gt;1.2A&#xff0c;\u518d\u8003\u8651 L298N\u3002<\/p>\n<h4>2.3 \u7cfb\u7edf\u6846\u56fe<\/h4>\n<p>  #mermaid-svg-r6x0FMKBEhdMaqD5{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;fill:#333;}@keyframes edge-animation-frame{from{stroke-dashoffset:0;}}@keyframes dash{to{stroke-dashoffset:0;}}#mermaid-svg-r6x0FMKBEhdMaqD5 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0.8);}#mermaid-svg-r6x0FMKBEhdMaqD5 .edgeLabel rect{opacity:0.5;background-color:rgba(232,232,232, 0.8);fill:rgba(232,232,232, 0.8);}#mermaid-svg-r6x0FMKBEhdMaqD5 .labelBkg{background-color:rgba(232, 232, 232, 0.5);}#mermaid-svg-r6x0FMKBEhdMaqD5 .cluster rect{fill:#ffffde;stroke:#aaaa33;stroke-width:1px;}#mermaid-svg-r6x0FMKBEhdMaqD5 .cluster text{fill:#333;}#mermaid-svg-r6x0FMKBEhdMaqD5 .cluster span{color:#333;}#mermaid-svg-r6x0FMKBEhdMaqD5 div.mermaidTooltip{position:absolute;text-align:center;max-width:200px;padding:2px;font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:12px;background:hsl(80, 100%, 96.2745098039%);border:1px solid #aaaa33;border-radius:2px;pointer-events:none;z-index:100;}#mermaid-svg-r6x0FMKBEhdMaqD5 .flowchartTitleText{text-anchor:middle;font-size:18px;fill:#333;}#mermaid-svg-r6x0FMKBEhdMaqD5 rect.text{fill:none;stroke-width:0;}#mermaid-svg-r6x0FMKBEhdMaqD5 .icon-shape,#mermaid-svg-r6x0FMKBEhdMaqD5 .image-shape{background-color:rgba(232,232,232, 0.8);text-align:center;}#mermaid-svg-r6x0FMKBEhdMaqD5 .icon-shape p,#mermaid-svg-r6x0FMKBEhdMaqD5 .image-shape p{background-color:rgba(232,232,232, 0.8);padding:2px;}#mermaid-svg-r6x0FMKBEhdMaqD5 .icon-shape .label rect,#mermaid-svg-r6x0FMKBEhdMaqD5 .image-shape .label rect{opacity:0.5;background-color:rgba(232,232,232, 0.8);fill:rgba(232,232,232, 0.8);}#mermaid-svg-r6x0FMKBEhdMaqD5 .label-icon{display:inline-block;height:1em;overflow:visible;vertical-align:-0.125em;}#mermaid-svg-r6x0FMKBEhdMaqD5 .node .label-icon path{fill:currentColor;stroke:revert;stroke-width:revert;}#mermaid-svg-r6x0FMKBEhdMaqD5 :root{&#8211;mermaid-font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;}<\/p>\n<p>         <span class=\"edgeLabel\"><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u53cd\u9988<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u4f20\u611f\u5668\u9635\u5217<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u4e3b\u63a7 STM32F103<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u7535\u673a\u9a71\u52a8 TB6612<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u76f4\u6d41\u7535\u673a<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u7f16\u7801\u5668<\/p>\n<p><\/span><\/p>\n<p>\u56fe1 \u7cfb\u7edf\u6846\u56fe&#xff1a;\u4f20\u611f\u5668\u9635\u5217 \u2192 \u4e3b\u63a7 \u2192 \u7535\u673a\u9a71\u52a8 \u2192 \u7535\u673a \u2192 \u7f16\u7801\u5668 \u2192 \u53cd\u9988\u56de\u4e3b\u63a7&#xff0c;\u5f62\u6210\u95ed\u73af\u3002\u786c\u4ef6\u5b9e\u7269\u56fe\u4e0e\u63a5\u7ebf\u56fe\u8bf7\u53c2\u8003\u6587\u672b\u9644\u5f55\u3002<\/p>\n<h3>3. \u7ea2\u5916\u5faa\u8ff9\u539f\u7406<\/h3>\n<h4>3.1 \u7269\u7406\u539f\u7406<\/h4>\n<p>\u7ea2\u5916\u53d1\u5c04\u7ba1\u6301\u7eed\u53d1\u5c04 850-940nm \u7ea2\u5916\u5149&#xff0c;\u5730\u9762\u53cd\u5c04\u540e\u88ab\u63a5\u6536\u7ba1\u6355\u83b7&#xff1a;<\/p>\n<ul>\n<li>\u767d\u5e95&#xff1a;\u53cd\u5c04\u7387 70-80%&#xff0c;\u63a5\u6536\u7ba1\u5bfc\u901a \u2192 \u8f93\u51fa\u4f4e\u7535\u5e73<\/li>\n<li>\u9ed1\u7ebf&#xff1a;\u53cd\u5c04\u7387 10-20%&#xff0c;\u63a5\u6536\u7ba1\u622a\u6b62 \u2192 \u8f93\u51fa\u9ad8\u7535\u5e73<\/li>\n<\/ul>\n<p>\u26a0\ufe0f \u7535\u5e73\u6781\u6027\u53d6\u51b3\u4e8e\u5177\u4f53\u6a21\u5757\u8bbe\u8ba1&#xff0c;\u4ee5\u5b9e\u9645\u6a21\u5757\u8c03\u8282\/\u53d6\u53cd\u4e3a\u51c6\u3002TCRT5000 \u914d\u5408 LM393 \u6bd4\u8f83\u5668&#xff0c;\u901a\u8fc7\u7535\u4f4d\u5668\u8bbe\u5b9a\u9608\u503c&#xff0c;\u8f93\u51fa\u6570\u5b57\u91cf\u3002<\/p>\n<h4>3.2 \u4f20\u611f\u5668\u9635\u5217\u5e03\u5c40<\/h4>\n<p>3-5 \u8def\u4f20\u611f\u5668\u7ebf\u6027\u6392\u5e03&#xff0c;\u5e38\u89c1\u6743\u91cd\u8d4b\u503c&#xff1a;<\/p>\n<table>\n<tr>\u4f4d\u7f6e\u6700\u5de6\u5de6\u4e2d\u4e2d\u95f4\u53f3\u4e2d\u6700\u53f3<\/tr>\n<tbody>\n<tr>\n<td>\u6743\u91cd<\/td>\n<td>-3<\/td>\n<td>-1<\/td>\n<td>0<\/td>\n<td>&#043;1<\/td>\n<td>&#043;3<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u901a\u8fc7\u52a0\u6743\u6c42\u548c\u5f97\u5230\u4f4d\u7f6e\u504f\u5dee error&#xff0c;\u8f93\u5165 PID \u63a7\u5236\u5668\u3002<\/p>\n<h4>3.3 \u7ea2\u5916\u53cd\u5c04\u539f\u7406\u56fe<\/h4>\n<p>  #mermaid-svg-eDRigXnpLnZ9c1mT{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;fill:#333;}@keyframes edge-animation-frame{from{stroke-dashoffset:0;}}@keyframes dash{to{stroke-dashoffset:0;}}#mermaid-svg-eDRigXnpLnZ9c1mT .edge-animation-slow{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 50s linear infinite;stroke-linecap:round;}#mermaid-svg-eDRigXnpLnZ9c1mT 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path{fill:#000;stroke:#000;stroke-width:1px;}#mermaid-svg-eDRigXnpLnZ9c1mT .rough-node .label,#mermaid-svg-eDRigXnpLnZ9c1mT .node .label,#mermaid-svg-eDRigXnpLnZ9c1mT .image-shape .label,#mermaid-svg-eDRigXnpLnZ9c1mT .icon-shape .label{text-align:center;}#mermaid-svg-eDRigXnpLnZ9c1mT .node.clickable{cursor:pointer;}#mermaid-svg-eDRigXnpLnZ9c1mT .root .anchor path{fill:#333333!important;stroke-width:0;stroke:#333333;}#mermaid-svg-eDRigXnpLnZ9c1mT .arrowheadPath{fill:#333333;}#mermaid-svg-eDRigXnpLnZ9c1mT .edgePath .path{stroke:#333333;stroke-width:2.0px;}#mermaid-svg-eDRigXnpLnZ9c1mT .flowchart-link{stroke:#333333;fill:none;}#mermaid-svg-eDRigXnpLnZ9c1mT .edgeLabel{background-color:rgba(232,232,232, 0.8);text-align:center;}#mermaid-svg-eDRigXnpLnZ9c1mT .edgeLabel p{background-color:rgba(232,232,232, 0.8);}#mermaid-svg-eDRigXnpLnZ9c1mT .edgeLabel rect{opacity:0.5;background-color:rgba(232,232,232, 0.8);fill:rgba(232,232,232, 0.8);}#mermaid-svg-eDRigXnpLnZ9c1mT .labelBkg{background-color:rgba(232, 232, 232, 0.5);}#mermaid-svg-eDRigXnpLnZ9c1mT .cluster rect{fill:#ffffde;stroke:#aaaa33;stroke-width:1px;}#mermaid-svg-eDRigXnpLnZ9c1mT .cluster text{fill:#333;}#mermaid-svg-eDRigXnpLnZ9c1mT .cluster span{color:#333;}#mermaid-svg-eDRigXnpLnZ9c1mT div.mermaidTooltip{position:absolute;text-align:center;max-width:200px;padding:2px;font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:12px;background:hsl(80, 100%, 96.2745098039%);border:1px solid #aaaa33;border-radius:2px;pointer-events:none;z-index:100;}#mermaid-svg-eDRigXnpLnZ9c1mT .flowchartTitleText{text-anchor:middle;font-size:18px;fill:#333;}#mermaid-svg-eDRigXnpLnZ9c1mT rect.text{fill:none;stroke-width:0;}#mermaid-svg-eDRigXnpLnZ9c1mT .icon-shape,#mermaid-svg-eDRigXnpLnZ9c1mT .image-shape{background-color:rgba(232,232,232, 0.8);text-align:center;}#mermaid-svg-eDRigXnpLnZ9c1mT .icon-shape p,#mermaid-svg-eDRigXnpLnZ9c1mT .image-shape p{background-color:rgba(232,232,232, 0.8);padding:2px;}#mermaid-svg-eDRigXnpLnZ9c1mT .icon-shape .label rect,#mermaid-svg-eDRigXnpLnZ9c1mT .image-shape .label rect{opacity:0.5;background-color:rgba(232,232,232, 0.8);fill:rgba(232,232,232, 0.8);}#mermaid-svg-eDRigXnpLnZ9c1mT .label-icon{display:inline-block;height:1em;overflow:visible;vertical-align:-0.125em;}#mermaid-svg-eDRigXnpLnZ9c1mT .node .label-icon path{fill:currentColor;stroke:revert;stroke-width:revert;}#mermaid-svg-eDRigXnpLnZ9c1mT :root{&#8211;mermaid-font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;}<\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u53d1\u5c04<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u767d\u5e95\u53cd\u5c04\u7387 70-80%<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u9ed1\u7ebf\u53cd\u5c04\u7387 10-20%<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u7ea2\u5916\u53d1\u5c04\u7ba1850-940nm<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u5730\u9762<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u63a5\u6536\u7ba1\u5bfc\u901a\u8f93\u51fa\u4f4e\u7535\u5e73<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u63a5\u6536\u7ba1\u622a\u6b62\u8f93\u51fa\u9ad8\u7535\u5e73<\/p>\n<p><\/span><\/p>\n<p>\u56fe4 \u7ea2\u5916\u53cd\u5c04\u539f\u7406\u56fe&#xff1a;\u53d1\u5c04\u7ba1\u2192\u5730\u9762\u2192\u53cd\u5c04\u2192\u63a5\u6536\u7ba1\u7684\u5149\u8def\u793a\u610f\u3002\u4e94\u8def\u4f20\u611f\u5668\u95f4\u8ddd\u5efa\u8bae 1.5-2cm&#xff0c;\u5339\u914d\u9ed1\u7ebf\u5bbd\u5ea6 1.8cm\u3002<\/p>\n<h3>4. CubeMX \u914d\u7f6e&#xff08;HAL \u5e93\u57fa\u7840&#xff09;<\/h3>\n<h4>4.1 \u65f6\u949f\u914d\u7f6e<\/h4>\n<ul>\n<li>HSE 8MHz \u2192 PLL \u2192 HCLK 72MHz<\/li>\n<li>APB1 \u5b9a\u65f6\u5668\u65f6\u949f 36MHz \/ APB2 \u5b9a\u65f6\u5668\u65f6\u949f 72MHz<\/li>\n<\/ul>\n<h4>4.2 TIM2 \u2192 PWM \u8f93\u51fa&#xff08;\u7535\u673a\u8c03\u901f&#xff09;<\/h4>\n<ul>\n<li>Channel1\/2 \u914d\u7f6e\u4e3a PWM Generation CH1\/CH2<\/li>\n<li>\u5bf9\u5e94\u5f15\u811a PA0\/PB8&#xff08;\u7528\u6237\u539f\u6709\u5de5\u7a0b\u4f7f\u7528 PB8\/PB9&#xff09;<\/li>\n<li>Prescaler &#061; 71&#xff0c;Period &#061; 99 \u2192 10kHz PWM&#xff08;\u7535\u673a\u8fd0\u884c\u6700\u5e73\u7a33\u7684\u9891\u7387&#xff09;<\/li>\n<li>\u7528\u6237\u539f\u4ee3\u7801 TIM_Prescaler&#061;7199 \u662f\u9519\u8bef\u503c&#xff0c;\u5fc5\u987b\u6539\u4e3a 71<\/li>\n<\/ul>\n<h4>4.3 TIM3\/TIM4 \u2192 \u7f16\u7801\u5668\u6a21\u5f0f<\/h4>\n<p>\u4ee5 TIM3 \u4e3a\u4f8b&#xff1a;PA6\/PA7 \u63a5\u7f16\u7801\u5668 A\/B \u76f8\u3002<\/p>\n<ul>\n<li>Combined Channels \u9009\u62e9 Encoder Mode<\/li>\n<li>\u53c2\u6570\u8bbe\u7f6e&#xff1a;Encoder Mode &#061; TI1 and TI2&#xff08;4 \u500d\u9891&#xff09;&#xff0c;Counter Period &#061; 65535&#xff0c;ICFilter &#061; 4&#xff08;\u4e2d\u7b49\u6ee4\u6ce2&#xff09;<\/li>\n<li>\u5f15\u811a GPIO Settings \u8bbe\u4e3a Pull-up<\/li>\n<\/ul>\n<h4>4.4 GPIO \u914d\u7f6e<\/h4>\n<ul>\n<li>\u4e94\u8def\u7ea2\u5916\u8f93\u5165&#xff1a;PA4\u3001PB5\u3001PB1&#xff08;\u7528\u6237\u6307\u5b9a&#xff09;\u7b49&#xff0c;\u914d\u7f6e\u4e3a Input \u6a21\u5f0f<\/li>\n<li>\u7535\u673a\u65b9\u5411\u63a7\u5236&#xff1a;PB12-PB15&#xff0c;\u914d\u7f6e\u4e3a GPIO_Output<\/li>\n<li>STBY \u5f15\u811a&#xff08;TB6612&#xff09;&#xff1a;Output&#xff0c;\u521d\u59cb High<\/li>\n<\/ul>\n<h4>4.5 USART1<\/h4>\n<p>Asynchronous&#xff0c;115200bps&#xff0c;\u7528\u4e8e\u8c03\u8bd5\u8f93\u51fa\u3002<\/p>\n<h4>4.6 \u914d\u56fe\u5efa\u8bae<\/h4>\n<ul>\n<li>\u56fe7 CubeMX \u65f6\u949f\u6811\u914d\u7f6e\u622a\u56fe<\/li>\n<li>\u56fe8 CubeMX TIM2 PWM \u53c2\u6570\u914d\u7f6e\u622a\u56fe&#xff08;\u7a81\u51fa PSC&#061;71, ARR&#061;99&#xff09;<\/li>\n<li>\u56fe9 CubeMX TIM3 \u7f16\u7801\u5668\u6a21\u5f0f\u914d\u7f6e\u622a\u56fe&#xff08;\u7a81\u51fa TI1 and TI2&#xff09;<\/li>\n<li>\u56fe10 CubeMX \u5f15\u811a\u5206\u914d\u603b\u89c8\u56fe<\/li>\n<\/ul>\n<h3>5. \u6807\u51c6\u5e93\u4ee3\u7801\u5b9e\u73b0<\/h3>\n<h4>5.1 \u7ea2\u5916\u4f20\u611f\u5668\u8bfb\u53d6&#xff08;tracking.c&#xff09;<\/h4>\n<p><span class=\"token comment\">\/\/ tracking.c &#8211; \u4e94\u8def\u7ea2\u5916\u5faa\u8ff9<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">LEFT_PIN<\/span>    <span class=\"token expression\">GPIO_Pin_4   <\/span><span class=\"token comment\">\/\/ PA4<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CENTER_PIN<\/span>  <span class=\"token expression\">GPIO_Pin_5   <\/span><span class=\"token comment\">\/\/ PB5<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">RIGHT_PIN<\/span>   <span class=\"token expression\">GPIO_Pin_1   <\/span><span class=\"token comment\">\/\/ PB1<\/span><\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">Tracking_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    GPIO_InitTypeDef GPIO_InitStructure<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">RCC_APB2PeriphClockCmd<\/span><span class=\"token punctuation\">(<\/span>RCC_APB2Periph_GPIOA <span class=\"token operator\">|<\/span> RCC_APB2Periph_GPIOB<span class=\"token punctuation\">,<\/span> ENABLE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    GPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Mode <span class=\"token operator\">&#061;<\/span> GPIO_Mode_IPU<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Speed <span class=\"token operator\">&#061;<\/span> GPIO_Speed_50MHz<span class=\"token punctuation\">;<\/span><\/p>\n<p>    GPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Pin <span class=\"token operator\">&#061;<\/span> LEFT_PIN<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>GPIOA<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStructure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    GPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Pin <span class=\"token operator\">&#061;<\/span> CENTER_PIN<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStructure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    GPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Pin <span class=\"token operator\">&#061;<\/span> RIGHT_PIN<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStructure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u8fd4\u56de -1\/0\/&#043;1 \u8868\u793a\u4f4d\u7f6e\u504f\u5dee\u65b9\u5411<\/span><br \/>\n<span class=\"token class-name\">int8_t<\/span> <span class=\"token function\">Tracking_GetError<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> L <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">GPIO_ReadInputDataBit<\/span><span class=\"token punctuation\">(<\/span>GPIOA<span class=\"token punctuation\">,<\/span> LEFT_PIN<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> Bit_RESET<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> C <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">GPIO_ReadInputDataBit<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> CENTER_PIN<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> Bit_RESET<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> R <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">GPIO_ReadInputDataBit<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> RIGHT_PIN<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> Bit_RESET<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>C <span class=\"token operator\">&amp;&amp;<\/span> <span class=\"token operator\">!<\/span>L <span class=\"token operator\">&amp;&amp;<\/span> <span class=\"token operator\">!<\/span>R<span class=\"token punctuation\">)<\/span> <span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ \u4e2d\u95f4\u5728\u7ebf\u4e0a<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>L <span class=\"token operator\">&amp;&amp;<\/span> <span class=\"token operator\">!<\/span>R<span class=\"token punctuation\">)<\/span> <span class=\"token keyword\">return<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/\/ \u504f\u5de6<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>R <span class=\"token operator\">&amp;&amp;<\/span> <span class=\"token operator\">!<\/span>L<span class=\"token punctuation\">)<\/span> <span class=\"token keyword\">return<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span>              <span class=\"token comment\">\/\/ \u504f\u53f3<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">;<\/span>                           <span class=\"token comment\">\/\/ \u4e22\u7ebf<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>5.2 \u7535\u673a\u9a71\u52a8&#xff08;motor_drive.c&#xff09;<\/h4>\n<p><span class=\"token comment\">\/\/ \u57fa\u4e8e\u7528\u6237\u539f\u6709 TIM4 PWM \u4ee3\u7801\u4fee\u6b63\u7248<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Motor_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">RCC_APB2PeriphClockCmd<\/span><span class=\"token punctuation\">(<\/span>RCC_APB2Periph_GPIOB<span class=\"token punctuation\">,<\/span> ENABLE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">RCC_APB1PeriphClockCmd<\/span><span class=\"token punctuation\">(<\/span>RCC_APB1Periph_TIM4<span class=\"token punctuation\">,<\/span> ENABLE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    GPIO_InitTypeDef GPIO_InitStructure <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    TIM_OCInitTypeDef TIM_OCInitStructure <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u65b9\u5411\u5f15\u811a PB12-PB15<\/span><br \/>\n    GPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Pin <span class=\"token operator\">&#061;<\/span> GPIO_Pin_12 <span class=\"token operator\">|<\/span> GPIO_Pin_13 <span class=\"token operator\">|<\/span><br \/>\n                                  GPIO_Pin_14 <span class=\"token operator\">|<\/span> GPIO_Pin_15<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Mode <span class=\"token operator\">&#061;<\/span> GPIO_Mode_Out_PP<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Speed <span class=\"token operator\">&#061;<\/span> GPIO_Speed_2MHz<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStructure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ PWM \u5f15\u811a PB8\/PB9<\/span><br \/>\n    GPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Pin <span class=\"token operator\">&#061;<\/span> GPIO_Pin_8 <span class=\"token operator\">|<\/span> GPIO_Pin_9<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Mode <span class=\"token operator\">&#061;<\/span> GPIO_Mode_AF_PP<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStructure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ 10kHz PWM&#xff1a;72MHz \/ 72 \/ 100 &#061; 10kHz<\/span><br \/>\n    TIM_TimeBaseInitStructure<span class=\"token punctuation\">.<\/span>TIM_Prescaler <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">71<\/span><span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/\/ \u4fee\u6b63&#xff1a;\u539f\u4e3a 7199<\/span><br \/>\n    TIM_TimeBaseInitStructure<span class=\"token punctuation\">.<\/span>TIM_CounterMode <span class=\"token operator\">&#061;<\/span> TIM_CounterMode_Up<span class=\"token punctuation\">;<\/span><br \/>\n    TIM_TimeBaseInitStructure<span class=\"token punctuation\">.<\/span>TIM_Period <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">99<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    TIM_TimeBaseInitStructure<span class=\"token punctuation\">.<\/span>TIM_ClockDivision <span class=\"token operator\">&#061;<\/span> TIM_CKD_DIV1<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">TIM_TimeBaseInit<\/span><span class=\"token punctuation\">(<\/span>TIM4<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>TIM_TimeBaseInitStructure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">TIM_ARRPreloadConfig<\/span><span class=\"token punctuation\">(<\/span>TIM4<span class=\"token punctuation\">,<\/span> ENABLE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">TIM_Cmd<\/span><span class=\"token punctuation\">(<\/span>TIM4<span class=\"token punctuation\">,<\/span> ENABLE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    TIM_OCInitStructure<span class=\"token punctuation\">.<\/span>TIM_OCMode <span class=\"token operator\">&#061;<\/span> TIM_OCMode_PWM1<span class=\"token punctuation\">;<\/span><br \/>\n    TIM_OCInitStructure<span class=\"token punctuation\">.<\/span>TIM_Pulse <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    TIM_OCInitStructure<span class=\"token punctuation\">.<\/span>TIM_OutputState <span class=\"token operator\">&#061;<\/span> TIM_OutputState_Enable<span class=\"token punctuation\">;<\/span><br \/>\n    TIM_OCInitStructure<span class=\"token punctuation\">.<\/span>TIM_OCPolarity <span class=\"token operator\">&#061;<\/span> TIM_OCPolarity_High<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">TIM_OC3Init<\/span><span class=\"token punctuation\">(<\/span>TIM4<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>TIM_OCInitStructure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">TIM_OC4Init<\/span><span class=\"token punctuation\">(<\/span>TIM4<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>TIM_OCInitStructure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">TIM_OC3PreloadConfig<\/span><span class=\"token punctuation\">(<\/span>TIM4<span class=\"token punctuation\">,<\/span> TIM_OCPreload_Enable<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">TIM_OC4PreloadConfig<\/span><span class=\"token punctuation\">(<\/span>TIM4<span class=\"token punctuation\">,<\/span> TIM_OCPreload_Enable<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u8bbe\u7f6e\u7535\u673a\u901f\u5ea6&#xff08;-99~99&#xff0c;\u6b63\u524d\u8fdb\u8d1f\u540e\u9000&#xff09;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Motor_SetSpeed<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">int8_t<\/span> left<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">int8_t<\/span> right<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u5de6\u7535\u673a<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>left <span class=\"token operator\">&gt;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">GPIO_SetBits<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_Pin_12<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/\/ AIN1&#061;1<\/span><br \/>\n        <span class=\"token function\">GPIO_ResetBits<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_Pin_13<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>    <span class=\"token comment\">\/\/ AIN2&#061;0<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">GPIO_ResetBits<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_Pin_12<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">GPIO_SetBits<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_Pin_13<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    TIM4<span class=\"token operator\">-&gt;<\/span>CCR3 <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">abs<\/span><span class=\"token punctuation\">(<\/span>left<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u53f3\u7535\u673a<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>right <span class=\"token operator\">&gt;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">GPIO_SetBits<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_Pin_14<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">GPIO_ResetBits<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_Pin_15<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">GPIO_ResetBits<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_Pin_14<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">GPIO_SetBits<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_Pin_15<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    TIM4<span class=\"token operator\">-&gt;<\/span>CCR4 <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">abs<\/span><span class=\"token punctuation\">(<\/span>right<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>5.3 \u7f16\u7801\u5668\u6d4b\u901f&#xff08;encoder.c&#xff09;<\/h4>\n<p><span class=\"token comment\">\/\/ TIM3 \u7f16\u7801\u5668\u6a21\u5f0f<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Encoder_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    GPIO_InitTypeDef GPIO_InitStructure <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    TIM_ICInitTypeDef TIM_ICInitStructure <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">RCC_APB2PeriphClockCmd<\/span><span class=\"token punctuation\">(<\/span>RCC_APB2Periph_GPIOA <span class=\"token operator\">|<\/span> RCC_APB2Periph_TIM3<span class=\"token punctuation\">,<\/span> ENABLE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    GPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Pin <span class=\"token operator\">&#061;<\/span> GPIO_Pin_6 <span class=\"token operator\">|<\/span> GPIO_Pin_7<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Mode <span class=\"token operator\">&#061;<\/span> GPIO_Mode_IPU<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>GPIOA<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStructure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    TIM_TimeBaseInitStructure<span class=\"token punctuation\">.<\/span>TIM_Prescaler <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    TIM_TimeBaseInitStructure<span class=\"token punctuation\">.<\/span>TIM_Period <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0xFFFF<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    TIM_TimeBaseInitStructure<span class=\"token punctuation\">.<\/span>TIM_CounterMode <span class=\"token operator\">&#061;<\/span> TIM_CounterMode_Up<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">TIM_TimeBaseInit<\/span><span class=\"token punctuation\">(<\/span>TIM3<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>TIM_TimeBaseInitStructure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">TIM_ICStructInit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>TIM_ICInitStructure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    TIM_ICInitStructure<span class=\"token punctuation\">.<\/span>TIM_Channel <span class=\"token operator\">&#061;<\/span> TIM_Channel_1<span class=\"token punctuation\">;<\/span><br \/>\n    TIM_ICInitStructure<span class=\"token punctuation\">.<\/span>TIM_ICFilter <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">TIM_ICInit<\/span><span class=\"token punctuation\">(<\/span>TIM3<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>TIM_ICInitStructure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    TIM_ICInitStructure<span class=\"token punctuation\">.<\/span>TIM_Channel <span class=\"token operator\">&#061;<\/span> TIM_Channel_2<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">TIM_ICInit<\/span><span class=\"token punctuation\">(<\/span>TIM3<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>TIM_ICInitStructure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u7f16\u7801\u5668\u6a21\u5f0f&#xff1a;TI1 \u548c TI2 \u5747\u8ba1\u6570&#xff08;4 \u500d\u9891&#xff09;<\/span><br \/>\n    <span class=\"token function\">TIM_EncoderInterfaceConfig<\/span><span class=\"token punctuation\">(<\/span>TIM3<span class=\"token punctuation\">,<\/span> TIM_EncoderMode_TI12<span class=\"token punctuation\">,<\/span><br \/>\n                               TIM_ICPolarity_Rising<span class=\"token punctuation\">,<\/span> TIM_ICPolarity_Rising<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">TIM_Cmd<\/span><span class=\"token punctuation\">(<\/span>TIM3<span class=\"token punctuation\">,<\/span> ENABLE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u8bfb\u53d6\u7f16\u7801\u5668\u8ba1\u6570&#xff08;\u5b9a\u671f\u8c03\u7528\u5e76\u6e05\u96f6&#xff09;<\/span><br \/>\n<span class=\"token class-name\">int16_t<\/span> <span class=\"token function\">Encoder_ReadAndClear<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">int16_t<\/span> cnt <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">int16_t<\/span><span class=\"token punctuation\">)<\/span>TIM3<span class=\"token operator\">-&gt;<\/span>CNT<span class=\"token punctuation\">;<\/span><br \/>\n    TIM3<span class=\"token operator\">-&gt;<\/span>CNT <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> cnt<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>5.4 PID \u63a7\u5236\u5668&#xff08;pid.c&#xff09;<\/h4>\n<p><span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> target<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> actual<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> err<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> err_last<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> integral<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> Kp<span class=\"token punctuation\">,<\/span> Ki<span class=\"token punctuation\">,<\/span> Kd<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> out_min<span class=\"token punctuation\">,<\/span> out_max<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> PID_TypeDef<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">float<\/span> <span class=\"token function\">PID_Calc<\/span><span class=\"token punctuation\">(<\/span>PID_TypeDef <span class=\"token operator\">*<\/span>pid<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> actual<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    pid<span class=\"token operator\">-&gt;<\/span>actual <span class=\"token operator\">&#061;<\/span> actual<span class=\"token punctuation\">;<\/span><br \/>\n    pid<span class=\"token operator\">-&gt;<\/span>err <span class=\"token operator\">&#061;<\/span> pid<span class=\"token operator\">-&gt;<\/span>target <span class=\"token operator\">&#8211;<\/span> actual<span class=\"token punctuation\">;<\/span><br \/>\n    pid<span class=\"token operator\">-&gt;<\/span>integral <span class=\"token operator\">&#043;&#061;<\/span> pid<span class=\"token operator\">-&gt;<\/span>err<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u79ef\u5206\u9650\u5e45&#xff0c;\u9632\u9971\u548c<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>pid<span class=\"token operator\">-&gt;<\/span>integral <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">1000<\/span><span class=\"token punctuation\">)<\/span> pid<span class=\"token operator\">-&gt;<\/span>integral <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1000<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>pid<span class=\"token operator\">-&gt;<\/span>integral <span class=\"token operator\">&lt;<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1000<\/span><span class=\"token punctuation\">)<\/span> pid<span class=\"token operator\">-&gt;<\/span>integral <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1000<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">float<\/span> out <span class=\"token operator\">&#061;<\/span> pid<span class=\"token operator\">-&gt;<\/span>Kp <span class=\"token operator\">*<\/span> pid<span class=\"token operator\">-&gt;<\/span>err <span class=\"token operator\">&#043;<\/span><br \/>\n                pid<span class=\"token operator\">-&gt;<\/span>Ki <span class=\"token operator\">*<\/span> pid<span class=\"token operator\">-&gt;<\/span>integral <span class=\"token operator\">&#043;<\/span><br \/>\n                pid<span class=\"token operator\">-&gt;<\/span>Kd <span class=\"token operator\">*<\/span> <span class=\"token punctuation\">(<\/span>pid<span class=\"token operator\">-&gt;<\/span>err <span class=\"token operator\">&#8211;<\/span> pid<span class=\"token operator\">-&gt;<\/span>err_last<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    pid<span class=\"token operator\">-&gt;<\/span>err_last <span class=\"token operator\">&#061;<\/span> pid<span class=\"token operator\">-&gt;<\/span>err<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8f93\u51fa\u9650\u5e45<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>out <span class=\"token operator\">&gt;<\/span> pid<span class=\"token operator\">-&gt;<\/span>out_max<span class=\"token punctuation\">)<\/span> out <span class=\"token operator\">&#061;<\/span> pid<span class=\"token operator\">-&gt;<\/span>out_max<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>out <span class=\"token operator\">&lt;<\/span> pid<span class=\"token operator\">-&gt;<\/span>out_min<span class=\"token punctuation\">)<\/span> out <span class=\"token operator\">&#061;<\/span> pid<span class=\"token operator\">-&gt;<\/span>out_min<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> out<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>5.5 \u4e3b\u5faa\u73af<\/h4>\n<p><span class=\"token keyword\">int<\/span> <span class=\"token function\">main<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">Motor_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">Tracking_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">Encoder_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">uart_AInit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    PID_TypeDef pid <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>target <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span>           <span class=\"token comment\">\/\/ \u76ee\u6807\u504f\u5dee 0&#xff08;\u5c45\u4e2d&#xff09;<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>Kp <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">15.0f<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">.<\/span>Ki <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.2f<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">.<\/span>Kd <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">3.0f<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>out_min <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">99<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">.<\/span>out_max <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">99<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">int8_t<\/span> BASE_SPEED <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">50<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ 1. \u8bfb\u53d6\u4f4d\u7f6e\u504f\u5dee<\/span><br \/>\n        <span class=\"token class-name\">int8_t<\/span> err <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">Tracking_GetError<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ 2. PID \u8ba1\u7b97\u8f6c\u5411\u4fee\u6b63\u91cf<\/span><br \/>\n        <span class=\"token keyword\">float<\/span> steer <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">PID_Calc<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>pid<span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span>err<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ 3. \u5dee\u901f\u63a7\u5236<\/span><br \/>\n        <span class=\"token class-name\">int8_t<\/span> left <span class=\"token operator\">&#061;<\/span> BASE_SPEED <span class=\"token operator\">&#8211;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">int8_t<\/span><span class=\"token punctuation\">)<\/span>steer<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token class-name\">int8_t<\/span> right <span class=\"token operator\">&#061;<\/span> BASE_SPEED <span class=\"token operator\">&#043;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">int8_t<\/span><span class=\"token punctuation\">)<\/span>steer<span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ 4. \u9650\u5e45\u5e76\u8f93\u51fa<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>left <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">99<\/span><span class=\"token punctuation\">)<\/span> left <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">99<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>left <span class=\"token operator\">&lt;<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">99<\/span><span class=\"token punctuation\">)<\/span> left <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">99<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>right <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">99<\/span><span class=\"token punctuation\">)<\/span> right <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">99<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>right <span class=\"token operator\">&lt;<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">99<\/span><span class=\"token punctuation\">)<\/span> right <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">99<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token function\">Motor_SetSpeed<\/span><span class=\"token punctuation\">(<\/span>left<span class=\"token punctuation\">,<\/span> right<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">Delay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">10<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ 10ms \u63a7\u5236\u5468\u671f<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h3>6. HAL \u5e93\u4ee3\u7801\u5b9e\u73b0<\/h3>\n<h4>6.1 \u7ea2\u5916\u8bfb\u53d6&#xff08;\u4e0e\u6807\u51c6\u5e93\u903b\u8f91\u76f8\u540c&#xff0c;\u4f7f\u7528 HAL API&#xff09;<\/h4>\n<p><span class=\"token comment\">\/\/ tracking_hal.c<\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> <span class=\"token function\">Tracking_Read<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> status <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_GPIO_ReadPin<\/span><span class=\"token punctuation\">(<\/span>GPIOA<span class=\"token punctuation\">,<\/span> GPIO_PIN_4<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><br \/>\n        status <span class=\"token operator\">|&#061;<\/span> <span class=\"token number\">0x04<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u5de6<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_GPIO_ReadPin<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_PIN_5<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><br \/>\n        status <span class=\"token operator\">|&#061;<\/span> <span class=\"token number\">0x02<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u4e2d<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_GPIO_ReadPin<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_PIN_1<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><br \/>\n        status <span class=\"token operator\">|&#061;<\/span> <span class=\"token number\">0x01<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u53f3<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> status<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>6.2 \u7535\u673a\u63a7\u5236&#xff08;\u57fa\u4e8e CubeMX \u751f\u6210\u7684 htim4&#xff09;<\/h4>\n<p><span class=\"token comment\">\/\/ motor_hal.c<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Motor_SetSpeed<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">int8_t<\/span> left<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">int8_t<\/span> right<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>left <span class=\"token operator\">&gt;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_PIN_12<span class=\"token punctuation\">,<\/span> GPIO_PIN_SET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_PIN_13<span class=\"token punctuation\">,<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_PIN_12<span class=\"token punctuation\">,<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_PIN_13<span class=\"token punctuation\">,<\/span> GPIO_PIN_SET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token function\">__HAL_TIM_SET_COMPARE<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim4<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_3<span class=\"token punctuation\">,<\/span> <span class=\"token function\">abs<\/span><span class=\"token punctuation\">(<\/span>left<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>right <span class=\"token operator\">&gt;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_PIN_14<span class=\"token punctuation\">,<\/span> GPIO_PIN_SET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_PIN_15<span class=\"token punctuation\">,<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_PIN_14<span class=\"token punctuation\">,<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> GPIO_PIN_15<span class=\"token punctuation\">,<\/span> GPIO_PIN_SET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token function\">__HAL_TIM_SET_COMPARE<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim4<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_4<span class=\"token punctuation\">,<\/span> <span class=\"token function\">abs<\/span><span class=\"token punctuation\">(<\/span>right<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>6.3 \u7f16\u7801\u5668\u6d4b\u901f<\/h4>\n<p><span class=\"token comment\">\/\/ encoder_hal.c<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Encoder_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">HAL_TIM_Encoder_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim3<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_ALL<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token class-name\">int16_t<\/span> <span class=\"token function\">Encoder_ReadAndClear<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">int16_t<\/span> cnt <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">int16_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token function\">__HAL_TIM_GET_COUNTER<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim3<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">__HAL_TIM_SET_COUNTER<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim3<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> cnt<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>6.4 \u4e3b\u5faa\u73af&#xff08;HAL&#xff09;<\/h4>\n<p><span class=\"token keyword\">int<\/span> <span class=\"token function\">main<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">HAL_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">SystemClock_Config<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">MX_GPIO_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">MX_TIM2_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">MX_TIM3_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">MX_TIM4_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">MX_USART1_UART_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">HAL_TIM_PWM_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim4<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_3<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_TIM_PWM_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim4<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_4<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_TIM_Encoder_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim3<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_ALL<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    PID_TypeDef pid <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    pid<span class=\"token punctuation\">.<\/span>target <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    pid<span class=\"token punctuation\">.<\/span>Kp <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">15.0f<\/span><span class=\"token punctuation\">;<\/span> pid<span class=\"token punctuation\">.<\/span>Ki <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.2f<\/span><span class=\"token punctuation\">;<\/span> pid<span class=\"token punctuation\">.<\/span>Kd <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">3.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    pid<span class=\"token punctuation\">.<\/span>out_min <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">99<\/span><span class=\"token punctuation\">;<\/span> pid<span class=\"token punctuation\">.<\/span>out_max <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">99<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">int8_t<\/span> BASE_SPEED <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">50<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> last_tick <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#8211;<\/span> last_tick <span class=\"token operator\">&gt;&#061;<\/span> <span class=\"token number\">10<\/span><span class=\"token punctuation\">)<\/span>  <span class=\"token comment\">\/\/ 10ms \u63a7\u5236\u5468\u671f<\/span><br \/>\n        <span class=\"token punctuation\">{<\/span><br \/>\n            last_tick <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token class-name\">int8_t<\/span> err <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">Tracking_GetError<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token keyword\">float<\/span> steer <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">PID_Calc<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>pid<span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span>err<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token class-name\">int8_t<\/span> left <span class=\"token operator\">&#061;<\/span> BASE_SPEED <span class=\"token operator\">&#8211;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">int8_t<\/span><span class=\"token punctuation\">)<\/span>steer<span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token class-name\">int8_t<\/span> right <span class=\"token operator\">&#061;<\/span> BASE_SPEED <span class=\"token operator\">&#043;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">int8_t<\/span><span class=\"token punctuation\">)<\/span>steer<span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token function\">Motor_SetSpeed<\/span><span class=\"token punctuation\">(<\/span>left<span class=\"token punctuation\">,<\/span> right<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h3>7. PID \u53c2\u6570\u6574\u5b9a\u65b9\u6cd5<\/h3>\n<h4>7.1 \u4e09\u6b65\u6574\u5b9a\u6cd5<\/h4>\n<li>\u5148\u8c03 P&#xff1a;Ki&#061;0, Kd&#061;0&#xff0c;\u9010\u6b65\u589e\u5927 Kp \u76f4\u5230\u7cfb\u7edf\u51fa\u73b0\u5c0f\u5e45\u7b49\u5e45\u632f\u8361<\/li>\n<li>\u518d\u52a0 D&#xff1a;\u53d6\u632f\u8361\u5468\u671f\u4e00\u534a\u4f5c\u4e3a\u57fa\u51c6&#xff0c;\u52a0\u5165 Kd \u6291\u5236\u632f\u8361<\/li>\n<li>\u6700\u540e\u52a0 I&#xff1a;\u6d88\u9664\u9759\u6001\u8bef\u5dee&#xff0c;Ki \u4ece\u5c0f\u503c\u5f00\u59cb&#xff08;\u5178\u578b 0.01~0.5&#xff09;<\/li>\n<h4>7.2 \u5178\u578b\u53c2\u6570\u8303\u56f4&#xff08;\u667a\u80fd\u5c0f\u8f66\u5faa\u8ff9&#xff09;<\/h4>\n<table>\n<tr>\u53c2\u6570\u4f5c\u7528\u5178\u578b\u503c<\/tr>\n<tbody>\n<tr>\n<td>Kp<\/td>\n<td>\u54cd\u5e94\u901f\u5ea6<\/td>\n<td>10~30<\/td>\n<\/tr>\n<tr>\n<td>Ki<\/td>\n<td>\u6d88\u9664\u7a33\u6001\u8bef\u5dee<\/td>\n<td>0.1~0.5<\/td>\n<\/tr>\n<tr>\n<td>Kd<\/td>\n<td>\u6291\u5236\u632f\u8361<\/td>\n<td>2~8<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>7.3 \u5de5\u7a0b\u7ecf\u9a8c<\/h4>\n<ul>\n<li>\u91c7\u6837\u5468\u671f 10-20ms&#xff0c;\u592a\u77ed\u5f15\u5165\u566a\u58f0&#xff0c;\u592a\u957f\u54cd\u5e94\u8fdf\u949d<\/li>\n<li>\u5fc5\u987b\u505a\u79ef\u5206\u9650\u5e45\u9632\u6b62\u79ef\u5206\u9971\u548c<\/li>\n<li>PWM \u9891\u7387 10kHz \u65f6\u7535\u673a\u8fd0\u884c\u6700\u5e73\u7a33<\/li>\n<li>\u7f16\u7801\u5668 100ms \u8bfb\u53d6\u4e00\u6b21\u8ba1\u6570\u5e76\u6e05\u96f6&#xff0c;\u907f\u514d\u6ea2\u51fa<\/li>\n<\/ul>\n<h4>7.4 PID \u63a7\u5236\u6846\u56fe<\/h4>\n<p>  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.flowchartTitleText{text-anchor:middle;font-size:18px;fill:#333;}#mermaid-svg-cuLnOrhLBLIH6iS1 rect.text{fill:none;stroke-width:0;}#mermaid-svg-cuLnOrhLBLIH6iS1 .icon-shape,#mermaid-svg-cuLnOrhLBLIH6iS1 .image-shape{background-color:rgba(232,232,232, 0.8);text-align:center;}#mermaid-svg-cuLnOrhLBLIH6iS1 .icon-shape p,#mermaid-svg-cuLnOrhLBLIH6iS1 .image-shape p{background-color:rgba(232,232,232, 0.8);padding:2px;}#mermaid-svg-cuLnOrhLBLIH6iS1 .icon-shape .label rect,#mermaid-svg-cuLnOrhLBLIH6iS1 .image-shape .label rect{opacity:0.5;background-color:rgba(232,232,232, 0.8);fill:rgba(232,232,232, 0.8);}#mermaid-svg-cuLnOrhLBLIH6iS1 .label-icon{display:inline-block;height:1em;overflow:visible;vertical-align:-0.125em;}#mermaid-svg-cuLnOrhLBLIH6iS1 .node .label-icon path{fill:currentColor;stroke:revert;stroke-width:revert;}#mermaid-svg-cuLnOrhLBLIH6iS1 :root{&#8211;mermaid-font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;}<\/p>\n<p>         <span class=\"edgeLabel\"><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u53cd\u9988<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u76ee\u6807\u901f\u5ea6\/\u4f4d\u7f6e<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u8bef\u5dee<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>PID \u63a7\u5236\u5668<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>PWM<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u7535\u673a<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u7f16\u7801\u5668<\/p>\n<p><\/span><\/p>\n<p>\u56fe11 PID \u63a7\u5236\u6846\u56fe\u3002\u9636\u8dc3\u54cd\u5e94\u66f2\u7ebf&#xff1a;P \u63a7\u5236\u9707\u8361\u3001PD \u63a7\u5236\u6536\u655b\u3001PID \u63a7\u5236\u65e0\u9759\u5dee\u4e09\u79cd\u5bf9\u6bd4&#xff0c;\u53ef\u7528\u4e32\u53e3\u7ed8\u56fe\u5de5\u5177\u89c2\u5bdf Kp \u4ece\u5c0f\u5230\u5927\u7684\u54cd\u5e94\u53d8\u5316\u3002<\/p>\n<h3>8. \u8c03\u8bd5\u4e0e\u5e38\u89c1\u95ee\u9898<\/h3>\n<h4>8.1 \u4e0a\u7535\u8c03\u8bd5\u987a\u5e8f<\/h4>\n<li>\u7535\u673a\u6d4b\u8bd5&#xff1a;\u5355\u72ec\u6d4b\u8bd5\u5de6\u53f3\u7535\u673a\u6b63\u53cd\u8f6c&#xff0c;\u786e\u8ba4\u63a5\u7ebf\u65e0\u8bef<\/li>\n<li>PWM \u8f93\u51fa\u6d4b\u8bd5&#xff1a;\u793a\u6ce2\u5668\u89c2\u5bdf PB8\/PB9 \u6ce2\u5f62&#xff0c;\u786e\u8ba4\u9891\u7387 10kHz<\/li>\n<li>\u7f16\u7801\u5668\u6d4b\u8bd5&#xff1a;\u4e32\u53e3\u6253\u5370\u8ba1\u6570\u53d8\u5316&#xff0c;\u6b63\u8f6c\u9012\u589e\u3001\u53cd\u8f6c\u9012\u51cf<\/li>\n<li>\u7ea2\u5916\u4f20\u611f\u5668\u6821\u51c6&#xff1a;\u9010\u4e2a\u906e\u6321&#xff0c;\u786e\u8ba4\u7535\u5e73\u53d8\u5316\u7b26\u5408\u9884\u671f<\/li>\n<li>\u57fa\u7840\u5faa\u8ff9&#xff1a;\u5148\u8dd1\u72b6\u6001\u673a\u903b\u8f91&#xff08;\u975e PID&#xff09;&#xff0c;\u786e\u8ba4\u80fd\u57fa\u672c\u8ddf\u7ebf<\/li>\n<li>PID \u4f18\u5316&#xff1a;\u5f00\u542f PID&#xff0c;\u9010\u6b65\u5fae\u8c03\u53c2\u6570<\/li>\n<h4>8.2 \u5e38\u89c1\u95ee\u9898\u6392\u67e5<\/h4>\n<table>\n<tr>\u73b0\u8c61\u539f\u56e0\u89e3\u51b3<\/tr>\n<tbody>\n<tr>\n<td>\u7535\u673a\u53ea\u5578\u53eb\u4e0d\u8f6c<\/td>\n<td>PWM \u9891\u7387\u8fc7\u4f4e&#xff08;\u7528\u6237\u539f 100Hz&#xff09;<\/td>\n<td>PSC \u6539\u4e3a 71&#xff0c;\u9891\u7387\u5347\u81f3 10kHz<\/td>\n<\/tr>\n<tr>\n<td>\u5c0f\u8f66\u86c7\u5f62\u8d70\u4f4d<\/td>\n<td>\u7eaf\u903b\u8f91\u63a7\u5236&#xff0c;\u65e0\u5e73\u6ed1\u8fc7\u6e21<\/td>\n<td>\u5f15\u5165 PID \u5dee\u901f<\/td>\n<\/tr>\n<tr>\n<td>\u76f4\u7ebf\u8dd1\u504f<\/td>\n<td>\u5de6\u53f3\u7535\u673a\u53c2\u6570\u4e0d\u4e00\u81f4<\/td>\n<td>\u7f16\u7801\u5668\u95ed\u73af\u6216\u5355\u72ec\u6807\u5b9a<\/td>\n<\/tr>\n<tr>\n<td>\u4f20\u611f\u5668\u8bef\u5224<\/td>\n<td>\u73af\u5883\u7ea2\u5916\u5e72\u6270\/\u9608\u503c\u6f02\u79fb<\/td>\n<td>\u8c03\u8282\u7535\u4f4d\u5668\u6216\u6539\u7528 38kHz \u8c03\u5236<\/td>\n<\/tr>\n<tr>\n<td>\u7535\u6e90\u8dcc\u843d\u5bfc\u81f4\u590d\u4f4d<\/td>\n<td>\u7535\u673a\u4e0e MCU \u5171\u7535\u6e90<\/td>\n<td>\u7535\u673a\u72ec\u7acb\u4f9b\u7535&#xff0c;VC&#043;GND \u5e76\u8054 100\u03bcF \u7535\u5bb9<\/td>\n<\/tr>\n<tr>\n<td>\u9ad8\u901f\u65f6\u8ba1\u6570\u5f02\u5e38<\/td>\n<td>\u7f16\u7801\u5668\u6ea2\u51fa<\/td>\n<td>\u5f00\u542f\u6ea2\u51fa\u4e2d\u65ad\u7ef4\u62a4 32 \u4f4d\u6269\u5c55\u8ba1\u6570<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>8.3 \u8c03\u8bd5\u6d41\u7a0b\u56fe<\/h4>\n<p>  #mermaid-svg-3vBeu2RGRoaYmRde{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;fill:#333;}@keyframes edge-animation-frame{from{stroke-dashoffset:0;}}@keyframes dash{to{stroke-dashoffset:0;}}#mermaid-svg-3vBeu2RGRoaYmRde .edge-animation-slow{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 50s linear infinite;stroke-linecap:round;}#mermaid-svg-3vBeu2RGRoaYmRde .edge-animation-fast{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 20s linear infinite;stroke-linecap:round;}#mermaid-svg-3vBeu2RGRoaYmRde .error-icon{fill:#552222;}#mermaid-svg-3vBeu2RGRoaYmRde .error-text{fill:#552222;stroke:#552222;}#mermaid-svg-3vBeu2RGRoaYmRde .edge-thickness-normal{stroke-width:1px;}#mermaid-svg-3vBeu2RGRoaYmRde .edge-thickness-thick{stroke-width:3.5px;}#mermaid-svg-3vBeu2RGRoaYmRde .edge-pattern-solid{stroke-dasharray:0;}#mermaid-svg-3vBeu2RGRoaYmRde .edge-thickness-invisible{stroke-width:0;fill:none;}#mermaid-svg-3vBeu2RGRoaYmRde .edge-pattern-dashed{stroke-dasharray:3;}#mermaid-svg-3vBeu2RGRoaYmRde .edge-pattern-dotted{stroke-dasharray:2;}#mermaid-svg-3vBeu2RGRoaYmRde .marker{fill:#333333;stroke:#333333;}#mermaid-svg-3vBeu2RGRoaYmRde .marker.cross{stroke:#333333;}#mermaid-svg-3vBeu2RGRoaYmRde svg{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;}#mermaid-svg-3vBeu2RGRoaYmRde p{margin:0;}#mermaid-svg-3vBeu2RGRoaYmRde .label{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;color:#333;}#mermaid-svg-3vBeu2RGRoaYmRde .cluster-label text{fill:#333;}#mermaid-svg-3vBeu2RGRoaYmRde .cluster-label span{color:#333;}#mermaid-svg-3vBeu2RGRoaYmRde .cluster-label span p{background-color:transparent;}#mermaid-svg-3vBeu2RGRoaYmRde .label text,#mermaid-svg-3vBeu2RGRoaYmRde span{fill:#333;color:#333;}#mermaid-svg-3vBeu2RGRoaYmRde .node rect,#mermaid-svg-3vBeu2RGRoaYmRde .node circle,#mermaid-svg-3vBeu2RGRoaYmRde .node ellipse,#mermaid-svg-3vBeu2RGRoaYmRde .node polygon,#mermaid-svg-3vBeu2RGRoaYmRde .node path{fill:#ECECFF;stroke:#9370DB;stroke-width:1px;}#mermaid-svg-3vBeu2RGRoaYmRde .rough-node .label text,#mermaid-svg-3vBeu2RGRoaYmRde .node .label text,#mermaid-svg-3vBeu2RGRoaYmRde .image-shape .label,#mermaid-svg-3vBeu2RGRoaYmRde .icon-shape .label{text-anchor:middle;}#mermaid-svg-3vBeu2RGRoaYmRde .node .katex path{fill:#000;stroke:#000;stroke-width:1px;}#mermaid-svg-3vBeu2RGRoaYmRde .rough-node .label,#mermaid-svg-3vBeu2RGRoaYmRde .node .label,#mermaid-svg-3vBeu2RGRoaYmRde .image-shape .label,#mermaid-svg-3vBeu2RGRoaYmRde .icon-shape .label{text-align:center;}#mermaid-svg-3vBeu2RGRoaYmRde .node.clickable{cursor:pointer;}#mermaid-svg-3vBeu2RGRoaYmRde .root .anchor path{fill:#333333!important;stroke-width:0;stroke:#333333;}#mermaid-svg-3vBeu2RGRoaYmRde .arrowheadPath{fill:#333333;}#mermaid-svg-3vBeu2RGRoaYmRde .edgePath .path{stroke:#333333;stroke-width:2.0px;}#mermaid-svg-3vBeu2RGRoaYmRde .flowchart-link{stroke:#333333;fill:none;}#mermaid-svg-3vBeu2RGRoaYmRde .edgeLabel{background-color:rgba(232,232,232, 0.8);text-align:center;}#mermaid-svg-3vBeu2RGRoaYmRde .edgeLabel p{background-color:rgba(232,232,232, 0.8);}#mermaid-svg-3vBeu2RGRoaYmRde .edgeLabel rect{opacity:0.5;background-color:rgba(232,232,232, 0.8);fill:rgba(232,232,232, 0.8);}#mermaid-svg-3vBeu2RGRoaYmRde .labelBkg{background-color:rgba(232, 232, 232, 0.5);}#mermaid-svg-3vBeu2RGRoaYmRde .cluster rect{fill:#ffffde;stroke:#aaaa33;stroke-width:1px;}#mermaid-svg-3vBeu2RGRoaYmRde .cluster text{fill:#333;}#mermaid-svg-3vBeu2RGRoaYmRde .cluster span{color:#333;}#mermaid-svg-3vBeu2RGRoaYmRde div.mermaidTooltip{position:absolute;text-align:center;max-width:200px;padding:2px;font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:12px;background:hsl(80, 100%, 96.2745098039%);border:1px solid #aaaa33;border-radius:2px;pointer-events:none;z-index:100;}#mermaid-svg-3vBeu2RGRoaYmRde .flowchartTitleText{text-anchor:middle;font-size:18px;fill:#333;}#mermaid-svg-3vBeu2RGRoaYmRde rect.text{fill:none;stroke-width:0;}#mermaid-svg-3vBeu2RGRoaYmRde .icon-shape,#mermaid-svg-3vBeu2RGRoaYmRde .image-shape{background-color:rgba(232,232,232, 0.8);text-align:center;}#mermaid-svg-3vBeu2RGRoaYmRde .icon-shape p,#mermaid-svg-3vBeu2RGRoaYmRde .image-shape p{background-color:rgba(232,232,232, 0.8);padding:2px;}#mermaid-svg-3vBeu2RGRoaYmRde .icon-shape .label rect,#mermaid-svg-3vBeu2RGRoaYmRde .image-shape .label rect{opacity:0.5;background-color:rgba(232,232,232, 0.8);fill:rgba(232,232,232, 0.8);}#mermaid-svg-3vBeu2RGRoaYmRde .label-icon{display:inline-block;height:1em;overflow:visible;vertical-align:-0.125em;}#mermaid-svg-3vBeu2RGRoaYmRde .node .label-icon path{fill:currentColor;stroke:revert;stroke-width:revert;}#mermaid-svg-3vBeu2RGRoaYmRde :root{&#8211;mermaid-font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;}<\/p>\n<p>         <span class=\"edgeLabel\"><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u7535\u673a\u6d4b\u8bd5<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>PWM \u8f93\u51fa\u6d4b\u8bd5<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u7f16\u7801\u5668\u6d4b\u8bd5<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u7ea2\u5916\u4f20\u611f\u5668\u6821\u51c6<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u57fa\u7840\u5faa\u8ff9&#xff08;\u72b6\u6001\u673a&#xff09;<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>PID \u4f18\u5316<\/p>\n<p><\/span><\/p>\n<p>\u56fe14 \u8c03\u8bd5\u6d41\u7a0b\u56fe&#xff1a;\u4ece\u7535\u673a\u6d4b\u8bd5\u5230 PID \u6574\u5b9a\u7684 6 \u6b65\u987a\u5e8f\u3002\u793a\u6ce2\u5668\u622a\u56fe&#xff08;10kHz vs 100Hz \u6ce2\u5f62\u5bf9\u6bd4&#xff09;\u4e0e\u7535\u6e90\u53bb\u8026\u7535\u8def\u56fe&#xff08;100\u03bcF \u7535\u89e3 &#043; 0.1\u03bcF \u9676\u74f7\u7535\u5bb9\u5e76\u8054&#xff09;\u5efa\u8bae\u7528\u771f\u5b9e\u622a\u56fe\u8865\u5145\u3002<\/p>\n<h3>9. \u8fdb\u9636\u62d3\u5c55<\/h3>\n<h4>9.1 \u591a\u4f20\u611f\u5668\u878d\u5408<\/h4>\n<ul>\n<li>\u8d85\u58f0\u6ce2 &#043; \u7ea2\u5916&#xff1a;\u5faa\u8ff9\u540c\u65f6\u907f\u969c<\/li>\n<li>\u6444\u50cf\u5934 &#043; \u7ea2\u5916&#xff1a;\u6444\u50cf\u5934\u505a\u4e3b\u5faa\u8ff9&#xff0c;\u7ea2\u5916\u505a\u515c\u5e95<\/li>\n<\/ul>\n<h4>9.2 \u901f\u5ea6\u95ed\u73af &#043; \u4f4d\u7f6e\u95ed\u73af\u53cc\u73af\u63a7\u5236<\/h4>\n<ul>\n<li>\u5916\u73af&#xff1a;\u4f4d\u7f6e PID&#xff08;\u7ea2\u5916\u504f\u5dee \u2192 \u76ee\u6807\u901f\u5ea6\u5dee&#xff09;<\/li>\n<li>\u5185\u73af&#xff1a;\u901f\u5ea6 PID&#xff08;\u7f16\u7801\u5668\u53cd\u9988 \u2192 PWM \u5360\u7a7a\u6bd4&#xff09;<\/li>\n<\/ul>\n<h4>9.3 \u590d\u6742\u8def\u5f84\u8bc6\u522b<\/h4>\n<ul>\n<li>\u5341\u5b57\u8def\u53e3\u3001T \u578b\u8def\u53e3\u3001\u5706\u73af\u7684\u5904\u7406\u903b\u8f91<\/li>\n<li>\u57fa\u4e8e\u72b6\u6001\u673a\u7684\u8def\u5f84\u51b3\u7b56<\/li>\n<\/ul>\n<h4>9.4 \u53cc\u73af PID \u63a7\u5236\u6846\u56fe<\/h4>\n<p>  #mermaid-svg-FBubl78SvJok171a{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;fill:#333;}@keyframes edge-animation-frame{from{stroke-dashoffset:0;}}@keyframes dash{to{stroke-dashoffset:0;}}#mermaid-svg-FBubl78SvJok171a .edge-animation-slow{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 50s linear infinite;stroke-linecap:round;}#mermaid-svg-FBubl78SvJok171a .edge-animation-fast{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 20s linear infinite;stroke-linecap:round;}#mermaid-svg-FBubl78SvJok171a .error-icon{fill:#552222;}#mermaid-svg-FBubl78SvJok171a .error-text{fill:#552222;stroke:#552222;}#mermaid-svg-FBubl78SvJok171a .edge-thickness-normal{stroke-width:1px;}#mermaid-svg-FBubl78SvJok171a .edge-thickness-thick{stroke-width:3.5px;}#mermaid-svg-FBubl78SvJok171a .edge-pattern-solid{stroke-dasharray:0;}#mermaid-svg-FBubl78SvJok171a .edge-thickness-invisible{stroke-width:0;fill:none;}#mermaid-svg-FBubl78SvJok171a .edge-pattern-dashed{stroke-dasharray:3;}#mermaid-svg-FBubl78SvJok171a .edge-pattern-dotted{stroke-dasharray:2;}#mermaid-svg-FBubl78SvJok171a .marker{fill:#333333;stroke:#333333;}#mermaid-svg-FBubl78SvJok171a .marker.cross{stroke:#333333;}#mermaid-svg-FBubl78SvJok171a svg{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;}#mermaid-svg-FBubl78SvJok171a p{margin:0;}#mermaid-svg-FBubl78SvJok171a .label{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;color:#333;}#mermaid-svg-FBubl78SvJok171a .cluster-label text{fill:#333;}#mermaid-svg-FBubl78SvJok171a .cluster-label span{color:#333;}#mermaid-svg-FBubl78SvJok171a .cluster-label span p{background-color:transparent;}#mermaid-svg-FBubl78SvJok171a .label text,#mermaid-svg-FBubl78SvJok171a span{fill:#333;color:#333;}#mermaid-svg-FBubl78SvJok171a .node rect,#mermaid-svg-FBubl78SvJok171a .node circle,#mermaid-svg-FBubl78SvJok171a .node ellipse,#mermaid-svg-FBubl78SvJok171a .node polygon,#mermaid-svg-FBubl78SvJok171a .node path{fill:#ECECFF;stroke:#9370DB;stroke-width:1px;}#mermaid-svg-FBubl78SvJok171a .rough-node .label text,#mermaid-svg-FBubl78SvJok171a .node .label text,#mermaid-svg-FBubl78SvJok171a .image-shape .label,#mermaid-svg-FBubl78SvJok171a .icon-shape .label{text-anchor:middle;}#mermaid-svg-FBubl78SvJok171a .node .katex path{fill:#000;stroke:#000;stroke-width:1px;}#mermaid-svg-FBubl78SvJok171a .rough-node .label,#mermaid-svg-FBubl78SvJok171a 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